JP2013082045A - Positioning mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform exact positioning by reducing an influence of friction between an annular frame and a positioning mechanism in the positioning mechanism performing the positioning of the annular frame supporting a workpiece.SOLUTION: In a positioning unit performing the positioning of an annular frame F supporting a workpiece W via an adhesive tape T, an outer circumference of the annular frame F includes 4 positioning reference surfaces F2 to F5. The positioning unit is constituted of fixed blocks 800a and 801a having two rotatable positioning pins 802 and 805, respectively, and movable blocks 800b and 801b which are opposed to the fixed blocks, have one or more rotatable positioning pins 808 and 811 and can advance and retreat in closing and separating directions to/from the fixed blocks. The positioning reference surfaces F2 to F5 of the annular frame F are made to abut on the rotatable positioning pins by moving the annular frame F in a direction coming close to the movable blocks and the fixed blocks and thus positioning of the annular frame F is performed.

Description

  The present invention relates to a positioning mechanism for positioning a work supported by an annular frame via an adhesive tape.

  In a grinding apparatus for grinding a workpiece such as a semiconductor wafer, the workpiece before grinding is accommodated in the cassette in a state supported by the opening of the annular frame via an adhesive tape, and the workpiece taken out from the cassette is positioned by a positioning mechanism. The workpiece is held at a fixed position on the chuck table by transferring the positioned workpiece to the chuck table (see, for example, Patent Document 1).

  In the positioning mechanism disclosed in Patent Document 1, positioning of the annular frame is performed by abutting a flat abutting block having a flat abutting surface against a flat surface for positioning formed on the outer peripheral surface of the annular frame. It is carried out.

JP 2011-036968 A

  However, in the positioning mechanism, since the flat surfaces of the annular frame and the flat abutment block come into contact with each other, a frictional force is generated between the two flat surfaces, and the annular frame does not move as desired due to the frictional force, and positioning is not possible. May be complete. Further, when the flat abutment block returns to the original position after positioning, the annular frame may be moved by friction, and the position of the annular frame may be shifted.

  The present invention has been considered in view of such problems, and in the positioning mechanism for positioning the annular frame that supports the workpiece, the influence of friction between the annular frame and the positioning mechanism is reduced, and accurate positioning is possible. It aims to be.

  The present invention provides a temporary placement table for temporarily placing a work unit, which is configured by supporting a work in an opening of the annular frame via an adhesive tape, and temporarily placed on the temporary placement table. In a positioning mechanism including a positioning unit disposed outside the outer periphery of the work unit, the outer periphery of the annular frame faces two flat surfaces facing in parallel and a direction orthogonal to the two flat surfaces. The positioning unit includes a first alignment block set composed of a pair of opposed blocks and an opposing direction of the first alignment block. And a second alignment block set composed of a pair of blocks facing each other in a direction orthogonal to each other, and each alignment block set has two rotations. A temporary block comprising a fixed block having a movable positioning pin and a movable block having one or more rotatable positioning pins and capable of moving back and forth in a direction approaching the fixed block and a direction moving away from the fixed block The work unit temporarily placed on the work unit is moved in a direction in which the positioning pin of the movable block approaches the fixed block with respect to the positioning reference surface of the work unit to push the work unit, and the movable block and the fixed block are moved to the positioning reference surface. Positioning is completed by abutting the positioning pins.

  In the present invention, the two fixed blocks and the movable block facing each other have a rotatable positioning pin, and the positioning reference surface of the annular frame abuts on the positioning pin to position the work unit. Since the contact area with the positioning pin is smaller than the conventional one and the positioning pin rotates, the frictional force at the contact portion can be reduced. Therefore, the work unit can be accurately positioned. Further, even when the movable block returns to the original position after the positioning is completed, friction is unlikely to occur at the contact portion between the annular frame and the positioning pin, so that the position of the annular frame can be prevented from being shifted due to friction.

It is a perspective view which shows an example of a grinding device. It is a perspective view which shows an example of a work unit. It is a perspective view which shows a work unit and a positioning mechanism. It is a top view which shows the work unit before positioning. It is a top view which shows the work unit positioned by the positioning mechanism. It is sectional drawing which shows the contact state of the positioning reference surface of a cyclic | annular flame | frame at the time of positioning of a work unit, and a positioning pin.

  A grinding apparatus 1 shown in FIG. 1 is an apparatus for processing a workpiece (workpiece) held on a chuck table 2 by rough grinding means 3, finish grinding means 4 and polishing means 5. FIG. As shown, the workpiece W is attached to an adhesive tape T attached so as to close the opening F1 of the annular frame F, and is supported by the annular frame F via the adhesive tape T. Thus, what is constituted by supporting the workpiece W via the adhesive tape T in the opening F1 of the annular frame F is called a workpiece unit U.

  The outer periphery of the annular frame F includes two flat surfaces F2 and F3 facing in parallel and two flat surfaces F4 and F5 facing in a direction orthogonal to the two flat surfaces F2 and F3. These four flat surfaces F2, F3, F4, and F5 serve as positioning reference surfaces for positioning the work unit U.

  As shown in FIG. 1, a supply cassette 6a for accommodating the work unit U before grinding and a recovery cassette 6b for accommodating the work unit U after grinding are placed on the apparatus end. In the vicinity of the supply cassette 6a and the collection cassette 6b, a loading / unloading means 7 for carrying out the work unit U from the supply cassette 6a and loading the work unit U into the collection cassette 6b is disposed. The carry-in / out means 7 includes a robot pick 70 that holds the work unit U and a bendable arm 71.

  A positioning mechanism 8 that positions the work unit U at a certain position is disposed in the movable range of the robot pick 70. The positioning mechanism 8 is disposed on the outer side (outer peripheral side) of the temporary placement table 81 on which the annular frame F of the work unit U is temporarily placed and supported, and the outer periphery of the work unit U temporarily placed on the temporary placement table 81. And a positioning unit 80.

  The positioning unit 80 faces a first alignment block set 800 composed of a pair of opposed fixed blocks 800 a and movable blocks 800 b in a direction orthogonal to the facing direction of the first alignment block 800. The second alignment block set 801 is composed of a pair of fixed block 801a and movable block 801b. The movable blocks 800b and 801b can advance and retreat in a direction approaching the opposing fixed blocks 800a and 801a and a direction away from the fixed blocks 800a and 801a, respectively.

  A cleaning means 9 for cleaning the work unit U including the workpiece W after grinding is disposed in the movable range of the robot pick 70. The cleaning means 9 includes a spinner table 90 that rotates while holding a work unit, and a nozzle (not shown) that ejects cleaning liquid and high-pressure air to the spinner table 90.

  In the vicinity of the positioning mechanism 8, a first transport unit 10 a that transports the workpiece unit U before grinding from the positioning mechanism 8 to the chuck table 2 is disposed. The first transport unit 10a includes a suction unit 100a that sucks the annular frame F constituting the work unit U, and an arm unit 101a that turns and lifts the suction unit 100a.

  In the vicinity of the cleaning unit 9, a second transport unit 10 b that transports the work unit U from the chuck table 2 to the cleaning unit 9 is disposed. The second transport unit 10b includes a suction part 100b that sucks the annular frame F constituting the work unit U, and an arm part 101b that turns and lifts the suction part 100b.

  In the example of FIG. 1, four chuck tables 2 are arranged so as to be able to rotate and revolve by the turn table 20, and the work unit U is moved from the first conveying means 10 a by the rotation of the turn table 20. The receiving position, the lower position of the rough grinding means 3, the lower position of the finish grinding means 4, and the lower position of the polishing means 5 are movable.

  The rough grinding means 3 is configured such that a wheel 31 is fixed to the lower end of the rotary shaft 30 and a grindstone 32 for rough grinding is fixed to the lower surface of the wheel 31. The rough grinding means 3 is fed by the feeding means 33 and can be moved up and down.

  The finish grinding means 4 is configured such that a wheel 41 is fixed to the lower end of the rotating shaft 40 and a grinding wheel 42 for finish grinding is fixed to the lower surface of the wheel 41. The finish grinding means 4 is fed by the feeding means 43 and can be moved up and down.

  The polishing means 5 is configured by a polishing pad 51 fixed to the lower end of the rotating shaft 50. The polishing means 5 is fed in the horizontal direction by the horizontal feeding means 52 and sent by the vertical feeding means 53 so that it can be raised and lowered.

  As shown in FIG. 3, two positioning pins 802 protrude from the upper surface of the fixed block 800 a constituting the first alignment block set 800 of the positioning mechanism 8 shown in FIG. 1. The two positioning pins 802 are fixed to the fixed block 800a at the lower part thereof, and the shaft part 803 is formed in a columnar shape, and the inner periphery is in contact with the outer peripheral surface of the shaft part 803 so as to be rotatable relative to the shaft part 803. And a rotating part 804 having a circular shape. Similarly, two positioning pins 805 are formed so as to protrude from the upper surface of the fixed block 801a constituting the second alignment block set 801 shown in FIG. The two positioning pins 805 are fixed to the fixed block 801a at the lower portion thereof, and the shaft portion 806 is formed in a columnar shape, and the inner periphery is in contact with the outer peripheral surface of the shaft portion 806 so that it can rotate with respect to the shaft portion 806. And a rotating part 807 having a circular shape.

  On the other hand, one positioning pin 808 protrudes from the upper surface of the movable block 800 b constituting the first alignment block set 800. The positioning pin 808 includes a shaft portion 809 whose lower portion is fixed to the fixed block 800b and formed in a columnar shape, and a ring that is rotatable with respect to the shaft portion 809 with an inner periphery in contact with the outer peripheral surface of the shaft portion 809. And a rotating part 810 having a shape. Similarly, one positioning pin 811 protrudes from the upper surface of the movable block 801b constituting the second alignment block set 801. The positioning pin 811 includes a shaft portion 812 whose lower portion is fixed to the fixed block 801b and formed in a columnar shape, and a ring that is rotatable with respect to the shaft portion 812 with the inner periphery in contact with the outer peripheral surface of the shaft portion 812. It is composed of a rotating part 813 having a shape.

  The movable portion 800b is slidable with respect to the guide bar 814, and is movable in a direction approaching the fixed block 800a opposed to the guide bar 814 and a direction away from the fixed block 800a. . On the other hand, the movable portion 801b is slidable with respect to the guide bar 815, and is movable in a direction approaching the fixed block 801a facing the guide bar 815 and a direction away from the fixed block 801a. ing.

  When the workpiece W constituting the workpiece unit U shown in FIG. 2 is polished using the grinding apparatus 1 shown in FIG. 1, the workpiece unit U is taken out from the supply cassette 6 a by the carry-in / out means 7 and conveyed to the positioning mechanism 8. The work unit U is temporarily placed on the temporary placement table 81.

  When the work unit U is temporarily placed on the temporary placement table 81, the movable blocks 800a and 801a are positioned at positions separated from the fixed blocks 800b and 801b. In this state, when the work unit U is temporarily placed on the temporary placement table 81, the movable units 800b and 801b are moved to push the work unit U.

  For example, as shown in FIG. 4, when the work unit U is placed on the temporary placement table 81 in a state where the direction of the work unit U is shifted, the movable blocks 800 a and 801 a are moved toward the fixed blocks 800 b and 801 b facing each other. Move. Then, as shown in FIG. 5, the flat surfaces F2, F3, F4, and F5 of the annular frame F are the rotating portion 804 of the positioning pin 802, the rotating portion 807 of the positioning pin 805, the rotating portion 810 of the positioning pin 808, and the positioning pin. 811 is in contact with the rotating portion 813. At this time, as shown in FIG. 6, for example, the flat surface F2 is in contact with the outer peripheral surface of the rotating portion 813, but since the rotating portion 813 rotates at the time of contact, the orientation of the annular frame F is corrected. Friction hardly occurs between F2 and the rotating portion 813. Therefore, it is possible to prevent the movement of the annular frame F from being hindered by friction. The same applies to the relationship between the other flat surface and the rotating part, avoiding the influence of friction, and positioning the work unit U at a fixed position.

  After the positioning of the work unit U is completed, the movable blocks 800a and 801a return to their original positions, but also at this time, friction is unlikely to occur between the flat surfaces of the annular frame F and the rotating portions of the positioning pins. The position of the annular frame F can be prevented from shifting due to friction.

  When the positioning of the work unit U is completed in this way, the positioned work unit U is transported to the chuck table 2 positioned at the receiving position near the positioning mechanism 8 by the first transport means 10a shown in FIG. Being held. At this time, since the work unit U is previously positioned at a certain position in the positioning mechanism 8, the holding position on the chuck table 2 is also positioned at a certain position.

  Next, the turntable 20 rotates clockwise (in the direction of arrow A in FIG. 1), and the work unit U held by the chuck table 2 is below the rough grinding means 3, the finish grinding means 4, and the polishing means 5. It moves sequentially and receives rough grinding, finish grinding and polishing by each means.

  The polished work unit U is transported to the cleaning means 9 by the second transport means 10b and cleaned, and then accommodated in the recovery cassette 6b by the loading / unloading means 7.

U: work unit W: work T: adhesive tape F: annular frame F1: opening F2, F3, F4, F5: flat surface 1: grinding device 2: chuck table 20: turntable 3: rough grinding means 30: rotating shaft 31: Wheel 32: Grinding stone 33: Feeding means 4: Finish grinding means 40: Rotating shaft 41: Wheel 42: Grinding wheel 43: Feeding means 5: Polishing means 50: Rotating shaft 51: Polishing pad 52: Horizontal feeding means 53: Vertical feeding Means 6a: Supply cassette 6b: Collection cassette 7: Loading / unloading means 70: Robot pick 71: Arm 8: Positioning mechanism 80: Positioning unit 800: First alignment block set 800a: Fixed block 800b: Movable block 801: Second Alignment block set 801a: fixed block 801b: movable block 802: position Decision pin 803: Shaft portion 804: Rotating portion 805: Positioning pin 806: Shaft portion 807: Rotating portion 808: Positioning pin 809: Shaft portion 810: Rotating portion 811: Positioning pin 812: Shaft portion 813: Rotating portions 814, 815: Guide bar 81: Temporary placing table 9: Cleaning means 90: Cleaning means 10a: First transport means 100a: Suction part 101a: Arm part 10b: Second transport means 100b: Suction part 101b: Arm part

Claims (1)

A temporary placing table for temporarily placing the work unit configured to support the annular frame of the work unit configured by supporting the work with an adhesive tape at an opening of the annular frame, and the work unit temporarily placed on the temporary placing table. In a positioning mechanism comprising a positioning unit disposed outside the outer periphery,
The outer periphery of the annular frame includes four positioning reference surfaces including two flat surfaces facing in parallel and two flat surfaces facing in a direction orthogonal to the two flat surfaces,
The positioning unit is composed of a first alignment block set composed of a pair of opposed blocks and a pair of blocks facing in a direction orthogonal to the facing direction of the first alignment block. And a second alignment block set.
Each alignment block set includes a fixed block having two rotatable positioning pins and one or more rotatable positioning pins in a direction toward and away from the fixed block. It consists of a movable block that can move forward and backward,
The work unit temporarily placed on the temporary placement table moves the positioning pin of the movable block toward the fixed block with respect to the positioning reference surface of the work unit to push the work unit. A positioning mechanism that completes positioning by bringing the movable block and the positioning pin of the fixed block into contact with the positioning reference surface.

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