Electronic module gripper

Abstract

The present invention relates to an electronic module gripper and relates to an electronic module gripper for picking up electronic modules, such as an SDRAM and an SSD. The present invention provides an electronic module gripper comprising: a main body part (100) that has a main support portion (190) formed lengthwise in the X-axis direction; a rotating part (300) including a shaft (320), which is rotatably installed in the main body part (100) so as to be parallel with the main support portion (190), a rotation driving portion (310), which rotates the shaft (320), and a pair of movable blocks (330), which are moved in opposite directions along the X-axis direction by the rotation of the shaft (320); a guide part (220) which faces the shaft (320), is coupled to the main support portion (190), and includes a pair of guide rails (221) respectively coupled to guide blocks (222); and a pair of grip parts (200) including a grip member (210), which presses the side end of an electronic module (10), and a movable coupling portion (230), which is coupled and fixed to the movable blocks (330) and the guide blocks (222) and coupled to the grip member (210), and in which the guide blocks (222) move along the guide rails (221) as the movable block (330) moves in the longitudinal direction of the shaft (320).

Description

Electronic module gripper

[0001] The present invention relates to an electronic module gripper, and more particularly, to an electronic module gripper for picking up electronic modules such as SDRAM and SSD.

[0002] Electronic modules such as SDRAM and SSD are composed of a substrate on which multiple IC chips are mounted, and generally only good electronic modules are shipped to the market after being inspected and classified by a module handler.

[0003] Meanwhile, the module handler, which performs inspection, classification, etc. of electronic modules, is equipped with an electronic module gripper for picking up electronic modules and transfers them from a first location to a second location to perform processes such as inspection, classification, etc.

[0004] As an example of a conventional electronic module gripper, a configuration similar to that of Patent Document 1 is presented. However, the electronic module gripper of Patent Document 1 has a problem in that the structure of the device is complex and thus manufacturing is difficult.

[0005] In particular, the electronic module gripper of Patent Document 1 has a problem in that the gripping action of the memory element is unstable because the grip lever is configured to grip the memory element by rotation, as shown in FIG. 5 and FIG. 10 of Patent Document 1.

[0006] (Patent Document 1) KR 10-0607546 B1

[0007] The purpose of the present invention is to provide an electronic module gripper that can minimize self-weight and perform a stable gripping operation by simplifying the structure of the device in order to solve the above-mentioned problems.

[0008] The present invention has been created to achieve the above-described object of the present invention, and the present invention comprises a main body (100) having a main support portion (190) formed long in the X-axis direction; a rotation portion (300) including a shaft (320) rotatably installed in the main body (100) so as to be parallel to the main support portion (190), a rotation drive portion (310) that rotates the shaft (320), and a pair of moving blocks (330) that move in opposite directions along the X-axis direction by the rotation of the shaft (320); a guide portion (220) including a pair of guide rails (221) that are coupled to the main support portion (190) while facing the shaft (320) and each guide block (222) is coupled thereto; An electronic module gripper is disclosed, characterized in that it includes a pair of grip parts (200) including a grip member (210) that presses the side of an electronic module (10), and a movable coupling part (230) that is fixedly coupled to the movable block (330) and the guide block (222), and to which the grip member (210) is coupled, and the guide block (222) moves along the guide rail (221) as the movable block (330) moves in the longitudinal direction of the shaft (320).

[0009] Among the guide rails (221) of the above pair of grip portions (200), one guide rail (221) can be installed spaced apart in the Y-axis direction on a cross-section perpendicular to the X-axis with respect to the other guide rail (221).

[0010] The above main body (100) may include an upper support (130) that is positioned at a distance from the main support (190) so that the shaft (320) is positioned therebetween.

[0011] The upper support part (130) can be coupled with a vertical movement driving part (500) that moves the main body part (100) up and down.

[0012] The above-mentioned vertical movement driving unit (500) may include a fixed coupling unit (510) coupled to a structure; and a linear driving module (520) coupled to the fixed coupling unit (510) to move the main body unit (100) up and down.

[0013] The above main body (100) may include first and second end support parts (110, 120) that rotatably support the shaft (320) and are fixedly connected to the main support part (190) and the upper support part (130).

[0014] The above main support member (190), the upper support member (130), and the first and second end support members (110, 120) can be formed integrally.

[0015] The above rotary drive unit (310) can be installed by being supported on a drive support unit (121) installed at a distance from the second end support unit (120) in the longitudinal direction of the shaft (320). The drive shaft (313) of the above rotary drive unit (310) can be coupled to the shaft (320) by a coupler (319) positioned between the second end support unit (120) and the drive support unit (121).

[0016] Each of the movable coupling parts (230) of the above pair of grip parts (200) can be coupled in different directions across the longitudinal direction of the shaft (320).

[0017] The above-mentioned movable coupling part (230) may include a guide coupling part (231) to which the guide block (222) is fixedly coupled at the upper side and the grip member (210) is fixedly coupled at the lower side, and a side coupling part (232) connected to the guide coupling part (231) at the lower side and directly or indirectly coupled to the movable block (330) at the upper side.

[0018] The above moving block (330) has a rectangular cross-sectional shape, and the side coupling portion (232) can be coupled to the side surface of the moving block (330).

[0019] The electronic module gripper according to the present invention has the advantage of simplifying the structure of the device, minimizing its weight, and performing a stable gripping operation by installing a linear driving means (including a rotating part and a screw configuration) for linear movement of a pair of grip members on the upper side with respect to a main support part, and installing a guide means for guiding the linear movement of a pair of grip members on the lower side.

[0020] In particular, by positioning the moving block that is linearly moved by the screw of the linear driving means and the moving joint that is coupled to the guide block of the guide means in a point-symmetrical manner, and by positioning a pair of grip members coupled thereto on the center line in the width direction that is perpendicular to the length direction, the overall thickness of the device can be minimized.

[0021] Figure 1 is a front view of an electronic module gripper according to the present invention.

[0022] Figure 2 is a perspective view of an electronic module gripper.

[0023] Figure 3 is an exploded perspective view of the electronic module gripper of Figure 1.

[0024] Fig. 4 is a cross-sectional view taken along the Ⅳ-Ⅳ direction in Fig. 1.

[0025] Fig. 5 is a partial cross-sectional view taken along the V-V direction in Fig. 3.

[0026] Fig. 6 is a bottom view showing the bottom surface of the electronic module gripper of Fig. 1.

[0027] Hereinafter, an electronic module gripper according to the present invention will be described with reference to the attached drawings.

[0028] The electronic module gripper according to the present invention, as illustrated in FIGS. 1 to 6, comprises: a main body (100) having a main support portion (190) formed long in the X-axis direction; a rotation portion (300) including a shaft (320) rotatably installed in the main body (100) so as to be parallel to the main support portion (190), a rotation driving portion (310) that rotates the shaft (320), and a pair of moving blocks (330) that move in opposite directions along the X-axis direction by the rotation of the shaft (320); a guide portion (220) that is coupled to the main support portion (190) while facing the shaft (320) and includes a pair of guide rails (221) each coupled to a guide block (222); It includes a pair of grip parts (200) including a grip member (210) that presses the side of an electronic module (10), and a movable coupling part (230) that is fixedly coupled to the movable block (330) and the guide block (222), and to which the grip member (210) is coupled, and the guide block (222) moves along the guide rail (221) as the movable block (330) moves in the longitudinal direction of the shaft (320).

[0029] Here, the electronic module (10) that is the gripping target by the electronic module gripper according to the present invention is an electronic module having a PCB structure in which an IC chip such as a memory element is mounted, and any electronic module having a rectangular structure such as SDRAM or SSD (MVME standard) is possible.

[0030] The above main body (100) is a component that constitutes the main body of the electronic module gripper and may have a main support part (190) that is formed long in the X-axis direction.

[0031] The above main body (100) is configured to support the rotating part (300) and guide (220) described later, and various configurations are possible depending on the support structure.

[0032] In particular, it is preferable that the main body (100) be integrally formed of a metal material such as aluminum or aluminum alloy so as to form a compact electronic module gripper firmly.

[0033] The above main support part (190) is a part formed long in the X-axis direction so that the rotation part (300) and the guide part (220) are installed on the upper and lower sides, and may have a plate-shaped member structure with a rectangular plane shape.

[0034] It is preferable that the above main support member (190) have a width smaller than the width of the upper support member (130) described later, taking into account the upper and lower installation of the movable coupling member (230) described later.

[0035] Meanwhile, the main body (100) may include an upper support (130) that is positioned at a distance from the main support (190) so that the shaft (320) is positioned therebetween.

[0036] The upper support part (130) is a part that is positioned at a distance from the main support part (190) so that the shaft (320) is positioned therebetween, and various configurations are possible.

[0037] For example, the upper support member (130) may have a structure of a plate-like member arranged parallel to the main support member (190) with a gap greater than the vertical width of the movable block (330) so as not to impede the X-axis movement of the movable block (330) coupled to the shaft (320).

[0038] At this time, the transverse width of the upper support member (130) is formed to be larger than the width of the main support member (190).

[0039] And the upper support member (130) can be formed integrally by being connected to the first and second end support members (110, 120) described later, which are connected to both ends of the main support member (190).

[0040] Meanwhile, the upper support part (130) may be equipped with a connection module (420) for wired or wireless connection with a control part (not shown) for transmitting a control signal to a rotary drive part (310) described later, transmitting a detection signal from a first initial position detection sensor (410) for detecting the initial position of the grip member (210) in the X-axis direction, etc.

[0041] The above first initial position detection sensor (410) is configured to detect the initial position of the grip member (210) in the X-axis direction by being coupled to the main support member (190), and various configurations are possible.

[0042] For example, the first initial position detection sensor (410) can be configured in various ways depending on the initial position detection method, such as a contact sensor that protrudes from the bottom surface of the main support member (190) and comes into contact with the grip member (210) to detect the initial position of the grip member (210).

[0043] The above connection module (420) is configured for wired or wireless connection with a control unit (not shown) for the purpose of transmitting a control signal to a rotary drive unit (310) described later, transmitting a detection signal from a first initial position detection sensor (410) for detecting the initial position of the grip member (210) in the X-axis direction, etc., and various configurations are possible depending on the wired or wireless connection structure.

[0044] First, the above connection module (420) may include various wireless modules depending on the wireless connection method, such as WIFI, Bluetooth, Zigbee, etc., when connected wirelessly to the control unit.

[0045] And, the above connection module (420) may be configured as a connection terminal to which a signal transmission line (not shown) for signal transmission with the control unit is connected when connected to the control unit by wire.

[0046] Meanwhile, the upper support part (130) may be formed with a through hole (420) for the efficiency of wiring connection for connection with the rotary drive part (310) and the first initial position sensor (410).

[0047] And when connecting the wiring to the first initial position sensor (410), the shaft (320) may come into contact with the shaft (320), thereby hindering the rotation of the shaft (320) or damaging the wiring. Therefore, a cover member (170) that covers the shaft (320) may be installed at the location where the wiring passes.

[0048] The above cover member (170) is configured to cover the shaft (320) at a location where the wiring passes in order to prevent the shaft (320) from coming into contact with the shaft (320) when connecting the wiring to the first initial position sensor (410) and from interfering with the rotation of the shaft (320) or damaging the wiring, and various configurations are possible.

[0049] The above-mentioned through-hole (420) is a through-hole formed by penetrating the upper support member (130) vertically for the efficiency of wiring connection for connection with the rotary drive member (310) and the initial position sensor (410), and can be installed with an appropriate size taking into consideration wiring connection, etc.

[0050] And the above connection module (420) can be installed by being fixed to the upper support part (130) by a fixing bracket (421) with respect to the upper support part (130).

[0051] Meanwhile, the upper support part (130) can be coupled with a vertical movement driving part (500) that moves the main body part (100) up and down.

[0052] The above-mentioned vertical movement unit (500) is configured to move the main body unit (100), i.e., the electronic module gripper, up and down by being coupled to the upper support unit (130), and various configurations are possible depending on the vertical movement method.

[0053] For example, the vertical movement driving unit (500) may include a fixed coupling unit (510) that is coupled to a structure; and a linear driving module (520) that is coupled to the fixed coupling unit (510) and moves the main body unit (100) up and down.

[0054] The above fixed coupling part (510) is configured to be coupled to a structure (not shown) such as a linear movement module (not shown) installed on an electronic module handler, etc., so as to be linearly moved in at least one of the X-axis and Y-axis directions, and various configurations are possible depending on the coupling structure with the structure.

[0055] The above linear drive module (520) is connected to the fixed coupling part (510) and can be configured in various ways depending on the vertical drive method for moving the main body part (100) up and down.

[0056] As an example, the linear drive module (520) may be configured as a pneumatic cylinder installed in the fixed joint (510) to drive movement of the main body (100) in the Z-axis direction.

[0057] Meanwhile, the main body (100) may include first and second end support parts (110, 120) that rotatably support the shaft (320) and are fixedly connected to the main support part (190) and the upper support part (130).

[0058] The first and second end support members (110, 120) are configured to rotatably support the shaft (320) and are fixedly connected to the main support member (190) and the upper support member (130), and various configurations are possible.

[0059] For example, the first and second end support members (110, 120) may be integrally connected to both ends of the main support member (190) and may be formed integrally by extending vertically and connecting to the upper support member (130).

[0060] That is, the main support member (190), the upper support member (130), and the first and second end support members (110, 120) can be formed integrally.

[0061] And the first and second end support members (110, 120) can rotatably support the shaft (320) by installing bearing members (390, 382).

[0062] Meanwhile, the first and second end support members (110, 120) are configured to rotatably support one of the two ends of the shaft (320), and are positioned corresponding to the two ends of the shaft (320).

[0063] And the first and second end support parts (110, 120) may have a rectangular shape when viewed from the side, i.e., in the X-axis direction.

[0064] And the first and second end support members (110, 120) can be formed with a sufficient thickness to stably support both ends of the shaft (320).

[0065] Meanwhile, among the first and second end support parts (110, 120), the second end support part (120) has an end of the shaft (320) that protrudes further outward so that it can be rotatably coupled with the rotary drive part (310) described later.

[0066] That is, as illustrated in FIG. 5, the shaft (320) is inserted into a bearing member (382) installed in the second end support member (120) and is rotatably supported by the second end support member (120), and protrudes between the second end support member (120) and the drive member support member (121) by penetrating the bearing member (382) and is coupled to the drive shaft (313) of the rotary drive member (310) described later by a coupler (319).

[0067] Meanwhile, as shown in FIG. 2, the main body (100) may be joined to a pair of cover plates (181, 182) on the side to protect the configuration of the rotating part (300) after the assembly of the rotating part (300) described later is completed.

[0068] The above pair of cover plates (181, 182) are configured to protect the configuration of the rotating section (300) by being combined on the side of the main body (100), and can be configured in various ways, such as by being configured with a thin metal plate.

[0069] The above-mentioned rotating part (300) is configured to include a shaft (320) rotatably installed in the main body (100) in parallel with the main support part (190), a rotating driving part (310) that rotates the shaft (320), and a pair of moving blocks (330) that move in opposite directions along the X-axis direction by the rotation of the shaft (320), and various configurations are possible.

[0070] The above shaft (320) is configured to be rotatably installed in the main body (100) in a manner parallel to the main support (190), and is configured to linearly move the movable block (330) in the X-axis direction by rotation through combination with the movable block (330) described later, and various configurations are possible.

[0071] For example, the shaft (320) may be rotatably supported at one end by the first end support (110) and at the other end by the second end support (120), and may be rotatably coupled to the rotary drive unit (310) by a coupler (319) so as to be rotated by the rotary drive unit (310) described below.

[0072] And, considering the movement section of the grip member (210) described later, the shaft (320) is formed with a left-hand thread portion and a right-hand thread portion on the outer surface, and a movement block (330) can be coupled to each of the left-hand thread portion and the right-hand thread portion.

[0073] The above rotary drive unit (310) is configured to rotate the shaft (320), and can have various configurations depending on the rotary drive method.

[0074] As an example, the rotary drive unit (310) may be a rotary motor that generates rotational force by electricity.

[0075] And the above rotary drive unit (310) can be combined with a reducer (312) for reducing the rotational force.

[0076] Meanwhile, the rotary drive unit (310) may be installed by being supported on a drive support unit (121) installed at a distance from the second end support unit (120) in the longitudinal direction of the shaft (320).

[0077] The above driving support member (121) is configured to be installed at a distance from the second end support member (120) in the longitudinal direction of the shaft (320), and various configurations are possible.

[0078] For example, the driving support member (121) may be configured as a plate-shaped member that is detachably coupled to the side of the main body member (100).

[0079] In particular, the driving support member (121) may have the same shape as the first end support member (110) so as to form a side surface opposite to the other side surface of the main body (100) having the shape of a rectangular parallelepiped when coupled to the side surface of the main body (100).

[0080] Meanwhile, when the drive shaft (313) of the rotary drive unit (310) and the reducer are coupled, the output shaft of the reducer can be coupled to the shaft (320) by a coupler (319) located between the second end support unit (120) and the drive unit support unit (121).

[0081] The above coupler (319) is installed between the second end support (120) and the drive support (121) and is configured to connect the drive shaft (313) of the rotary drive (310), the output shaft of the reducer when the reducer is coupled, and the shaft (320), and various configurations are possible depending on the shaft connection structure.

[0082] Meanwhile, when the coupler (319) is coupled to the drive shaft (313) of the rotary drive unit (310) and the shaft (320), it is necessary for the axial position to be constantly coupled while being coupled to the drive shaft (313) of the rotary drive unit (310) and the shaft (320).

[0083] Accordingly, before the coupler (319) is coupled to the drive shaft (313) of the rotary drive unit (310) and the shaft (320), the shaft position alignment member (383) can be fitted and coupled to the end of the shaft (320).

[0084] The above-mentioned shaft position alignment member (383) is a member that is fitted at the end of the shaft (320) before the coupler (319) is coupled to the drive shaft (313) of the rotary drive unit (310) and the shaft (320) and is in close contact with the inner ring of the bearing member (382) installed on the second end support member (120) - the part of the bearing member (382) that rotates together with the shaft (320). Various configurations, such as a cylindrical member, are possible.

[0085] When the above-mentioned axial position alignment member (383) is fitted and fixed at the end of the shaft (320) before the coupler (319) is coupled to the drive shaft (313) of the rotary drive unit (310) and the shaft (320), the assembler can assemble the coupler (319) by pressing the coupler (319) toward the axial position alignment member (383) when coupling the coupler (319) to the drive shaft (313) of the rotary drive unit (310) and the shaft (320), thereby maintaining the axial position of the coupler (319) constant.

[0086] Meanwhile, the main body (100) may be formed by extending an extension (122) in the X-axis direction from the second end support (120) and the upper support (130) so that the space between the second end support (120) and the driving unit support (121) is closed together with the driving unit support (121) and the second end support (120).

[0087] The above extension (122) is formed by extending in the X-axis direction from the second end support (120) and the upper support (130), and is a part that closes the space between the second end support (120) and the drive support (121) together with the drive support (121) and the second end support (120), and various configurations are possible.

[0088] The above pair of moving blocks (330) are configured to move in opposite directions along the X-axis direction by the rotation of the shaft (320), and the rotation driving part (310) that rotates the shaft (320), and are installed to move in opposite directions along the X-axis direction at positions corresponding to a pair of grip members (210) described below.

[0089] That is, the moving block (330) has a through hole formed into which the shaft (320) is inserted, and the inner surface of the through hole has screw threads corresponding to a left-hand screw portion and a right-hand screw portion formed therein, so that the pair of moving blocks (330) move in opposite directions along the X-axis direction by the rotation of the shaft (320).

[0090] Meanwhile, the movable block (330) has a rectangular cross-sectional shape for convenience of connection with the movable coupling part (230) described later, and the side coupling part (232) can be connected to the side of the movable block (330).

[0091] And the above moving block (330) may have a material such as a metal material such as aluminum or aluminum alloy, or a material such as a strong engineering plastic.

[0092] Meanwhile, in order to control the movement of the moving block (330), it is necessary to detect the initial position of the moving block (330).

[0093] Accordingly, a second initial position detection sensor (430) for detecting the initial position of at least one of the pair of moving blocks (330) may be installed on the lower side of the main body (100), for example, the upper support part (130).

[0094] The above second initial position detection sensor (430) is installed on the lower side of the upper support member (130) and is configured to detect the initial position of at least one of the pair of moving blocks (330). Various configurations are possible, such as a contact detection sensor, as long as it is a sensor that can detect the initial position of the moving block (330).

[0095] The above guide part (220) is configured to be coupled to the main support part (190) facing the shaft (320) and includes a pair of guide rails (221) each coupled with a guide block (222), and various configurations are possible.

[0096] The above pair of guide rails (221) are configured to face the shaft (320) and are coupled to the main support member (190), i.e., the bottom surface of the main support member (190), to guide the movement of the guide block (222) in the X-axis direction. Various configurations are possible depending on the coupling structure with the guide block (222).

[0097] Meanwhile, the pair of guide rails (221) are preferably installed laterally offset from the center line of the bottom surface of the main support member (190) to ensure tight connection with the movable joint member (230) described later.

[0098] Specifically, one of the pair of guide rails (221) is installed with the center line (L1) offset to the first side with respect to the center line (L0) of the main support member (190), as shown in FIGS. 4 and 6, and the other is installed with the center line (L2) offset to the second side with respect to the center line (L0) of the bottom surface of the main support member (190).

[0099] At this time, one of the pair of moving coupling parts (230) described later is coupled with a guide block (222) coupled to a guide rail (221) installed offset to the first side, and the other is coupled with a guide block (222) coupled to a guide rail (221) installed offset to the second side.

[0100] That is, among the guide rails (221) of the pair of grip portions (200), one guide rail (221) can be installed spaced apart in the Y-axis direction on a cross-section perpendicular to the X-axis with respect to the other guide rail (221).

[0101] And each of the movable coupling parts (230) of the pair of grip parts (200) can be coupled in different directions across the longitudinal direction of the shaft (320).

[0102] At this time, the movable joint (230) is aligned with the center line (L) of the guide rail (221) based on the center line (L0) of the bottom surface of the main support (190). 1, 2 ) is preferably coupled to the guide block (222) at a position opposite to the guide block (222).

[0103] From another perspective, it is preferable that the pair of movable coupling parts (230) be positioned point-symmetrically with respect to the longitudinal center of the main support part (190) (based on the part where the guide rail (221) is installed).

[0104] By the above configuration, the movable joint (230) has the same structure regardless of the installation location, and can improve productivity such as inventory management by reducing the number of types of parts.

[0105] If the above pair of movable coupling parts (230) are positioned on the same side based on the center line (L0) of the bottom surface of the main support part (190), there is a problem that the pair of movable coupling parts (230) have different shapes due to line symmetry, which increases the number of types of parts, increases the number of parts manufactured, and makes inventory management inconvenient.

[0106] Meanwhile, when the pair of movable coupling parts (230) are positioned symmetrically with respect to the longitudinal center of the main support part (190) (based on the portion where the guide rail (221) is installed), the position of the grip member (210) coupled to the movable coupling part (230) can be positioned at the center line (L0) of the bottom surface of the main support part (190).

[0107] When the grip member (210) is positioned on the center line (L0) of the bottom surface of the main support member (190), the thickness of the main body member (100) can be minimized.

[0108] By using the structure as described above, the width of the main support member (190) can be made relatively large enough to increase rigidity, and the grip member (210) can be moved linearly in a stable manner.

[0109] The above pair of grip parts (200) includes a grip member (210) that presses the side end of the electronic module (10), and a movable coupling part (230) that is fixedly coupled to the movable block (330) and the guide block (222), and to which the grip member (210) is coupled, and in which the guide block (222) moves along the guide rail (221) as the movable block (330) moves in the longitudinal direction of the shaft (320), and various configurations are possible.

[0110] The above grip member (210) is configured to pressurize the side of the electronic module (10), and can have various configurations depending on the structure of the electronic module (10) that is the grip target.

[0111] For example, the grip member (210) may have a cross-sectional shape in the shape of a ‘V’.

[0112] And the grip member (210) can be combined with the movable joint (230) by various combination structures.

[0113] The above movable coupling part (230) is fixedly coupled to the movable block (330) and the guide block (222), and the grip member (210) is coupled thereto. As the movable block (330) moves in the longitudinal direction of the shaft (320), the guide block (222) moves along the guide rail (221), and various configurations are possible.

[0114] For example, the movable coupling part (230) may include a guide coupling part (231) to which the guide block (222) is fixedly coupled at the upper side and the grip member (210) is fixedly coupled at the lower side, and a side coupling part (232) connected to the guide coupling part (231) at the lower side and directly or indirectly coupled to the movable block (330) at the upper side.

[0115] The above guide coupling portion (231) has a configuration in which the guide block (222) is fixedly coupled to the upper side and the grip member (210) is fixedly coupled to the lower side, and may have a rectangular structure when viewed from the side.

[0116] The above-mentioned lateral coupling portion (232) is configured to be connected to the guide coupling portion (231) at the bottom and extend upward to be directly or indirectly coupled to the moving block (330) at the top, and various configurations are possible.

[0117] Meanwhile, the above-mentioned movable joint (230) is formed by one or more members, particularly one member formed integrally, and it is preferable to use an electrically conductive metal material such as aluminum or an aluminum alloy for grounding static electricity.

[0118] Specifically, the above-mentioned moving joint (230) is made of aluminum and its surface can be anodized.

[0119] At this time, as a grounding structure for discharging static electricity that may be generated in the grip member (210), guide block (222), etc., through the moving block (330) and shaft (320), the moving coupling part (230) is designed so that the screw hole for coupling with the moving block (330) described above is not anodized when the surface is anodized, so that the bolt is coupled to the moving block (330) through the screw hole, thereby discharging the static electricity transmitted to the moving coupling part (230) by transmitting the static electricity to the moving block (330).

[0120]

[0121] The above is only a description of some of the preferred embodiments that can be implemented by the present invention, and as is well known, the scope of the present invention should not be construed as being limited to the above embodiments, and the technical idea of ​​the present invention described above and the technical idea that shares its basis are all included in the scope of the present invention.

Claims

1. A main body (100) having a main support portion (190) formed long in the X-axis direction; A rotating part (300) including a shaft (320) rotatably installed in the main body (100) in parallel with the main support part (190), a rotating driving part (310) that rotates the shaft (320), and a pair of moving blocks (330) that move in opposite directions along the X-axis direction by the rotation of the shaft (320); A guide part (220) including a pair of guide rails (221) each coupled with a guide block (222) and coupled to the main support part (190) facing the shaft (320); An electronic module gripper characterized by comprising a pair of grip parts (200) including a grip member (210) that presses the side of an electronic module (10), and a movable coupling part (230) that is fixedly coupled to the movable block (330) and the guide block (222) and to which the grip member (210) is coupled, and the guide block (222) moves along the guide rail (221) as the movable block (330) moves in the longitudinal direction of the shaft (320).

2. In claim 1, An electronic module gripper characterized in that one of the guide rails (221) of the above pair of grip parts (200) is installed spaced apart in the Y-axis direction on a cross-section perpendicular to the X-axis with respect to the other guide rail (221).

3. In claim 1, The above main body (100) is An electronic module gripper characterized by including an upper support member (130) arranged at a distance from the main support member (190) so that the shaft (320) is positioned therebetween.

4. In claim 3, An electronic module gripper characterized in that the upper support part (130) is coupled with a vertical movement driving part (500) that moves the main body part (100) up and down.

5. In claim 4, The above Shanghai Donggu Dongbu (500) is, A fixed joint (510) that is connected to a structure; An electronic module gripper characterized by including a linear drive module (520) coupled to the fixed coupling part (510) to move the main body part (100) up and down.

6. In any one of claims 1 to 5, The above main body (100) is An electronic module gripper characterized by including first and second end support parts (110, 120) that rotatably support the shaft (320) and are fixedly connected to the main support part (190) and the upper support part (130).

7. In claim 6, An electronic module gripper characterized in that the main support member (190), the upper support member (130), and the first and second end support members (110, 120) are formed integrally.

8. In claim 7, The above rotary drive unit (310) is An electronic module gripper characterized in that it is supported and installed on a drive support member (121) installed at a distance from the second end support member (120) in the longitudinal direction of the shaft (320).

9. In claim 8, An electronic module gripper characterized in that the drive shaft (313) of the above rotary drive unit (310) is coupled to the shaft (320) by a coupler (319) located between the second end support unit (120) and the drive unit support unit (121).

10. In any one of claims 1 to 5, Each of the movable coupling parts (230) of the above pair of grip parts (200) is An electronic module gripper characterized in that it is coupled in different directions across the length of the shaft (320).

11. In claim 10, The above moving coupling part (230) is A guide joint part (231) in which the guide block (222) is fixedly coupled to the upper side and the grip member (210) is fixedly coupled to the lower side, An electronic module gripper characterized by including a lateral coupling portion (232) connected to the guide coupling portion (231) at the bottom and directly or indirectly coupled to the moving block (330) at the top.

12. In claim 11, An electronic module gripper characterized in that the above moving block (330) has a rectangular cross-sectional shape and the side coupling portion (232) is coupled to the side surface of the moving block (330).

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