KR102134449B1 - Pickup module unit - Google Patents

Abstract

The present invention relates to a circuit board transfer device, which comprises: a fixing jig fixing and seating a circuit board in at least one area inside by using magnetic force; a base unit coupled to the fixing jig using magnetic force; an adsorption transmission unit individually adsorbing the fixing jig and moving vertically and horizontally toward the base unit; a horizontal transfer unit moving the base unit in a horizontal direction; a processing unit performing surface mounting (SMT) work on an exposed area of the circuit board mounted on the fixing jig; a separating unit including a robot arm and a pickup module separating the circuit board from the fixing jig; and a control unit controlling an operation.

Description

Pickup module unit

The present invention relates to a pick-up module device, more specifically, to carry out the transfer, processing and loading of the substrate, it is possible to improve the on-site working environment by handling a large number of substrates more stably and statically, and pick-up nozzle The adsorption port of the present invention relates to a circuit board transfer device including a pickup module device that is formed in a rectangular shape to prevent rotation of the circuit board.

Techniques for transporting various substrates (eg, circuit boards) have been mainly developed as part of the initial input and processing processes and the speed of transport between processes and prevention of falling during transport. However, most of these substrates are not handled in small quantities, but are handled to be rapidly input and processed in large quantities. Therefore, there is a problem in that stable and static handling is difficult in the transfer of the substrate and the processing during the transfer. Therefore, there is a disadvantage that it is not easy to make the handling of the substrate more stable.

On the other hand, the above-described background technology is the technical information acquired by the inventor for the derivation of the present invention or acquired in the derivation process of the present invention, and is not necessarily a known technology disclosed to the general public before filing the present invention. .

Korean Registered Patent No. 10-1332318

One aspect of the present invention, to perform the loading, transfer and processing of the circuit board, to provide a circuit board transfer device capable of improving the field work environment by making the handling of a large number of substrates more stable and static.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

The circuit board transport apparatus according to an embodiment of the present invention may include a fixing jig for fixing the circuit board to at least one region therein by using magnetic force.

In one embodiment, the fixing jig is formed to correspond to the shape of the fixing jig so that it can be seated, a base portion coupled using the fixing jig and magnetic force; An adsorption transmission unit for vertically and horizontally moving the fixing jig individually by adsorbing the fixing jig from a tray in which the plurality of fixing jigs on which the circuit board is fixedly seated are vertically loaded; A horizontal conveying part for moving the base part on which the fixing jig is seated in a horizontal direction; A processing unit receiving the fixing jig seated on the base unit from the horizontal transfer unit and performing surface mounting (SMT) on an exposed area of the circuit board seated on the fixing jig; When the surface mounting operation of the processing unit is completed, a separation unit including a robot arm and a pickup module for separating the circuit board from the fixing jig; And a control unit for controlling the operation of the base portion, the fixing jig, the adsorption transfer unit, the horizontal transfer unit, the processing unit and the separation unit, the fixing jig, the circuit board may be seated on the upper surface A body module including a magnet unit in at least one region of the substrate seating groove; A protection module that covers the upper surface of the circuit board and is attached using the body module and magnetic force so that the circuit board can be temporarily attached to the substrate seating groove; And at least one handle module formed in a ring shape on a side surface of the upper surface of the protection module, wherein the base portion has a coupling groove corresponding to the shape of the body module so that the body module can be seated thereon. , The at least one area of the coupling groove includes an electromagnet unit formed at a position corresponding to the magnet unit, and the adsorption delivery unit sequentially adsorbs a plurality of the fixing jigs stacked vertically on the tray in an adsorption nozzle. Vacuum module comprising a; A moving module for moving the vacuum module in at least one of the x-axis, y-axis, and z-axis to move the fixing jig to the loading position of the horizontal transfer unit; It is provided on one side of the moving module includes a distance sensor module for measuring the Z-axis movement distance, the control unit, in controlling the adsorption transmission unit, moving the adsorption nozzle to the tray loaded with the fixing jig Step 1, a second step of adsorbing the fixing jig by adding a vacuum to the adsorption nozzle, a third step of moving the adsorption nozzle to the loading position of the horizontal transfer part, and releasing the vacuum of the adsorption nozzle to fix the The jig is sequentially controlled including a fourth step of separating it from the adsorption-transfer unit, and the control unit continuously performs the first to the above steps until all of the fixed jigs loaded in multiple stages in one tray are consumed. After performing the fourth step, the adsorption nozzle is moved to another subsequent tray to sequentially perform the first to fourth steps again, and the control unit is stacked in the vertical direction of the tray. In order to sequentially adsorb the fixed jig with a predetermined vacuum force, the distance between the suction nozzle and the fixed jig is kept constant, and the controller controls the z-axis of the mobile module by the distance sensor module. By adjusting the vertical movement distance, to maintain a constant distance between the adsorption nozzle and the fixing jig, the control unit, when the fixing jig is seated in the coupling groove of the base portion, the electric current to the electromagnet unit After applying, the electromagnet unit and the magnet unit are coupled using magnetic force, and then the fixing jig and the base are moved to the processing unit through the horizontal transfer unit, and the control unit performs surface mounting by the processing unit. After completion, when the robot arm grasps the handle module, the current is added to the electromagnet unit to enhance the bonding force between the base part and the body module, and the control unit is configured to allow the pickup module to connect the circuit board to the body module. The current is added to the electromagnet unit until it is separated from the base unit, the adsorption transmission unit, the horizontal transfer unit, the processing unit, and the separation unit from one main supply line. It is further supplied with power, and is further formed in at least one area of the main supply line, and further includes a power measurement device for measuring power consumption. The power measurement device includes: the base unit, the adsorption transmission unit, the horizontal transfer unit, A measuring module measuring a current of the main supply line that supplies power to the processing unit and the separation unit; A storage module for storing data indicating a current change pattern of the main supply line when the base part, the adsorption transfer part, the horizontal transfer part, the processing part and the separation part each operate by receiving power from the main supply line ; And when the base unit, the adsorption transmission unit, the horizontal transfer unit, the processing unit, and the separation unit each operate by receiving power from the main supply line, the current change detected through the measurement module and the storage module And a judgment module that compares the stored data and determines an electronic device operating among the base, the adsorption and transfer section, the horizontal transfer section, the processing section, and the separation section, and the determination module includes the detected current change. Based on the result of frequency conversion, at least one of the current change slope in a predetermined frequency section and an offset frequency corresponding to a predetermined current magnitude is extracted, and the extracted value is compared with the data stored in the storage module, so that the base part and the adsorption are performed. An electronic device operating among the transfer unit, the horizontal transfer unit, the processing unit, and the separation unit is determined, and the determination module determines the current of the predetermined frequency section by considering the center frequency of the current supplied through the main supply line. An electronic device operating among the base unit, the adsorption transmission unit, the horizontal transfer unit, the processing unit, and the separation unit is determined by comparing the gradient of change with data stored in the storage module, and the determination module includes the base unit. , Based on the operating time and the amount of power used per unit time of the electronic device operating among the adsorption transfer unit, the horizontal transfer unit, the processing unit and the separation unit, operating among the separation module, the cutting module, and the cutting transfer module Calculate the amount of power used by the electronic device, and at least one area of the base unit, the adsorption transmission unit, the horizontal transfer unit, the processing unit, and the separation unit, further includes a worker fatigue measuring device including a camera module and a distance sensing module. It can contain.

The circuit board transport apparatus according to an embodiment of the present invention may include a separation unit including at least one pickup module to adsorb and move the circuit board.

In one embodiment, a substrate mounting groove corresponding to the shape of the circuit board module is formed so that the circuit board is seated on the upper surface, and a body module including an electronic unit in at least one area of the substrate mounting groove; A protection module that covers the upper surface of the circuit board and is attached using the body module and magnetic force so that the circuit board can be temporarily attached to the substrate seating groove; And a fixing jig including at least one handle module formed in a ring shape on a side surface of the upper surface of the protection module. A base portion formed to correspond to the shape of the fixing jig so that the fixing jig can be seated and coupled with the fixing jig using magnetic force; An adsorption transmission unit for vertically and horizontally moving the fixing jig individually by adsorbing the fixing jig from a tray in which the plurality of fixing jigs on which the circuit board is fixedly seated are vertically loaded; A horizontal conveying part for moving the base part on which the fixing jig is seated in a horizontal direction; And a processing unit receiving the fixing jig seated on the base unit from the horizontal transfer unit and performing a surface mount (SMT) operation on an exposed area of the circuit board seated on the fixing jig. When the surface mounting operation of the part is completed, the robot arm and the pickup module for separating the circuit board from the fixing jig, the control unit, when the fixing jig is seated in the coupling groove of the base portion, the current to the electromagnet unit After applying, the electromagnet unit and the magnet unit are coupled using magnetic force, and then the fixing jig and the base are moved to the processing unit through the horizontal transfer unit, and the control unit completes the surface mounting operation by the processing unit. Then, when the robot arm grips the handle module, the current is added to the electromagnet unit to strengthen the bonding force between the base part and the body module, and the control unit may cause the pickup module to separate the circuit board from the body module. Until the current is added to the electromagnet unit, the base portion, the adsorption transfer portion, the horizontal transfer portion, the processing portion and the separation portion are supplied with power from one main supply line, and at least one area of the main supply line It is formed and further includes a working power measuring device for measuring the working power, wherein the working power measuring device, the base portion, the adsorption transfer unit, the horizontal transfer unit, the processing unit and the separation unit for supplying power A measurement module for measuring the current of the main supply line; A storage module for storing data indicating a current change pattern of the main supply line when the base part, the adsorption transfer part, the horizontal transfer part, the processing part and the separation part each operate by receiving power from the main supply line ; And when the base unit, the adsorption transmission unit, the horizontal transfer unit, the processing unit, and the separation unit each operate by receiving power from the main supply line, the current change detected through the measurement module and the storage module And a judgment module that compares the stored data and determines an electronic device operating among the base, the adsorption and transfer section, the horizontal transfer section, the processing section, and the separation section, and the determination module includes the detected current change. Based on the result of frequency conversion, at least one of the current change slope in a predetermined frequency section and an offset frequency corresponding to a predetermined current magnitude is extracted, and the extracted value is compared with the data stored in the storage module, so that the base part and the adsorption are performed. An electronic device operating among the transfer unit, the horizontal transfer unit, the processing unit, and the separation unit is determined, and the determination module determines the current of the predetermined frequency section by considering the center frequency of the current supplied through the main supply line. An electronic device operating among the base unit, the adsorption transmission unit, the horizontal transfer unit, the processing unit, and the separation unit is determined by comparing the gradient of change with data stored in the storage module, and the determination module includes the base unit. , Based on the operating time and the amount of power used per unit time of the electronic device operating among the adsorption transfer unit, the horizontal transfer unit, the processing unit and the separation unit, operating among the separation module, the cutting module, and the cutting transfer module The amount of power used by the electronic device is calculated, and the pickup module includes: a pickup body; A pickup nozzle attached detachably to the pickup body; Stopper means for fastening the pickup body and the pickup nozzle; And an adsorption passage connecting the pickup body and the pickup nozzle, the stopper means comprising: a circumferential V-shaped groove formed in the pickup nozzle; A ball fitted into the V-shaped groove; It includes a clamp shaft supported by the pickup body and a plate spring joining the clamp shaft inward, and the suction port of the pickup nozzle is formed in a rectangular shape to prevent rotation of the circuit board.

In one embodiment, the apparatus for measuring worker fatigue includes: a camera module generating worker image data, which is image data looking in a direction in which the worker is located; A distance detection module including a plurality of distance detection sensors configured to measure distances to the workers according to heights, and generating distance data for each of the distance detection sensors; A memory module that stores the worker image data and the distance data, and stores a pure working time measurement program code that classifies the worker's time data into one of'break','break', and'work'; And a processing module for processing the pure working time measurement program code using the worker image data and the distance data, wherein the pure working time measurement program code receives the worker image data generated by the camera module. A worker receiving video data; A silhouette width data generation step of detecting a silhouette section of the worker from the worker image data to construct a bounding box, and then generating silhouette width data by estimating the silhouette width of the worker; An effective distance determining step of determining whether the worker is located within an effective distance using the silhouette width data; A task classification step of classifying the worker's time data into'work' despite the distance data generated by the distance detection module when it is determined that the worker is located within the effective distance; And if the silhouette section of the effective distance is not detected in the worker image data after the time data of the worker is classified as the'work', or if it is determined that the worker is not located within the effective distance, the distance detection. A computer that performs a subsequent classification step of subsequently classifying the worker's time data after being classified as the'job' into one of'escape','rest' and'job' based on the distance data received from the module It includes a readable program code, and in the subsequent classification step, if the distance data measured by the plurality of distance detection sensors are all above the effective distance, it is subsequently classified as'deviation', and some of the plurality of distance detection sensors If the distance data measured in the distance exceeds the effective distance and the rest is within the effective distance, it is subsequently classified as'rest', and when the distance data measured by the plurality of distance detection sensors are all within the effective distance, the'work' Subsequently classified as', and in the subsequent classification step, when the distance data is measured within the effective distance, the distance standard deviation information that is information about the standard deviation for a specific time period of the distance data is generated, and the distance standard deviation information If is less than a specific value, it is determined that the distance data is not measured within the effective distance, and subsequent classification is performed.

According to one aspect of the present invention described above, it is possible to improve the reliability of the work through stable support of the circuit board, and performs the loading, transfer, and processing of the substrate, so that handling of a large amount of substrate is more stable and static While improving the work environment in the field, it is possible to provide an effect of increasing work efficiency and improving productivity.

1 and 2 show a fixing jig according to an embodiment of the present invention.
3 shows a fixing jig and a base part according to an embodiment of the present invention.
4 is a configuration diagram of a circuit board transport apparatus according to an embodiment of the present invention.
5 shows an adsorption delivery unit according to an embodiment of the present invention.
6 and 7 show a pickup module according to an embodiment of the present invention.
8 is a view for explaining an apparatus for measuring power consumption according to an embodiment of the present invention.
9 is a view showing the internal configuration of a power measuring apparatus 900 according to an embodiment of the present invention.
10 is an operation flowchart of an apparatus for measuring power consumption according to an embodiment of the present invention.
11 is a configuration diagram of a worker fatigue measuring apparatus according to an embodiment of the present invention.

For a detailed description of the present invention, which will be described later, reference is made to the accompanying drawings that illustrate, by way of example, specific embodiments in which the invention may be practiced. These examples are described in detail enough to enable those skilled in the art to practice the present invention. It should be understood that the various embodiments of the invention are different, but need not be mutually exclusive. For example, certain shapes, structures, and properties described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in connection with one embodiment. In addition, it should be understood that the location or placement of individual components within each disclosed embodiment can be changed without departing from the spirit and scope of the invention. Therefore, the following detailed description is not intended to be taken in a limiting sense, and the scope of the present invention, if appropriately described, is limited only by the appended claims, along with all ranges equivalent to those claimed. Like reference numerals in the drawings refer to the same or similar functions throughout the several aspects.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the drawings.

1 and 2 show a fixing jig according to an embodiment of the present invention.

1 and 2, the fixing jig 1 according to an embodiment of the present invention includes a body module 11 and a protection module 12.

The body module 11 is formed with a substrate mounting groove 11-1 corresponding to a circuit board shape so that the circuit board P can be seated on the upper surface. In addition, the body module 11 includes a magnet unit 11-2 in at least one area of the substrate mounting groove 11-1.

The protection module 12 covers the upper surface of the circuit board P, and is attached using the body module 11 and magnetic force so that the circuit board P can be temporarily attached to the substrate mounting groove 11-1. . At least one area of the protection module 12 is through, and the area of the circuit board P located in the through area is exposed to the outside. Depending on the embodiment, the exposed area may be specified as a surface mounting operation. That is, the surface mounting (SMT) operation of the perforated area is performed, and the area of the circuit board (P) located in the non-perforated area is protected from contamination, damage, or foreign matter when the surface mounting operation is performed by the protection module 12 do. The protection module 12 may include an iron component coupled to the magnet in at least one region. The body module 11 and the protection module 12 are attached by using a magnetic force, thereby more stably supporting the position of the circuit board P positioned therebetween.

2, the fixing jig 1 according to an embodiment of the present invention may further include a handle module (13). The handle module 13 is formed in a ring shape on the side surface of the upper surface of the protection module 12, and at least one or more may be formed on the side surface of the upper surface of the protection module 12. The handle module 13 is a configuration for easily disengaging from the fixing jig 1 of the circuit board P after the surface mounting operation, in particular, the protection module 12 coupled by magnetic force from the body module 11 It is a structure for easily leaving.

3 shows a fixing jig and a base part according to an embodiment of the present invention.

Referring to Figure 3, the base portion 100 according to an embodiment of the present invention may be formed to correspond to the shape of the fixing jig 1 so that the fixing jig 1 can be seated, the fixing jig 1 And magnetic force. To this end, the base portion 100 may have a coupling groove 110 corresponding to the shape of the body module 11 so that the body module 11 is seated thereon. In addition, by including the electromagnet unit 120 formed in a position corresponding to the magnet unit 11-2 included in the body module 11, at least one area of the base portion 100, the coupling groove 110, the magnet unit (11-2) can be combined using magnetic force.

The base unit 100 may be electrically connected by a main supply line, which will be described later, and may operate an electromagnet according to the current supply from the main supply line. That is, when the current is supplied to the base unit 100, the electromagnet unit 120 becomes magnetic and combines using the body module 11 and magnetic force, and when the current supply is stopped, the magnetic force of the electromagnet unit 120 is lost. The body module 11 and the base portion 100 can be coupled using the magnetic force. Through this, the fixing jig 1 can be easily coupled to the base portion 100, and on the contrary, the fixing jig 1 can be easily detached from the base portion 100.

4 is a configuration diagram of a circuit board transport apparatus according to an embodiment of the present invention.

Referring to FIG. 4, the circuit board transfer device 10 according to an embodiment of the present invention includes a fixing jig 1, a base portion 100, an adsorption transfer portion 200, a horizontal transfer portion 300, and a processing portion ( 400), a separation unit 500 and a control unit 600.

The base portion 100 is formed to correspond to the shape of the fixing jig 1 so that the fixing jig 1 can be seated, and is coupled using the fixing jig 1 and magnetic force.

The adsorption transfer unit 200 separately adsorbs the fixing jig 1 from the tray in which the plurality of fixing jigs 1 on which the circuit board P is fixedly seated is vertically stacked, and vertically and toward the base unit 100. Move horizontally. The adsorption transfer unit 200 is not yet surface-mounted, and lifts the circuit board P seated on the fixing jig 1 vertically and then horizontally transfers it to the base portion located above the horizontal transfer unit 300 ( It is a configuration that moves the fixing jig (1) to the top of 100). In this case, the plurality of fixing jigs 1 may be vertically stacked on a specific tray, and the adsorption transmission unit 200 may lift each fixing jig 1 vertically from the tray with a constant adsorption force.

The horizontal transfer part 300 moves the base part 100 on which the fixing jig 1 is seated in the horizontal direction. The horizontal conveying part 300 may include a plurality of rollers or a conveyor belt to convey the base part 100.

The processing unit 400 receives the fixing jig 1 seated on the base 100 from the horizontal transfer unit 300, and mounts the surface on the exposed area of the circuit board P seated on the fixing jig 1 ( SMT) work. Surface mount technology (SMT) is a method of attaching surface mounted components (SMC) that can be directly mounted on the surface of a circuit board to an electronic circuit. Depending on the embodiment, various surface mount operations that are commonly used may be performed.

The separating part 500 includes a robot arm and a pickup module 700 that separates the circuit board from the fixing jig 1 when the surface mounting operation of the processing part 400 is completed. The robot arm (not shown) may be formed in a hook shape to grip the handle module 13 described above, or may be formed in a shape similar to a human hand shape.

The control unit 600 is configured to control the overall operation of the base unit 100, the fixing jig 1, the adsorption transmission unit 200, the horizontal transfer unit 300, the processing unit 400, and the separation unit 500 to be. Depending on the embodiment, the control unit 600 interlocks the base unit 100, the adsorption transfer unit 200, the horizontal transfer unit 300, the processing unit 400, and the separation unit 500 according to logic set by the user. You can do it. In one embodiment, when the fixing jig 1 is seated in the coupling groove of the base unit 100, the control unit 600 applies an electric current to the electromagnet unit 120 to electromagnet unit 120 and the magnet unit 11-2. ) To be coupled using a magnetic force, the fixing jig 1 and the base part 100 may be moved to the processing part 400 through the horizontal transfer part 300. In addition, after completing the surface mount operation by the processing unit 400, the control unit 600 adds a current to the electromagnet unit 120 when the robot arm (not shown) grips the handle module 13, thereby adding a base unit ( 100) and strengthen the bonding force of the body module 11, the control unit 600 adds current to the electromagnet unit 120 until the pickup module 700 separates the circuit board P from the body module 11 can do. At this time, the reason for adding the current is when the robot arm (not shown) grips the handle module 13 and lifts it, or when the pickup module 700 adsorbs and lifts the circuit board P, the body module 11 is also included. This is to prevent lifting.

5 shows an adsorption delivery unit according to an embodiment of the present invention.

5, the adsorption transmission unit 200 according to an embodiment of the present invention includes a vacuum module 210, a moving module 220 and a distance sensor module 230.

The vacuum module 210 includes an adsorption nozzle 211 sequentially vacuum adsorbing a plurality of fixing jigs 1 stacked vertically on a tray.

The moving module 220 moves the vacuum module in at least one of the x-axis, y-axis, and z-axis to move the fixing jig 1 to the loading position of the horizontal transfer unit 300.

The distance sensor module 230 is provided on one side of the moving module 220 to measure the Z-axis moving distance.

In one embodiment, the control unit 600 vacuums the adsorption nozzle 211 in the first step of moving the adsorption nozzle 211 to the tray loaded with the fixing jig 1 in controlling the adsorption delivery unit 200. The second step of adsorbing the fixing jig (1) by adding, the third step of moving the adsorption nozzle (211) to the loading position of the horizontal transfer unit (300) and the vacuum of the adsorption nozzle (211) to release the fixing jig ( 1) can be controlled sequentially, including a fourth step of separating from the adsorption delivery unit 200.

In one embodiment, the control unit 600 continuously performs the first to fourth steps above until the fixing jig 1 stacked in multiple stages in one tray is exhausted, and then the other The adsorption nozzle 211 may be moved to a tray to control the above steps 1 to 4 repeatedly.

In one embodiment, the control unit 600 is spaced between the adsorption nozzle 211 and the fixing jig 1 in order to vacuum adsorb the fixing jig 1 stacked in the vertical direction of the tray sequentially with a predetermined vacuum force. You can try to keep the distance away. In particular, the control unit 600 maintains a constant distance between the adsorption nozzle 211 and the fixing jig 1 by adjusting the vertical movement distance of the z-axis of the moving module 220 by the distance sensor module 230 You can do it.

6 and 7 show a pickup module according to an embodiment of the present invention.

6 and 7, the pickup module 700 according to an embodiment of the present invention includes a pick-up body 710, a pickup nozzle 720, a stopper means 730 and an adsorption passage 740.

The pickup body 710 is formed to be connected to at least one area of the separation unit 500, and the pickup nozzle 720 is attached to the pickup body 710 to be detachable. The stopper means 730 fastens the pickup body 710 and the pickup nozzle 720. The adsorption passage 740 communicates with the pickup body 710 and the pickup nozzle 720.

The stopper means 730 is a circumferential V-shaped groove 731 formed in the pickup nozzle 720, a ball 732 inserted into the V-shaped groove, and a clamp shaft supported by the pickup body 710 (733) ) And a plate spring 734 joining the clamp shaft 733 inward. 6 and 7, the suction port of the pickup nozzle 720 is formed in a square shape to prevent rotation of the circuit board.

8 is a view for explaining an apparatus for measuring power consumption according to an embodiment of the present invention.

Referring to FIG. 8, the used power measuring device 900 may determine which electronic device operates by receiving power from the main supply line A by sensing the current flowing through the main supply line A. The power measuring device 900 may be formed in at least one region of the main supply line (A). In one embodiment, the base unit 100, the adsorption transmission unit 200, the horizontal transfer unit 300, the processing unit 400 and the separation unit 500 are formed to receive power from one main supply line (A) Can be.

The main supply line (A) supplies power to a plurality of electronic devices (eg, the base unit 100, the adsorption transmission unit 200, the horizontal transfer unit 300, the processing unit 400, and the separation unit 500). It can mean a power line. In one embodiment, the main supply line (A) has a plurality of connection points that can be connected to the base portion 100, the adsorption transfer portion 200, the horizontal transfer portion 300, the processing portion 400, and the separation portions 500 (x, y, z) may be present. The main supply line (A) may be a power strip of various types in which multiple tabs or a plurality of electronic devices are connected.

The apparatus 900 for measuring power used in the present invention includes a plurality of electronic devices (eg, a base unit 100, an adsorption transmission unit 200), a horizontal transfer unit 300, a processing unit 400, and a separation unit 500. It is possible to detect whether or not the electronic devices are operating without installing a separate sensor, that is, by detecting only a change in current flowing through the main supply line A, it is possible to detect whether or not a plurality of electronic devices are operating.

In one embodiment, the used power measuring device 900 changes the current of the main supply line A in the time domain and/or frequency domain based on the current sensed through the current sensor (not shown) formed in the main supply line A Can be analyzed. Based on the analysis result, it is possible to determine electronic devices that operate by receiving power from the main supply line (A). According to an embodiment, the unique power characteristics of each of the electronic devices (eg, the base portion 100, the adsorption transfer portion 200, the horizontal transfer portion 300, the processing portion 400, and the separation portion 500) By grasping in advance, and installing a sensor on a bus bar that is a contact point of each electronic device, it is possible to determine whether each electronic device operates. The inherent power characteristics of the electronic device may include a current change pattern of the main supply line (A) when the electronic device operates by receiving power from the main supply line (A). For example, the intrinsic power characteristic may include a phase change and a phase noise in a transient state at the moment when power is supplied. Phase noise is formed around the frequency principal component of the current applied to the electronic device. The frequency main component of the current may mean a component corresponding to a frequency whose current value represents a peak value. A circuit having phase noise as a main specification includes an oscillator, and in the oscillation circuit,'phase noise' is a proper noun and is defined as the voltage ratio from the center frequency to a specific frequency (off-set frequency). The center frequency may mean a frequency at which a current value represents a peak value.

According to an embodiment, a frequency component around the center frequency may be used as a natural power characteristic of the electronic device. When the power consumption measuring apparatus 900 according to an embodiment detects the operation of the electronic device, it is possible to reduce distortion caused by noise by using a phase noise analysis method that extracts and distinguishes only frequency components around the center frequency.

According to the present invention, a sensor is not installed in each of a plurality of electronic devices (eg, the base unit 100, the adsorption transmission unit 200, the horizontal transfer unit 300, the processing unit 400, and the separation unit 500). If not, it is possible to calculate the approximate electricity consumption by determining whether an electronic device operates using only a sensor installed on the main supply line A to which electronic devices are connected.

9 is a view showing the internal configuration of the power consumption measuring apparatus 900 according to an embodiment of the present invention.

Referring to FIG. 9, the apparatus 900 for measuring power consumption may include a measurement module 910, a storage module 920, and a determination module 930.

The measurement module 910 is an electronic device included in the circuit board transfer device 10, the base unit 100, the adsorption transmission unit 200, the horizontal transfer unit 300, the processing unit 400, and the separation unit 500 The current of the main supply line (A) that supplies power to the power is measured. The measurement module 910 according to an embodiment should be able to withstand a large current and should be easy to install. Therefore, the measurement module 910 may be a Rogowski coil, a Hall sensor, or the like. According to one embodiment, the measurement module 910 may be connected to a shunt (Shunt) a capacitor to the output terminal in order to more clearly distinguish the current change of each electronic device. Since the impedance (Z) of the capacitor is Z=1/jwC, the voltage decreases by acting similar to the ground at high frequencies, and only the voltage at low frequencies can be measured. At this time, if the capacitance of the capacitor is too large, it is necessary to select an appropriate capacitor because the rapid change of the current change edge, that is, the high frequency component cannot be confirmed. Therefore, in one embodiment, the capacitor identifies the current change of the electronic device in which the change of the current change edge is the largest among the electronic devices that can be connected to the main supply line (A), that is, the electronic device in which the peak current is most clearly distinguished. A suitable capacitor can be selected.

The storage module 920 operates by receiving power from the main supply line (A), respectively, the base portion 100, the adsorption and transfer portion 200, the horizontal transfer portion 300, the processing portion 400, and the separation portion 500 In this case, data representing the current change pattern of the main supply line A may be stored. That is, the storage module 920 is operated when each electronic device is connected to the main supply line (A) or power of an electronic device connected to the main supply line (A) (for example, the base unit 100, the adsorption transmission unit 200) When the horizontal transfer unit 300, the processing unit 400, and the separation unit 500 are turned on, data representing a current change pattern of the main supply line A may be stored. For example, the storage module 920, the base unit 100, the adsorption transfer unit 200, the horizontal transfer unit 300, the processing unit 400 and the separation unit 500 each of the main supply line (A) When operating with power supplied, a graph showing a current change pattern of the main supply line A may be stored, or a characteristic value indicating a current change pattern may be stored. For example, the storage module 920 may store at least one of a current change slope in a predetermined frequency section and an offset frequency corresponding to a predetermined current size as a characteristic value representing a unique current change pattern in the frequency domain. Alternatively, for example, the storage module 920 stores at least one of a ratio of a peak current to a rated current, a rated current, and a time when the sensed current change stabilizes as a characteristic value representing a unique current change pattern in the time domain. Can. Such data may be stored by learning or user input, or may be received and stored from an external device. In addition, the storage module 920 may store information necessary for calculating the amount of power used by the electronic device. For example, the storage module 920 may store at least one of rated current, rated voltage, and rated power of each electronic device. For example, the storage module 920 stores the amount of power used by each electronic device for a unit time, so that the amount of power used by each electronic device and a plurality of electronic devices (eg, a base) are based on the time each electronic device operates. The amount of power used by the unit 100, the adsorption and transfer unit 200, the horizontal transfer unit 300, the processing unit 400, and the separation unit 500 may be measured.

The determination module 930 operates by receiving power from the main supply line (A), respectively, the base portion 100, the adsorption transfer portion 200, the horizontal transfer portion 300, the processing portion 400, and the separation portion 500 If it is, compare the current change detected through the measurement module 910 and the data stored in the storage module 920, the base unit 100, the adsorption transmission unit 200, the horizontal transfer unit 300, the processing unit 400 ) And the separating unit 500. The determination module 930 may control the overall operation of the used power measuring device 900. According to one embodiment, the determination module 930 is operated by receiving electronic power from the main supply line (A) (for example, the base unit 100, the adsorption transmission unit 200, the horizontal transfer unit 300), It may serve to control the overall operation of the process of determining the processing unit 400 and the separation unit 500. Also, the determination module 930 may serve to control the overall operation of the process of measuring the amount of power used by the plurality of electronic devices.

According to an embodiment, the determination module 930 detects the current flowing through the main supply line (A) using the measurement module 910, the power consumption measurement device 900, and the time domain and / Alternatively, the current change of the main supply line A in the frequency domain can be analyzed. The determination module 930 may determine an electronic device that operates by receiving power from the main supply line A based on the analysis result. Also, the determination module 930 may determine the amount of power used by the determined electronic device based on the determined operation time of the electronic device and the amount of power used by the determined electronic device for a unit time. The amount of power used by the electronic device may be calculated by multiplying the operation time of the electronic device by the amount of power used by the electronic device for a unit time.

In addition, the determination module 930 accumulates the amount of electric power used for each electronic politics measured for a predetermined time, so that a plurality of electronic devices (for example, the base unit 100, the adsorption transmission unit 200, the horizontal transfer unit 300), The amount of power used by the processing unit 400 and the separation unit 500 may be measured. The determination module 930 may store the amount of power used by at least one electronic device measured for a predetermined time in the storage module 920.

The determination module 930 may compare the current change detected through the measurement module 910 with data stored in the storage module 920 when the electronic device operates by receiving power from the main supply line (A). The determination module 930 may determine the electronic device operating among the plurality of electronic devices by comparing the sensed current change with the data stored in the storage module 920.

The determination module 930 may determine an electronic device that has begun to operate based on a change in a transient state at the moment when the electronic device is supplied with power through the main supply line A and operates. The determination module 930 compares the current change in the transient state in which the current supplied through the main supply line (A) changes from the first normal state to the second normal state and data stored in the storage module 920, and among the plurality of electronic devices. It is possible to determine which electronic device is operating. The first normal state may correspond to a state in which the electronic device is not connected to the main supply line (A) or the electronic device is turned off. The second normal state may correspond to a state after the electronic device is connected to the main supply line (A) or after a predetermined time after the power of the electronic device is turned on.

As an example, the determination module 930 may extract a slope of a current change in a predetermined frequency section in consideration of the center frequency of the current supplied through the main supply line (A). The determination module 930 extracts at least one of a slope of a current change in a predetermined frequency section and an offset frequency corresponding to a predetermined current size based on a result of frequency conversion of the sensed current change, and stores the extracted value An electronic device operating among the separation module, the cutting module, and the cutting and transferring module can be determined by comparing the data stored in the module. In addition, the determination module 930, by comparing the current change slope of the predetermined frequency section determined in consideration of the center frequency of the current supplied through the main supply line (A) and data stored in the storage module, the separation module, the cutting module, An electronic device operating among the cut transfer modules may be determined. In addition, the determination module 930, the operating time and unit of the electronic device operating in the base unit 100, the adsorption transmission unit 200, the horizontal transfer unit 300, the processing unit 400 and the separation unit 500 Based on the amount of power used per hour, the amount of power used by the electronic device operating among the base unit 100, the adsorption transmission unit 200, the horizontal transfer unit 300, the processing unit 400, and the separation unit 500 can be calculated. .

10 is an operation flowchart of an apparatus for measuring power consumption according to an embodiment of the present invention.

Referring to FIG. 10, the operation of the used power measuring device 900 according to an embodiment of the present invention is performed using a measurement module 910 in step S1210, such as a plurality of electronic devices (for example, a base unit 100, adsorption transmission). It is possible to measure the current of the main supply line (A) for supplying power to at least one of the unit 200, the horizontal transfer unit 300, the processing unit 400, and the separation unit 500.

In step S1220, each electronic device (base unit 100, adsorption transmission unit 200, horizontal transfer unit 300, processing unit 400 and separation unit 500) receives power from the main supply line (A). In the case of operation, data representing the current change pattern of the main supply line A may be obtained from the storage module 920.

In step S1230, an electronic device operating by receiving power from the main supply line A among a plurality of electronic devices may be determined. The used power measuring apparatus 900 according to an embodiment is obtained when the electronic device operates by receiving power from the main supply line (A), and the current change detected through the measuring module 910 and the storage module 920 By comparing the data, it is possible to discriminate among the plurality of electronic devices that have started to operate. The apparatus 900 for measuring power consumption according to an embodiment may analyze the current change of the main supply line A in the time domain and/or the frequency domain based on the current sensed through the measurement module 910. The apparatus 900 for measuring power use may determine an electronic device that operates by receiving power from the main supply line A based on the analysis result. For example, the apparatus 900 for measuring power consumption may frequency-convert the current change detected by the measurement module 910. The apparatus 900 for measuring power use may extract at least one of a slope of a current change in a predetermined frequency section and an offset frequency corresponding to a predetermined current size based on a result of frequency conversion. The apparatus 900 for measuring power consumption may determine an electronic device that operates by comparing the extracted value with data obtained from the storage module 920.

The apparatus 900 for measuring power consumption according to an embodiment may determine whether two or more electronic devices are determined as operating electronic devices in step S1230 (S1240 ). The used power measuring device 900 is determined as an electronic device in which two or more electronic devices operate (for example, the base unit 100, the adsorption transmission unit 200), the horizontal transfer unit 300, the processing unit 400, and Two electronic devices among the separating parts 500, and one electronic device that has begun to operate may be determined by further considering a result of analyzing the current change of the main supply line A in the time domain (S1250).

In operation S1230, the apparatus 900 for measuring power consumption according to an embodiment may calculate the amount of power used by the electronic device based on the determined operation time of the electronic device and the amount of power used by the electronic device for a unit time.

The apparatus 900 for measuring power consumption according to an embodiment repeats steps S1210 to S1260 to measure each electronic device (base unit 100, adsorption transmission unit 200, horizontal transfer unit 300) measured for a predetermined period of time, The amount of power used by the processing unit 400 and the separation unit 500 may be accumulated to measure the amount of power used by a plurality of electronic devices. The power consumption measuring device 900 is used by at least one electronic device measured for a predetermined time. The amount of power can be displayed or stored.

11 is a configuration diagram of a worker fatigue measuring apparatus according to an embodiment of the present invention.

Referring to FIG. 11, a worker fatigue measuring apparatus 2000 according to an embodiment of the present invention includes a base portion 100, an adsorption transfer portion 200, a horizontal transfer portion 300, a processing portion 400, and a separation portion. It is formed in at least one region of 500. The worker fatigue measurement apparatus 2000 may include a camera module 2100, a distance sensing module 2200, a memory module 2300, and a processing module 2400.

The camera module 2100 generates worker image data, which is image data looking in a direction in which the worker is located. The camera module 2100 is a module for photographing workers and generating worker image data. The processing module 2400 receives the worker image data generated by the camera module 2100, detects a silhouette section from the worker image data, constructs a bounding box, and estimates the silhouette width of the worker to generate silhouette width data. The processing module 2400 determines whether the worker is located within the effective distance using the generated silhouette width data of the worker, and when it is determined that the worker is located within the effective distance, the processing module 2400 generates the distance detection module 2200. Despite the distance data, the worker's time data is classified as'work'. According to this, since the priority between the worker image data and the distance data when the silhouette section within the effective distance is detected in the worker image data is determined, regardless of whether the silhouette section within the effective distance is detected in the worker image data There is an effect that information collision between worker image data and distance data does not occur. The camera module 2100 according to an embodiment of the present invention may be configured to photograph a worker's direction once every n seconds.

The distance detection module 2200 includes a plurality of distance detection sensors configured to measure distances with workers according to heights, and generates distance data for each of the distance detection sensors. The distance detection module 2200 is composed of a plurality of distance detection sensors, and the horizontal direction of each of the distance detection sensors may be configured to face the point where the worker is located. In addition, for example, a plurality of distance detection sensors of the distance detection module 2200 according to an embodiment of the present invention may be composed of three IR sensors looking at a point where a worker is located, one vertically upward It may be configured to face 30°, one 0° and the other 30° vertically downward. Alternatively, the plurality of distance detection sensors of the distance detection module 2200 according to an embodiment of the present invention may be composed of three IR sensors horizontally looking at a point where a worker is located, and in a vertical direction at a specific interval. It can be configured in a line. In other words, it can be configured to measure the distance from the worker according to the height. At this time, the scope of the present invention for the distance sensing module 2200 is not limited to the IR sensor and may include short-range communication electromagnetic waves such as laser, microwave, and Wi-Fi. The distance data of the distance detection module 2200 is used when a silhouette section is not detected from the worker image data of the camera module 2100, thereby estimating the posture of the worker. If the silhouette section of the effective distance is detected in the worker image data of the camera module 2100 and classified as'job', and if the silhouette section of the effective distance is not detected in the subsequent worker image data, the distance of the distance detection module 2200 Tasks, breaks, and breaks can be categorized based on the data. The distance data of the distance sensing module 2200 may be calculated by the processing module 2400 as distance moving average information for a specific time and standard deviation information for a specific time. First, when the silhouette section of the effective distance is not properly detected in the worker image data after being classified as work, the distance detection module 2200 uses the distance moving average information of each distance sensor to move the distance of all the distance sensors. If the average information exceeds the effective distance, it can be classified as'deviation'. In addition, if only the distance moving average information of some of the sensors in the vertical direction upward or vertically out of the distance sensor 2200 exceeds the effective distance and the remaining distance sensors are within the effective distance, they may be classified as'rest'. In addition, if all the distance detection sensors are within the effective distance, it can be classified as'work'. At this time, when the distance moving average information having a value within the effective distance for the specific distance detection sensor is received by the processing module 2400, the processing module 2400 uses the distance standard deviation information of the distance sensing sensor to determine the corresponding distance. It may be configured to determine whether the moving average information is valid. For example, when the distance moving average information of all the distance detection sensors including the top sensor is within an effective distance, the processing module 2400 calculates the distance standard deviation information of the top sensor, and the distance standard deviation information of the top sensor If is less than a certain value, it is determined that the object reflecting the IR is not a person, and the moving average information on the uppermost distance is determined not to be within the effective distance and classified as'rest'. In addition, when the silhouette section within the effective distance is detected from the worker image data photographed by the camera module 2100, the time data classified as'job' is before the time when the silhouette section within the effective distance from the worker image data is detected. The distance moving average information sensed by the distance sensing module 2200 to the plurality of distance sensing sensors may be set from a time point when the first time is within the effective distance. Through this, the camera module 2100 and the distance detection module 2200 have an interdependence relationship, and an effect of deriving a pure working time more precisely is generated.

The memory module 2300 stores worker image data and distance data, and stores a pure working time measurement program code that classifies worker's time data into one of'exit','rest', and'work'.

The processing module 2400 processes pure working time measurement program code using worker image data and distance data.

The pure working time measurement program code includes: a worker image data receiving step of receiving the worker image data generated by the camera module; A silhouette width data generation step of detecting a silhouette section of the worker from the worker image data to construct a bounding box, and then generating silhouette width data by estimating the silhouette width of the worker; An effective distance determining step of determining whether the worker is located within an effective distance using the silhouette width data; A task classification step of classifying the worker's time data into'work' despite the distance data generated by the distance detection module when it is determined that the worker is located within the effective distance; And if the silhouette section of the effective distance is not detected in the worker image data after the time data of the worker is classified as the'work', or if it is determined that the worker is not located within the effective distance, the distance detection. A computer that performs a subsequent classification step of subsequently classifying the worker's time data after being classified as the'job' into one of'escape','rest' and'job' based on the distance data received from the module It includes a readable program code, and in the subsequent classification step, if the distance data measured by the plurality of distance detection sensors are all above the effective distance, it is subsequently classified as'deviation', and some of the plurality of distance detection sensors If the distance data measured in the distance exceeds the effective distance and the rest is within the effective distance, it is subsequently classified as'rest', and when the distance data measured by the plurality of distance detection sensors are all within the effective distance, the'work' Subsequently classified as', and in the subsequent classification step, when the distance data is measured within the effective distance, the distance standard deviation information that is information about the standard deviation for a specific time period of the distance data is generated, and the distance standard deviation information If is less than a specific value, it is determined that the distance data is not measured within the effective distance, and subsequent classification is performed.

Through the above configuration, the worker fatigue measuring apparatus 2000 can measure the pure working time of the worker, thereby providing an alarm to a worker who exceeds the set working time as a standard or a program for recovering health or fitness. You can be guided.

The scope to be protected through the present specification is indicated by the claims, which will be described later, rather than the detailed description, and should be interpreted to include all modified or modified forms derived from the meaning and scope of the claims and equivalent concepts thereof. .

1: Fixing jig
10: circuit board transfer device
100: base
200: adsorption delivery unit
300: horizontal transfer unit
400: processing unit
500: separation
600: control unit
700: pickup module
900: used power measuring device

Claims (2)

A fixing jig for fixing the circuit board to at least one region therein by using magnetic force; A base portion formed to correspond to the shape of the fixing jig so that the fixing jig can be seated and coupled with the fixing jig using magnetic force; An adsorption transmission unit for vertically and horizontally moving the fixing jig individually by adsorbing the fixing jig from a tray in which the plurality of fixing jigs on which the circuit board is fixedly seated are vertically loaded; A horizontal conveying part for moving the base part on which the fixing jig is seated in a horizontal direction; A processing unit receiving the fixing jig seated on the base unit from the horizontal transfer unit and performing surface mounting (SMT) on an exposed area of the circuit board seated on the fixing jig; When the surface mounting operation of the processing unit is completed, a separation unit including a robot arm and a pickup module for separating the circuit board from the fixing jig; And a control unit for controlling the operation of the base portion, the fixing jig, the adsorption transfer unit, the horizontal transfer unit, the processing unit and the separation unit,
The fixing jig,
A body module having a substrate seating groove corresponding to the shape of the circuit board so that the circuit board can be seated on an upper surface, and a body module including a magnet unit in at least one area of the substrate seating groove; A protection module that covers the upper surface of the circuit board and is attached using the body module and magnetic force so that the circuit board can be temporarily attached to the substrate seating groove; And at least one handle module formed in a ring shape on a side surface of the upper surface of the protection module,
The base portion, a coupling groove corresponding to the shape of the body module is formed on the top so that the body module can be seated, and at least one area of the coupling groove includes an electromagnet unit formed at a position corresponding to the magnet unit. and,
The adsorption transfer unit, a vacuum module including an adsorption nozzle sequentially vacuum adsorbing a plurality of the fixing jigs stacked in the vertical direction on the tray; A moving module for moving the vacuum module in at least one of the x-axis, y-axis, and z-axis to move the fixing jig to the loading position of the horizontal transfer unit; It is provided on one side of the moving module includes a distance sensor module for measuring the Z-axis moving distance,
The control unit, in controlling the adsorption delivery unit, the first step of moving the adsorption nozzle to the tray loaded with the fixing jig, a second step of adsorbing the fixing jig by adding a vacuum to the suction nozzle, the And a third step of moving the adsorption nozzle to the loading position of the horizontal transfer part and a fourth step of releasing the vacuum of the adsorption nozzle to separate the fixing jig from the adsorption delivery part. After continuously performing the first to fourth steps until the fixing jigs stacked in multiple stages in one tray are completely consumed, the adsorption nozzles are subsequently moved to another tray to sequentially In order to perform the first to fourth steps, the control unit, in order to vacuum adsorb the fixing jig sequentially stacked in the vertical direction of the tray with a predetermined vacuum force, the suction nozzle and the fixing jig Keep the distance between them constant,
The control unit, by adjusting the vertical movement distance of the z-axis of the moving module by the distance sensor module, to maintain a constant distance between the adsorption nozzle and the fixing jig,
When the fixing jig is seated in the coupling groove of the base portion, the control unit applies current to the electromagnet unit so that the electromagnet unit and the magnet unit are coupled using magnetic force, and then through the horizontal transfer unit. Moving the fixing jig and the base portion to the processing portion,
When the robot arm grips the handle module after the surface mount operation is completed by the processing unit, the control unit adds a current to the electromagnet unit to combine the base unit and the body module, and the control unit picks up the pickup. Adding current to the electromagnet unit until the module separates the circuit board from the body module,
The base portion, the adsorption transfer portion, the horizontal transfer portion, the processing portion and the separation portion are supplied with power from one main supply line,
It is formed on at least one area of the main supply line further comprises a power measurement device for measuring the power consumption,
The used power measuring device,
A measurement module for measuring the current of the main supply line supplying power to the base, the adsorption and transfer section, the horizontal transfer section, the processing section and the separation section; A storage module for storing data representing a current change pattern of the main supply line when the base, the adsorption transfer unit, the horizontal transfer unit, the processing unit, and the separation unit each operate by receiving power from the main supply line ; And when the base unit, the adsorption transmission unit, the horizontal transfer unit, the processing unit, and the separation unit each operate by receiving power from the main supply line, the current change detected through the measurement module and the storage module And a judgment module that compares the stored data and determines an electronic device operating among the base part, the adsorption and transfer part, the horizontal transfer part, the processing part, and the separation part,
The determination module extracts at least one of a slope of a current change in a predetermined frequency section and an offset frequency corresponding to a predetermined current size based on a result of frequency conversion of the sensed current change, and extracts the extracted value to the storage module By comparing with the stored data, the electronic device operating among the base, the adsorption and transfer, the horizontal transfer, the processing and the separation is determined,
The determination module, by comparing the current change slope of the predetermined frequency section determined in consideration of the center frequency of the current supplied through the main supply line and the data stored in the storage module, the base unit, the adsorption transmission unit, the horizontal The electronic device operating among the transmission unit, the processing unit and the separation unit is determined,
The determination module, based on the operating time and the amount of power used per unit time of the electronic device operating among the base portion, the adsorption transfer portion, the horizontal transfer portion, the processing portion and the separation portion, the base portion, the adsorption transfer Calculate the amount of power used by the electronic device operating among the unit, the horizontal transfer unit, the processing unit and the separation unit,
The pickup module,
Pickup body; A pickup nozzle attached detachably to the pickup body; A stopper means for fastening the pickup body and the pickup nozzle; And an adsorption passage connecting the pickup body and the pickup nozzle.
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