Patent Description:
In the case of manufacturing and distributing various articles as they are or assembling the articles with other articles, performing an inspection of the manufactured state or assembled state of the articles (objects) is an essential process to increase the reliability of products. Conventionally, articles have been visually inspected, but a technique for improving precision and increasing working speed has been developed using inspection equipment.

With the introduction of process automation, such inspection process has adopted a method of automatically transferring the inspection objects. The most common method is to use a conveyor belt to transfer the articles. In the case of inspecting an article that has been automatically transferred with inspection equipment, in order to inspect the bottom surface of the article after inspecting the top surface of the article, it is necessary to turn the article upside down. The work of turning the article upside down is usually done by hand or by providing a separate turn-over apparatus (a flipper apparatus). <CIT> is an example of an object inspection method.

Conventionally, in order to inspect the top and side surfaces of an object while transferring the object using a transfer rail, a camera device is required for each of the top and side surfaces of the object, and there is a problem in that the cost of the inspection apparatus is substantial because camera devices are very expensive. In addition, conventionally, there is a problem in that it is inconvenient to inspect not only the top and side surfaces of an object, but also the front and rear surfaces parallel to the transfer direction. Embodiments of the present disclosure solve the problems of the prior art described above.

Conventionally, in the case of using an apparatus that turns over an object moving along a transfer rail, there is a problem in that space efficiency decreases and a time required to inspect the object becomes longer. Embodiments of the present disclosure solve the problem of the prior art described above. The invention is claimed in claims <NUM> and <NUM>.

The present disclosure provides a flipper apparatus including on XYZ orthogonal coordinates: a Y-axis flipper unit configured to hold an object and rotate the object about a Y-axis; an X-axis flipper unit configured to hold the object and rotate the object about an X-axis; and a Z-axis elevation unit supporting the Y-axis flipper unit and the X-axis flipper unit and configured to move the Y-axis flipper unit and the X-axis flipper unit up and down in a Z-axis direction.

The present disclosure provides an object inspection method using, on XYZ orthogonal coordinates, the flipper apparatus and a camera device configured to inspect an object surface, which faces a +Z-axis direction, of the object. The inspection method includes: an initial inspection step in which a Y-axis holder of the Y-axis flipper unit holds the object and the camera device inspects an object surface A of the object; a first middle inspection step in which the Y-axis holder rotates the object about the Y-axis and the camera device inspects an object surface B1, which is perpendicular to the object surface A, and an object surface B2, which is opposite to the object surface B1; a second middle inspection step in which an X-axis holder of the X-axis flipper unit holds the object and rotates the object about the X-axis and the camera device inspects an object surface B3, which is perpendicular to the object surface A, and an object surface B4, which is opposite to the object surface B3; and a last inspection step in which the Y-axis holder holds the object and the camera device inspects an object surface C, which is
opposite to the object surface A of the object.

According to embodiments of the present disclosure, it is possible to inspect surfaces of multiple angles of an object using a single camera device.

According to embodiments of the present disclosure, it is possible to efficiently utilize a space and to shorten the inspection time of an object while rotating an object at various angles.

According to embodiments of the present disclosure, it is possible to accurately set an inspection position of an object.

According to embodiments of the present disclosure, it is easy to attach/detach and maintain each component of the flipper apparatus.

Embodiments of the present disclosure are illustrated for describing the technical concept of the present disclosure. The scope of the claims according to the present disclosure is not limited to the embodiments described below or to the detailed descriptions of these embodiments.

All technical or scientific terms used herein have meanings that are generally understood by a person having ordinary knowledge in the art to which the present disclosure pertains, unless otherwise specified. The terms used herein are selected only for more clear illustration of the present disclosure, and are not intended to limit the scope of the claims in accordance with the present disclosure.

The expressions "include," "provided with," "have" and the like used herein should be understood as open-ended terms connoting the possibility of inclusion of other embodiments, unless otherwise mentioned in a phrase or sentence including the expressions.

A singular expression can include meanings of plurality, unless otherwise mentioned, and the same is applicable for a singular expression stated in the claims.

The terms "first," "second," etc. used herein are used to distinguish a plurality of components from one another, and are not intended to limit the order or importance of the relevant components.

When a certain component is described as "coupled to" or "connected to" another component, this should be understood as meaning that the certain component may be coupled or connected directly to the other component or that the certain component may be coupled or connected to the other component via a new intervening component.

In order to describe the present disclosure with reference to the drawings, the description will be made on the basis of a space orthogonal coordinate system based on the X-axis, the Y-axis, and the Z-axis orthogonal to one another. That is, each configuration of the embodiments may be described on the XYZ orthogonal coordinates. Each axis direction (the X-axis direction, Y-axis direction, or Z-axis direction) refers to both directions in which each axis extends. The plus (+) sign in front of each axis (+X-axis direction, +Y-axis direction, or +Z-axis direction) refers to the positive direction, which is one of two directions in which each axis extends. The minus (-) sign in front of each axis (-X-axis direction, -Y-axis direction, or -Z-axis direction) refers to the negative direction, which is the remaining one of the two directions in which each axis extends. This is merely a reference set for describing the present disclosure so that the present disclosure can be clearly understood, and it is needless to say that the directions may be defined differently depending on where the reference is placed.

Directional designators such as "upward" and "up" used in this disclosure refer to the +Z-axis direction, and directional designators such as "downward" and "down" refer to the -Z-axis direction. A flipper apparatus <NUM> illustrated in the accompanying drawings may be differently oriented, and the directional designators may be interpreted accordingly.

The term "object" used in the present disclosure means a thing to be inspected, and in the present disclosure, a mobile phone case is shown as an example of the object, but is not limited thereto. In the object, a surface facing one direction among outer surfaces to be inspected may be referred to as an "object surface. " In the drawings of the present disclosure, an object M and object surfaces A, B1, B1a, B1b, B2, B3, B3a, B3b, B4, and C are shown.

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. In the accompanying drawings, like or corresponding components are indicated by like reference numerals. In the following description of embodiments, repeated descriptions of the identical or corresponding components will be omitted. However, even if a description of a component is omitted, such a component is not intended to be excluded in an embodiment.

<FIG> is a perspective view illustrating a flipper apparatus <NUM> according to an embodiment of the present disclosure. Referring to <FIG>, the flipper apparatus <NUM> includes a Y-axis flipper unit <NUM> configured to hold an object (see M in <FIG>) in the Y-axis direction and to rotate the object about the Y-axis. The flipper apparatus <NUM> includes a Z-axis elevation unit <NUM> supporting the Y-axis flipper unit <NUM> to move the Y-axis flipper unit <NUM> up and down in the Z-axis direction. The flipper apparatus <NUM> may include an X-axis flipper unit <NUM> configured to hold the object in the X-axis direction and to rotate the object about the X-axis. The flipper apparatus <NUM> may include a transfer unit <NUM> configured to transfer the object in the X-axis direction.

The Z-axis elevation unit <NUM> may support the X-axis flipper unit <NUM>. The Z-axis elevation unit <NUM> may be configured to move the X-axis flipper unit <NUM> up and down in the Z-axis direction. When a first component "supports" a second component, this covers not only the case where the second component is in direct contact with the first component and is supported on the first component, but also the case where the first component supports the second component via a third component interposed between the first component and the second component.

In the present embodiment, the Z-axis elevation unit <NUM> supports the Y-axis flipper unit <NUM> and the X-axis flipper unit <NUM>, and is configured to move the Y-axis flipper unit <NUM> and the X-axis flipper unit <NUM> up and down in the Z-axis direction. In the present embodiment, the flipper apparatus <NUM> includes the Y-axis flipper unit <NUM> and the X-axis flipper unit <NUM>. However, in another embodiment (not illustrated), the flipper apparatus <NUM> includes the Y-axis flipper unit <NUM>, but may not include the X-axis flipper unit <NUM>.

A camera device (not illustrated) for inspecting an object surface of the object facing the +Z-axis direction may be provided above the flipper apparatus <NUM>. The camera device may inspect the object surface while facing the -Z-axis direction. The camera device may be provided to be movable in the X-axis direction and/or the Y-axis direction.

A conveyor belt device (not illustrated) configured to move the object to the flipper apparatus <NUM> may be provided. The conveyor belt device may be provided so that the object can be moved from one of the conveyor belt device and the transfer unit <NUM> to the other.

<FIG> and <FIG> are perspective views of the Y-axis flipper unit <NUM>, the transfer unit <NUM>, and drivers <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, and <NUM> of <FIG>. <FIG> illustrates the Y-axis Y, which is the rotational axis of Y-axis holders <NUM>. An assembly of the Y-axis flipper unit <NUM> and the transfer unit <NUM> may be referred to as a "Y-axis flipper assembly (<NUM>, <NUM>). " The Y-axis flipper assembly (<NUM>, <NUM>) may include one or more drivers <NUM>, <NUM>, <NUM>, <NUM>, and <NUM>.

Referring to <FIG> and <FIG>, the Y-axis flipper unit <NUM> is supported on the Z-axis elevation unit <NUM> so as to be movable in the Z-axis direction with respect to the Z-axis elevation unit <NUM>. The Y-axis flipper unit <NUM> is configured to rotate the object about the Y-axis. The Y-axis flipper unit <NUM> is configured to narrow or widen the space between a pair of Y-axis holders 130a and 130b in the Y-axis direction. The Y-axis flipper unit <NUM> is configured to narrow or widen the space between a pair of Y-axis auxiliary grip parts <NUM> in the Y-axis direction.

The Y-axis flipper unit <NUM> includes a Y-axis flipper base <NUM> supported on the Z-axis elevation unit <NUM>. The Y-axis flipper base <NUM> is disposed in the Z-axis elevation unit <NUM> to be movable in the Z-axis direction. The Y-axis flipper base <NUM> supports a pair of body frames 120a and 120b.

The Y-axis flipper unit <NUM> includes a body frame <NUM> supported on the Y-axis flipper base <NUM>. The body frame <NUM> is supported on the Y-axis flipper base <NUM> to be movable in the Y-axis direction. The pair of body frames 120a and 120b are configured to operate so as to narrow or widen the space therebetween in the Y-axis direction. The pair of body frames 120a and 120b include a first body frame 120a disposed in the +Y-axis direction and a second body frame 120b disposed in the -Y-axis direction.

The Y-axis flipper unit <NUM> includes rotation joints <NUM> rotatably supporting the Y-axis holders <NUM>. Y-axis shafts <NUM> of the Y-axis holders <NUM> may be supported by the rotation joints <NUM> to be rotatable about the Y-axis.

The Y-axis flipper unit <NUM> includes the Y-axis holders <NUM> configured to hold an object in the Y-axis direction of the object. The Y-axis flipper unit <NUM> includes a pair of Y-axis holders 130a and 130b supported on the pair of corresponding body frames 120a and 120b. The pair of Y-axis holders 130a and 130b include a first Y-axis holder 130a disposed in the +Y-axis direction and a second Y-axis holder 130b disposed in the -Y-axis direction.

The pair of Y-axis holders 130a and 130b are configured to rotate about the Y-axis with respect to the pair of body frames 120a and 120b. The pair of Y-axis holders 130a and 130b are configured to hold the object therebetween. The pair of Y-axis holders 130a and 130b are configured to hold the object in the Y-axis direction.

The Y-axis flipper unit <NUM> includes a Y-axis shaft <NUM> supported on the body frame <NUM> to be rotatable about the Y-axis. The Y-axis shaft <NUM> may be disposed to pass through the corresponding body frame <NUM> in the Y-axis direction. The Y-axis shaft <NUM> may be rotatably supported by the rotation joint <NUM> of the body frame <NUM>.

The Y-axis flipper unit <NUM> may include an X-axis flipper guide <NUM> configured to guide the movement of the X-axis flipper unit <NUM> in the Z-axis direction. The X-axis flipper unit <NUM> may include a transfer unit guide <NUM> configured to guide the movement of the transfer unit <NUM> in the Z-axis direction. The Y-axis flipper unit <NUM> may include Z-axis sliders <NUM> configured to slide in the Z-axis direction along the Z-axis guides <NUM> of the Z-axis elevation unit <NUM>.

The Y-axis flipper unit <NUM> may include a Y-axis rotation home sensor (not illustrated) configured to detect a position of a predetermined rotation angle of the Y-axis holders <NUM>. The Y-axis flipper unit <NUM> may include an auxiliary grip part sensor (not illustrated) configured to generate a detection signal when the auxiliary grip parts <NUM> move to a predetermined position with respect to the support grip parts <NUM>. The Y-axis flipper unit <NUM> may include a Y-axis movement sensor (not illustrated) configured to generate a detection signal when the body frame <NUM> moves to a predetermined position relative to the Y-axis flipper base <NUM>. The Y-axis movement sensor may detect the state in which the space between the pair of body frames 120a and 120b is narrowed in the Y-axis direction and the state in which the space is widened in the Y-axis direction.

The Y-axis flipper unit <NUM> may include a Y-axis contactor sensor (not illustrated) configured to generate a detection signal when the object is brought into contact with a Y-axis contactor 135a, and the Y-axis contactor moves a predetermined distance in the Y-axis direction with respect to the support grip part <NUM>. The Y-axis contactor sensor may detect a signal when the Y-axis contactor 135a compresses at least one elastic member 135b to be described later. A Y-axis movement driver <NUM> to be described later may be configured to stop providing a driving force when a signal is detected by the Y-axis contactor sensor while providing the driving force in a direction in which the pair of body frames 120a and 120b get closer to each other.

The transfer unit <NUM> is supported on the Y-axis flipper unit <NUM>. The transfer unit <NUM> is configured to move in the Z-axis direction with respect to the Y-axis flipper unit <NUM>. The transfer unit <NUM> is configured to operate the transfer belt <NUM> so as to transfer the object placed on the transfer belt <NUM> in the X-axis direction.

The transfer unit <NUM> may include a pair of transfer parts 200a and 200b. The pair of transfer parts 200a and 200b are supported on the corresponding pair of body frames. The pair of transfer parts 200a and 200b include a first transfer part 200a supported on the first body frame 120a and a second transfer part 200b supported on the second body frame 120b. The pair of transfer parts 200a and 200b are configured to transfer the object in the X-axis direction.

The transfer unit <NUM> includes a transfer belt <NUM> supporting the object and being configured to transfer the object in the X-axis direction. The transfer unit <NUM> includes a transfer pulley <NUM> configured to operate the transfer belt <NUM> by rotation. The transfer unit <NUM> includes a transfer frame <NUM> on which the transfer pulley <NUM> is disposed. The transfer frame <NUM> is supported on the body frame <NUM>.

The Y-axis flipper assembly (<NUM>, <NUM>) may include a transfer unit elevation sensor (not illustrated) configured to generate a detection signal when the transfer unit <NUM> moves to a predetermined position with respect to the Y-axis flipper unit <NUM>. The transfer unit elevation sensor may detect the state in which the transfer unit <NUM> is raised in the Z-axis direction and the state in which the transfer unit <NUM> is lowered in the Z-axis direction. A pair of transfer unit lifting sensors corresponding to the pair of transfer parts 200a and 200b may be provided.

The flipper apparatus <NUM> includes a Y-axis movement driver <NUM> configured to provide a driving force for moving the pair of body frames 120a and 120b in the Y-axis direction with respect to the Y-axis flipper base <NUM>. The Y-axis movement driver <NUM> is supported on the Y-axis flipper unit <NUM>. The Y-axis movement driver <NUM> may include a motor <NUM> and a driving force transmission part <NUM> configured to transmit the driving force of the motor <NUM> to the pair of body frames 120a and 120b.

In an embodiment, the driving force transmission part <NUM> may include a pulley 163a fixed to the rotation shaft of the motor <NUM> to rotate, a belt 163b wound around the pulley 163a to receive a rotational force, and a pulley 163c engaged with the belt 163b to receive the rotational force. The driving force transmission part <NUM> may include a lead screw 163d coupled to the pulley 163c to rotate integrally with the pulley 163c. When the lead screw 163d rotates in one direction, the pair of body frames 120a and 120b may move along the lead screw 163d to narrow the space therebetween in the Y-axis direction, and when the lead screw 163d rotates in the other direction, the pair of body frames 120a and 120b may move along the lead screw 163d to be spaced apart from each other in the Y-axis direction.

The flipper apparatus <NUM> includes a Y-axis holder rotation driver <NUM> configured to provide a driving force for rotating the Y-axis holders <NUM> with respect to the body frame <NUM>. The Y-axis holder rotation driver <NUM> may provide a driving force for rotating the Y-axis shafts <NUM>. The Y-axis holder rotation driver <NUM> is supported on the Y-axis flipper unit <NUM>. The Y-axis holder rotation driver <NUM> may include a motor <NUM> and driving force transmission parts 173a, 173b, and 173c configured to transmit the driving force of the motor <NUM> to the pair of Y-axis holders 130a and 130b.

The driving force transmission parts 173a, 173b, and 173c may include a basic driving force transmission part 173a configured to transmit the rotational force of the motor <NUM> to the first driving force transmission part 173b and the second driving force transmission part 173c. The driving force transmission parts 173a, 173b, and 173c may include a first driving force transmission part 173b configured to receive a rotational force from the basic driving force transmission part 173a and to transmit the rotational force to the first Y-axis holder 130a, and a second driving force transmission part 173c configured to receive a rotational force from the basic driving force transmission part 173a and to transmit the rotational force to the second Y-axis holder 130b.

In an embodiment, the basic driving force transmission part 173a may include a pulley 173a1 fixed to the rotation shaft of the motor <NUM> to rotate, a belt 173a2 wound around the pulley 173a1 to receive a rotational force, and a pulley 173a3 engaged with the belt 173a2 to receive the rotational force. The basic driving force transmission part 173a may include a serrated shaft 173a4 coupled to the pulley 173a3 to rotate integrally with the pulley 173a3. The motor <NUM> and the basic driving force transmission part 173a may be supported on the Y-axis flipper base <NUM>.

In an embodiment, the first driving force transmission part 173b may include a pulley 173b1 coupled to the serrated shaft 173a4 to receive a rotational force and configured to be movable in the Y-axis direction along the serrated shaft 173a4. The first driving force transmission part 173b may include a belt 173b2 wound around the pulley 173b1 to receive a rotational force, and a pulley 173b3 engaged with the belt 173b2 to receive the rotational force and to rotate the first Y-axis holder 130a. The first driving force transmission part 173b may include a guide pulley 173b4 configured to come into contact with the belt 173b2 so as to guide the position of the belt 173b2. The first driving force transmission part 173b is supported on the first body frame 120a.

In an embodiment, the second driving force transmission part 173c may include a pulley 173c1 coupled to the serrated shaft 173a4 to receive a rotational force and configured to be movable in the Y-axis direction along the serrated shaft 173a4. The second driving force transmission part 173c may include a belt 173c2 wound around the pulley 173c1 to receive a rotational force, and a pulley 173c3 engaged with the belt 173c2 to receive the rotational force and to rotate the second Y-axis holder 130b. The second driving force transmission part 173c may include a guide pulley 173c4 configured to come into contact with the belt 173c2 so as to guide the position of the belt 173c2. The second driving force transmission part 173c is supported on the second body frame 120b.

The flipper apparatus <NUM> may include an auxiliary grip part driver <NUM> configured to provide a driving force for operating the auxiliary grip part <NUM>. A pair of auxiliary grip part drivers 180a and 180b may be provided to provide a driving force for operating the pair of auxiliary grip parts, respectively. The auxiliary grip part driver <NUM> may be supported on the body frame <NUM>.

The flipper apparatus <NUM> includes a transfer unit elevation driver <NUM> configured to provide a driving force for moving the transfer unit <NUM> in the Z-axis direction with respect to the Y-axis flipper unit <NUM>. The transfer unit elevation driver <NUM> may be supported on the body frame <NUM>. For example, the transfer unit elevation driver <NUM> may include a cylinder configured to drive a rod in the vertical direction.

The transfer unit elevation driver <NUM> includes a pair of transfer part elevation drivers 260a and 260b configured to operate the pair of transfer parts 200a and 200b, respectively. The transfer part elevation drivers 260a and 260b are supported on the body frame <NUM>. The transfer part elevation drivers 260a and 260b provide a driving force for moving the transfer parts 200a and 200b in the Z-axis direction with respect to the body frame <NUM>. A pair of transfer part elevation drivers 260a and 260b include a first transfer part elevation driver 260a configured to move the first transfer part 200a up and down, and a second transfer part elevation driver 260b configured to move the second transfer part 200b up and down.

The flipper apparatus <NUM> includes a belt driver <NUM> configured to provide a driving force for operating the transfer belt <NUM>. The belt driver <NUM> may be supported on the transfer frame <NUM>. For example, the belt driver <NUM> may include a motor <NUM> and a belt and pulley <NUM> configured to transmit the driving force of the motor <NUM> to the transfer belt <NUM>.

The belt driver <NUM> includes a pair of belt drivers 270a and 270b configured to operate the transfer belts <NUM> of the pair of transfer parts 200a and 200b, respectively. The pair of belt drivers 270a and 270b include a first belt driver 270a configured to operate the transfer belt <NUM> of the first transfer part 200a and a second belt driver 270b configured to operate the transfer belt <NUM> of the second transfer part 200b.

The flipper apparatus <NUM> may include an X-axis flipper elevation driver <NUM> configured to provide a driving force for moving the X-axis flipper unit <NUM> in the Z-axis direction with respect to the Y-axis flipper unit <NUM>. The X-axis flipper elevation driver <NUM> may be supported on the Y-axis flipper base <NUM>. The X-axis flipper elevation driver <NUM> may include a motor <NUM> and a driving force transmission part <NUM> configured to transmit the driving force of the motor <NUM> to the X-axis flipper unit <NUM>.

In an embodiment, the driving force transmission part <NUM> may include a pulley 383a fixed to the rotation shaft of the motor <NUM> to rotate, a belt 383b wound around the pulley 383a to receive a rotational force, and a pulley 383c engaged with the belt 383b to receive the rotational force. The driving force transmission part <NUM> may include a lead screw 383d coupled to the pulley 383c to rotate integrally with the pulley 383c. When the lead screw 383d rotates in one direction, the X-axis flipper base <NUM> moves in the +Z-axis direction along the lead screw 383d, and when the lead screw 383d rotates in the other direction, the X-axis flipper base <NUM> may move in the -Z-axis direction along the lead screw 383d.

<FIG> is a perspective view illustrating an X-axis flipper unit <NUM> and drivers <NUM> and <NUM> in <FIG>. <FIG> illustrates the X-axis X, which is the rotational axis of the X-axis holders <NUM>.

Referring to <FIG>, the X-axis flipper unit <NUM> may be supported on the Y-axis flipper unit <NUM> so as to be movable in the Z-axis direction with respect to the Y-axis flipper unit <NUM>. The X-axis flipper unit <NUM> is configured to rotate the object about the X-axis. The X-axis flipper unit <NUM> is configured to narrow or widen the space between a pair of X-axis holders 330a and 330b in the X-axis direction. The X-axis flipper unit <NUM> is configured to be movable in the Z-axis direction with respect to the Y-axis flipper unit <NUM>.

The X-axis flipper unit <NUM> includes an X-axis flipper base <NUM> supported on the Z-axis elevation unit <NUM>. The X-axis flipper base <NUM> may be supported on the Z-axis elevation unit <NUM> via the Y-axis flipper unit <NUM>. The X-axis flipper base <NUM> may be supported on the Y-axis flipper base <NUM>. The X-axis flipper base <NUM> may be disposed to be movable in the Z-axis direction with respect to the Y-axis flipper unit <NUM>.

The X-axis flipper unit <NUM> includes side frames <NUM> supported on the X-axis flipper base <NUM>. The side frames <NUM> are supported on the X-axis flipper base <NUM> to be movable in the X-axis direction. A pair of side frames <NUM> are configured to operate so as to narrow or widen the space therebetween in the X-axis direction. The pair of side frames <NUM> include a first side frame 320a disposed in the +X-axis direction and a second side frame 320b disposed in the -X-axis direction.

The X-axis flipper unit <NUM> includes rotation joints <NUM> rotatably supporting the X-axis holders <NUM>. X-axis shafts <NUM> of the X-axis holders <NUM> may be supported by the rotation joints <NUM> to be rotatable about the X-axis.

The X-axis flipper unit <NUM> includes the X-axis holders <NUM> configured to hold the object in the X-axis direction of the object. The X-axis flipper unit <NUM> includes a pair of X-axis holders 330a and 330b supported on the pair of corresponding side frames 320a and 320b. The pair of X-axis holders 330a and 330b include a first X-axis holder 330a disposed in the +X-axis direction and a second X-axis holder 330b disposed in the -X-axis direction.

The pair of X-axis holders 330a and 330b are configured to rotate about the X-axis with respect to the pair of side frames 320a and 320b. The pair of X-axis holders 330a and 330b are configured to hold the object therebetween.

The X-axis flipper unit <NUM> includes X-axis shafts <NUM> supported on the side frames <NUM> to be rotatable about the X-axis. The X-axis shafts <NUM> may be disposed to pass through the corresponding side frames <NUM> in the X-axis direction. The X-axis shafts <NUM> may be rotatably supported by the rotation joints <NUM> of the side frames <NUM>.

The X-axis holders <NUM> are supported on the side frames <NUM> to be rotatable about the X-axis. Each X-axis holder <NUM> includes an X-axis contactor <NUM> having a contact surface 335a configured to come into contact with the object in the X-axis direction. The X-axis contactor <NUM> is supported on the X-axis shaft <NUM>. The X-axis contactor <NUM> is disposed on the X-axis. The X-axis contactor <NUM> is disposed such that the X-axis passes through the X-axis contactor <NUM>.

The X-axis holder <NUM> may include a first grip part <NUM> formed such that a +Z-axis direction portion protrudes in the X-axis direction compared to a -Z-axis direction portion. The first grip part <NUM> is supported on the X-axis shaft <NUM>. The first grip part <NUM> is disposed on one side of the X-axis contactor <NUM>. The first grip part <NUM> is disposed in a direction perpendicular to the X-axis with respect to the X-axis contactor <NUM>.

The +Z-axis direction portion of the first grip part <NUM> protrudes in the X-axis direction so as to form a first protruding surface 336a, and the -Z-axis direction portion of the first grip part <NUM> is recessed in the X-axis direction so as to form a first recessed surface 336c. The first grip part <NUM> forms a first inclined surface 336b connecting the first protruding surface 336a and the first recessed surface 336c. A pair of first grip parts <NUM> may be provided on both sides of the X-axis contactor <NUM>.

The X-axis holder <NUM> may include a second grip part <NUM> formed such that a -Z-axis direction portion protrudes in the X-axis direction compared to a +Z-axis direction portion. The second grip part <NUM> is supported on the X-axis shaft <NUM>. The second grip part <NUM> is disposed on one side of the first grip part <NUM>. The second grip part <NUM> is disposed in a direction perpendicular to the X-axis with respect to the first grip part <NUM>.

The X-axis contactor <NUM>, the first grip part <NUM>, and the second grip part <NUM> may be arranged along any one direction perpendicular to the X-axis. The X-axis contactor <NUM>, the first grip part <NUM>, and the second grip part <NUM> may be arranged along the Y-axis direction.

The +Z-axis direction portion of the second grip part <NUM> protrudes in the X-axis direction so as to form a second protruding surface 337a, and the -Z-axis direction portion of the second grip part <NUM> is recessed in the X-axis direction so as to form a second recessed surface 337c. The second grip part <NUM> forms a second inclined surface 337b connecting the second protruding surface 337a and the second recessed surface 337c. A pair of second grip parts <NUM> may be provided on both sides of the X-axis contactor <NUM>.

The X-axis flipper unit <NUM> may include a transfer stopper <NUM> configured to limit the movement of the object moved by the transfer unit <NUM>. The transfer stopper <NUM> may be disposed on only one of the pair of X-axis holders 330a and 330b. In this embodiment, the transfer stopper <NUM> is fixed to a first X-axis holder 330a. The transfer stopper <NUM> may protrude from the first X-axis holder 330a in the +Z-axis direction so as to form a surface facing the -X-axis direction. The object moved in the X-axis direction by the transfer unit <NUM> may be engaged with the transfer stopper <NUM> so that the movement thereof in the X-axis direction can be stopped.

The X-axis flipper unit <NUM> may include X-axis flipper sliders <NUM> configured to slide in the Z-axis direction along the X-axis flipper guides <NUM> of the Y-axis flipper unit <NUM>. A pair of X-axis flipper sliders <NUM> may be configured to face each other in the X-axis direction.

The X-axis flipper unit <NUM> may include an X-axis rotation home sensor (not illustrated) configured to detect a position of a predetermined rotation angle of the X-axis holders <NUM>. The X-axis flipper unit <NUM> may include an X-axis contactor sensor (not illustrated) configured to generate a detection signal when the object comes into contact with the X-axis contactor <NUM>. The X-axis flipper unit <NUM> may include an X-axis movement sensor (not illustrated) configured to generate a detection signal when the side frames <NUM> move to a predetermined position with respect to the X-axis flipper base <NUM>. The X-axis movement sensor may detect the state in which the space between the pair of side frames 320a and 320b is narrowed in the X-axis direction and the state in which the space is widened in the X-axis direction.

The X-axis flipper unit <NUM> may include Z-axis movement sensors 391a and 391b configured to generate a detection signal when the X-axis flipper base <NUM> moves to a predetermined position with respect to the Y-axis flipper base <NUM> (see <FIG>). When the X-axis flipper base <NUM> is disposed at a predetermined position with respect to the Y-axis flipper base <NUM>, a target (not illustrated) fixed to the X-axis flipper base <NUM> is detected by the Z-axis movement sensors 391a and 391b.

The flipper apparatus <NUM> includes an X-axis movement driver <NUM> configured to provide a driving force for moving the pair of side frames 320a and 320b in the X-axis direction with respect to the X-axis flipper base <NUM>. The X-axis movement driver <NUM> is supported on the X-axis flipper unit <NUM>. The X-axis movement driver <NUM> may include a motor <NUM> and a driving force transmission part <NUM> configured to transmit the driving force of the motor <NUM> to the pair of side frames 320a and 320b.

In an embodiment, the driving force transmission part <NUM> may include a pulley (not illustrated) fixed to the rotation shaft of the motor <NUM> to rotate, a belt 363b wound around the pulley to receive a rotational force, and a belt 363c engaged with the belt 363b to receive the rotational force. The driving force transmission part <NUM> may include a lead screw 363d coupled to the pulley 363c to rotate integrally with the pulley 363c. When the lead screw 363d rotates in one direction, the pair of side frames 320a and 320b may move along the lead screw 363d to narrow the space therebetween in the X-axis direction, and when the lead screw 363d rotates in the other direction, the pair of side frames 320a and 320b may move along the lead screw 363d to be spaced apart from each other in the X-axis direction.

The flipper apparatus <NUM> includes an X-axis holder rotation driver <NUM> configured to provide a driving force for rotating the X-axis holders <NUM> with respect to the side frames <NUM>. The X-axis holder rotation driver <NUM> may provide a driving force for rotating the X-axis shaft <NUM>. The X-axis holder rotation driver <NUM> is supported on the X-axis flipper unit <NUM>. The X-axis holder rotation driver <NUM> may include a motor <NUM> and driving force transmission parts 373a, 373b, and 373c configured to transmit the driving force of the motor <NUM> to the pair of X-axis holders 330a and 330b.

The driving force transmission parts 373a, 373b, and 373c may include a basic driving force transmission part 373a configured to transmit the rotational force of the motor <NUM> to the first driving force transmission part 373b and the second driving force transmission part 373c. The driving force transmission parts 373a, 373b, and 373c may include a first driving force transmission part 373b configured to receive a rotational force from the basic driving force transmission part 373a and to transmit the rotational force to the first X-axis holder 330a, and a second driving force transmission part 373c configured to receive a rotational force from the basic driving force transmission part 373a and to transmit the rotational force to the second X-axis holder 330b.

In an embodiment, the basic driving force transmission part 373a may include a pulley 373a1 fixed to the rotation shaft of the motor <NUM> to rotate, a belt 373a2 wound around the pulley 373a1 to receive a rotational force, and a pulley 373a3 engaged with the belt 373a2 to receive the rotational force. The basic driving force transmission part 373a may include a serrated shaft 373a4 coupled to the pulley 373a3 to rotate integrally with the pulley 373a3. The motor <NUM> and the basic driving force transmission part 373a may be supported on the X-axis flipper base <NUM>.

In an embodiment, the first driving force transmission part 373b may include a pulley 373b1 coupled to the serrated shaft 373a4 to receive a rotational force and configured to be movable in the X-axis direction along the serrated shaft 373a4. The first driving force transmission part 373b may include a belt 373b2 wound around the pulley 373b1 to receive a rotational force, and a pulley 373b3 engaged with the belt 373b2 to receive the rotational force and to rotate the first X-axis holder 330a. The first driving force transmission part 373b may include a guide pulley 373b4 configured to come into contact with the belt 373b2 so as to guide the position of the belt 373b2. The first driving force transmission part 373b is supported on the first side frame 320a.

In an embodiment, the second driving force transmission part 373c may include a pulley (not illustrated) coupled to the serrated shaft 373a4 to receive a rotational force and configured to be movable in the X-axis direction along the serrated shaft 373a4. The second driving force transmission part 373c is configured in the form of the first driving force transmission part 373b, and may rotate the second X-axis holder 330b. The second driving force transmission part 373c is supported on the second side frame 320b.

<FIG> and <FIG> are perspective views illustrating the Z-axis elevation unit <NUM> and the Z-axis elevation driver <NUM> in <FIG>. Referring to <FIG> and <FIG>, the Z-axis elevation unit <NUM> may be supported in an environment outside the flipper apparatus <NUM> (e.g., an external floor or wall). The Y-axis flipper unit <NUM> may be raised and lowered in the Z-axis direction with respect to the Z-axis elevation unit <NUM>.

The Z-axis elevation unit <NUM> may include a support frame <NUM> supported by an external environment. The Z-axis elevation unit <NUM> may include Z-axis guides <NUM> formed on the support frame <NUM>. The Z-axis guides <NUM> guide the movement of the Y-axis flipper unit <NUM> in the Z-axis direction.

The Z-axis elevation unit <NUM> may include elevation sensors 591a and 591b configured to generate a detection signal when the Y-axis flipper base <NUM> moves to a predetermined position with respect to the Z-axis elevation unit <NUM>. When the Y-axis flipper base <NUM> is disposed at a predetermined position relative to the Z-axis elevation unit <NUM>, a target 591t fixed to the Y-axis flipper base <NUM> is detected by the Z-axis movement sensors 391a and 391b (see <FIG>).

The flipper apparatus <NUM> may include a Z-axis elevation driver <NUM> configured to provide a driving force for moving the Y-axis flipper unit <NUM> and the X-axis flipper unit <NUM> in the Z-axis direction with respect to the Z-axis elevation unit <NUM>. The Z-axis elevation driver <NUM> may be supported on the Z-axis elevation unit <NUM>. The Z-axis elevation driver <NUM> may include a motor <NUM> and a driving force transmission part <NUM> configured to transmit the driving force of the motor <NUM> to the Y-axis flipper unit <NUM>.

In an embodiment, the driving force transmission part <NUM> may include a pulley 563a fixed to the rotation shaft of the motor <NUM> to rotate, a belt 563b wound around the pulley 563a to receive a rotational force, and a pulley 563c engaged with the belt 563b to receive the rotational force. The driving force transmission part <NUM> may include a lead screw 563d coupled to the pulley 563c to rotate integrally with the pulley 563c. When the lead screw 563d rotates in one direction, the Y-axis flipper base <NUM> moves in the +Z-axis direction along the lead screw 563d, and when the lead screw 563d rotates in the other direction, the Y-axis flipper base <NUM> may move in the -Z-axis direction along the lead screw 563d.

<FIG> are perspective views sequentially illustrating a process of operating the flipper apparatus <NUM> according to an embodiment, in which, for convenience of description, the X-axis flipper unit <NUM> and the Z-axis elevation unit <NUM> are omitted in some drawings.

Referring to <FIG>, an object M is introduced into the flipper apparatus <NUM>. The top surface of the transfer belt <NUM> of the transfer unit <NUM> moves in the +X-axis direction (see arrows Mc1). Accordingly, the object M placed on the transfer belt <NUM> moves in the +X-axis-direction (see arrow In).

Referring to <FIG> and <FIG>, the X-axis flipper unit <NUM> is in the state of having been by a predetermined range with respect to the Y-axis flipper unit <NUM>, and the object M is not engaged with the X-axis flipper unit <NUM> on the path through which the object M is transferred to a correct position in the flipper apparatus <NUM>, and is engaged with the transfer stopper <NUM> of the X-axis flipper unit <NUM> when the flipper apparatus <NUM> reaches the correct position. Referring to <FIG>, the object M is engaged with the transfer stopper <NUM> at a predetermined correct position and stopped so that the object M can no longer move in the +X-axis direction. Thereafter, the pair of side frames 320a and 320b are spaced apart from each other in the X-axis direction and move in the +Z-axis direction with respect to the Y-axis flipper unit <NUM> to maintain the state of being spaced apart from the object M.

Referring to <FIG>, the space between the pair of body frames 120a and 120b of the Y-axis flipper unit <NUM> is narrowed in the Y-axis direction (see arrows Dy1). Here, the support grip parts <NUM> of the Y-axis holders <NUM> support the bottom surface of the object M.

Referring to <FIG>, the transfer parts 200a and 200b move in the -Z-axis direction along the body frame <NUM> (see arrows Dc1). Through this, it is possible to prevent the transfer unit <NUM> from interfering with the object M when the object M rotates.

Referring to <FIG>, in the state in which the support grip parts <NUM> of the Y-axis holders <NUM> support the bottom side of the object M and the Y-axis contactors 135a are in contact with both sides of the object M in the Y-axis direction, an object surface A of the object M facing the +Z-axis direction is inspected by the camera device. Here, a pair of auxiliary grip parts <NUM> move into the state of being spaced further apart from each other compared to the pair of support grip parts <NUM>, and since the auxiliary grip parts <NUM> do not block the +Z-axis direction of the object surface A, the entire object surface A can be inspected. The inspection of the object surface A can be performed while the transfer parts 200a and 200b are being lowered in the -Z-axis direction, and in this case, the inspection time can be shortened.

Referring to <FIG>, for the inspection of object surfaces B1 and B2 after the inspection of the object surface A, the pair of auxiliary grip parts <NUM> are in the state in which the space therebetween is further narrowed compared to the pair of support grip parts <NUM> (see arrows Ds1). The support grip parts <NUM> and the auxiliary grip parts <NUM> hold the top and bottom sides of the object M so that the object M can be stably rotated.

<FIG> is an exploded perspective view illustrating the Y-axis holder <NUM> and the rotation rod 182c of the auxiliary grip part driver <NUM> in <FIG>. <FIG> is a perspective view illustrating the Y-axis rotation rod 182c, the shaft <NUM>, and the rotation pin 132in <FIG> in an assembled state.

With reference to <FIG> and <FIG>, a detailed description will be made with reference to one of the pair of Y-axis holders <NUM> as follows. In one Y-axis holder <NUM>, a first direction Y1 refers to a direction facing the other Y-axis holder, and a second direction Y2 refers to a direction opposite to the first direction Y1.

The Y-axis holder <NUM> includes a Y-axis shaft <NUM> supported on the body frame <NUM> to be rotatable about the Y-axis. A support grip part <NUM> may be fixed to the end of the Y-axis shaft <NUM> in the first direction Y1. The Y-axis shaft <NUM> is coupled with a rotation rod 182c to be described later. A rotation pin <NUM> to be described later is coupled to the Y-axis shaft <NUM>.

The Y-axis holder <NUM> includes the support grip part <NUM> supported on the Y-axis shaft <NUM>. The support grip part <NUM> is configured to protrude in the Y-axis direction Y1 to be engaged with one end of the object. The support grip part <NUM> protrudes in the Y-axis direction on the -Z-axis direction side with reference to the Y-axis contactor 135a to form a support surface 133b capable of coming into contact with the object M in the +Z-axis direction. The support grip part <NUM> forms a protruding end 133a in the first direction Y1. In the present embodiment, the support grip part <NUM> is formed by assembling a plurality of parts 133A and 133B, but is not limited thereto.

The Y-axis shaft <NUM> is fixed to the second direction Y2 side of the support grip part <NUM>. The rotation rod 182c may pass through the support grip part <NUM> in the Y-axis direction. A limiter 135d may be disposed on the second direction Y2 side of the support grip part <NUM>. The support grip part <NUM> may guide the moving direction of the elastic grip part <NUM>. The support grip part <NUM> may guide the moving direction of the auxiliary grip part <NUM>.

The Y-axis holder includes an elastic grip part <NUM> configured to generate an elastic force when coming into contact with and being pressed by the object M. The elastic grip part <NUM> includes a Y-axis contactor 135a configured to come into contact with the object M in the Y-axis direction. The Y-axis contactor 135a is configured to compress the elastic member 135b when the Y-axis contactor 135a comes into contact with the object M. The Y-axis contactor 135a is supported on the Y-axis shaft <NUM>. For example, the Y-axis contactor 135a may be supported on the Y-axis shaft <NUM> via the support grip part <NUM>.

The Y-axis contactor 135a includes a contact surface 135a1 facing the first direction Y1. The contact surface 135a1 is configured to be capable of coming into contact with the object M in the first direction Y1. The Y-axis contactor 135a includes the front portion 135a2 forming a portion in the first direction. The contact surface 135a1 is disposed on the side surface of the front portion 135a2 in the first direction Y1. The Y-axis contactor 135a includes a guide part 135a3 configured to guide the movement of the auxiliary grip part <NUM> in the Y-axis direction. The guide part 135a3 extends in the Y-axis direction. The guide part 135a3 may be engaged with a groove <NUM> extending in the Y-axis direction in the auxiliary grip part <NUM>. One Y-axis contactor 135a may include a pair of guide parts 135a3 spaced apart from each other.

The elastic grip part <NUM> includes at least one elastic member 135b configured to provide an elastic force in the Y-axis direction. The elastic member 135b is configured to be elastically compressed when the Y-axis contactor 135a is in contact with the object M. The at least one elastic member 135b may include a pair of elastic members 135b, with the Y-axis interposed therebetween.

The Y-axis holder <NUM> includes an elastic member support part <NUM> configured to support one end of the elastic member 135b. The end of the elastic member 135b in the second direction Y2 is supported by the elastic member support part <NUM>. The other end of the elastic member 135b is connected to the Y-axis contactor 135a. The end of the elastic member 135b in the first direction Y1 is connected to the Y-axis contactor 135a.

The elastic member support part <NUM> is fixed to the support grip part <NUM>. In this embodiment, the elastic member support part <NUM> is integrally formed with the support grip part <NUM>, but is not limited thereto.

The Y-axis holder <NUM> includes a guide part 135c having one end to which the Y-axis contactor 135a is fixed. The Y-axis contactor 135a is fixed to the end of the guide part 135c in the first direction Y1. The guide part 135c is disposed to be movable only in the Y-axis direction on the support grip part <NUM>. A pair of guide parts 135c may be provided. The guide part 135c may be disposed to pass through the support grip part <NUM> in the Y-axis direction. A hole <NUM> into which the guide part 135c is inserted in the second direction Y2 may be formed in the support grip part <NUM>. The hole <NUM> may be formed in the elastic member support part <NUM>. A pair of holes <NUM> corresponding to the pair of guide parts 135c may be formed.

The Y-axis holder <NUM> includes a limiter 135d fixed to the guide parts 135c. The limiter 135d is configured to limit the movable range of the guide parts 135c in the first direction Y1, which is the direction of one end of the guide parts 135c, by being engaged with the support grip part <NUM> or components moving integrally with the support grip part <NUM>. In this embodiment, the limiter 135d is configured to be engaged with the side surface of the support grip part <NUM> in the second direction Y2. In another embodiment not shown, the limiter 135d may be configured to be engaged with a component such as a Y-axis shaft <NUM> that moves integrally with the support grip part <NUM>. In the present disclosure, "moving integrally" means that a plurality of components move together without changing their positions relative to each other.

The Y-axis holder <NUM> includes an auxiliary grip part <NUM> configured to move from the +Z-axis direction side in the Y-axis direction with reference to the Y-axis contactor 135a. The auxiliary grip part <NUM> is configured to be movable in the Y-axis direction with respect to the support grip part <NUM>. The auxiliary grip part <NUM> is configured to rotate integrally with the Y-axis shaft <NUM>. In the present disclosure, "rotating integrally" means that a plurality of components move together without changing their positions relative to each other. The auxiliary grip part <NUM> forms a protruding end 137a in the first direction Y1.

The auxiliary grip part <NUM> is configured to move in the Y-axis direction to be engaged with or disengaged from the other end of the object M. The one end of the object M is engaged with the support grip part <NUM>. The "one end" and the "other end" of the object M referred to herein mean ends in opposite directions (in the Z-axis direction) perpendicular to the Y-axis.

<FIG> is a partial cross-sectional view of the flipper apparatus <NUM> taken along line S1-S1' in <FIG>. <FIG> is a partial cross-sectional view of the flipper apparatus <NUM> taken along line S2-S2' in <FIG>. <FIG> is a partial cross-sectional view of the flipper apparatus <NUM> taken along line S3-S3' in <FIG>.

Referring to <FIG>, the auxiliary grip part <NUM> is configured to have an engaged state in which the auxiliary grip part <NUM> comes into contact with the object M in the -Z-axis direction by moving in a first direction Y1 of the Y-axis direction (see <FIG>) and a disengaged state in which the auxiliary grip part <NUM> is disengaged from the contact state with the object M in the -Z-axis direction by moving in a second direction Y2, which is opposite to the first direction Y1 (see <FIG> and <FIG>). The auxiliary grip part <NUM> is configured such that, with reference to the surface 135a1 of the Y-axis contactor 135a, which is in contact with the object M in the state in which at least one elastic member 135b is elastically compressed, the protruding end 137a of the auxiliary grip part <NUM> in the engaged state (see <FIG>) is positioned on the first direction Y1 side and the protruding end 137a of the auxiliary grip part <NUM> in the disengaged state (see <FIG>) is positioned on the second direction Y2 side.

With reference to the surface 135a1 of the Y-axis contactor 135a, which is in contact with the object M in the state in which at least one elastic member 135b is elastically compressed, the protruding end 133a of the support grip part <NUM> is positioned on the first direction Y1 side (see <FIG> and <FIG>).

Referring to <FIG>, in the state in which the auxiliary grip part <NUM> is moved in the first direction Y1 with respect to the support grip part <NUM>, a gap <NUM>, into which the front portion 135a2 of the Y-axis contactor 135a is inserted, is formed between the auxiliary grip part <NUM> and the support grip part <NUM>. The auxiliary grip part <NUM> includes a grip surface 137b configured to be in contact with the object M in the -Z-axis direction in the state in which the auxiliary grip part <NUM> is moved in the first direction Y1 with respect to the support grip part <NUM>. The auxiliary grip part <NUM> includes an engagement surface 137c engaged with the front portion 135a2 of the Y-axis contactor 135a in the state in which the auxiliary grip part <NUM> is moved in the first direction Y1 with respect to the support grip part <NUM>. The auxiliary grip part <NUM> includes a sliding surface 137d sliding along the surface of the support grip part <NUM> when the auxiliary grip part <NUM> is moved in the Y-axis direction with respect to the support grip part <NUM>.

The flipper apparatus <NUM> may include an auxiliary grip part driver <NUM> configured to provide a driving force for moving the auxiliary grip part <NUM> in the Y-axis direction with respect to the Y-axis shaft <NUM>. The auxiliary grip part driver <NUM> may include a cylinder <NUM> configured to provide a driving force and a driving force transmission part <NUM> configured to transmit the driving force of the cylinder <NUM> to the Y-axis holder <NUM>.

In an embodiment, the driving force transmission part <NUM> may include a cylinder rod 182a configured to receive the driving force of the cylinder <NUM> to move in the Y-axis direction. The driving force transmission part <NUM> may include a connection rod 182b fixed to the cylinder rod 182a to move integrally with the cylinder rod 182a. The driving force transmission part <NUM> may include a rotation rod 182c connected to the connection rod 182b. The rotation rod 182c is connected to the connection rod 182b to move in the Y-axis direction following the Y-axis direction movement of the connection rod 182b, and is connected to the connection rod 182b to be rotatable about the Y-axis.

Referring to <FIG>, the auxiliary grip part driver <NUM> includes the rotation rod 182c having one end to which the auxiliary grip part <NUM> is fixed. The auxiliary grip part <NUM> may be fixed to the end of the rotation rod 182c in the first direction Y1. The rotation rod 182c is configured to transmit the driving force of the auxiliary grip part driver <NUM> to the auxiliary grip part <NUM>. The rotation rod 182c is movable in the Y-axis direction with respect to the support grip part <NUM> together with the auxiliary grip part <NUM>.

The rotation rod 182c is configured to be integrally rotatable with the Y-axis shaft <NUM> and to be movable in the Y-axis direction with respect to the Y-axis shaft <NUM>. The rotation rod 182c may be disposed to pass through the Y-axis shaft <NUM> in the Y-axis direction. A guide hole 182ch penetrates the rotation rod 182c in a direction perpendicular to the Y-axis. The guide hole 182ch extends along the Y-axis direction.

The Y-axis holder <NUM> may include a rotation pin <NUM> fixed to the Y-axis shaft <NUM>. The rotation pin <NUM> is inserted into the guide hole 182ch. The rotation pin <NUM> is configured to move relatively in the Y-axis direction along the guide hole 182ch. When the state of <FIG> and <FIG> is changed to the state of <FIG>, when the rotation rod 182c moves in the first direction with respect to the Y-axis shaft <NUM>, the rotation pin <NUM> moves relatively in the second direction Y2 along the guide hole 182ch. Meanwhile, when the Y-axis shaft <NUM> rotates about the Y-axis, the Y-axis shaft <NUM> and the rotation rod 182c may be integrally rotated by the rotation pin <NUM>.

Referring to <FIG>, the bottom surface of the object M is supported by the transfer belts <NUM> of the transfer unit <NUM>. Referring to <FIG>, the body frame <NUM> moves in the first direction (see arrow Dy1), and the support surfaces 133b of the support grip parts <NUM> support the bottom surface of the object M. Referring to <FIG>, the rotation rod 182c moves in the first direction Y1 with respect to the Y-axis shafts <NUM> by the driving force of the auxiliary grip part driver <NUM> (see arrow Dc), and the grip surfaces 137b of the auxiliary grip parts <NUM> come into contact with the top surface of the object M.

<FIG> is a partial cross-sectional view of the flipper apparatus <NUM> taken along line S4-S4' in <FIG>. <FIG> is a partial cross-sectional view of the flipper apparatus <NUM> taken along line S5-S5' in <FIG>.

Referring to <FIG> and <FIG>, the auxiliary grip part <NUM> may include a cover part 137e configured to cover at least a portion of the elastic member 135b. The cover part 137e may cover the elastic member support part <NUM>. The auxiliary grip part <NUM> may include a sleeve <NUM> disposed between the guide part 135c and the support grip part <NUM>. The guide part 135c may slide the sleeve <NUM> in the Y-axis direction.

Referring to <FIG>, the state, in which the object M is in contact with the Y-axis contactor 135a but the Y-axis contactor 135a is not compressed in the Y-axis direction by the object, is illustrated. Here, the limiter 135d is engaged with the support grip part <NUM>, and the Y-axis contactor 135a is in the state of being moved to the maximum in the first direction Y1 with respect to the support grip part <NUM>.

Referring to <FIG>, the body frame <NUM> moves in the first direction (see arrow Dy1), the elastic grip part <NUM> is pressed by the object M in the second direction Y2, and the elastic member 135b is compressed. Here, the limiter 135d is spaced apart from the support grip part <NUM> in the second direction Y2.

<FIG> are perspective views sequentially illustrating a process of operating the flipper apparatus <NUM> according to an embodiment after the state of <FIG>, in which, for convenience of description, the X-axis flipper unit <NUM> and the Z-axis elevation unit <NUM> are omitted in some drawings.

Referring to <FIG>, by rotating the object M in any one rotation direction Ry1 about the Y-axis in the state in which the Y-axis holders <NUM> hold the object M, an object surface B1 perpendicular to the object surface A faces the +Z-axis direction. Here, the object surface B1 is inspected by the camera device.

Referring to <FIG> and <FIG>, the Y-axis holders <NUM> rotate the object M by an angle of less than <NUM> degrees about the Y-axis, and object surfaces B1a and B1b, which are inclined by an angle of less than <NUM> degrees with respect to the object surface B1, can also be inspected. When the corners of the object M are rounded, this inspection method becomes very useful. For example, referring to <FIG>, the object surface B1a is inspected by rotating the Y-axis holders <NUM> in any one rotation direction Ry2, and referring to <FIG>, the object surface B1b may be inspected by rotating the Y-axis holders <NUM> in the opposite rotation direction Ry3.

Referring to <FIG>, when the Y-axis holders <NUM> rotate the object M in any one rotation direction Ry4 about the Y-axis, the object surface B2, which is opposite to the object surface B1, faces the +Z-axis direction. Here, the object surface B2 is inspected by the camera device.

<FIG> is an elevation view illustrating the flipper apparatus <NUM> in the state of <FIG> when viewed in the X-axis direction. <FIG> is an elevation view illustrating the flipper apparatus <NUM> in the state of <FIG> when viewed in the X-axis direction. <FIG> is an elevation view illustrating the flipper apparatus <NUM> in the state of <FIG> when viewed in the X-axis direction.

Referring to <FIG>, the camera device <NUM> is disposed on a horizontal plane Io separated by a predetermined distance (Lo+Lg) in the Z-axis direction from the ground surface GL, and the inspection direction Id of the camera device <NUM> becomes the -Z-axis direction. The camera device <NUM> may inspect the object surface of the object M while moving in the X-axis direction and the Y-axis direction.

The camera device <NUM> maintains a predetermined distance Lo from the object surface of the object M facing the +Z-axis direction. To this end, the distance between the object surface and the ground surface GL may be maintained at a predetermined distance Lg. The Z-axis elevation unit <NUM> moves the Y-axis flipper unit <NUM> in the Z-axis direction so as to maintain the distance Lg constant.

Referring to <FIG>, the distance L1 between a reference point of the Y-axis flipper unit <NUM> and the ground surface GL during inspection of the object surface A is illustrated.

Referring to <FIG>, since the position of the object surface B1 relative to the Y-axis flipper unit <NUM> becomes higher than that of the object surface B1 relative to the Y-axis flipper unit <NUM>, the Z-axis elevation unit <NUM> may move the Y-axis flipper unit <NUM> downward by a predetermined distance (see arrow Dz1). Here, the distance L2 between the Y-axis flipper unit <NUM> and the ground surface GL becomes shorter than the distance L1.

Referring to <FIG>, since the position of the object surface B1a relative to the Y-axis flipper unit <NUM> becomes lower than that of the object surface B1 relative to the Y-axis flipper unit <NUM>, the Z-axis elevation unit <NUM> may move the Y-axis flipper unit <NUM> upward by a predetermined distance (see arrow Dz2). Here, the distance L3 between the Y-axis flipper unit <NUM> and the ground surface GL becomes longer than the distance L2, but becomes shorter than the distance L1.

<FIG> are perspective views sequentially illustrating a process of operating the flipper apparatus <NUM> according to an embodiment after the state of <FIG>, in which, for convenience of description, the Y-axis flipper unit <NUM> and the Z-axis elevation unit <NUM> are omitted in some drawings.

Referring to <FIG>, the Y-axis holders <NUM> rotate the object M (see arrow Ry5), and dispose the object such that the object surface A faces the +Z-axis direction. The pair of side frames 320a and 320b remain in the state in which the space therebetween is widened in the X-axis direction before that time, and then the space therebetween is narrowed in the X-axis direction such that the pair of X-axis holders 330a and 330b hold the object M (see arrows Dx1).

Referring to <FIG>, the auxiliary grip parts <NUM> move in the second direction with respect to the support grip parts <NUM> so as to be in the disengaged state (see arrow Ds2), and the space between the pair of body frames 120a and 120b is widened so as to cause the pair of Y-axis holders 130a and 130b to be spaced apart from the object M (see arrows Dy2). Through this, when the X-axis holders <NUM> rotate the object M, there is no interference with the Y-axis holders <NUM>.

Referring to <FIG>, by rotating the object M in any one rotation direction Rx1 about the X-axis in the state in which the X-axis holders <NUM> hold the object M, an object surface B3 perpendicular to the object surface A faces the +Z-axis direction. Here, the object surface B3 is inspected by the camera device.

Referring to <FIG> and <FIG>, the X-axis holders <NUM> rotate the object M by an angle of less than <NUM> degrees about the X-axis, and object surfaces B3a and B3b, which are inclined by an angle of less than <NUM> degrees with respect to the object surface B3, can also be inspected. When the corners of the object M are rounded, this inspection method becomes very useful. For example, referring to <FIG>, the object surface B3a is inspected by rotating the X-axis holders <NUM> in any one rotation direction Rx2, and referring to <FIG>, the object surface B3b may be inspected by rotating the X-axis holders <NUM> in the opposite rotation direction Rx3.

Referring to <FIG>, when the X-axis holders <NUM> rotate the object M in any one rotation direction Rx4 about the X-axis, the object surface B4, which is opposite to the object surface B3, faces the +Z-axis direction. Here, the object surface B4 is inspected by the camera device.

<FIG> is an elevation view illustrating the flipper apparatus <NUM> in the state of <FIG> when viewed in the X-axis direction. <FIG> is an elevation view illustrating the flipper apparatus <NUM> in the state of <FIG> when viewed in the X-axis direction.

Referring to <FIG> and <FIG>, the camera device <NUM> maintains a predetermined distance Lo from the object surface of the object M facing the +Z-axis direction. To this end, the distance between the object surface and the ground surface GL may be maintained at a predetermined distance Lg. The Z-axis elevation unit <NUM> moves the X-axis flipper unit <NUM> in the Z-axis direction so as to maintain the distance Lg constant. In this embodiment, the Z-axis elevation unit <NUM> integrally moves the Y-axis flipper unit <NUM> and the X-axis flipper unit <NUM> in the Z-axis direction so as to maintain the distance Lg constant.

Referring to <FIG>, since the position of the object surface B3 relative to the X-axis flipper unit <NUM> becomes higher than that of the object surface B3 relative to the X-axis flipper unit <NUM>, the Z-axis elevation unit <NUM> may move the X-axis flipper unit <NUM> downward by a predetermined distance (see arrow Dz1).

The distance L4 of <FIG> is indicated as the distance between a reference point of the Y-axis flipper unit <NUM> and the ground surface GL. The distance between the reference point of the Y-axis flipper unit <NUM> and the Y-axis in <FIG> may be equal to the distance between the reference point of the Y-axis flipper unit <NUM> and the X-axis in <FIG>. In this case, the distance L4 becomes shorter than the distance L1.

Referring to <FIG>, since the position of the object surface B3a relative to the Y-axis flipper unit <NUM> becomes lower than that of the object surface B3a relative to the X-axis flipper unit <NUM>, the Z-axis elevation unit <NUM> may move the X-axis flipper unit <NUM> upward by a predetermined distance (see arrow Dz2). Here, the distance L5 becomes longer than the distance L4, but becomes shorter than the distance L1.

<FIG> are perspective views sequentially illustrating a process of operating the flipper apparatus <NUM> according to an embodiment after the state of <FIG>.

Referring to <FIG>, the X-axis holders <NUM> rotate the object M (see arrow Rx5), and dispose the object such that the object surface C, which is opposite to the object surface A, faces the +Z-axis direction. The space between the pair of side frames 320a and 320b is narrowed in the Y-axis direction, and thus the pair of Y-axis holders 130a and 130b hold the object M (see arrows Dy1).

Referring to <FIG>, the pair of side frames 320a and 320b are spaced apart from each other, and thus the pair of X-axis holders 330a and 330b are spaced apart from the object M (see arrows Dx2). Here, the object surface C, which is opposite to the object surface A, may be inspected.

Referring to <FIG>, the X-axis flipper unit <NUM> moves a predetermined distance in the -Z-axis direction with respect to the Y-axis flipper unit <NUM> (see arrow De1). Here, the X-axis flipper unit <NUM> is sufficiently lowered with respect to the Y-axis flipper unit <NUM>, and thus the transfer stopper <NUM> is also disposed below the proceeding path of the object. In addition, the transfer unit <NUM> moves a predetermined distance in the +Z-axis direction with respect to the Y-axis flipper unit <NUM> (see arrows Dc2). Here, the transfer belts <NUM> of the transfer unit <NUM> support the bottom surface of the object M.

Referring to <FIG>, the pair of body frames 120a and 120b are spaced apart from each other in the Y-axis direction, and thus only the transfer unit <NUM> supports the object M. Here, the top surfaces of the transfer belts <NUM> of the pair of transfer parts 200a and 200b move in the +X-axis direction (see arrows Mc1). Accordingly, the object M is discharged from the flipper apparatus <NUM> by the transfer unit <NUM> (see arrow Out).

<FIG> is a flowchart of an object inspection method using a flipper apparatus according to an embodiment of the present disclosure. Although process steps, method steps, algorithms, and the like are illustrated in sequential order in a flowchart of <FIG>, such processes, methods, and algorithms may be configured to operate in any suitable order. In other words, the steps of the processes, methods and algorithms described in various embodiments of the present disclosure need not be performed in the order described in this disclosure. In addition, although some steps are described as being performed asynchronously, in other embodiments, these steps may be performed simultaneously. In addition, illustration of a process in a drawing does not imply that the illustrated process excludes other changes and modifications thereto, that the illustrated process or any of steps thereof are essential to one or more of the various embodiments of the present disclosure, or that the illustrated process is desirable.

The object inspection method uses the flipper apparatus <NUM> configured to hold and rotate an object M on XYZ orthogonal coordinates, and the camera device configured to inspect an object surface of the object facing the +Z-axis direction.

The inspection method includes, before an initial inspection step S20, an initial transfer step S10 in which the object M is transferred in the X-axis direction by the transfer unit <NUM> of the flipper apparatus <NUM> (see <FIG> and <FIG>). In the initial transfer step S10, the object M is transferred in the X-axis direction such that the object M is placed at a correct position. Here, the correct position may be a position at which the Y-axis holders <NUM> are capable of holding the object M in the Y-axis direction. In the initial transfer step S10, the object M may be engaged with the transfer stopper <NUM> and may be disposed at the correct position. In the initial transfer step S10, the object M may be transferred in the +X-axis direction.

The inspection method includes, after the initial transfer step S10, an initial inspection step S20 in which the Y-axis holders <NUM> hold the object M in the Y-axis direction and the camera device inspects the object surface A of the object M (see <FIG> and <FIG>). In the initial inspection step S20, the Y-axis holders <NUM> hold the object M in the state in which the auxiliary grip part <NUM> is disengaged from the object surface A. Here, the disengaged state means the state in which the auxiliary grip part <NUM> does not cover a portion of the object surface A. Through this, the camera device is capable of inspecting the entire area of the object surface A without interference. The initial inspection step S20 may be referred to as a first inspection step S20.

In the initial inspection step S20, the transfer unit <NUM> moves in the -Z-axis direction with respect to the Y-axis flipper unit <NUM>. In the initial inspection step S20, after the Y-axis holders <NUM> hold the object M, the transfer unit <NUM> may move in the -Z-axis direction with respect to the Y-axis holders <NUM>. The transfer unit <NUM> is lowered with respect to the Y-axis flipper unit <NUM> and does not interfere with the rotational motion of the object M. Here, while the transfer unit <NUM> is lowered, the camera device may inspect the object surface A.

The inspection method includes, after the initial inspection step S20, an middle inspection step S30 in which an object surface perpendicular to the object surface A is inspected by rotating the object M. In the middle inspection step S30, the Y-axis holders <NUM> may rotate the object M about the Y-axis, and the camera device may inspect an object surface B1, which is perpendicular to the object surface A, and an object surface B2, which is opposite to the object surface B1. The middle inspection step S30 may be referred to as a second inspection step S30.

In the middle inspection step S30, the Y-axis holders <NUM> hold the object in the state in which the auxiliary grip part <NUM> is engaged with the object surface A. Through this, the object M can be stably held by the Y-axis holders <NUM>.

In this embodiment in which the Y-axis flipper unit <NUM> and the X-axis flipper unit <NUM> are provided, the middle inspection step S30 includes a first middle inspection step S31 and a second middle inspection step S36. In another embodiment in which the X-axis flipper unit <NUM> is not provided and the Y-axis flipper unit <NUM> is provided, the middle inspection step S30 may not include the second middle inspection step S36.

In the first middle inspection step S31, the Y-axis holders <NUM> rotate the object M about the Y-axis, and the camera device inspects an object surface B1, which is perpendicular to the object surface A, and an object surface B2, which is opposite to the object surface B1 (see <FIG> and <FIG>). In the first middle inspection step S31, the auxiliary grip parts <NUM> may move in the first direction Y1 with respect to the support grip parts <NUM> to be in the engaged state.

In the first middle inspection step S31, the Y-axis holders <NUM> may rotate the object M about the Y-axis, and the camera device may inspect at least one of object surfaces B1a and B1b inclined by an angle of less than <NUM> degrees with respect to the object surface B1 and object surfaces (not illustrated) inclined by an angle of less than <NUM> degrees with respect to the object surface B2. In the first middle inspection step S31, the Y-axis holders <NUM> may move in the Z-axis direction such that the object surface B1 and the object surface B2 are positioned at the same height as the object surface A (see <FIG>). Here, the Y-axis holders <NUM> are moved in the Z-axis direction by the Z-axis elevation unit <NUM>.

The second middle inspection step S36 may be performed after the first middle inspection step S31. In the second middle inspection step S36, the X-axis holders <NUM> hold the object M in the X-axis direction and rotate the object M about the X-axis, and the camera device inspects an object surface B3, which is perpendicular to the object surface A, and an object surface B4, which is opposite to the object surface B3 (see <FIG>).

The second middle inspection step S36 includes a step in which the X-axis holders <NUM> hold the object M, a step in which the Y-axis holders <NUM> release the object M, and a step in which the X-axis holders <NUM> rotate the object M. A step in which the space between the pair of side frames 320a and 320b is narrowed in the X-axis direction such that the X-axis holders <NUM> hold the object M is performed in the state in which the object surface A of the object M is disposed to face the +Z axis by the Y-axis holders <NUM>. In another embodiment (not illustrated), a step in which the space between the pair of side frames 320a and 320b is narrowed in the X-axis direction such that the X-axis holders <NUM> hold the object M may be performed in the state in which an object surface C of the object M is disposed to face the +Z axis by the Y-axis holders <NUM>. After the step in which the X-axis holders <NUM> hold the object M, a step in which the pair of body frames 120a and 120b are spaced apart from each other in the Y-axis direction and the auxiliary grip parts <NUM> are moved in the second direction Y2 with respect to the support grip parts <NUM> so that the Y-axis holders <NUM> release the object M is performed. After the step in which the Y-axis holders <NUM> release the object M, a step in which the X-axis holders <NUM> rotate the object M is performed.

In the second middle inspection step S36, the X-axis holders <NUM> may rotate the object M about the X-axis, and the camera device may inspect at least one of object surfaces B3a and B3b inclined by an angle of less than <NUM> degrees with respect to the object surface B3 and object surfaces (not illustrated) inclined by an angle of less than <NUM> degrees with respect to the object surface B4. In the second middle inspection step S36, the X-axis holders <NUM> may move in the Z-axis direction such that the object surface B3 and the object surface B4 are positioned at the same height as the object surface A (see <FIG> and <FIG>). Here, the X-axis holders <NUM> are moved in the Z-axis direction by the Z-axis elevation unit <NUM>.

The inspection method may include a last inspection step S40 of inspecting an object surface C after the middle inspection step S30 (see <FIG>). In the last inspection step S40, the Y-axis holders <NUM> hold the object M in the Y-axis direction, and the camera device inspects the object surface C, which is opposite to the object surface A. The last inspection step S40 may be referred to as a third inspection step S40.

In the last inspection step S40, the Y-axis holders <NUM> hold the object M in the state in which the auxiliary grip parts <NUM> are disengaged from the object surface C. Here, the disengaged state means the state in which the auxiliary grip parts <NUM> do not cover a portion of the object surface C. Through this, the camera device is capable of inspecting the entire area of the object surface C without interference.

The last inspection step S40 includes a step in which the object M is rotated such that the object surface C faces the +Z-axis direction. In the embodiment in which the second middle inspection step S36 is provided, the last inspection step S40 includes a step in which the X-axis holders <NUM> rotate the object M such that the object surface C faces the +Z-axis direction, and a step in which the Y-axis holders <NUM> hold the object M.

In the last inspection step S40, the transfer unit <NUM> moves in the +Z-axis direction with respect to the Y-axis flipper unit <NUM>. In the last inspection step S40, the transfer unit <NUM> is raised in the +Z-axis direction with respect to the Y-axis holders <NUM> to support the object M. Here, it is also possible to inspect the object surface C while the transfer unit <NUM> is being raised.

In the last inspection step S40, after the Y-axis holders <NUM> hold the object M, the X-axis holders <NUM> may move in the -Z-axis direction with respect to the Y-axis holder <NUM>. Specifically, after the Y-axis holders <NUM> hold the object M, the pair of X-axis holders <NUM> may be spaced apart from each other in the X-axis direction, and may move in the -Z-axis direction with respect to the Y-axis holders <NUM>. When the X-axis holders <NUM> are sufficiently lowered with respect to the Y-axis flipper unit <NUM> and the object M is transferred in the last transfer step S50, the transfer stopper <NUM> may be spaced apart from the object M in the -Z-axis direction. Here, it is also possible to inspect the object surface C while the X-axis holders <NUM> are being lowered.

Claim 1:
A flipper apparatus (<NUM>) comprising on XYZ orthogonal coordinates:
a Y-axis flipper unit (<NUM>) including a pair of Y-axis holders (130a, 130b) configured to hold an object (M) therebetween, the Y-axis flipper unit (<NUM>) configured to narrow or widen a space between the pair of Y-axis holders (130a, 130b) in a Y-axis direction and rotate the object (M) about a Y-axis;
an X-axis flipper unit (<NUM>) including a pair of X-axis holders (330a, 330b) configured to hold the object (M) therebetween, the X-axis flipper unit (<NUM>) configured to narrow or widen a space between the pair of X-axis holders (330a, 330b) in an X-axis direction and rotate the object (M) about an X-axis; and
a Z-axis elevation unit (<NUM>) supporting the Y-axis flipper unit (<NUM>) and the X-axis flipper unit (<NUM>) and configured to move the Y-axis flipper unit (<NUM>) and the X-axis flipper unit (<NUM>) up and down in a Z-axis direction.