KR102585260B1 - Electro device gripper - Google Patents

Abstract

The present invention relates to an electronic component holding device for holding electronic components.
The electronic component holding device according to the present invention has a rotating belt for adjusting the gap between both holding levers, and the rotating belt has an elastic stretching portion capable of elastically changing length.
According to the present invention, the reliability of the gripping device is improved because all electronic components within the tolerance range can be properly gripped despite the tolerance.

Description

Electronic component gripping device {ELECTRO DEVICE GRIPPER}

The present invention relates to a gripping device that can grip or release electronic components.

The electronic component holding device (hereinafter abbreviated as 'holding device') is used for the purpose of moving electronic components for automated processing in the electronic component production line, test line, or transportation line.

The gripping device can be implemented with various gripping methods and structures depending on the type of electronic component or the state in which it is placed. Representative methods for holding electronic components include vacuum adsorption and both ends pressurization.

The vacuum adsorption method is mainly used when the electronic components are small or in a lying state (see Korean Patent No. 10-0816071), and the double-end pressurization method is mainly used when the electronic components are large or in an upright state (Korea Patent Application No. 10- (Refer to No. 2017-0053126). Among them, the present invention relates to a double-end pressurizing method.

Figure 1 is a schematic diagram of a conventional gripping device 100.

The holding device 100 includes a pair of holding levers 111 and 112, a gap adjuster 120, an elevator 140, and a horizontal mover 150, as shown in FIG. 1.

A pair of grip levers 111 and 112 grips or releases the electronic component ED by pressing or releasing the pressure at both ends of the electronic component ED. To this end, the pair of grip levers 111 and 112 are provided to move to narrow the gap between them facing each other or to move in opposite directions.

The gap adjuster 120 narrows or widens the gap between the pair of grip levers 111 and 112, thereby allowing the pair of grip levers 111 and 112 to grip or release the electronic component ED.

The elevator 140 elevates a pair of grip levers 111 and 112.

The horizontal mover 150 moves the electronic component ED held by the pair of grip levers 111 and 112 in the horizontal direction by moving the pair of grip levers 111 and 112 in the horizontal direction.

Meanwhile, all manufactured products are often manufactured to some extent from ideal specifications due to various tolerances. Therefore, when it is desired to manufacture an electronic component (ED) with a width of 100 mm as shown in the exaggerated Figure 2, for example, a manufacturing tolerance of +/- 0.5 mm occurs, so that the actual width of the produced electronic component (ED) is 99.5 mm ~ 99.5 mm. It has a range of 100.5mm. Therefore, generally, the gripping interval of the gripping device 100 is set to an ideal 100mm, but in this case, the following problem occurs.

First, even if the electronic component (ED) with a width of 99.5 mm is gripped with a weak gripping force, it may fall out due to movement shock or be held in an inclined state, which may cause defects in the movement of the electronic component (ED). It may become impossible. And this problem becomes more severe as the weight of the electronic component (ED) becomes heavier.

Second, because power is applied to narrow the pair of grip levers 111 and 112 by a mutually set grip gap, the electronic component (ED) with a width of 100.5 mm may itself be bent or destroyed, which may cause the electronic component (ED) to be bent or destroyed. The thinner the ED), the more frequent it becomes.

However, setting the gripping gap between a pair of grip levers 111 and 112 to 99.5mm, the minimum width within the tolerance range of the electronic component (ED), or 100.5mm, the maximum width within the tolerance range, further aggravates the above problem. generates

The purpose of the present invention is to provide technology for a gripping device that can properly grip all electronic components within a tolerance range.

The electronic component gripping device according to the present invention includes a pair of grip levers for gripping or releasing the electronic component by pressing or releasing the pressure at both ends of the electronic component; a gap adjuster that allows the pair of grip levers to grip or release the electronic component by narrowing or widening the gap between the pair of grip levers; An installation frame for installing the pair of grip levers and the gap adjuster; an elevator that elevates the pair of grip levers by elevating the installation frame; and a horizontal mover that moves the electronic component held by the pair of grip levers in the horizontal direction by moving the installation frame in the horizontal direction. It includes: a drive source that generates power for gripping or releasing electronic components; A drive pulley that rotates by the operation of the drive source and has gear teeth; a driven pulley spaced apart from the driving pulley at a predetermined interval; and a rotating belt that rotates with the driving pulley and the driven pulley as rotation points and has gear teeth engaged with gear teeth of the driving pulley. A first grip lever of the pair of grip levers is coupled to the front side of the rotating belt, and a second grip lever of the pair of grip levers is coupled to the rear side of the rotating belt, A pair of grip levers are arranged so that the gap between them narrows or widens depending on the rotation direction of the rotating belt, and the rotating belt includes a timing belt portion formed with gear teeth that engage with gear teeth of the driving pulley and the driven pulley; An elastic stretchable portion that is coupled to the timing belt portion and is capable of elastically changing length; and a coupling portion that joins the timing belt portion and the elastic elastic portion. Includes.

The elastic stretchable portion is installed at an area where tension is applied to the rotating belt when the driving pulley rotates further by a set angle while both ends of the electronic component are held by the pair of gripping levers.

One side of the elastic elastic part is fixedly coupled to one side of the timing belt part by the coupling part, and the other side of the elastic elastic part is provided with the first grip lever or the second grip lever to secure the other side of the timing belt part. It is fixedly connected to the side.

The spacing adjuster further includes a guide rail that guides the movement of the pair of grip levers when they move to narrow or widen the gap between them due to rotation of the rotating belt, and the guide rail is located below the rotating belt. Located.

According to the present invention, if the gripping gap between a pair of grip levers is set to the minimum width within the tolerance range of the electronic component, the elastic stretching portion is stretched by tensile force during the gripping operation, without damaging the electronic component with the maximum width within the tolerance range. Because it can be properly gripped, the reliability of the gripping device is greatly improved.

1 is a schematic diagram of a conventional electronic component holding device.
Figure 2 is a reference diagram for explaining the relationship between the tolerance of produced electronic components and the electronic component holding device.
Figure 3 is a schematic perspective view of an electronic component holding device according to an embodiment of the present invention.
FIG. 4 is a conceptual reference diagram for explaining the rotating belt applied to FIG. 3.
FIGS. 5 to 7 are conceptual reference diagrams for explaining the operating state of the electronic component holding device of FIG. 3.

Preferred embodiments according to the present invention will be described with reference to the accompanying drawings, but for brevity of explanation, descriptions of overlapping or substantially identical configurations will be omitted or compressed as much as possible.

<Description of composition>

Figure 3 is a schematic perspective view of an electronic component holding device 300 (hereinafter abbreviated as 'holding device') according to an embodiment of the present invention.

As shown in Figure 3, the gripping device 300 according to the present invention includes a pair of gripping levers 311 and 312, a gap adjuster 320, an installation frame 330, an elevator 340, and a horizontal mover 350. do.

A pair of grip levers 311 and 312 grips or releases the electronic component by pressing or releasing the pressure at both ends of the electronic component. For this purpose, a pair of grip levers 311 and 312 are provided so that they can be moved in a direction to narrow or widen the gap between them. For reference, the electronic component referred to in this embodiment refers to a type that is held by pressing both ends, such as a module RAM or a case.

The gap adjuster 320 narrows or widens the gap between the pair of grip levers 311 and 312, thereby allowing the pair of grip levers 311 and 312 to grip or release the electronic component. For this purpose, the gap adjuster 320 includes a drive source 321, a drive pulley 322, a driven pulley 323, a rotating belt 324, and guide rails 325a and 325b.

The drive source 321 generates power to grip or release the electronic component. In this embodiment, the drive source 321 is composed of a drive motor (DM) having a rotation pulley (RP), a transmission pulley (DP), and a drive belt (DV), and the drive belt (DV) is operated by the drive motor (DM). ) has a structure that rotates the transmission pulley (DP). Here, the rotation pulley (RP) and transmission pulley (DP) have gear teeth that mesh with the gear teeth of the drive belt (DV), so slippage occurs between the rotation pulley (RP) or transmission pulley (DP) and the drive belt (DV). It is desirable not to do this. Of course, it may be desirable to use a cylinder instead of the drive motor (DM) as the drive source 321, but in this embodiment, the drive motor (DM) is used for accurate position control and fine tolerance response.

The driving pulley 322 is coupled to the transmission pulley (DP) and rotates in conjunction with the rotation of the transmission pulley (DP), and has gear teeth.

The driven pulley 323 is provided at a certain distance from the driving pulley 322 and has gear teeth.

The rotating belt 324 rotates with the driving pulley 322 and the driven pulley 323 as rotation points, and has gear teeth engaged with the gear teeth of the driving pulley 322 and the driven pulley 323. Therefore, no slip occurs between the driving pulley 322 or driven pulley 323 and the rotating belt 324. However, in the case of the driven pulley 323 that passively rotates in conjunction with the driving pulley 322, the gear value may be omitted, but in the case of the driving pulley 322 that receives power directly from the driving source 321, the gear value is omitted. No. And a pair of grip levers (311, 312) are coupled to the rotating belt (324). Here, of the pair of grip levers 311 and 312, the first grip lever 311 is coupled to the front side of the rotating belt 324, and the remaining second grip lever 312 is coupled to the rear side of the rotating belt 324. bound to the area. Therefore, when the rotating belt 324 rotates forward and backward with the driving pulley 322 and the driven pulley 323 as the rotation point, the mutual gap between the pair of grip levers 311 and 312 narrows or widens depending on the direction of rotation. It is done. Meanwhile, this rotating belt 324 is a characteristic configuration of the present invention and includes a timing belt portion 324a, an elastic stretching portion 324b, and a coupling portion 324c as shown in the schematic diagram taken in FIG. 4.

The timing belt portion 324a is formed with gear teeth that engage with the gear teeth of the driving pulley 322 and the driven pulley 323.

One side of the elastic stretchable portion 324b is coupled to the timing belt portion 324a and is capable of elastically changing length. In this embodiment, a tension spring is provided as one aspect of the elastic stretching portion 324b.

The coupling portion 324c couples the timing belt portion 324a and the elastic elastic portion 324b. In this embodiment, the coupling portion 324c couples the left side of the elastically elastic portion 324b to the timing belt portion 324a, and the right side of the elastically elastic portion 324b is provided with a first grip lever 311. By adopting a structure that is integrated with the timing belt portion 324a, the number of parts is reduced and the rotating belt 324 is constructed more simply. Of course, by changing the position where both gripping levers 311 and 312 are combined or the position of the elastic stretching portion 324b, one side of the elastic stretching portion 324b places the second gripping lever 312 to form a timing belt portion ( It may have a structure that is integrally combined with 324a).

The guide rails 325a and 325b guide the movement of the pair of grip levers 311 and 312 when they move to narrow or widen the gap between them due to the rotation of the rotating belt 324. Since the holding device 300 according to the present invention must use the rotating belt 324, it is preferable to require guide rails 325a and 325b to guide the accurate movement of the holding levers 311 and 312, Considering that the upper ends of the grip levers (311, 312) are coupled to the rotating belt (324), guide rails (325a, 325b) are installed below the rotating belt (324) to prevent uniaxial movement or shaking during movement. It is being placed.

For reference, symbol 360 denotes a sensor that detects electronic components and is provided between the two guide rails 325a and 325b.

<Description of characteristic operation>

The gripping device 300 according to the present invention sets the gripping interval between the gripping levers 311 and 312 to the minimum width within the tolerance range of the electronic component (ED). For example, assuming that the ideal width of the electronic component (ED) is 100mm and its tolerance range is +/-0.5mm, the gripping interval of the gripping device 300 is set to 99.5mm.

5 and 6 are exaggerated conceptual diagrams of a state in which an electronic component (ED) is being held.

First, Figure 5 shows a case where the width of the electronic component (ED) is 99.5 mm. In this case, the gripping interval is set to 99.5 mm, so the electronic component (ED) can be properly grasped without changing the length of the elastic stretchable portion 324b. there is.

However, as shown in FIG. 6, when the width of the electronic component (ED) is 100.5 mm, the gripping interval is set to 99.5 mm, so the electronic component (ED) with a width of 100.5 mm is held by a pair of grip levers 311 and 312. Even in a state where both ends are held, the drive motor (DM) additionally rotates the drive pulley 322 by a set angle. Therefore, as shown in Figure 7, a tensile force is applied to the front portion of the rotating belt 324, and as a result, the elastic stretchable portion 324b is extended by 1 mm from the original length a. Therefore, the elastic stretchable portion 324b is required to be installed in an area where tensile force is applied.

Meanwhile, when going from the state of FIG. 6 to the state of FIG. 7, the movement of the grip levers 311 and 312 is prohibited by both ends of the electronic component (ED), so the driven pulley is moved based on both grip levers 311 and 312. There is no change in the length of the rotating belt 324 in the area where 323 is located. However, the area where the driving pulley 322 is located increases in length by 1 mm. In other words, the section leading from the second grip lever 312 -> driven pulley 323 -> first grip lever 311 does not change in length, whereas the first grip lever 311 -> driving pulley (322) -> The section leading to the second grip lever 312 changes in length by increasing.

However, despite this 1 mm length increase, the rotating belt 324 must not peel off or slip off the driving pulley 322. For this purpose, it is necessary to have structural means such as forming the gear teeth of the driving pulley 322 and the gear teeth of the rotating belt 324 deeply. In order to apply these structural means, the size of the driving pulley 322 and the rotating belt ( 324), etc. should be taken into consideration.

As described above, the specific description of the present invention has been made by way of examples with reference to the accompanying drawings. However, since the above-described embodiments are only explained by referring to preferred examples of the present invention, the present invention is limited to the above-described embodiments. It should not be understood as limited, and the scope of rights of the present invention should be understood as the scope of the claims described later and their equivalents.

300: Electronic component holding device
311, 312: A pair of grip levers
320: Spacing adjuster
321: Drive source
322: driving pulley
323: Passive pulley
324: Rotating belt
324a: Timing belt part 324b: Elastic expansion and contraction part
324c: Joint part
325a, 325b: Guide rail
330: Installation frame
340: elevator
350: Horizontal mover

Claims (4)

A pair of grip levers for gripping or releasing the electronic component by pressing or releasing the pressure at both ends of the electronic component;
a gap adjuster that allows the pair of grip levers to grip or release the electronic component by narrowing or widening the gap between the pair of grip levers;
An installation frame for installing the pair of grip levers and the gap adjuster;
an elevator that elevates the pair of grip levers by elevating the installation frame; and
a horizontal mover that moves the electronic component held by the pair of grip levers in the horizontal direction by moving the installation frame in the horizontal direction; Including,
The spacing adjuster is,
A driving source that generates power to grip or release electronic components;
A drive pulley that rotates by the operation of the drive source and has gear teeth;
a driven pulley spaced apart from the driving pulley at a predetermined interval; and
a rotating belt that rotates with the driving pulley and the driven pulley as rotation points and has gear teeth engaged with gear teeth of the driving pulley; Includes,
The first grip lever of the pair of grip levers is coupled to the front side of the rotating belt, and the second grip lever of the pair of grip levers is coupled to the rear side of the rotating belt, so that the pair of grip levers The gap between the levers narrows or widens depending on the direction of rotation of the rotating belt,
The rotating belt is,
A timing belt portion formed with gear teeth engaged with gear teeth of the driving pulley and the driven pulley;
An elastic stretchable portion that is coupled to the timing belt portion and is capable of elastically changing length; and
A coupling part that joins the timing belt part and the elastic elastic part; contains
The elastic stretchable portion is installed at an area where tension is applied to the rotating belt when the driving pulley rotates further by a set angle while both ends of the electronic component are held by the pair of gripping levers.
Electronic component holding device. delete According to claim 1,
One side of the elastic stretchable portion is fixedly coupled to one side of the timing belt portion by the coupling portion,
The other side of the elastic stretchable portion is fixedly coupled to the other side of the timing belt portion by placing the first grip lever or the second grip lever.
Electronic component holding device. According to claim 1,
The spacing adjuster further includes a guide rail that guides the movement of the pair of grip levers when they move to narrow or widen the gap between them by rotation of the rotating belt,
The guide rail is located below the rotating belt.
Electronic component holding device.

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