Flipper apparatus and object inspection method using same
A flipper apparatus according to an embodiment disclosed herein includes: a Y-axis flipper unit configured to hold an object in a Y-axis direction and rotate the object about a Y-axis; an X-axis flipper unit configured to hold the object in an X-axis direction 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.
1 . A flipper apparatus configured to be positioned as part of a conveyor belt inspection line and configured for operation with a camera device to inspect an object, the flipper apparatus comprising on XYZ orthogonal coordinates:
a Y-axis flipper unit configured to hold the object in a Y-axis direction and rotate the object about a Y-axis;
an X-axis flipper unit configured to hold the object in an X-axis direction 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,
wherein the flipper apparatus is configured to receive the object from the conveyor belt for inspection;
wherein the flipper apparatus is configured to manipulate the object, the manipulation enabling improved inspection of multiple object surfaces through improved positioning and alignment relative to the camera device;
wherein the Y-axis flipper unit includes:
a Y-axis flipper base supported on the Z-axis elevation unit;
a pair of body frames supported on the Y-axis flipper base, and configured to operate to narrow or widen a space between the pair of body frames in the Y-axis direction; and
a pair of Y-axis holders supported on the pair of body frames, respectively, the pair of Y-axis holders being configured to hold the object between the pair of Y-axis holders and rotate about the Y-axis with respect to the pair of body frames so as to rotate the object about the Y-axis with respect to the pair of body frames, and
wherein the X-axis flipper unit includes:
an X-axis flipper base supported on the Z-axis elevation unit;
a pair of side frames supported on the X-axis flipper base, the pair of side frames being configured to operate to narrow or widen a space between the pair of side frames in the X-axis direction; and
a pair of X-axis holders supported on the pair of side frames, respectively, the pair of X-axis holders being configured to hold the object between the pair of X-axis holders and rotate about the X-axis with respect to the pair of side frames so as to rotate the object about the X-axis with respect to the pair of side frames, and
wherein each of the pair of Y-axis holders includes:
a support grip part protruding in the Y-axis direction to be engaged with one end of the object in the Z-axis direction; and
an auxiliary grip part configured to be movable in the Y-axis direction with respect to the support grip part, and configured to move in the Y-axis direction to be engaged with or disengaged from the other end of the object in the Z-axis direction.
2 . The flipper apparatus of claim 1 , further comprising:
a transfer unit configured to transfer the object in the X-axis direction.
3 . The flipper apparatus of claim 2 , wherein the transfer unit is supported on the Y-axis flipper unit and is configured to move in the Z-axis direction with respect to the Y-axis flipper unit.
4 . The flipper apparatus of claim 3 , wherein the transfer unit includes a transfer belt configured to support the object and transfer the object in the X-axis direction, and
the flipper apparatus further comprises:
a belt driver configured to provide a driving force for operating the transfer belt; and
a transfer unit elevation driver configured to provide a driving force for moving the transfer unit in the Z-axis direction with respect to the Y-axis flipper unit.
5 . The flipper apparatus of claim 2 , wherein the X-axis flipper unit is configured to move in the Z-axis direction with respect to the Y-axis flipper unit.
6 . The flipper apparatus of claim 2 , wherein the X-axis flipper unit includes a transfer stopper configured to limit movement of the object which is moved by the transfer unit.
7 . The flipper apparatus of claim 1 , wherein the Y-axis flipper unit is supported on the Z-axis elevation unit to be movable in the Z-axis direction with respect to the Z-axis elevation unit, and
the X-axis flipper unit is supported on the Y-axis flipper unit to be movable in the Z-axis direction with respect to the Y-axis flipper unit.
8 . The flipper apparatus of claim 7 , further comprising:
a Z-axis elevation driver configured to provide a driving force for moving the Y-axis flipper unit and the X-axis flipper unit in the Z-axis direction with respect to the Z-axis elevation unit; and
an X-axis flipper elevation driver configured to provide a driving force for moving the X-axis flipper unit in the Z-axis direction with respect to the Y-axis flipper unit.
9 . The flipper apparatus of claim 1 , further comprising:
a Y-axis movement driver configured to provide a driving force for moving the pair of body frames in the Y-axis direction with respect to the Y-axis flipper base;
a Y-axis holder rotation driver configured to provide a driving force for rotating the Y-axis holder with respect to the body frame;
an X-axis movement driver configured to provide a driving force for moving the pair of side frames with respect to the X-axis flipper base; and
an X-axis holder rotation driver configured to provide a driving force for rotating the X-axis holder with respect to the side frames.
10 . The flipper apparatus of claim 1 ,
wherein the X-axis holder comprises:
an X-axis shaft supported on the side frame to be rotatable about the X-axis;
an X-axis contactor supported on the X-axis shaft and disposed on the X-axis, the X-axis contactor having a contact surface configured to come into contact with the object in the X-axis direction;
a first grip part supported on the X-axis shaft and disposed on one side of the X-axis contactor, wherein a +Z-axis direction portion protrudes along the X-axis direction compared to a-Z-axis direction portion; and
a second grip part supported on the X-axis shaft and disposed on one side of the first grip part, wherein a-Z-axis direction portion protrudes along the X-axis direction compared to a +Z-axis direction portion.
11 . The flipper apparatus of claim 1 ,
wherein the Y-axis holder comprises:
a Y-axis shaft supported on the body frame to be rotatable about the Y-axis;
an elastic member configured to provide an elastic force in the Y-axis direction;
a Y-axis contactor configured to compress the elastic member when coming into contact with the object; and
a support grip part supported on the Y-axis shaft, the support grip part protruding from a-Z-axis direction side in the Y-axis direction with reference to the Y-axis contactor to form a surface that is configured to come into contact with the object in a +Z-axis direction.
12 . The flipper apparatus of claim 1 ,
wherein the Y-axis holder comprises:
a Y-axis shaft supported on the body frame to be rotatable about the Y-axis;
a Y-axis contactor supported on the Y-axis shaft and configured to come into contact with the object in the Y-axis direction;
a support grip part supported on the Y-axis shaft, the support grip part protruding from a-Z-axis direction side in the Y-axis direction with reference to the Y-axis contactor to form a surface that is configured to come into contact with the object in a +Z-axis direction;
an auxiliary grip part configured to rotate integrally with the Y-axis shaft and move from the +Z-axis direction side in the Y-axis direction with reference to the Y-axis contactor; and
an auxiliary grip part driver configured to provide a driving force for moving the auxiliary grip part in the Y-axis direction with respect to the Y-axis shaft.