JP2018109550A - Electronic component conveyance device and electronic component inspection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electronic component conveyance device capable of accurately determining whether or not an electronic component remains on an electronic component placement section, and an electronic component inspection device.SOLUTION: An electronic component conveyance device includes: a first grip section being capable of disposing an electronic component placement section placing an electronic component, being movable in a first direction and a second direction different from the first direction, and capable of gripping the electronic component; a second grip section being movable in the first direction and the second direction and capable of gripping the electronic component; an imaging section capable of imaging the electronic component placement section between the first grip section and the second grip section; and a position detection section capable of detecting positional information of at least one grip section out of the first grip section and the second grip section. The first grip section and the second grip section are movable in the second direction with respect to the imaging section, and the imaging section images a first image of the electronic component placement section on the basis of first positional information detected by the position detection section.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an electronic component conveying device and an electronic component inspection device.

  2. Description of the Related Art Conventionally, an electronic component inspection apparatus that inspects electrical characteristics of electronic components such as IC devices is known, and an electronic component conveyance apparatus for conveying an IC device is incorporated in the electronic component inspection apparatus. (For example, refer to Patent Document 1).

  In the electronic component conveying apparatus described in Patent Document 1, an image of a socket (inspection unit) for inspecting an electronic component is taken in a state where the electronic component is not being conveyed, and the image is used as reference image data. Stored in advance. And it is comprised so that the image of a socket may be imaged during conveyance of an electronic component, and the image may be compared with the said reference image data. Thereby, the conveyance abnormality etc. in a socket can be detected.

International Publication No. 2006-109358

  However, in the electronic component inspection apparatus disclosed in Patent Document 1, depending on the positional relationship between the transport unit (hand) and the socket, the electronic device is blocked by the transport unit, and it is difficult to image the socket. As a result, there is a possibility of overlooking a conveyance abnormality in the socket.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as follows.

The electronic component transport device of the present invention can arrange an electronic component placement portion having a placement portion for placing an electronic component,
A first gripper that is movable in a first direction and a second direction different from the first direction and capable of gripping an electronic component;
A second gripper that is movable in the first direction and the second direction and is capable of gripping an electronic component;
An imaging unit capable of imaging the electronic component placement unit from between the first holding unit and the second holding unit;
A position detection unit capable of detecting position information of at least one of the first gripping unit and the second gripping unit;
The first gripping part and the second gripping part are movable in a second direction with respect to the imaging part,
The imaging unit captures a first image of the electronic component placement unit based on first position information detected by the position detection unit.

  Thereby, imaging can be performed based on the position information of the grip portion. Therefore, it is possible to take an image of the electronic component placement unit from between the first holding unit and the second holding unit. As a result, for example, when it is determined whether or not an electronic component is placed on the placement unit based on the imaging result, the determination can be made more accurately.

  In the electronic component transport device of the present invention, it is preferable that the second position information is created based on the first image picked up by the image pickup unit.

  Thereby, for example, when the above determination is made, an image more suitable for the determination can be taken.

  In the electronic component transport device of the present invention, it is preferable that the second position information is different from the first position information.

  Thereby, for example, when the above determination is made, an image more suitable for the determination can be taken.

  In the electronic component transport device according to the aspect of the invention, the second position information is based on the image of the at least one gripping part included in the first image and the image of the placement part included in the first image. It is preferable to be determined.

  Thereby, for example, when the above determination is made, an image more suitable for the determination can be taken.

  In the electronic component transport device according to the aspect of the invention, it is preferable that the imaging unit captures a second image of the electronic component placement unit based on the second position information.

  Thereby, for example, when the above determination is made, an image more suitable for the determination can be taken.

  In the electronic component transport device of the present invention, it is preferable that the third position information is created based on the second image picked up by the image pickup unit.

  Thereby, for example, when the above determination is made, an image more suitable for the determination can be taken.

  In the electronic component transport device of the present invention, it is preferable that the third position information is different from the first position information and the second position information.

  Thereby, for example, when the above determination is made, an image more suitable for the determination can be taken.

  In the electronic component transport device according to the aspect of the invention, the third position information is based on the image of the at least one gripping part included in the second image and the image of the mounting part included in the second image. It is preferable to be determined.

  Thereby, for example, when the above determination is made, an image more suitable for the determination can be taken.

  In the electronic component transport device of the present invention, it is preferable to have a light irradiation unit disposed between the first gripping unit and the second gripping unit so as to irradiate light to the electronic component mounting unit.

  Thereby, based on the light irradiated to the electronic component mounting part, the judgment mentioned later can be performed.

  In the electronic component conveying apparatus of the present invention, it is preferable to have a control unit capable of adjusting a timing at which an imaging command signal is transmitted to the imaging unit.

  Thereby, it can adjust so that a mounting part may be reflected in the image which the imaging part imaged.

  In the electronic component transport device according to the aspect of the invention, it is preferable that the control unit can adjust a timing at which the imaging unit starts imaging.

  Thereby, in the image which the imaging part imaged, it can adjust correctly so that a mounting part may be reflected.

In the electronic component transport device of the present invention, the electronic component placement unit performs inspection of the electronic component,
It is preferable that the control unit adjusts the timing at which the imaging command signal is transmitted prior to the inspection.

  Thereby, it can adjust so that a mounting part may be reflected in the image imaged during the test | inspection. Therefore, an accurate determination can be made based on the captured image.

  In the electronic component transport device according to the aspect of the invention, the control unit may start imaging of the imaging unit based on the position of the at least one gripping unit and the position of the placement unit in the image captured by the imaging unit. It is preferable that the timing can be adjusted.

  Thereby, it can adjust so that a mounting part may be reflected in the image which the imaging part imaged.

  In the electronic component transport device according to the aspect of the invention, it is preferable that the control unit is capable of adjusting the imaging start timing of the imaging unit according to the moving direction of the first gripping unit and the second gripping unit.

  Thereby, an imaging timing can be adjusted irrespective of the moving direction of a 1st holding part and a 2nd holding part.

In the electronic component transport device of the present invention, the imaging unit includes an imaging element,
It is preferable that the control unit can adjust an exposure time of the image sensor.
Thereby, the brightness of the captured image can be adjusted.

In the electronic component transport apparatus according to the aspect of the invention, it is preferable that the control unit adjusts the exposure time according to brightness of an image captured by the imaging unit.
Thereby, an image suitable for making a more accurate determination can be obtained.

  In the electronic component transport device of the present invention, it is preferable that the imaging unit omits imaging in a state where the placement unit is blocked by the first gripping unit or the second gripping unit.

  As a result, it is possible to take an image without waste, and it is possible to prevent an unnecessary increase in image data.

  In the electronic component transport device according to the aspect of the invention, the first adjustment for adjusting the timing of transmitting the imaging command signal to the imaging unit based on the imaging result of the imaging unit and the first position information, and the first adjustment Later, the timing at which the imaging command signal is transmitted to the imaging unit is adjusted based on the amount of movement of the at least one gripping unit from when the imaging command signal is transmitted until the imaging unit starts imaging. It is preferable to have a control unit that performs the second adjustment.

  As a result, the imaging command signal can be transmitted at an optimal timing in consideration of the time lag from when the imaging command signal is transmitted until the imaging unit actually starts imaging, regardless of individual differences between the imaging units. it can.

The electronic component inspection apparatus of the present invention can arrange an electronic component placement unit having a placement unit for placing an electronic component,
A first gripper that is movable in a first direction and a second direction different from the first direction and capable of gripping an electronic component;
A second gripper that is movable in the first direction and the second direction and is capable of gripping an electronic component;
An imaging unit capable of imaging the electronic component placement unit from between the first holding unit and the second holding unit;
A position detection unit capable of detecting position information of at least one of the first gripping part and the second gripping part;
An inspection unit for inspecting the electronic component,
The first gripping part and the second gripping part are movable in a second direction with respect to the imaging part,
The imaging unit captures a first image of the electronic component placement unit based on first position information detected by the position detection unit.

  Thereby, imaging can be performed based on the position information of the grip portion. Therefore, it is possible to take an image of the electronic component placement unit from between the first holding unit and the second holding unit. As a result, for example, when it is determined whether or not an electronic component is placed on the placement unit based on the imaging result, the determination can be made more accurately.

FIG. 1 is a schematic perspective view of a first embodiment of an electronic component inspection apparatus according to the present invention as viewed from the front side. FIG. 2 is a schematic plan view showing an operating state of the electronic component inspection apparatus shown in FIG. FIG. 3 is a block diagram of the electronic component inspection apparatus shown in FIG. FIG. 4 is a perspective view showing an inspection area of the electronic component inspection apparatus shown in FIG. FIG. 5 is a perspective view showing an inspection area of the electronic component inspection apparatus shown in FIG. FIG. 6 is a perspective view of a detection unit provided in the electronic component inspection apparatus shown in FIG. FIG. 7 is a view of the detection unit provided in the electronic component inspection apparatus shown in FIG. 1 as viewed from below. FIG. 8 is a side view of a light irradiation unit provided in the electronic component inspection apparatus shown in FIG. FIG. 9 is a diagram for explaining the position of the rotation axis of the mirror included in the light irradiation unit shown in FIG. FIG. 10 is a schematic diagram for explaining the detection principle of the detection unit provided in the electronic component inspection apparatus shown in FIG. FIG. 11 is an enlarged cross-sectional view of an inspection unit provided in the electronic component inspection apparatus. FIG. 12 is a diagram illustrating a part of an image (first image) of a concave portion of the inspection unit included in the electronic component inspection apparatus illustrated in FIG. 1 and illustrates a residual state. FIG. 13 is a diagram illustrating a part of an image (first image) of a concave portion of the inspection unit included in the electronic component inspection apparatus illustrated in FIG. 1 and illustrating a removed state. FIG. 14 is a diagram illustrating a part of an image (second image) of a concave portion of the inspection unit included in the electronic component inspection apparatus illustrated in FIG. 1 and illustrates a residual state. FIG. 15 is a diagram illustrating a part of the image (second image) of the concave portion of the inspection unit included in the electronic component inspection apparatus illustrated in FIG. 1 and illustrates a removed state. FIG. 16 is a side view of the device transport head of the electronic component inspection apparatus shown in FIG. 1, and is a view for explaining the positional relationship between the device transport head and the detection unit. FIG. 17 is a side view of the device transport head of the electronic component inspection apparatus shown in FIG. 1 for explaining the positional relationship between the device transport head and the detection unit. FIG. 18 is a side view of the device transport head of the electronic component inspection apparatus shown in FIG. 1 for explaining the positional relationship between the device transport head and the detection unit. FIG. 19 is a side view of the device transport head of the electronic component inspection apparatus shown in FIG. 1, and is a view for explaining the positional relationship between the device transport head and the detection unit. FIG. 20 is a side view of the imaging unit. FIG. 21 is a diagram illustrating an image of the inspection unit captured by the first imaging unit. FIG. 22 is a diagram illustrating an image of the inspection unit captured by the second imaging unit. FIG. 23 is a side view of the device transport head of the electronic component inspection apparatus shown in FIG. 1 and shows a state in which the imaging timing is adjusted before inspection. FIG. 24 illustrates an image obtained by capturing the first image by the imaging unit of the electronic component inspection apparatus illustrated in FIG. 1. FIG. 25 illustrates an image obtained by capturing the second image by the imaging unit of the electronic component inspection apparatus illustrated in FIG. 1. FIG. 26 shows an image obtained by imaging the third image by the imaging unit of the electronic component inspection apparatus shown in FIG. 1. FIG. 27 is a flowchart showing the control operation of the control unit provided in the electronic component inspection apparatus shown in FIG. FIG. 28 is a flowchart showing the control operation of the control unit provided in the electronic component inspection apparatus shown in FIG. FIG. 29 is a side view of a device transport head included in the second embodiment of the electronic component inspection apparatus of the present invention, and shows a state in which imaging timing is adjusted before inspection. FIG. 30 is a diagram illustrating an image captured by the imaging unit in the state illustrated in FIG. 29. FIG. 31 is a side view of a device transport head included in the second embodiment of the electronic component inspection apparatus of the present invention, and shows a state in which the imaging timing is adjusted before the inspection is performed. FIG. 32 is a diagram illustrating an image captured by the imaging unit in the state illustrated in FIG. 31. FIG. 33 is a side view of a device transport head included in the second embodiment of the electronic component inspection apparatus of the present invention, and shows a state in which the imaging timing is adjusted before the inspection is performed. FIG. 34 is a diagram illustrating an image captured by the imaging unit in the state illustrated in FIG. 33. FIG. 35 is a side view of a device transport head provided in the second embodiment of the electronic component inspection apparatus of the present invention, and shows a state in which the imaging timing is adjusted before the inspection is performed. FIG. 36 is a diagram illustrating an image captured by the imaging unit in the state illustrated in FIG. 35. FIG. 37 is a side view of a device transport head included in the second embodiment of the electronic component inspection apparatus of the present invention, and shows a state in which the imaging timing is adjusted before the inspection is performed. FIG. 38 is a diagram illustrating an image captured by the imaging unit in the state illustrated in FIG. 37. FIG. 39 is a flowchart for explaining the control operation of the control unit provided in the second embodiment of the electronic component inspection apparatus of the present invention. FIG. 40 is a flowchart showing the control operation of the control unit provided in the third embodiment of the electronic component inspection apparatus of the present invention. FIG. 41 is a plan view of an inspection unit provided in the fourth embodiment of the electronic component inspection apparatus of the present invention. FIG. 42 is a diagram illustrating an image captured by the imaging unit included in the fourth embodiment of the electronic component inspection apparatus of the present invention. FIG. 43 is a flowchart showing the control operation of the control unit provided in the fourth embodiment of the electronic component inspection apparatus of the present invention. FIG. 44 is a block diagram of a fifth embodiment of the electronic component inspection apparatus of the present invention. FIG. 45 is a flowchart showing the control operation of the control unit provided in the sixth embodiment of the electronic component inspection apparatus of the present invention. FIG. 46 is a view for explaining the procedure for adjusting the light irradiation position in the sixth embodiment of the electronic component inspection apparatus of the present invention. FIG. 47 is a view for explaining the procedure for adjusting the light irradiation position in the sixth embodiment of the electronic component inspection apparatus of the present invention. FIG. 48 is a plan view of an inspection unit provided in the seventh embodiment of the electronic component inspection apparatus of the present invention. FIG. 49 is a timing chart of the light irradiation unit and the imaging unit in the eighth embodiment of the electronic component inspection apparatus of the present invention. FIG. 50 is a plan view of an inspection unit in the ninth embodiment of the electronic component inspection apparatus of the present invention. FIG. 51 is a side view of a light irradiation unit in the ninth embodiment of the electronic component inspection apparatus of the present invention. FIG. 52 is a plan view of an inspection unit according to the tenth embodiment of the electronic component inspection apparatus of the present invention, and is a diagram illustrating regions captured by the first imaging unit and the second imaging unit. FIG. 53 is a side view of the device transport head and the inspection unit in the eleventh embodiment of the electronic component inspection apparatus of the present invention. FIG. 54 is a plan view of an inspection unit in the twelfth embodiment of the electronic component inspection apparatus of the present invention. FIG. 55 is a plan view of an inspection unit in the twelfth embodiment of the electronic component inspection apparatus of the present invention. FIG. 56 is a plan view of an inspection unit in the thirteenth embodiment of the electronic component inspection apparatus of the present invention. FIG. 57 is a plan view of an inspection unit in the thirteenth embodiment of the electronic component inspection apparatus of the present invention. 58 is a view as seen from the direction of arrow A in FIG. FIG. 59 is a side view of a device transport head included in the fourteenth embodiment of the electronic component inspection apparatus of the present invention. FIG. 60 is a side view of the imaging unit. 61 is a diagram illustrating an image captured by the first imaging unit of the imaging unit illustrated in FIG. 60. FIG. 62 is a diagram illustrating an image captured by the second imaging unit of the imaging unit illustrated in FIG. FIG. 63 is a diagram illustrating an example of the operation screen displayed on the display unit.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an electronic component conveying device and an electronic component inspection device according to the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.

<First Embodiment>
Hereinafter, with reference to FIGS. 1-28 and FIGS. 60-63, 1st Embodiment of the electronic component conveying apparatus and electronic component inspection apparatus of this invention is described. In the following, for convenience of explanation, as shown in FIG. 1, three axes orthogonal to each other are referred to as an X axis, a Y axis, and a Z axis. Further, the XY plane including the X axis and the Y axis is horizontal, and the Z axis is vertical. A direction parallel to the X axis is also referred to as “X direction (third direction)”, a direction parallel to the Y axis is also referred to as “Y direction (second direction)”, and a direction parallel to the Z axis is referred to as “Z direction”. (First direction) ". The direction in which the arrow in each direction is directed is called “positive (+)”, and the opposite direction is called “negative (−)”. In addition, the term “horizontal” in the specification of the present application is not limited to complete horizontal, and includes a state slightly inclined (for example, less than about 5 °) with respect to the horizontal as long as transportation of electronic components is not hindered. In addition, the upper side in FIGS. 1, 4 to 11, 16 to 20, 23, and 60 may be referred to as “upper” or “upper”, and the lower side may be referred to as “lower” or “lower”. In particular, since the first direction and the second direction are orthogonal to each other, a control operation for operating each part of the electronic component transport apparatus 10 can be easily performed.

  16 to 19, the size of the inspection portion is exaggerated and is greatly different from the actual size.

  The electronic component transport apparatus 10 of the present invention can arrange an inspection unit 16 (electronic component placement unit) having a recess 161 (placement unit) for placing an electronic component, and can be arranged in the Z direction (first direction) and the Z direction. Device transport head 17A as a first gripper that can move in the Y direction (second direction) different from the direction and can grip the electronic component, and can move in the Z direction and the Y direction, and grip the electronic component The first camera 31 and the first camera 31 as an imaging unit capable of imaging the inspection unit 16 (electronic component placement unit) between the device conveyance head 17B as a possible second gripping unit, and between the device conveyance head 17A and the device conveyance head 17B. 2 Encoder as a position detection unit capable of detecting position information of the camera 32 and at least one device transport head (gripping unit) of the device transport head 17A and the device transport head 17B. The device transport head 17A and the device transport head 17B are movable in the second direction with respect to the first camera 31 and the second camera 32 as the imaging unit, and the first camera as the imaging unit. 31 and the 2nd camera 32 image the 1st image of the test | inspection part 16 based on the 1st position information (encoder value) which the encoder 23 detected.

  Thereby, imaging can be performed based on the position information of the device transport head 17A or the device transport head 17B. Therefore, it is possible to image the electronic component placement unit from between the device transport head 17A and the device transport head 17B. As a result, for example, when it is determined whether or not an electronic component is placed on the placement unit based on the imaging result, the determination can be made more accurately.

  The electronic component inspection apparatus 1 of the present invention can arrange an inspection unit 16 (electronic component placement unit) having a recess 161 (placement unit) on which an electronic component is placed, and can be arranged in the Z direction (first direction), Device transport head 17A as a first gripper that can move in the Y direction (second direction) different from the direction and can grip the electronic component, and can move in the Z direction and the Y direction, and grip the electronic component The first camera 31 and the first camera 31 as an imaging unit capable of imaging the inspection unit 16 (electronic component placement unit) between the device conveyance head 17B as a possible second gripping unit, and between the device conveyance head 17A and the device conveyance head 17B. 2 Encoder as a position detector capable of detecting position information of the camera 32 and at least one of the device transport head 17A and the device transport head 17B. The device transport head 17A and the device transport head 17B are movable in the second direction with respect to the first camera 31 and the second camera 32 as the image capturing unit. The first camera 31 and the second camera 32 as the imaging unit capture the first image of the inspection unit 16 based on the first position information (encoder value) detected by the encoder 23.

  Thereby, the electronic component inspection apparatus 1 which has the advantage of the electronic component conveying apparatus 10 mentioned above is obtained. Further, the electronic component can be transported to the inspection unit 16, and therefore, the inspection unit 16 can inspect the electronic component. In addition, the inspected electronic component can be transported from the inspection unit 16.

  In the present specification, the second luminance only needs to be smaller than the first luminance, and includes a zero state, that is, a state where the light irradiation unit is not irradiating light.

Hereinafter, the configuration of each unit will be described.
As shown in FIGS. 1 and 2, an electronic component inspection apparatus 1 incorporating an electronic component transport apparatus 10 transports electronic components such as an IC device that is a BGA (Ball Grid Array) package, for example. This is an apparatus for inspecting and testing the electrical characteristics of parts (hereinafter simply referred to as “inspection”). In the following, for convenience of explanation, the case where an IC device is used as the electronic component will be described as a representative, and this will be referred to as “IC device 90”. In this embodiment, the IC device 90 has a flat plate shape.

  In addition to the above-mentioned IC devices, for example, “LSI (Large Scale Integration)”, “CMOS (Complementary MOS)”, “CCD (Charge Coupled Device)”, or “modules” in which a plurality of IC devices are packaged. IC "," quartz device "," pressure sensor "," inertial sensor (acceleration sensor) "," gyro sensor "," fingerprint sensor ", and the like.

  Also, the electronic component inspection apparatus 1 (electronic component transport apparatus 10) is used by mounting in advance a so-called “change kit” that is exchanged for each type of IC device 90. This change kit includes a mounting unit on which the IC device 90 is mounted. Examples of the mounting unit include a temperature adjustment unit 12 and a device supply unit 14 described later. In addition to the change kit as described above, the placement unit on which the IC device 90 is placed includes the inspection unit 16 and the tray 200 prepared by the user.

The electronic component inspection apparatus 1 includes a tray supply area A1, a device supply area (hereinafter simply referred to as “supply area”) A2, an inspection area A3, a device collection area (hereinafter simply referred to as “collection area”) A4, The tray removal area A5 is provided, and these areas are divided by each wall as will be described later. Then, the IC device 90 passes through the respective areas in the direction of the arrow α ₉₀ from the tray supply area A1 to the tray removal area A5, and the inspection is performed in the intermediate inspection area A3. As described above, the electronic component inspection apparatus 1 includes the handler that is the electronic component conveyance device 10 that conveys the IC device 90 in each region, the inspection unit 16 that performs inspection in the inspection region A3, and the control unit 800. It has become. In addition, the electronic component inspection apparatus 1 includes a monitor 300, a signal lamp 400, and an operation panel 700.

  In the electronic component inspection apparatus 1, the tray supply area A1 and the tray removal area A5 are arranged, that is, the lower side in FIG. 2 is the front side, and the inspection area A3 is arranged, that is, in FIG. The upper side is used as the back side.

  The tray supply area A1 is a material supply unit to which a tray 200 in which a plurality of untested IC devices 90 are arranged is supplied. In the tray supply area A1, a large number of trays 200 can be stacked.

The supply area A2 is an area where a plurality of IC devices 90 on the tray 200 conveyed from the tray supply area A1 are conveyed and supplied to the inspection area A3. Note that tray transport mechanisms 11A and 11B that transport the tray 200 one by one in the horizontal direction are provided so as to straddle the tray supply area A1 and the supply area A2. The tray transport mechanism 11A is a moving unit that can move the tray 200 together with the IC device 90 placed on the tray 200 in the positive direction in the Y direction, that is, in the direction of the arrow _α11A in FIG. Thereby, the IC device 90 can be stably fed into the supply area A2. The tray transport mechanism 11B is a moving unit that can move the empty tray 200 in the negative direction in the Y direction, that is, in the direction of the arrow _α11B in FIG. Thereby, the empty tray 200 can be moved from the supply area A2 to the tray supply area A1.

  In the supply area A2, a temperature adjustment unit (soak plate (English notation: soak plate, Chinese notation (example): soaking plate)) 12, a device transfer head 13, and a tray transfer mechanism 15 are provided. .

  The temperature adjustment unit 12 is configured as a mounting unit on which a plurality of IC devices 90 are mounted, and is referred to as a “soak plate” that can heat or cool the mounted IC devices 90 in a lump. With this soak plate, the IC device 90 before being inspected by the inspection unit 16 can be heated or cooled in advance and adjusted to a temperature suitable for the inspection (high temperature inspection or low temperature inspection). In the configuration shown in FIG. 2, two temperature adjusting units 12 are arranged and fixed in the Y direction. Then, the IC device 90 on the tray 200 carried in from the tray supply area A1 by the tray transport mechanism 11A is transported to any one of the temperature adjustment units 12. Note that the temperature adjustment unit 12 as the mounting unit is fixed, so that the temperature can be stably adjusted with respect to the IC device 90 on the temperature adjustment unit 12.

The device transport head 13 is supported so as to be movable in the X direction and the Y direction within the supply region A2, and further has a portion that can also move in the Z direction. As a result, the device transport head 13 transports the IC device 90 between the tray 200 loaded from the tray supply area A1 and the temperature adjustment unit 12, and between the temperature adjustment unit 12 and a device supply unit 14 described later. It is possible to carry the IC device 90. In FIG. 2, the movement of the device transport head 13 in the X direction is indicated by an arrow α _13X , and the movement of the device transport head 13 in the Y direction is indicated by an arrow α _13Y .

Tray transporting mechanism 15, the positive side of the X direction empty tray 200 in a state where all of the IC devices 90 is removed in the feed region A2, i.e., a mechanism for conveying the arrow alpha ₁₅ direction. After this conveyance, the empty tray 200 is returned from the supply area A2 to the tray supply area A1 by the tray conveyance mechanism 11B.

  The inspection area A3 is an area where the IC device 90 is inspected. In the inspection area A3, an inspection unit 16 for inspecting the IC device 90 and a device transport head 17 are provided. In addition, a device supply unit 14 that moves so as to straddle the supply region A2 and the inspection region A3 and a device recovery unit 18 that moves so as to straddle the inspection region A3 and the recovery region A4 are also provided.

  The device supply unit 14 is configured as a mounting unit on which the IC device 90 temperature-adjusted by the temperature adjusting unit 12 is mounted, and can transport the IC device 90 to the vicinity of the inspection unit 16 “supply shuttle plate” "Or simply called a" supply shuttle ".

The device supply unit 14 as the mounting portion is between the supply region A2 and the inspection area A3 X direction, i.e., are reciprocally movably supported along an arrow alpha ₁₄ direction. Thereby, the device supply unit 14 can stably transport the IC device 90 from the supply region A2 to the vicinity of the inspection unit 16 in the inspection region A3, and the IC device 90 is moved by the device transport head 17 in the inspection region A3. After being removed, it can return to the supply area A2.

  In the configuration shown in FIG. 2, two device supply units 14 are arranged in the Y direction, and the IC device 90 on the temperature adjustment unit 12 is transported to one of the device supply units 14. Further, like the temperature adjustment unit 12, the device supply unit 14 is configured to be able to heat or cool the IC device 90 placed on the device supply unit 14. As a result, the IC device 90 whose temperature has been adjusted by the temperature adjustment unit 12 can be transported to the vicinity of the inspection unit 16 in the inspection region A3 while maintaining the temperature adjustment state.

The device transport head 17 is an operation unit that grips the IC device 90 in which the temperature adjustment state is maintained and transports the IC device 90 in the inspection area A3. The device transport head 17 is supported so as to be reciprocally movable in the Y direction and the Z direction in the inspection area A3, and is a part of a mechanism called “index arm”. Thereby, the device transport head 17 can transport and place the IC device 90 on the device supply unit 14 carried in from the supply area A2 onto the inspection unit 16. In FIG. 2, the reciprocating movement of the device transport head 17 in the Y direction is indicated by an arrow α _17Y . The device transport head 17 is supported so as to be reciprocally movable in the Y direction, but is not limited thereto, and may be supported so as to be reciprocally movable in the X direction.

  In addition, the device transport head 17 is movable in a Z direction, which is the first direction, and a Y direction, which is a second direction different from the Z direction, and transports a device as a first gripper that can grip the IC device 90. The head 17 </ b> A and the device transport head 17 </ b> A are movable independently in the Y direction and the Z direction, and have a device transport head 17 </ b> B that is a second gripping part that can grip the IC device 90. In particular, as shown in FIGS. 18 and 19, the device transport head 17 </ b> A and the device transport head 17 </ b> B move in the Z direction independently of each other, so that both the device transport head 17 </ b> A and the device transport head 17 </ b> B are lowered. Thus, it is possible to prevent the imageable areas of the first camera 31 and the second camera 32 described later from becoming small.

  The device transport head 17A as the first gripping part and the device transport head 17B as the second gripping part are arranged apart from each other in the Y direction which is the second direction. Accordingly, for example, the device transport head 17A is responsible for transporting the IC device 90 between the device supply unit 14 or the device recovery unit 18 on the −Y side of the test unit 16 and the test unit 16, and the test unit 16 The device transport head 17 </ b> B can transport the IC device 90 between the device supply unit 14 or the device collection unit 18 on the + Y side and the inspection unit 16. Therefore, the movement distance when viewed with the entire device transport head 17 can be reduced, and the transport efficiency is excellent.

  Further, the device transport head 17A as the first gripping part and the device transport head 17B as the second gripping part are simultaneously movable in the Y direction which is the second direction. Thereby, for example, when the device transport head 17A presses the IC device 90, the device transport head 17B operates differently (such as exchange of the IC device 90 with the device supply unit 14 or the device collection unit 18). Can be done and vice versa. Therefore, conveyance efficiency and inspection efficiency can be improved.

  Further, as shown in FIG. 1, the electronic component transport apparatus 10 includes an encoder as a position detection unit that detects the position of the device transport head 17A as the first gripping unit or the device transport head 17B as the second gripping unit. 23. In the present embodiment, the encoder 23 detects the positions of the device transport head 17A and the device transport head 17B in the Y direction and the Z direction, respectively. Thereby, as will be described later, for example, the positions of the device transport head 17A and the device transport head 17B when the first camera 31 and the second camera 32 can image the inspection unit 16 can be detected. As shown in FIG. 3, the encoder 23 is electrically connected to the control unit 800, and position information of the device transport head 17 </ b> A and the device transport head 17 </ b> B is transmitted to the control unit 800.

  Similar to the temperature adjustment unit 12, the device transport head 17 is configured to be able to heat or cool the gripped IC device 90. Thereby, the temperature adjustment state in the IC device 90 can be continuously maintained from the device supply unit 14 to the inspection unit 16.

  The inspection unit 16 is an electronic component placement unit that places an IC device 90 that is an electronic component and inspects the electrical characteristics of the IC device 90. When viewed from the Z direction, the inspection unit 16 has a rectangular plate shape extending in the X direction. In addition, the inspection unit 16 has a plurality of (in the present embodiment, 16) recesses 161 for housing the IC device 90. Eight concave portions are provided side by side in the X direction, and these eight rows are arranged in a lattice pattern in which two rows are provided in the Y direction. Moreover, as shown in FIG. 11, each recessed part 161 has the internal peripheral surface tapered. That is, each recess 161 has an inner peripheral surface 162 that is inclined with respect to the X direction, which is the third direction.

  A plurality of probe pins (not shown) that are electrically connected to terminals (not shown) of the IC device 90 are provided on the bottom of the recess 161. Then, the end of the IC device 90 and the probe pin are electrically connected, that is, the IC device 90 can be inspected by contacting. The inspection of the IC device 90 is performed based on a program stored in an inspection control unit provided in a tester connected to the inspection unit 16. Note that, similarly to the temperature adjustment unit 12, the inspection unit 16 can also heat or cool the IC device 90 to adjust the IC device 90 to a temperature suitable for the inspection.

  The device collection unit 18 is configured as a placement unit on which the IC device 90 that has been inspected by the inspection unit 16 is placed and can transport the IC device 90 to the collection area A4. It is simply called the “collection shuttle”.

The device collecting section 18, X-direction between the examination region A3 and the collection area A4, i.e., are reciprocally movably supported along the arrow alpha ₁₈ direction. In the configuration shown in FIG. 2, two device collection units 18 are arranged in the Y direction, similarly to the device supply unit 14, and the IC device 90 on the inspection unit 16 is one of the device collection units 18. Are transported to and placed. This transport is performed by the device transport head 17.

  The collection area A4 is an area in which a plurality of IC devices 90 that have been inspected in the inspection area A3 and completed the inspection are collected. In the collection area A4, a collection tray 19, a device conveyance head 20, and a tray conveyance mechanism 21 are provided. An empty tray 200 is also prepared in the collection area A4.

  The collection tray 19 is a placement unit on which the IC device 90 inspected by the inspection unit 16 is placed, and is fixed so as not to move in the collection region A4. As a result, the inspected IC device 90 can be stably placed on the collection tray 19 even in the collection area A4 where a relatively large number of various movable parts such as the device transport head 20 are arranged. Become. In the configuration shown in FIG. 2, three collection trays 19 are arranged along the X direction.

  Three empty trays 200 are also arranged along the X direction. This empty tray 200 is also a placement unit on which the IC device 90 inspected by the inspection unit 16 is placed. Then, the IC device 90 on the device recovery unit 18 that has moved to the recovery area A4 is conveyed and placed on either the recovery tray 19 or the empty tray 200. Thereby, the IC device 90 is classified and collected for each inspection result.

The device transport head 20 is supported so as to be movable in the X direction and the Y direction within the collection area A4, and further has a portion that can also move in the Z direction. Accordingly, the device transport head 20 can transport the IC device 90 from the device recovery unit 18 to the recovery tray 19 or the empty tray 200. In FIG. 2, the movement of the device transport head 20 in the X direction is indicated by an arrow α _20X , and the movement of the device transport head 20 in the Y direction is indicated by an arrow α _20Y .

Tray transfer mechanism 21, X-direction empty tray 200 is conveyed from the tray removal area A5 in the collection area A4, i.e., a mechanism for conveying the arrow alpha ₂₁ direction. Then, after this conveyance, the empty tray 200 is arranged at a position where the IC device 90 is collected, that is, it can be one of the three empty trays 200.

  The tray removal area A5 is a material removal unit from which the tray 200 in which a plurality of inspected IC devices 90 are arranged is collected and removed. In the tray removal area A5, a large number of trays 200 can be stacked.

In addition, tray transport mechanisms 22A and 22B that transport the tray 200 one by one in the Y direction are provided so as to straddle the collection area A4 and the tray removal area A5. The tray transport mechanism 22A is a moving unit that can reciprocate the tray 200 in the Y direction, that is, the arrow α _22A direction. Thus, the inspected IC device 90 can be transported from the collection area A4 to the tray removal area A5. Further, the tray transport mechanism 22B can move the empty tray 200 for collecting the IC device 90 in the positive direction in the Y direction, that is, in the direction of the arrow α _22B . Thereby, the empty tray 200 can be moved from the tray removal area A5 to the collection area A4.

  For example, the control unit 800 includes a tray transport mechanism 11A, a tray transport mechanism 11B, a temperature adjustment unit 12, a device transport head 13, a device supply unit 14, a tray transport mechanism 15, an inspection unit 16, and a device transport. The operation of each part of the head 17, the device recovery unit 18, the device transport head 20, the tray transport mechanism 21, the tray transport mechanism 22A, and the tray transport mechanism 22B can be controlled.

  As shown in FIG. 3, the control unit 800 includes a memory 802 (storage unit). The memory 802 includes, for example, an EEPROM (Electrically Erasable Programmable Read-Only Memory) which is a kind of nonvolatile semiconductor memory, and stores various programs such as the above-described inspection.

  As shown in FIG. 3, the control unit 800 determines whether or not the direction in which the laser light source 41, which will be described later, emits the laser light L, is a predetermined direction. Have Thereby, for example, it can be determined whether or not the direction in which the laser light source 41 emits the laser light L is a desired direction.

  Moreover, the control part 800 can adjust the timing which transmits an imaging command signal with respect to the 1st camera 31 and the 2nd camera 32 as an imaging part so that it may mention later. Thereby, it can adjust so that a mounting part may be reflected in the image which the imaging part imaged. In particular, as will be described later, the control unit 800 can adjust the timing at which the first camera 31 and the second camera 32 serving as the imaging unit start imaging, and thus accurately adjust the timing at which the imaging command signal is transmitted. It can be carried out.

  The operator can set or confirm the operating conditions of the electronic component inspection apparatus 1 via the monitor 300. The monitor 300 has a display screen 301 composed of, for example, a liquid crystal screen, and is disposed at the upper part on the front side of the electronic component inspection apparatus 1. As shown in FIG. 1, a mouse table 600 on which a mouse is placed is provided on the right side of the tray removal area A5 in the drawing. This mouse is used when operating the screen displayed on the monitor 300.

  In addition, an operation panel 700 is arranged on the lower right side of FIG. The operation panel 700 instructs the electronic component inspection apparatus 1 to perform a desired operation separately from the monitor 300.

  Further, the signal lamp 400 can notify the operating state of the electronic component inspection apparatus 1 and the like by a combination of colors that emit light. The signal lamp 400 is disposed on the electronic component inspection apparatus 1. Note that the electronic component inspection apparatus 1 has a built-in speaker 500, and the operational state of the electronic component inspection apparatus 1 can also be notified by the speaker 500.

  As will be described later, the monitor 300 and the speaker 500 function as a notification unit 24 that notifies the result of the determination as to whether or not the IC device 90 is disposed in the recess 161 of the inspection unit 16. Thereby, the operator of the electronic component transport apparatus 10 can be notified of the determination result.

  In the electronic component inspection apparatus 1, the tray supply area A1 and the supply area A2 are separated by the first partition 231 and the supply area A2 and the inspection area A3 are separated by the second partition 232, The inspection area A3 and the collection area A4 are separated by a third partition wall 233, and the collection area A4 and the tray removal area A5 are separated by a fourth partition wall 234. The supply area A2 and the collection area A4 are also separated by the fifth partition wall 235.

  The outermost exterior of the electronic component inspection apparatus 1 is covered with a cover. Examples of the cover include a front cover 241, a side cover 242, a side cover 243, a rear cover 244, and a top cover 245.

Next, the detection unit 2 will be described.
As shown in FIGS. 4 and 5, the detection unit 2 has a detection unit 2A and a detection unit 2B. The detection unit 2A and the detection unit 2B are provided on the + Z side of the device transport head 17 (see FIG. 5), and are arranged in this order from the + X direction.

  Each of the detection unit 2A and the detection unit 2B includes an imaging unit 3, a light irradiation unit 4, and an illumination 5. The detection unit 2A and the detection unit 2B have the same configuration except that the arrangement positions of the imaging unit 3, the light irradiation unit 4, and the illumination 5 are line-symmetric with respect to the Y axis. 2A will be described representatively.

  As shown in FIGS. 6 and 7, the imaging unit 3 includes a first camera 31 (first imaging unit), a second camera 32 (second imaging unit), and a light reflecting unit 33.

  As the first camera 31, for example, a CCD (Charge Coupled Device) camera can be used. The first camera 31 is arranged facing the −Y direction and images the −Y side. As shown in FIG. 3, the first camera 31 is electrically connected to a control unit 800 and its operation is controlled.

  The second camera 32 can have the same configuration as the first camera 31. The second camera 32 is arranged facing the + Y direction, and images the + Y side. As shown in FIG. 3, the second camera 32 is electrically connected to the control unit 800 and its operation is controlled.

  In addition, the first camera 31 and the second camera 32 as the imaging unit have an imaging element, and the exposure time of the imaging element can be adjusted by adjusting the shutter speed or the like, for example. Thereby, the brightness of the captured image can be adjusted. The exposure time is adjusted when it is possible to image all of the recess 161 from between the device transport head 17A and the device transport head 17B.

  The light reflecting portion 33 is provided between the first camera 31 and the second camera 32. The light reflection unit 33 reflects the image of the inspection unit 16 toward the first camera 31 and the second camera 32.

  The light reflecting portion 33 includes a first light reflecting surface 331 (first light reflecting portion) that reflects light and a second light reflecting surface 332 (second light reflecting portion) that reflects light. The light reflecting portion 33 is a triangular prism member having an isosceles triangle (in this embodiment, a right isosceles triangle) when viewed from the X direction, and is arranged such that the apex angle is located on the −Z side.

  In the light reflecting portion 33, the + Y side surface functions as the first light reflecting surface 331, and the −Y side surface functions as the second light reflecting surface 332.

  The first light reflecting surface 331 is provided between the first camera 31 (first image pickup unit) and the second camera 32 (second image pickup unit), and displays an image of the inspection unit 16 (electronic component placement unit). 1 is reflected toward the camera 31. The first light reflecting surface 331 enables the first camera 31 to capture an image of the inspection unit 16 from between the device transport head 17A (first gripping unit) and the device transport head 17B (second gripping unit). . The second light reflection surface 332 is provided between the second camera 32 (second imaging unit) and the first light reflection surface 331, and an image of the inspection unit 16 (electronic component placement unit) is transferred to the second camera 32. It will be reflected back. The second light reflecting surface 332 enables the second camera 32 to capture an image of the inspection unit 16 from between the device transport head 17A (first gripping unit) and the device transport head 17B (second gripping unit). . Thereby, even if the gap S between the device transport head 17A and the device transport head 17B is relatively narrow, the first camera 31 and the second camera 32 can respectively image the inspection unit 16. Note that the imaging direction of the first camera 31 and the second camera 32 in this specification is the Z direction.

  As shown in FIG. 20, the optical axis to the first light reflecting surface 331 (first light reflecting portion) of the first camera 31 (first imaging portion) and the second camera 32 (second imaging portion). The optical axis is along the Y direction (second direction). That is, the optical axis to the first light reflecting surface 331 (first light reflecting unit) of the first camera 31 (first imaging unit) and the optical axis of the second camera 32 (second imaging unit) are parallel. is there. Thereby, installation of the 1st camera 31, the 2nd camera 32, and the light reflection part 33 can be performed easily.

  In the first camera 31 (first imaging unit) and the second camera 32 (second imaging unit), the light incident directions are opposite to each other. In other words, the first camera 31 and the second camera 32 are arranged to face each other and image in the opposite direction. Thereby, even if the gap S between the device transport head 17A and the device transport head 17B is relatively narrow, by providing the light reflecting portion 33 between the first camera 31 and the second camera 32, Each of the second cameras 32 can image the inspection unit 16.

  By adopting such a configuration, the first camera 31 (first imaging unit) and the second camera 32 (second imaging unit) have regions whose positions are different from each other in the inspection unit 16 (electronic component placement unit). An image can be taken. Therefore, a larger area of the inspection unit 16 can be imaged.

  As shown in FIG. 7, the first camera 31 that is the first imaging unit has an optical axis O32 that is an extension line L42 in a direction (X direction) in which mirrors 42 that are light reflecting units described later are arranged. It is arranged to cross. Thereby, the 1st camera 31 can image the part to which the test | inspection part 16 was irradiated with the laser beam L1 reflected by each mirror 42. FIG.

  The light irradiation unit 4 includes four laser light sources (light irradiation units) 41, four mirrors 42 provided corresponding to the laser light sources 41 and reflecting the laser light L 1 emitted from the laser light sources 41, and the mirrors. And four motors 43 for rotating 42. That is, in the light irradiation unit 4, a plurality (four) of laser light sources 41 that are light irradiation units and mirrors 42 that are light reflection units are provided.

  The laser light source 41 (light irradiation unit) passes between the device transport head 17A (first gripping unit) and the device transport head 17B (second gripping unit) and applies laser light L1 to the inspection unit 16 that is an electronic component mounting unit. It is arranged to be able to irradiate (light). Thereby, based on the laser beam L1 irradiated to the test | inspection part 16, the judgment mentioned later can be performed.

  A known laser light source can be used as the laser light source 41, and the color of the emitted laser light L1 is not particularly limited. The laser light source 41 as a light irradiation unit is a linear laser beam whose irradiation shape at the irradiation destination (the inspection device 16 or the IC device 90 on the inspection unit 16) extends in the Y direction (second direction). Irradiates L1 (light). As a result, as will be described later, in the images captured by the first camera 31 and the second camera 32, changes in the position of the irradiated laser light L1 can be easily understood in accordance with the presence or absence of the IC device 90. Therefore, it is possible to more accurately detect whether or not the IC device 90 remains in the inspection unit 16.

  As shown in FIGS. 4 and 5, the laser light L <b> 1 irradiated by the laser light source 41 is configured to include two concave portions 161 aligned in the Y direction in the inspection unit 16 that is the irradiation destination. That is, one laser light source 41 collectively irradiates the two concave portions 161 arranged in the Y direction with the laser light L1. Four (plurality) of such laser light sources 41 (light irradiation units) are provided and arranged side by side along the X direction, which is the third direction. The eight concave portions 161 can be irradiated with the laser light L1. Since the detection unit 2A and the detection unit 2B are provided with a total of eight laser light sources 41, each of the 16 concave portions 161 can be irradiated with the laser light L1.

  Moreover, as shown in FIG. 8, when viewed from the Y direction, each laser light source 41 is arranged to be inclined with respect to the X direction. For this reason, it is possible to prevent the laser light source 41 from interfering with the adjacent mirror 42. As a result, the distance in the X direction between the laser light source 41 and the mirror 42 can be made as small as possible, which contributes to the miniaturization of the light irradiation unit 4. In particular, in the electronic component transport apparatus 10, the space on the + Z side of the device transport head 17 is limited. By reducing the size of the light irradiation unit 4, it contributes to the miniaturization of the entire electronic component transport apparatus 10.

  Such a laser light source 41 is electrically connected to the controller 800 and its operation is controlled (see FIG. 3).

  As shown in FIGS. 6 and 7, the light irradiation unit 4 includes a mirror 42 as a light reflecting part that reflects the laser light L <b> 1 emitted from the laser light source 41 that is the light irradiating part. Thereby, the laser light source 41 can be arranged regardless of the direction of the laser light source 41. Therefore, the freedom degree of arrangement | positioning of the laser light source 41 can be raised.

  As shown in FIG. 8, the mirror 42 has a reflection surface 421 that reflects the laser light L1, and is arranged so that the reflection surface 421 faces the laser light source 41 side.

  The mirrors 42 are arranged side by side in the X direction (third direction) intersecting the Z direction (first direction) and the Y direction (second direction). Thereby, while being able to match with the arrangement form of each laser light source 41, the arrangement form of each mirror 42 can be simplified.

  Moreover, the light irradiation unit 4 has four motors 43 as light reflection unit driving units that rotate a mirror 42 as a light reflection unit. Since the mirror 42 is configured to be rotatable, the direction of the reflection surface 421 of the mirror 42 can be adjusted, and the irradiation position of the laser light L1 can be adjusted.

  Further, as shown in FIG. 9, the mirror 42 is connected to the motor 43 so that the rotation axis O is located on the light reflecting surface. Thereby, when rotating the mirror 42 and adjusting the irradiation direction of the laser beam L1, the adjustment can be performed accurately.

  As described above, in the electronic component transport apparatus 10, the direction of the laser light L1 emitted by the laser light source 41 as the light irradiation unit can be adjusted, so that the irradiation position of the laser light L1 in the inspection unit 16 can be adjusted, The arrangement | positioning location of the recessed part 161 can respond also to the test | inspection part different from the structure shown in FIG. 4 and FIG.

  Further, by adjusting the laser light source 41, which is a light irradiation unit, to be irradiated with the laser light L1 in a direction that is at least inclined with respect to the Z direction that is the first direction, that is, intersects and is not orthogonal, As will be described later, the change in the position of the irradiated laser beam L1 can be easily understood in accordance with the presence or absence of the IC device 90.

  Moreover, each motor 43 as a light reflection part drive part is arrange | positioned along with the X direction which is a 3rd direction. The motors 43 adjacent to each other in the X direction are arranged so as to be shifted in the Y direction, which is the second direction, and have a so-called staggered arrangement. Thereby, even if the distance between the motors 43 in the X direction is relatively small, it is possible to prevent the motors 43 adjacent in the X direction from interfering with each other. As a result, the light irradiation unit 4 can be downsized.

  The illumination 5 (second light irradiation unit) irradiates light L2 having a lower luminance than the laser light L1. The light L2 has a lower directivity than the laser light L1, and is configured to illuminate the entire inspection unit 16. The illumination 5 is a second light irradiation unit that emits light L2 having a lower luminance than the laser light source 41 that is a light irradiation unit. Thereby, it is possible to irradiate the light L2 under an irradiation condition (for example, directivity lower than the laser light L1) that is insufficient for the light emitted from the laser light source 41. The illumination 5 is arranged on the + X side of the light irradiation unit 4.

  Moreover, the illumination 5 which is a 2nd light irradiation part can adjust the brightness | luminance of the light L2 which the illumination 5 radiate | emits by this because the brightness | luminance of the emitted light can be adjusted. Therefore, an image with better conditions can be used in the determination (second determination) described later.

  According to such a detection unit 2, it is possible to detect the presence or absence of the IC device 90 in the recess 161 of the inspection unit 16. Hereinafter, this principle will be described with reference to FIG. 10 to FIG. 13, but since the same detection is performed in each recess 161, detection in one recess 161 will be representatively described. Hereinafter, one of the images of the recess 161 captured by the first camera 31 will be representatively described, but the same control can be performed for the image of the recess 161 captured by the second camera 32.

  FIG. 10 is a diagram schematically showing the detection unit 2 and is a view of the detection unit 2 viewed from the Y direction. In FIG. 10, laser light L <b> 1 is emitted from the laser light source 41 toward the inspection unit 16. When the IC device 90 is placed on the inspection unit 16 (hereinafter, this state is referred to as “residual state”), the laser beam L1 is irradiated to the position P1 on the IC device 90, and this position P1. The line of the laser beam L1 whose irradiation shape forms a linear shape is formed. On the other hand, when the IC device 90 is not on the inspection unit 16 (hereinafter, this state is referred to as “removed state”), the laser beam L1 is irradiated to the position P2 at the bottom of the concave portion 161 of the inspection unit 16, At this position P2, a line of laser light L1 having a linear irradiation shape is formed. In this specification, “linear” means a long line such as a single straight line, a set of points separated from each other and aligned in one direction, an ellipse, a rectangle, etc. Say.

  The first camera 31 captures an image (first image) in the remaining state and the removed state, respectively. FIG. 12 shows a part of the image D1 captured by the first camera 31 in the remaining state, and FIG. 13 shows a part of the image D2 captured by the first camera 31 in the removed state. The image D1 and the image D2 are used by trimming a necessary portion (portion where the concave portion 161 is reflected) of the captured image.

  As shown in FIG. 12, in the image D1, the position P1 of the line of the laser beam L1 on the IC device 90 is -X side (in the drawing) from the position P of the line of the laser beam L1 on the upper surface of the inspection unit 16. Left and right). This is because the upper surface of the IC device 90 is located lower than the upper surface of the inspection unit 16, that is, on the −Z side. Note that a deviation amount in the X direction (left and right direction in the figure) between the position P and the position P1 is defined as a deviation amount ΔD1.

  On the other hand, as shown in FIG. 13, in the image D <b> 2, the position P <b> 2 of the laser light L <b> 1 line on the bottom of the recess 161 is −X side from the position P of the laser light L <b> 1 line on the upper surface of the inspection unit 16. It is shifted to. This is because the bottom of the recess 161 is located lower than the upper surface of the inspection unit 16, that is, on the −Z side. Note that a deviation amount between the position P and the position P2 in the X direction (left and right direction in the figure) is defined as a deviation amount ΔD2.

  Further, the deviation amount ΔD1 is smaller than the deviation amount ΔD2. This is because the upper surface of the IC device 90 is located on the + Z side with respect to the bottom of the recess 161. The electronic component transport apparatus 10 can detect (determine) whether it is a residual state or a removed state, for example, based on whether the shift amount in the images D1 and D2 is the shift amount ΔD1 or the shift amount ΔD2.

  Here, the thinner the thickness Δd of the IC device 90, the smaller the difference between the shift amount ΔD1 and the shift amount ΔD2, and it is difficult to determine whether it is the shift amount ΔD1 or the shift amount ΔD2. Therefore, it is necessary to use the first camera 31 having a relatively high resolution in order to determine whether the IC device 90 is relatively thin or in a removed state. Specifically, in FIG. 10, a line segment connecting the position P1 and the center (optical axis) of the first camera 31, and a line segment connecting the position P2 and the center (optical axis) of the first camera 31. If the first camera 31 having a resolution capable of recognizing the angle Δα is determined, it can be determined whether the state is a residual state or a removed state. For example, if the thickness Δd of the IC device 90 is known, what angle Δα should be used, and if the resolution of the first camera 31 is known, the IC of the thickness Δd is known. In order to know whether the device 90 can make the above determination, the present inventors have derived the following two equations (1) and (2).

The angle formed by the line connecting the position P2 and the center (optical axis) of the first camera 31 and the X axis is α, and the angle formed by the optical axis of the laser beam L1 and the X axis is β. When the separation distance between the optical axis at 31 and the bottom of the recess 161 is d _cam , the thickness Δd of the IC device 90 can be expressed by equation (1), and the angle Δα is expressed by equation (2). be able to.

  For example, if the angle Δα is known, the minimum thickness Δd of the IC device 90 that can be determined can be known by substituting it into the equation (1). If the thickness Δd is known, the resolution required for the first camera 31 can be known by substituting it into the equation (2).

  It is preferable that the determination can be made for an IC device 90 having a thickness Δd of 0.2 mm or more, and the determination can be made for an electronic component having a thickness of 0.1 mm or more. Is more preferable. Thereby, even if the IC device 90 is relatively thin, it can be detected whether or not the IC device 90 remains in the inspection unit 16. If the thickness Δd is too thin, it is necessary to use the first camera 31 having a relatively high resolution, which is expensive.

  Note that the smaller the angle β between the optical axis of the laser beam L1 and the X-axis, the larger the shift amount ΔD1 and the shift amount ΔD2, and in the image whether the shift amount ΔD1 or the shift amount ΔD2. It can be made easy to distinguish. If the angle β is too small, the laser light L1 may be difficult to enter the recess 161.

  Therefore, as shown in FIG. 11, the incident angle θ1 of the laser light L1 emitted from the laser light source 41, which is the light irradiating unit, should be smaller than the angle θ2 formed by the inner peripheral surface 162 of the recess 161 and the Z direction. preferable. Thereby, the laser beam L1 can be irradiated into the recess 161. As a result, it can be detected whether or not the IC device 90 remains in the recess 161.

  The determination using the laser beam L1 (hereinafter, this determination is also referred to as “first determination”) has been described above. The electronic component transport apparatus 10 can also make a determination using a method different from the first determination (hereinafter, this determination is also referred to as “second determination”). Hereinafter, this will be described with reference to FIGS. 14 and 15.

  14 and 15 show an image (second image) obtained by irradiating the inspection unit 16 with the illumination 5 toward the inspection unit 16 and capturing the inspection unit 16 using the first camera 31 in this state. FIG. 14 shows a part of the image D1 'in the remaining state, and FIG. 15 shows a part of the image D2' in the removed state.

The electronic component transport apparatus 10 can detect (determine) whether the IC device 90 is in a residual state or a removed state by detecting the color and brightness of the IC device 90 based on the captured images D1 ′ and D2 ′.
Thus, the electronic component transport apparatus 10 can make the first determination and the second determination.

  Now, in the electronic component transport apparatus 10, it is difficult to secure a space for installing the detection unit 2. For example, even if the detection unit 2 is arranged in the vicinity of the inspection unit 16, that is, at a position away from the inspection unit 16 as viewed from the Z direction, the irradiable range of the laser light L 1 and the light L 2 is limited, The imageable areas of the first camera 31 and the second camera 32 are limited. In view of the above, it is preferable to take an image immediately above the inspection unit 16, that is, on the + Z side of the inspection unit 16, but the device transport head 17 is provided on the inspection unit 16 + Z side.

  Therefore, in the electronic component transport apparatus 10, the detection unit 2 is arranged on the + Z side of the device transport head 17, and the detection is performed through the gap S between the two device transport heads 17A and 17B. . That is, at least one of the laser light L1 and the light L2 is irradiated toward the inspection unit 16 via the gap S, and an image is captured using the first camera 31 and the second camera 32 via the gap S. And it was set as the structure which performs at least one of the 1st judgment and the 2nd judgment. Thereby, even if it is the said structure, it can detect (determine) correctly whether it is a residual state or a removal state.

  In addition, since the gap S is relatively narrow, it may be difficult to image the entire area of the inspection unit 16, particularly the entire region of the inspection unit 16 in the Y direction, with the first camera 31 and the second camera 32. Therefore, as shown in FIG. 16, during the movement of the device transport head 17, imaging is performed when eight concave portions 161 on the −Y side among the sixteen concave portions 161 can be imaged, as shown in FIG. 17. In addition, the imaging is performed when the eight concave portions 161 on the + Y side can be imaged. Thereby, even if it is difficult to image the entire area of the inspection unit 16 in the Y direction, it is possible to perform imaging of each concave portion 161 based on a plurality of images, and detect whether each concave portion 161 is in a residual state or a removed state. (Judgment). Note that the position of the device transport head 17 in a state where imaging is possible is detected by the encoder 23, and the encoder value when imaging is possible is stored in the memory 802.

  In the electronic component transport apparatus 10, when the device transport head 17A (first holding unit) presses the IC device 90 against the inspection unit 16 (electronic component placement unit), the device transport head 17A There is a case where it is located between the first camera 31 (imaging unit) and the IC device 90 (see FIG. 18). In this case, the device transport head 17 </ b> A blocks and it becomes difficult to image the eight concave portions 161 on the −Y side. On the other hand, when the device transport head 17B (second gripping unit) is pressing the IC device 90 against the inspection unit 16 (electronic component mounting unit), the device transport head 17B is configured to move the first camera 31 (imaging unit). ) And the IC device 90 (see FIG. 19). In this case, the device transport head 17B blocks and it becomes difficult to image the eight concave portions 161 on the + Y side. When this problem is used, for example, when the first camera 31 is configured to capture an image only when the IC device 90 can capture an image, the timing at which imaging is difficult is known, and thus imaging is omitted at any timing. Such setting can be easily performed. As a result, it is possible to prevent useless images from being taken.

  Further, the first camera 31 and the second camera 32 are inspected between the device transport head 17A (first gripping unit) and the device transport head 17B (second gripping unit) from the imaging start time to the imaging end time. The part 16 (electronic component placement part) can be imaged. That is, the first camera 31 and the second camera 32 as the imaging unit omit the imaging when the inspection unit 16 is blocked by the device transport head 17A or the device transport head 17B. Therefore, it is possible to take an image without waste, and it is possible to prevent wasteful increase in image data.

  Thus, based on the images D1 and D2 captured by the first camera 31 (first imaging unit) and the second camera 32 (second imaging unit), the IC device 90 is connected to the inspection unit 16 (electronic component mounting unit). It is possible to determine whether or not (electronic component) is arranged. For this reason, it can be detected that the IC device 90 remains unintentionally in the recess 161.

  Here, the inspection unit 16 is configured to be detachable in the electronic component transport apparatus 10, and may be used after being replaced with an optimal one according to the type of the IC device 90. For this reason, in the inspection unit 16, the arrangement position and the number of the arrangement of the concave portions 161 may be different for each inspection unit 16. Hereinafter, as shown in FIG. 20 and FIG. 60, a case will be described in which the recesses 161 of the inspection unit 16 are provided in odd rows (3 rows in the illustrated configuration) in the Y direction. 20 and 60 are views of the inspection unit 16 as viewed from the −X direction. In these drawings, the recesses 161 are referred to as a recess 161A, a recess 161B, and a recess 161C in this order from the + Y side. Further, what is described below is applicable to both the first determination and the second determination, and the first determination and the second determination are collectively referred to as “determination”.

  In FIG. 60, the first camera 31 and the second camera 32 are arranged with the optical axis O31 of the first camera 31 and the optical axis O32 of the second camera 32 aligned, The case where it arrange | positions in the middle of the 1 camera 31 and the 2nd camera 32 is shown.

  In this case, as shown in FIG. 61, in the upper half of the image D31 'captured by the first camera 31, the entire area of each recess 161A and a part (half) of each recess 161B are shown. Further, in the lower half of the image 31D ′, an image on the −Y side with respect to the light reflecting portion 33 is shown. In this image D31 ', the upper half area in the figure is a use area A31' used for determination, and the lower half area in the figure is an unnecessary area a31 'that is unnecessary in the determination.

  On the other hand, as shown in FIG. 62, an image on the + Y side of the light reflecting portion 33 is shown in the upper half of the image D32 'captured by the second camera 32 in the drawing. In addition, in the lower half of the image D32 'in the drawing, a part (half) of the recess 161B and the entire area of the recess 161C are shown. In the image D32 ', the upper half area in the figure is an unnecessary area a32' that is not required for determination, and the lower half area in the figure is a use area A32 'used for determination.

  When making a determination based on such an image D31 'and an image D32', the determination in the recess 161A can be made based on the image D31 '. Further, the determination in the recess 161C can be made based on the image D32 '.

  Then, for example, it is possible to make a determination in the recess 161B based on an image obtained by connecting the image D31 'and the image D32' and connecting the recess 161B. However, depending on the types of the first camera 31 and the second camera 32, the boundary between the use area A31 'and the unnecessary area a32' is out of focus and unclear. That is, in the captured image, a portion where the concave portion 161B is reflected becomes unclear. If the concave portion 161B is determined based on the unclear image, the reliability of the determination is poor. Therefore, in the electronic component transport apparatus 10, this problem can be solved by adopting the following configuration.

  As shown in FIG. 20, in the electronic component transport apparatus 10, the light reflecting portion 33 is arranged such that the vertex 330 is shifted to the −Y side from the center of the inspection portion 16 in the Y direction. Further, the first camera 31 (first imaging unit) and the second camera 32 (second imaging unit) are different in position in the Z direction (first direction). That is, the first camera 31 and the second camera 32 have different installation heights (positions in the vertical direction). In the present embodiment, the first camera 31 is arranged at a higher position than the second camera 32, that is, on the + Z side. With such a configuration, the height of the first camera 31 with respect to the first light reflecting surface 331 and the height of the second camera 32 with respect to the second light reflecting surface 332 can be made different. Therefore, the area where the first camera 31 can image the inspection unit 16 via the first light reflection surface 331 and the area where the second camera 32 can image the inspection unit 16 via the second light reflection surface 332. The imaging position in the inspection unit 16 can be varied.

  As shown in FIG. 21, the image D31 captured by the first camera 31 includes a recess 161A and a recess 161B. In the image D31, the concave portion 161A and the concave portion 161B are shown in the use area A31, and the concave portion 161A and the concave portion 161B are not shown in the unnecessary area a31 below the image D31. On the other hand, in the image D32 captured by the second camera 32, a recess 161C is shown. In the image D32, the concave portion 161C is shown in the use area A32, and the concave portion 161C is not shown in the unnecessary area a32 below the image D32.

  As described above, in the electronic component transport apparatus 10, the first camera 31 is responsible for imaging the concave portion 161A and the concave portion 161B, and the second camera 32 is responsible for imaging the concave portion 161C. Thereby, it is possible to prevent the deterioration of the image quality in the recess 161B as described above. Therefore, the presence / absence of the IC device 90 can be accurately determined not only for the recess 161A and the recess 161C but also for the recess 161B.

  As described above, the region (first imaging region) captured by the first camera 31 (first imaging unit) in the inspection unit 16 (electronic component placement unit) and the second in the inspection unit 16 (electronic component placement unit). The size is different from the region (second imaging region) captured by the camera 32 (second imaging unit). That is, the size of the use area A31 and the use area A32 is different. Thereby, the position of the boundary portion between the first imaging region and the second imaging region can be shifted from the central portion of the inspection unit 16 in the Y direction. Therefore, the presence / absence of the IC device 90 can be accurately determined also in the recess 161B located at the center of the inspection unit 16 in the Y direction.

  The optical axis O31 from the first light reflecting surface 331 (first light reflecting portion) to the inspection unit 16 (electronic component placement portion) of the first camera 31 (first imaging unit) is the second light reflecting surface. It intersects with the intersection of the virtual plane including 332 (light reflecting section) and the optical axis O32 of the second camera 32 (second imaging section). Thereby, as shown in FIG. 20, the angle which the 1st camera 31 and the 2nd camera 32 image can be made the same. Furthermore, the angle captured by the first camera 31 and the second camera 32 can be made the same as the angle when the imaging unit is placed at the ideal position Pbest for imaging.

  As described above, since the space on the + Z side of the device transport head 17 is limited, it is difficult to arrange the imaging unit at the ideal position Pbest. However, by arranging the first camera 31 and the second camera 32 along the Y direction and providing the light reflecting unit 33, the inspection unit 16 can be imaged while downsizing the apparatus.

  As shown in FIG. 20, the angle θ3 formed by the normal line N1 of the first light reflection surface 331 and the normal line N2 of the second light reflection surface 332 is preferably 85 ° or more and 95 ° or less. More preferably, the angle is 88 ° or more and 92 ° or less. Thereby, the vertical angle when the light reflecting portion 33 is viewed from the X direction can be set to a substantially right angle, and when the first camera 31 and the second camera 32 are installed, the optical axis of the first camera 31 and the second axis What is necessary is just to install in parallel with the optical axis of the camera 32, and these installation can be performed easily.

  Next, a timing adjustment method (control operation of the control unit 800) at which the first camera 31 and the second camera 32 perform imaging prior to the inspection of the IC device 90 will be described. Since the same control is performed in the second camera 32, the first camera 31 will be representatively described below.

  First, in step S101, the device transport head 17A and the device transport head 17B are arranged at the start position Ps (see FIG. 23). The start position Ps is, for example, a position where the concave portion 161 starts to appear.

In step S102, the device transport head 17A and the device transport head 17A and the device transport head 17B are moved while moving the device transport head 17A and the device transport head 17B from the start position Ps toward the end position Pe (see arrow α _17A and arrow α _{17B in} FIG. 23). When the encoder value of the head 17B becomes a predetermined value, an imaging command signal is transmitted to the first camera 31, and imaging of the recess 161 is performed once. That is, based on the encoder value that is the first position information detected by the encoder 23, the image (first image) of the inspection unit 16 is captured once to obtain one image D17-1 shown in FIG.

  The predetermined value is an encoder value at a position where the gap S between the device transport head 17A and the device transport head 17B overlaps the recess 161, and is theoretically considered in consideration of the arrangement position of the recess 161 and the accuracy of the position detector 23. It is the value obtained by estimating it.

  In step S103, it is determined whether or not a concave portion is reflected in the image D17-1. In this step, if even a part of the recess 161 is reflected, the process proceeds to step S105. As shown in FIG. 24, when the device transport head 17B is reflected in the image D17-1, and the entire concave portion 161 is blocked, it is determined that the concave portion 161 is not reflected, and the process proceeds to step S104.

  In step S104, the first position information that is the encoder value when the imaging command signal is transmitted when the image D17-1 is captured is corrected. That is, the next corrected position information, that is, second position information different from the first position information is created based on the image D17-1 that is the first image captured by the first camera 31 (imaging unit). . Thereby, more accurate second position information can be created based on the first position information. Therefore, when imaging is performed based on the second position information, an image that is more suitable for performing the determination can be obtained.

  Specifically, in the image D17-1, the position where the device transport head 17B is located is calculated as to which the concave portion 161 appears, and the encoder value (second value) when transmitting the imaging command signal is calculated based on the calculation result. Position information). That is, the second position information includes an image of at least one gripping part (device transport head 17B) included in the image D17-1 that is the first image, and a recess 161 (mounting part) included in the image D17-1. It is decided based on the image. Thereby, when imaging is performed based on the second position information, it is possible to prevent or suppress the device transport head 17B from blocking the entire recess 161. As a result, an image more suitable for making a determination can be obtained.

  Then, the device transport head 17A and the device transport head 17B are returned to the start position Ps (step S108), the process returns to step S102, and the first camera 31 serving as the imaging unit has second position information (encoder value corrected in step S104). Based on this, one image D17-2, which is the second image of the inspection unit 16 (electronic component placement unit), is captured (see FIG. 25). Thereby, an image more suitable for making a determination can be obtained.

  If it is determined in step S103 that the concave portion 161 is reflected in the image D17-2, it is determined in step S105 whether the center of the concave portion 161 is reflected. The center of the recess 161 is, for example, a portion where the diagonal lines intersect when the recess 161 is viewed from the Z direction, and is a portion irradiated with the laser light L1.

  If it is determined in step S105 that the center of the recess 161 is not reflected, that is, a part of the recess 161 is blocked by the device transport head 17A or the device transport head 17B, the position of the device transport head 17B is any position. It is calculated whether the center of the recess 161 is reflected (step S106), and the second position information, which is the encoder value when the imaging command signal is transmitted when the image D17-2 is imaged, is corrected, and the following correction is performed. Third position information that is position information different from the first position information and the second position information is created (step S107). That is, the third position information is created based on the image D17-1, which is the second image captured by the first camera 31 (imaging unit). As described above, the third position information includes the image of at least one grip part (device transport head 17B) included in the image D17-2 as the second image, and the recess 161 (mounting part) included in the image D17-2. ). Thereby, when imaging is performed based on the third position information, it is possible to prevent or suppress the device transport head 17B from blocking the entire recess 161. As a result, an image more suitable for making a determination can be obtained.

  In step S108, the device transport head 17A and the device transport head 17B are returned to the start position Ps. In step S102, imaging is performed once based on the third position information, and one image D17-3 as a third image is obtained. Get.

  Then, when it is determined in step S103 that the concave portion 161 is reflected, and in step S105, it is determined that the center of the concave portion 161 is reflected, in step S109, a trigger for transmitting an imaging command signal during actual inspection. The third position information is determined as an encoder value to be a point.

  As described above, in the electronic component transport apparatus 10, the control unit 800 includes the position of at least one grip unit (the device transport head 17 </ b> B in the present embodiment) and the concave portion in the image captured by the first camera 31 (imaging unit). The imaging start timing of the first camera 31 can be adjusted based on the position of 161 (mounting unit). Thereby, in the image imaged with the 1st camera 31, it can adjust so that the center of the recessed part 161 may be reflected. Therefore, an accurate determination can be made based on the captured image.

  The inspection unit 16 (electronic component placement unit) inspects the IC device 90 (electronic component), and the control unit 800 adjusts the timing at which the imaging command signal is transmitted prior to the inspection. It can be adjusted so that the center of the recess 161 is reflected in the image captured during the inspection. Therefore, an accurate determination can be made based on the captured image.

  In the above description, the case where the imaging timing is adjusted while the device transport head 17A and the device transport head 17B move to the -Y side has been described. Similarly, the device transport head 17A and the device transport head 17B are on the + Y side. It is also possible to adjust the imaging timing while moving to. Furthermore, in the case of moving in the Z direction in addition to the Y direction, the imaging timing can be adjusted similarly. That is, the imaging start timing of the first camera 31 (imaging unit) can be adjusted according to the movement direction of the device transport head 17A and the device transport head 17B (first grip unit and second grip unit). Thereby, the imaging timing can be adjusted regardless of the moving direction of the device transport head 17A and the device transport head 17B.

  Moreover, in the electronic component transport apparatus 10, the control unit 800 can adjust the exposure time according to the brightness of the image captured by the first camera 31 (imaging unit), for example, by adjusting the shutter speed. . Thereby, an image suitable for more accurate determination (for example, an image in which the laser beam L1 is clearly reflected when performing the first determination) can be obtained.

  In the above description, the case where the imaging timing is adjusted while the operation of the laser light source 41 and the illumination 5 is stopped has been described. However, the adjustment of the imaging timing is performed while the laser light source 41 and the illumination 5 are operated. Also good. This makes it possible to adjust the imaging timing and the exposure time more accurately.

  Further, the conditions for adjusting the imaging timing as described above (the moving speed of the device transport head 17A and the device transport head 17B, the arrangement form of the recesses 161, etc.) can be set on the monitor 300. FIG. 63 is a diagram illustrating an example of a setting screen of the monitor 300.

  In the configuration shown in FIG. 63, the moving speeds of the device transport head 17A and the device transport head 17B can be adjusted in five stages. In addition, the number of columns of the recesses 16 arranged in the Y direction in the inspection unit 16 can also be set.

  Note that it is preferable that the image D17-3 is used by trimming only the central portion of the recess 161 in the determination. In this case, it is preferable that the center of the recess 161 coincides with the center of the image D17-3. Thereby, the trimmed image can be made as small as possible. As a result, data can be exchanged with the control unit 800 quickly.

  Next, based on the flowchart shown in FIG. 28, the control operation of the control unit 800 during inspection will be described. The following control operation is a control operation in a state where the IC device 90 is transported to the inspection unit 16 for inspection and the IC device 90 is removed from the inspection unit 16.

  First, in step S201, the laser light source 41 is operated to irradiate each recess 161 with the laser light L1 (see FIG. 5). At this time, in this embodiment, the illumination 5 is turned off. Thereby, the line of the laser beam L1 can be made to stand out in the image D1 or the image D2 obtained in the next step S202.

  Next, in step S <b> 202, the inspection unit 16 is imaged using the first camera 31. Thereby, an image D1 (first image) or an image D2 (first image) as shown in FIG. 12 or 13 can be obtained. Note that the imaging in step S102 is performed in the imaging enabled state shown in FIGS. Note that when the imaging is finished, the irradiation of the laser beam L1 is stopped.

  Next, in step S203, it is determined whether the remaining state or the removed state. In the present embodiment, an image D2 having a deviation amount ΔD2 is acquired in advance and stored in the memory 802, and a determination is made as to whether the residual state or the removal state is based on the deviation amount of the laser light L1 in the image D2. . If it is determined in step S203 that the remaining state is present, the process proceeds to step S205 described later.

  If it is determined in step S204 that the device is in the removal state, it is determined whether or not a gripping abnormality has occurred in the device transport head 17. Note that the gripping abnormality refers to a state in which the device transport head 17 does not grip the IC device 90, for example. This gripping abnormality is performed, for example, by detecting the suction pressure of the device transport head 17.

  If it is determined in step S204 that a gripping abnormality has occurred, that is, if it is determined that the IC device 90 (electronic component) is disposed in the inspection unit 16 that is an electronic component placement unit, the device that is the gripping unit The operation of the transport head 17 is stopped. In step S205, the movement is stopped while holding the IC device 90. Thereby, it is possible to prevent the conveyance operation from being continued in the residual state.

  In step S206, the illumination 5 is turned on, and the entire inspection unit 16 is irradiated with the light L2.

  Next, in step S <b> 207, the inspection unit 16 is imaged by the first camera 31. Thereby, an image D1 ′ (second image) or an image D2 ′ (second image) as shown in FIG. 14 or 15 can be obtained. Note that the imaging in step S207 is performed in the imaging enabled state shown in FIGS.

  Next, in step S208, it is determined whether the remaining state or the removed state. In step S108, as described above, based on the captured image D1 'and image D2', the color and brightness of the IC device 90 are detected, and it is determined whether the residual state or the removal state. In the present embodiment, an image D2 'in a removed state is acquired in advance, stored in the memory 802, and compared with the obtained image D1' or image D2 '.

  If it is determined in step S208 that the state is the remaining state, in step S209, the remaining state is notified. This notification is performed by operating the notification unit 24. By this notification, the operator can remove the IC device 90 of the inspection unit 16 and eliminate the remaining state. Then, for example, the operator can press a transport restart button by using the operation panel 700.

  If it is determined in step S210 that the restart button has been pressed, in step S211, the inspection unit 16 is imaged again, and in step S212, it is determined whether it is a remaining state or a removed state. In step S212, the first determination may be performed, the second determination may be performed, or both the first determination and the second determination may be performed. Further, according to the determination in step S212, it is determined whether the laser light source 41 is turned on, the illumination 5 is turned on, or both are turned on when imaging is performed in step S211. When the imaging in step S211 is completed, the lit laser light source 41 or the illumination 5 is turned off.

  If it is determined in step S212 that the state is the removal state, the conveyance is resumed in step S213. If it is determined in step S212 that the residual state is present, the process returns to step S209 to notify that the residual state is present.

  As described above, in the present embodiment, the determination (first determination) is performed based on the image D1 or the image D2 that is the first image, and then the determination (first determination) is performed based on the image D1 ′ or the image D2 ′ that is the second image. 2 judgment). As described above, since the first image and the second image captured by irradiating light with different luminances are used to determine whether the remaining state or the removed state is obtained in two stages, the determination can be performed more accurately.

  In the electronic component transport apparatus 10, the above determination can be applied to the device transport head 13 and the device transport head 20, but by applying it to the device transport head 17 in the inspection area A 3, that is, the electronic component mounting. The placement unit is preferably the inspection unit 16 in which the IC device 90 is inspected. Thereby, the inspection unit 16 can determine whether the residual state or the removed state, whereby the IC device 90 can be efficiently inspected.

  As described above, according to the electronic component transport apparatus 10, a first image obtained by imaging the inspection unit 16 (electronic component placement unit) in a state where the laser light source 41 as the light irradiation unit emits the laser beam L 1 having the first luminance. The image D1 or the image D2 that is one image and the image D1 ′ or the image that is the second image obtained by capturing the inspection unit 16 in a state where the laser light source 41 emits the light L2 having the second luminance smaller than the first luminance. Based on at least one of the images D2 ′, it is determined whether or not the IC device 90, which is an electronic component, is arranged in the inspection unit 16.

  Thus, it is possible to detect whether or not the electronic component remains on the electronic component placement unit after the electronic component carrying operation with respect to the electronic component placement unit is performed. In particular, since it is determined whether or not the IC device 90 remains in the inspection unit 16 based on at least one of two images captured by irradiating light with different luminances, the determination is more accurate. Can be done.

  The second luminance only needs to be lower than the first luminance, and includes a zero state, that is, a state where the illumination 5 does not irradiate the light L2.

Second Embodiment
Hereinafter, the second embodiment of the electronic component transport device and the electronic component inspection device of the present invention will be described with reference to FIGS. 29 to 39, but the description will focus on the differences from the above-described embodiment, and the same matters will be described. Will not be described.

  This embodiment is substantially the same as the first embodiment except that the control operation of the control unit is different.

  The following control operation is a method for adjusting the timing at which the first camera 31 (the same applies to the second camera 32) performs imaging prior to the inspection of the IC device 90.

  In step S301, first, the device transport head 17A and the device transport head 17B are arranged at the start position Ps. The start position Ps is, for example, a position where the concave portion 161 starts to appear as shown in FIG.

  Next, in step S302, the device transport head 17A and the device transport head 17B are intermittently moved to the end position Pe in the -Y direction. Then, when the device transport head 17A and the device transport head 17B are stopped, the concave portion 161 is imaged a plurality of times (in this embodiment, five times) via the gap S (see FIGS. 29 to 38).

Note that the position at which imaging is performed between the start position Ps and the end position Pe is stored in advance in the memory 802 based on the encoder value of the device transport head 17A or the device transport head 17B. This encoder value is set according to the position of the first camera 31, for example.
In this step, five images are taken as an example.

  As shown in FIGS. 29 and 30, in the image DPs picked up at the start position Ps, the device transport head 17A is shown on the entire surface, and the concave portion 161 is not shown.

  As shown in FIGS. 31 and 32, an image D17-1 ′ picked up at a position P17-1 moved in the −Y direction from the start position Ps shows a part of the device transport head 17A, and has a recess 161. Is blocked by the device transport head 17A, and the remaining portion of the recess 161 is shown.

  As shown in FIGS. 33 and 34, in the image D17-2 ′ picked up at the position P17-2 moved in the −Y direction from the position P17-1, a part of the device transport head 17A and the device transport head 17B is shown. Although it is reflected, the center of the recess 161 is reflected.

  As shown in FIGS. 35 and 36, a part of the device transport head 17B is shown in the image D17-3 ′ captured at the position P17-3 moved in the −Y direction from the position P17-2, and the concave portion A part of 161 is blocked by the device transport head 17B, and the remaining part of the recess 161 is shown.

  As shown in FIGS. 37 and 38, in the image DPe picked up at the end position Pe, the device transport head 17B is shown on the entire surface, and the concave portion 161 is not shown.

  As described above, in step S302, a plurality of images (in this embodiment, five images) are captured in a stopped state.

  Next, in step S303, an image suitable for determination from the image DPs, the image D17-1 ′, the image D17-2 ′, the image D17-3 ′, and the image DPe, that is, an image in which the center of the recess 161 is reflected (image D17-2 ′) is selected.

  Next, in step S304, when the selected image D17-2 'is captured, that is, the encoder value at the position P17-2 is stored.

  Next, in step S305, the device transport head 17A and the device transport head 17B are returned to the start position Ps.

  In step S306, the device transport head 17A and the device transport head 17B are moved from the start position Ps toward the end position Pe, and imaging is performed at the position P17-2 based on the encoder value. In this step, imaging is performed at a position P17-2 while the device transport head 17A and the device transport head 17B are continuously moved and moved.

  In step S307, the image captured in step S306 is compared with the image selected in step S303. Hereinafter, as an example, a case will be described in which the image captured in step S306 is an image D17-3 'illustrated in FIG.

  Even if imaging is performed at the position P17-2, if the obtained image is not the image D17-2 ′ but the image D17-3 ′, the position of the device transport head 17B in the image D17-2 ′, Based on the position of the device transport head 17B in the image D17-3, the device transport head 17B is in a period from when the control unit 800 transmits an image capturing command signal to when the first camera 31 actually captures an image. Calculate how much has moved.

  This calculation calculates an amount of movement by comparing arbitrary portions (for example, end portions) among the portions of the device transport head 17B that appear in both the image D17-2 and the image D17-3.

  In step S308, an encoder value for transmitting an imaging command signal is calculated in consideration of the amount of movement in the encoder values of the device transport head 17A and the device transport head 17B at the position P17-2. That is, the encoder value (corrected encoder value) when the device transport head 17A and the device transport head 17B are positioned on the + Y side by the movement amount from the position P17-2 is calculated. If the imaging command signal is transmitted to the first camera 31 at the corrected encoder value, the image D17-2 can be obtained.

  As described above, the control unit 800 can adjust the timing at which the imaging command signal is transmitted to the first camera 31 that is the imaging unit. Specifically, it is possible to adjust the timing at which the first camera 31 serving as the imaging unit starts imaging. Thereby, the imaging command signal can be transmitted to the first camera 31 in consideration of the time lag from when the imaging command signal is transmitted until the first camera 31 actually starts imaging. Therefore, a desired image, that is, an image suitable for determination (image D17-3) can be obtained in spite of a time lag.

  As described above, in the present embodiment, the control unit 800 captures the imaging result (image D17-2 ′) and the first position information (image D17-2 ′) of the first camera 31 (imaging unit). Based on the encoder value), a first adjustment (step S304) for determining (adjusting) the timing of transmitting the imaging command signal to the first camera 31 is performed. Then, after the first adjustment, the control unit 800 performs the first adjustment based on the amount of movement of at least one holding unit (device transport head 17B) from when the imaging command signal is transmitted until the first camera 31 starts imaging. A second adjustment is performed to adjust the timing at which the imaging command signal is transmitted to one camera 31. Accordingly, the imaging command signal is transmitted at an optimal timing in consideration of the time lag from when the imaging command signal is transmitted until the first camera 31 actually starts imaging, regardless of the individual difference of the first camera 31. Can be sent. As a result, an image (image D17-3 ') suitable for determination can be obtained regardless of individual differences of the first cameras 31.

  Note that it is preferable that the image D17-3 'is used by trimming only the central portion of the recess 161 in the determination. In this case, it is preferable that the center of the recess 161 coincides with the center of the image D17-3 '. Thereby, the trimmed image can be made as small as possible. As a result, data can be exchanged with the control unit 800 quickly.

<Third Embodiment>
Hereinafter, the third embodiment of the electronic component transport apparatus and the electronic component inspection apparatus according to the present invention will be described with reference to FIG. 40. The description will focus on the differences from the above-described embodiment, and the same matters will be described. Is omitted.

  This embodiment is substantially the same as the first embodiment except that the control operation of the control unit is different.

  The following control operation is a control operation in a state where the IC device 90 is transported to the inspection unit 16 for inspection and the IC device 90 is removed from the inspection unit 16.

  First, in step S401, it is selected whether to perform the first determination or the second determination. In step S <b> 401, among the irradiation conditions of the laser light source 41 and the illumination 5 that are the light irradiation unit, the color of the inspection unit 16 (electronic component placement unit), the color of the IC device 90 (electronic component), and the resolution of the first camera 31. Based on at least one of the conditions, an image to be used when determining whether the state is the remaining state or the removed state is selected from the first image (images D1 and D2) and the second image (image D1 ′ and image D2 ′). As a result, an image with better conditions can be used when determining whether the state is the remaining state or the removed state. Therefore, it is possible to more accurately determine whether or not the IC device 90 remains in the inspection unit 16.

  The irradiation conditions include, for example, the emission angle of the laser light L1, the brightness of the laser light L1, the brightness of the light L2, and the like. A calibration curve between these conditions and, for example, the brightness in the inspection area A3 can be stored in the memory 802 in advance, and the determination in step S401 can be performed based on the calibration curve.

  When it is determined in step S401 that the first image is used, in step S402, the laser light source 41 is operated to irradiate each concave portion 161 with the laser light L1 (see FIG. 5).

  In step S <b> 403, the inspection unit 16 is imaged using the first camera 31. Thereby, an image D1 (first image) or an image D2 (first image) as shown in FIG. 12 or 13 can be obtained.

  Next, in step S404, as in step S203 of the first embodiment, it is determined whether the state is a residual state or a removed state. If it is determined in step S404 that the device is in the remaining state, the operation of the device transport head 17 is stopped in step S405, and the notification unit 24 notifies the remaining state in step S406.

  If it is determined in step S407 that the resume button has been pressed, the inspection unit 16 is imaged again in step S408, and it is determined in step S409 whether it is a residual state or a removed state. In step S409, the first determination may be performed, the second determination may be performed, or both the first determination and the second determination may be performed. Further, according to the determination in step S409, it is determined whether the laser light source 41 is turned on, the illumination 5 is turned on, or both are turned on when imaging is performed in step S408. Further, when the imaging in step S408 is completed, the lit laser light source 41 or the illumination 5 is turned off.

  If it is determined in step S409 that the state is the removal state, the conveyance is resumed in step S410. If it is determined in step S409 that the state is the remaining state, the process returns to step S206 to notify the remaining state.

  In step S401, when it is determined that the second image is used, that is, the second determination is performed, the illumination 5 is turned on in step S411, and the inspection unit 16 is imaged by the first camera 31 in step S412. A second image is obtained. In step S413, it is determined whether the remaining state or the removed state in the same manner as in step S208 in the first embodiment. If it is determined in step S413 that the state is the remaining state, the process proceeds to step S405 and the following steps are performed.

<Fourth embodiment>
Hereinafter, a third embodiment of the electronic component transport device and the electronic component inspection device of the present invention will be described with reference to FIGS. 41 to 43. The difference between the third embodiment and the above-described embodiment will be mainly described, and similar matters will be described. Will not be described.

  This embodiment is substantially the same as the first embodiment except that the control operation of the control unit is different.

  As shown in FIG. 41, in this embodiment, an illuminance sensor 25 for detecting illuminance is provided on the + X side of the inspection unit 16. Although not shown, the illuminance sensor 25 is electrically connected to the control unit 800, and information on the illuminance detected by the illuminance sensor 25 is transmitted to the control unit 800.

  Further, a marker 26 is provided in the vicinity of the end on the −X axis side on the upper surface of the inspection unit 16. The marker 26 is configured by a colored portion having areas with different colors.

  Next, the control operation of the control unit 800 in the present embodiment will be described with reference to the flowchart shown in FIG. 43. The following control operation is performed by carrying the IC device 90 to the inspection unit 16 for inspection. This is a control operation in a state where the IC device 90 is removed from the unit 16.

  First, in step S501, the laser light source 41 and the illumination 5 are turned on. At this time, in order to make the laser light L1 stand out, it is preferable to reduce the luminance of the light L2. However, if the luminance of the light L2 is too small, it may be difficult to make the second determination accurately. .

  Therefore, in step S502, the brightness of at least one of the laser light L1 and the light L2 is adjusted. This adjustment is performed at least one of the laser light source 41 and the illumination 5 according to information on the illuminance detected by the illuminance sensor 25 (brightness in the inspection area A3) or information obtained from the luminance distribution of the image. This is done by adjusting the output.

  In this adjusted state, in step S503, the first camera 31 is used to capture an image D3 shown in FIG. This image D3 is larger than the images D1 and D2 shown in FIGS. 12 and 13, and the peripheral portion of the recess 161 is also captured.

  In step S504, it is determined whether the remaining state or the removed state. The determination in step S504 is performed in the same manner as in step S208 in the first embodiment. In step S504, for example, as shown in FIG. 42, even if the IC device 90 is unintentionally arranged on the upper surface of the inspection unit 16, this can be detected. In this embodiment, this case is also included in the residual state. In particular, when the IC device 90 is unintentionally arranged on the upper surface of the inspection unit 16, the position of the laser light L <b> 1 line in the X direction is shifted on the upper surface of the IC device 90 in this embodiment. For this reason, it is possible to accurately detect that the IC device 90 has been unintentionally arranged on the upper surface of the inspection unit 16.

  If it is determined in step S504 that the device is in the remaining state, the operation of the device transport head 17 is stopped in step S505, and the notification unit 24 notifies the remaining state in step S506.

  If it is determined in step S507 that the restart button has been pressed, the inspection unit 16 is imaged again in step S508, and it is determined in step S509 whether it is a residual state or a removed state. In step S509, the first determination may be performed, the second determination may be performed, or both the first determination and the second determination may be performed. Further, according to the determination in step S509, it is determined whether to turn on the laser light source 41, turn on the illumination 5, or turn both on when imaging in step S508. When the imaging in step S508 is completed, the lit laser light source 41 or the illumination 5 is turned off.

  If it is determined in step S509 that the state is the removal state, the conveyance is resumed in step S510. If it is determined in step S509 that the state is the remaining state, the process returns to step S506 to notify the remaining state.

<Fifth Embodiment>
Hereinafter, the fifth embodiment of the electronic component transport device and the electronic component inspection device of the present invention will be described with reference to FIG. 44. The difference from the above-described embodiment will be mainly described, and the same matters will be described. Is omitted.

  This embodiment is the same as the first embodiment except that three cameras are provided.

  As shown in FIG. 44, in this embodiment, the imaging unit includes a first camera 31 that is a first imaging unit that captures images D1 and D2 that are first images, and a second camera 32 that is a second imaging unit. And a camera 34 that is a third imaging unit that captures the images D1 ′ and D2 ′ that are the second images. That is, in this embodiment, it has the structure which has the 1st camera 31 and the 2nd camera 32 for exclusive use which image the images D1 and D2, and the camera 34 for exclusive use which images D1 'and D2'. Therefore, the first camera 31 and the second camera 32 can have a relatively high resolution, and the camera 34 can have a lower resolution than the first camera 31 and the second camera 32. As a result, in the second determination, the time required for data exchange between the control unit 800 and the camera 34 can be shortened.

<Sixth Embodiment>
Hereinafter, the sixth embodiment of the electronic component transport device and the electronic component inspection device of the present invention will be described with reference to FIGS. 45 to 47. However, the difference from the above-described embodiment will be mainly described, and similar matters will be described. Will not be described.

  This embodiment is the same as the first embodiment except that the control operation of the control unit 800 is different.

  Hereinafter, the control operation of the control unit 800 in the present embodiment will be described with reference to the flowchart shown in FIG. 45. The following control operation is performed before the IC device 90 is transported to the inspection unit 16 for inspection. This is a control operation to be performed.

  First, as shown in step S601, the illumination 5 is activated to emit light L2. And the test | inspection part 16 is imaged with the 1st camera 31 (step S602). Next, in step S603, the illumination 5 is turned off.

  Next, in step S604, the laser light source 41 is operated to irradiate the inspection unit 16 with the laser light L1, and in this state, the inspection unit 16 is imaged by the first camera 31 (step S405).

  In step S606, the motor 43 of the mirror 42 is rotated to adjust the irradiation position of the laser light L1. In this adjustment, the center position Pc is determined in the image captured in step S602 (see FIG. 46), the coordinates of the center position Pc are stored, and in the image captured in step S405, the laser beam L1 is Adjustment is performed until it is positioned at Pc (see FIG. 47). Thereby, the laser beam L1 can be irradiated to the recessed part 161 more reliably. In particular, the number and arrangement of the recesses 161 of the inspection unit 16 may vary from test to test. In this case, an image can be acquired in accordance with the position of the recess 161 of the inspection unit 16.

  In the present embodiment, the adjustment of the laser beam L1 is performed based on a calibration curve between the rotation angle of the light reflecting unit 33 and the irradiation position of the laser beam L1.

<Seventh embodiment>
Hereinafter, the seventh embodiment of the electronic component transport device and the electronic component inspection device of the present invention will be described with reference to FIG. 48, but the description will focus on the differences from the above-described embodiment, and the same matters will be described. Is omitted.

  This embodiment is the same as the sixth embodiment except that the inspection unit is provided with a marker and a display unit.

  As shown in FIG. 48, in this embodiment, a marker 27 and a display unit 28 are provided on the upper surface of the inspection unit 16.

  The marker 27 is provided at the edge of each recess 161 and indicates the center position Pc of the recess 161 in the X direction. By matching the irradiation position of the laser beam L1 with the marker 27, the imaging in step S402 can be omitted. Therefore, the adjustment process of the irradiation position of the laser beam L1 can be simplified.

  Moreover, the display part 28 is comprised by the two-dimensional barcode, for example. After completion of the adjustment process of the irradiation position of the laser beam L1, the display unit 28 can be read and the irradiation position of the laser beam L1 and the information on the display unit 28 can be linked and stored in the memory 802. Thereby, for example, even if the inspection unit 16 having a different arrangement form of the recess 161 for each inspection is used, the irradiation position of the laser light L1 can be known by reading the display unit 28. That is, the reproducibility of the irradiation position of the laser beam L1 can be improved. Therefore, it is possible to easily adjust the irradiation position of the laser light L1.

<Eighth Embodiment>
The eighth embodiment of the electronic component transport apparatus and the electronic component inspection apparatus of the present invention will be described below with reference to FIG. 49. The description will focus on the differences from the above-described embodiment, and the same matters will be described. Is omitted.

  This embodiment is the same as the first embodiment except that the light emission timing is different.

  In the present embodiment, the laser light source 41 irradiates the laser light L1 intermittently. In other words, the laser light source 41 is configured to alternately repeat irradiation and stopping of the laser light L1. The laser power in this embodiment is set according to IEC 60825-1: 2014, and JIS is set according to C 6802: 2014. This ensures operator safety.

  In the timing chart shown in FIG. 49, the upper chart in the drawing shows the first camera 31, and the lower chart in the drawing shows the laser light source 41. As shown in FIG. 49, in the present embodiment, the laser light source 41, which is a light irradiation unit, irradiates the laser light L1 before the imaging start time t1, and irradiates the laser light L1 after the imaging end time t2. Stop. Thereby, while the 1st camera 31 is imaging, it can be set as the state which has irradiated the test | inspection part 16 with the laser beam L1.

  Further, by adopting a configuration in which the laser light source 41, which is a light irradiation unit, irradiates the laser light L1 when imaging is possible, it is possible to prevent the inspection unit from imaging when blocked by the device transport head 17. it can. Therefore, imaging can be performed without waste.

<Ninth Embodiment>
Hereinafter, the ninth embodiment of the electronic component transport apparatus and the electronic component inspection apparatus of the present invention will be described with reference to FIGS. 50 and 51. However, the differences from the above-described embodiment will be mainly described, and similar matters will be described. Will not be described.

  This embodiment is the same as the first embodiment except that the control operation of the control unit and the arrangement of the recesses of the inspection unit are different.

  As shown in FIG. 50, in the present embodiment, the inspection section 16 is provided with eight recesses 161. In the inspection unit 16, four recesses 161 are arranged in a line in the X direction, and four more recesses 161 are arranged in a line on the + Y side of the line.

  In such an inspection unit 16, the detection unit 2 </ b> A is responsible for the irradiation and imaging of the laser light L <b> 1 in the four concave portions 161 on the + X side of the center of the inspection unit 16 in the X direction, and the detection unit 2 </ b> A The detection unit 2B is responsible for irradiation and imaging of the laser light L1 in the four concave portions 161 on the −X side. Hereinafter, the detection unit 2 </ b> A and the four concave portions 161 on the + X side of the center of the inspection unit 16 in the X direction will be representatively described.

  As described in the first embodiment, in the detection unit 2A, the four laser light sources 41 are provided, and one laser light source 41 irradiates the two concave portions 161 arranged in the Y direction with the laser light L1. For this reason, in the arrangement form of the recesses 161 as shown in FIG. 50, the two laser light sources 41 need only be operated. Select and activate. The four laser light sources 41 are referred to as a laser light source 41A, a laser light source 41B, a laser light source 41C, and a laser light source 41D in order from the + X side.

  In this selection, as described above, the first determination can be performed more accurately as the incident angle θ1 of the laser beam L1 is increased. Therefore, the laser light source 41A and the laser light source 41B on the + X side are selected from the detection unit 2A (see FIG. 51).

  For example, when the incident angle θ1 of the laser light L1 of the laser light source 41A is larger than the angle θ2 formed by the inner peripheral surface 162 of the recess 161 and the Z direction, the selection of the laser light source 41A is omitted. The laser light source 41B and the laser light source 41C are selected (not shown).

  Thus, in this embodiment, the laser light source 41 is selected so that the incident angle θ1 is as large as possible while satisfying the incident angle θ1 <angle θ2. Thereby, the first determination can be accurately performed regardless of the arrangement form of the recesses 161 in the inspection unit 16.

<Tenth Embodiment>
Hereinafter, a tenth embodiment of the electronic component transport apparatus and the electronic component inspection apparatus of the present invention will be described with reference to FIG. 52. The difference from the above-described embodiment will be mainly described, and the same matters will be described. Is omitted.

  The present embodiment is the same as the first embodiment except that the arrangement form of the recesses in the inspection unit and the imaging ranges of the first imaging unit and the second imaging unit are different.

  As shown in FIG. 52, in the present embodiment, the inspection section 16 is provided with 14 concave portions 161. In the inspection unit 16, seven concave portions 161 are arranged in a row in the X direction, and seven concave portions 161 are arranged in a row on the + Y side of the row. In addition, since the recess 161 is provided with an odd number of recesses 161 in one row along the X direction, the recess 161 is disposed at the center of the inspection unit 16 in the X direction.

  In the present embodiment, the imaging ranges of the first camera 31 of the detection unit 2 </ b> A and the first camera 31 of the detection unit 2 </ b> B have overlapping portions that overlap each other. Specifically, the first camera 31 of the detection unit 2A images four concave portions 161 from the + X side, and the first camera 31 of the detection unit 2B images four concave portions 161 from the -X side. Therefore, the middle concave portion 161 (the concave portion 161D) is imaged by both the first camera 31 of the detection unit 2A and the first camera 31 of the detection unit 2B. That is, it is also reflected in the image D31A captured by the first camera 31 of the detection unit 2A, and is also reflected in the image D31B captured by the first camera 31 of the detection unit 2B. This also applies to the image D32A captured by the second camera 32 of the detection unit 2A and the image D32B captured by the second camera 32 of the detection unit 2B.

  According to such a structure, even if it is the test | inspection part 16 in which the recessed part 161 is located in the center part of a X direction, the recessed part 161D located in the center part can be imaged reliably. That is, it is possible to prevent the concave portion 161D from being positioned at the boundary between the image D31A and the image D31B (the same applies to the image D32A and the image D32B). Therefore, the presence / absence of the IC device 90 in the recess 161 can be accurately determined.

  Note that the determination in the recess 161D can be made based on at least one of the image D31A and the image D31B (the same applies to the image D32A and the image D32B).

  When CCD cameras are employed as the first camera 31 and the second camera 32, exposure is sequentially performed in the left-right direction in FIG. 36, and readout is sequentially performed in the up-down direction in FIG. In the present embodiment, since the images captured by the first camera 31 and the second camera 32 have a shape whose longitudinal direction is the left-right direction in the figure, it is possible to suppress an increase in the number of readouts in the vertical direction in the figure. Can do. As a result, the time required for reading the captured image can be shortened, and the determination based on the image can be performed smoothly.

<Eleventh embodiment>
Hereinafter, the eleventh embodiment of the electronic component transport apparatus and the electronic component inspection apparatus of the present invention will be described with reference to FIG. 53, but the difference from the above-described embodiment will be mainly described, and the same matters will be described. Is omitted.
This embodiment is the same as the first embodiment except that the control operation of the control unit is different.

  In the present embodiment, when transport is stopped in step S205 in the first embodiment, as shown in FIG. 53, the device transport head 17A and the device transport head 17B move in directions opposite to each other. Thereby, the gap S between the device transport head 17A and the device transport head 17B is widened.

  Then, in a state where the gap S is widened, the second image is captured through steps S206 and S207. Thereby, since the gap S is widened, it is possible to obtain a second image in which more areas of the inspection unit 16 are imaged in one imaging. As a result, it is possible to simplify the imaging in step S207.

<Twelfth embodiment>
The twelfth embodiment of the electronic component transport apparatus and the electronic component inspection apparatus according to the present invention will be described below with reference to FIGS. 54 and 55. The difference from the above-described embodiment will be mainly described, and the same matters will be described. Will not be described.

  The present embodiment is the same as the first embodiment except that the operation of the device transport head is different.

  As shown in FIGS. 54 and 55, in the present embodiment, the device transport head 17A and the device transport head 17B each have a suction portion (not shown) corresponding to the concave portion 161 of the inspection unit 16, The IC device 90 (not shown) is alternately conveyed to the inspection unit 16.

  That is, as shown in FIG. 54, when the device transport head 17B transports the IC device 90 to the inspection unit 16, the device transport head 17A is located at a position deviated to the −Y side of the inspection unit 16. ing. On the other hand, as shown in FIG. 55, when the device transport head 17A transports the IC device 90 to the inspection unit 16, the device transport head 17B is located at a position deviated to the + Y side of the inspection unit 16. Yes.

Thus, in the present embodiment, one device transport head 17 transports the IC device 90 to the inspection unit 16 and repeats this alternately.
The twelfth embodiment has the same effect as the first embodiment.

<13th Embodiment>
Hereinafter, a thirteenth embodiment of the electronic component transport apparatus and the electronic component inspection apparatus of the present invention will be described with reference to FIGS. 56 to 58. The difference from the above-described embodiment will be mainly described, and similar matters will be described. Will not be described.

  The present embodiment is the same as the first embodiment except that the operation of the device transport head is different.

  In the inspection unit 16 of the present embodiment, four rows in which the concave portions 161 are arranged in the X direction are provided in the Y direction.

  The device transport head 17A and the device transport head 17B are in charge of two rows of the four rows of concave portions 161.

  Specifically, as shown in FIG. 56, the device transport head 17B is responsible for transporting the IC devices 90 (not shown) to the two rows of concave portions 161 on the + Y side, and the two rows of concave portions 161 on the -Y side. The device transport head 17A is responsible for transporting the IC device 90 (not shown) to the device.

As shown in FIG. 57, when the IC device 90 is unloaded from the inspection unit 16, the device transport head 17B moves to the + Y side, and the device transport head 17A moves to the -Y side (see FIG. 57). 57, arrow α _17A and arrow α _17B ). That is, the device transport head 17A and the device transport head 17B move so as to repeatedly approach and separate from each other when viewed from the Z direction.

As shown in FIG. 58, since the device transport head 17A and the device transport head 17B can move in the Y direction and the Z direction when they are separated from each other, they can move so as to draw an arc (see FIG. 58). 58, arrow α _17A and arrow α _17B ).
The thirteenth embodiment also has the same effects as the first embodiment.

<Fourteenth embodiment>
Hereinafter, the fourteenth embodiment of the electronic component transport apparatus and the electronic component inspection apparatus according to the present invention will be described with reference to FIG. 59. The difference from the above-described embodiment will be mainly described, and the same matters will be described. Is omitted.

  This embodiment is the same as the first embodiment except that the imaging unit is provided with a control unit.

  As shown in FIG. 59, in the present embodiment, the first camera 31 and the second camera 32 each include a control unit 803 separately from the control unit 800. That is, the electronic component transport apparatus 10 includes a control unit 800 (first control unit) and a control unit 803 (second control unit). Hereinafter, the control unit 803 of the first camera 31 will be described as a representative.

  The control unit 803 performs exposure to the image sensor of the first camera 31 a plurality of times (for example, twice), and performs at least one of the first determination and the second determination based on the image. Then, the control unit 803 transmits the determination result to the control unit 800.

  Based on the transmitted determination result, the control unit 800 stops the operation of the device transport head 17A and the device transport head 17B, or notifies the determination result using the monitor 300 and the speaker 500.

  According to this embodiment, communication of image data between the control unit 800 and the first camera 31 (the same applies to the second camera 32) is omitted, and only the determination result is transmitted as an electrical signal. The speed of the first determination and the second determination can be increased. Furthermore, the operation after the determination can be performed quickly, and a decrease in the throughput of the electronic component transport apparatus 10 can be effectively suppressed.

  As mentioned above, although the electronic component conveyance apparatus and electronic component inspection apparatus of this invention were demonstrated about embodiment of illustration, this invention is not limited to this, Each part which comprises an electronic component conveyance apparatus and an electronic component inspection apparatus Can be replaced with any structure capable of performing the same function. Moreover, arbitrary components may be added.

  Moreover, the electronic component conveying apparatus and the electronic component inspection apparatus of the present invention may be a combination of any two or more configurations (features) of the above embodiments.

  In the electronic component conveying apparatus of the present invention, the imaging unit may capture a full-color image or a monochrome image.

  Further, in each of the above embodiments, the description has been given of the case where the determination is made by selecting an image in which all of the recesses are captured from the images captured by the imaging unit, but the present invention is not limited to this, and the center of the recesses is determined. Even if it moves, the entire recess may not necessarily be visible.

DESCRIPTION OF SYMBOLS 1 ... Electronic component inspection apparatus, 2 ... Detection unit, 2A ... Detection unit, 2B ... Detection unit, 3 ... Imaging unit, 4 ... Light irradiation unit, 5 ... Illumination, 6 ... Inspection part, 10 ... Electronic component conveyance apparatus, 11A ... Tray transport mechanism, 11B ... Tray transport mechanism, 12 ... Temperature adjustment section, 13 ... Device transport head, 14 ... Device supply section, 15 ... Tray transport mechanism, 16 ... Inspection section, 17 ... Device transport head, 17A ... Device transport Head, 17B ... Device transport head, 18 ... Device recovery section, 19 ... Collection tray, 20 ... Device transport head, 21 ... Tray transport mechanism, 22A ... Tray transport mechanism, 22B ... Tray transport mechanism, 23 ... Encoder, 24 ... Notification unit, 25 ... Illuminance sensor, 26 ... Marker, 27 ... Marker, 28 ... Display unit, 31 ... First camera, 31D '... Image 32 ... 2nd camera, 33 ... Light reflection part, 34 ... Camera, 41 ... Laser light source, 41A ... Laser light source, 41B ... Laser light source, 41C ... Laser light source, 41D ... Laser light source, 42 ... Mirror, 43 ... Motor, 90 ... IC device 161 ... concave part 161A ... concave part 161B ... concave part 161C ... concave part 161D ... concave part 162 ... inner peripheral surface 200 ... tray 231 ... first partition 232 ... second partition 233 ... third Bulkhead, 234 ... Fourth bulkhead, 235 ... Fifth bulkhead, 241 ... Front cover, 242 ... Side cover, 243 ... Side cover, 244 ... Rear cover, 245 ... Top cover, 300 ... Monitor, 301 ... Display screen, 330 ... Vertex 331 ... 1st light reflection surface, 332 ... 2nd light reflection surface, 400 ... Signal lamp, 421 ... Reflection surface, 500 ... Speed -600 ... Mouse table, 700 ... Operation panel, 800 ... Control unit, 801 ... Irradiation position determination unit, 802 ... Memory, 803 ... Control unit, A1 ... Tray supply area, A2 ... Supply area, A3 ... Inspection area, A31 ... Use area, A31 '... Use area, A32 ... Use area, A32' ... Use area, A4 ... Collection area, A5 ... Tray removal area, D1 ... Image, D1 '... Image, D2 ... Image, D2' ... Image, D3 ... Image, D17-1 ... Image, D17-1 '... Image, D17-2 ... Image, D17-2' ... Image, D17-3 ... Image, D17-3 '... Image, Ds ... Image, De ... Image D31 ... Image, D31 '... Image, D31A ... Image, D31B ... Image, D32 ... Image, D32' ... Image, D32A ... Image, D32B ... Image, L ... Laser Light, L1 ... Laser Light, L2 ... Light, L42 ... extension Line, N1 ... Normal, N2 ... Normal, O ... Rotation axis, O31 ... Optical axis, O32 ... Optical axis, Pc ... Center position, S ... Gap, S101 ... Step, S102 ... Step, S103 ... Step, S104 Step, S105 ... Step, S106 ... Step, S107 ... Step, S108 ... Step, S109 ... Step, S201 ... Step, S202 ... Step, S203 ... Step, S204 ... Step, S205 ... Step, S206 ... Step, S207 ... Step , S208 ... step, S209 ... step, S210 ... step, S211 ... step, S212 ... step, S213 ... step, S301 ... step, S302 ... step, S303 ... step, S304 ... step, S305 ... step, S306 ... step, S307 ... su , S308 ... step, S401 ... step, S402 ... step, S403 ... step, S404 ... step, S405 ... step, S406 ... step, S407 ... step, S408 ... step, S409 ... step, S410 ... step, S411 ... step , S412 ... Step, S413 ... Step, S501 ... Step, S502 ... Step, S503 ... Step, S504 ... Step, S505 ... Step, S506 ... Step, S507 ... Step, S508 ... Step, S509 ... Step, S601 ... Step, S602 ..., step S603 ... step, S604 ... step, S605 ... step, S606 ... step, a31 ... unnecessary area, a31 '... unnecessary area, a32 ... unnecessary area, a32' ... unnecessary area, t ... imaging start time, t2 ... imaging end time, Δd ... thickness, ΔD1 ... deviation amount, ΔD2 ... deviation amount, Δα ... angle, α ... angle, α11A ... arrow, α11B ... arrow, α13X ... arrow, α13Y ... arrow, α14 ... arrow, α15 ... arrow, α17A ... arrow, α17B ... arrow, α17Y ... arrow, α18 ... arrow, α20X ... arrow, α20Y ... arrow, α21 ... arrow, α22A ... arrow, α22B ... arrow, α90 ... arrow, β ... Angle, θ1 ... incident angle, θ2 ... angle, θ3 ... angle, P ... position, P1 ... position, P2 ... position, Ps ... position, position ... Pe, position ... P17-1, position ... P17-2, position ... P17 -3, Pbest ... position

Claims (19)

An electronic component placement part having a placement part for placing an electronic component can be arranged,
A first gripper that is movable in a first direction and a second direction different from the first direction and capable of gripping an electronic component;
A second gripper that is movable in the first direction and the second direction and is capable of gripping an electronic component;
An imaging unit capable of imaging the electronic component placement unit from between the first holding unit and the second holding unit;
A position detection unit capable of detecting position information of at least one of the first gripping unit and the second gripping unit;
The first gripping part and the second gripping part are movable in a second direction with respect to the imaging part,
The said imaging part images the 1st image of the said electronic component mounting part based on the 1st position information which the said position detection part detected, The electronic component conveying apparatus characterized by the above-mentioned.   The electronic component transport apparatus according to claim 1, wherein the second position information is created based on the first image picked up by the image pickup unit.   The electronic component transport apparatus according to claim 2, wherein the second position information is different from the first position information.   3. The electron according to claim 2, wherein the second position information is determined based on an image of the at least one gripping part included in the first image and an image of the mounting part included in the first image. Parts transport device.   The electronic component transport apparatus according to claim 2, wherein the imaging unit captures a second image of the electronic component placement unit based on the second position information.   The electronic component carrying apparatus according to claim 5, wherein third position information is created based on the second image picked up by the image pickup unit.   The electronic component transport apparatus according to claim 6, wherein the third position information is different from the first position information and the second position information.   7. The electron according to claim 6, wherein the third position information is determined based on an image of the at least one gripping portion included in the second image and an image of the placement portion included in the second image. Parts transport device.   2. The electronic component transport device according to claim 1, further comprising a light irradiation unit disposed between the first holding unit and the second holding unit so as to be able to emit light to the electronic component mounting unit.   The electronic component conveying apparatus according to claim 1, further comprising a control unit capable of adjusting a timing at which an imaging command signal is transmitted to the imaging unit.   The electronic component conveying apparatus according to claim 10, wherein the control unit is capable of adjusting a timing at which the imaging unit starts imaging. In the electronic component placement section, the electronic component is inspected,
The electronic component conveying apparatus according to claim 10, wherein the control unit adjusts a timing at which the imaging command signal is transmitted prior to the inspection.   The control unit is capable of adjusting an imaging start timing of the imaging unit based on a position of the at least one gripping unit and a position of the placement unit in an image captured by the imaging unit. The electronic component conveying apparatus described in 1.   The electronic component transport apparatus according to claim 10, wherein the control unit is capable of adjusting an imaging start timing of the imaging unit according to a moving direction of the first gripping unit and the second gripping unit. The imaging unit has an imaging element,
The electronic component transport apparatus according to claim 10, wherein the control unit is capable of adjusting an exposure time of the image sensor.   The electronic component conveying apparatus according to claim 15, wherein the control unit adjusts the exposure time according to brightness of an image captured by the imaging unit.   The electronic component transport apparatus according to claim 1, wherein the imaging unit omits imaging in a state where the placement unit is blocked by the first gripping unit or the second gripping unit.   Based on the imaging result of the imaging unit and the first position information, a first adjustment for adjusting a timing for transmitting an imaging command signal to the imaging unit, and the imaging command signal is transmitted after the first adjustment. A control unit that performs a second adjustment that adjusts a timing for transmitting an imaging command signal to the imaging unit based on a movement amount of the at least one gripping unit from when the imaging unit starts imaging. The electronic component conveying apparatus according to claim 1. An electronic component placement part having a placement part for placing an electronic component can be arranged,
A first gripper that is movable in a first direction and a second direction different from the first direction and capable of gripping an electronic component;
A second gripper that is movable in the first direction and the second direction and is capable of gripping an electronic component;
An imaging unit capable of imaging the electronic component placement unit from between the first holding unit and the second holding unit;
A position detection unit capable of detecting position information of at least one of the first gripping part and the second gripping part;
An inspection unit for inspecting the electronic component,
The first gripping part and the second gripping part are movable in a second direction with respect to the imaging part,
The said imaging part images the 1st image of the said electronic component mounting part based on the 1st position information which the said position detection part detected, The electronic component inspection apparatus characterized by the above-mentioned.

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