JP4510679B2 - Teaching method of contact head working position - Google Patents

Description

  The present invention relates to a teaching method of a working position of a contact head for automatically pressing an IC to be measured against the IC socket with an appropriate pressure in an IC handler that transports and presses the IC device to the IC socket.

  Conventionally, the following is known as a prior art of an IC handler that transports and presses an IC device to an IC socket.

JP2002-131374

  FIG. 2 is a diagram illustrating the configuration of a conventional example that is generally used in the past, and is a diagram illustrating the configuration of the main part in a state where a device is supplied from an IC handler to a test head.

  In the figure, reference numeral 1 denotes an IC handler motor, 2 a slider, and 3 a contact head. At the tip of the contact head 3, an IC 4 to be tested is attached.

A docking block 7 provided with positioning pins 6 is attached to the handler base plate 5.
The test socket 8 is positioned by a test socket positioning pin 9 provided on the docking block 7, and is fixed to the docking block 7 by a test socket mounting screw 8a.

  In the above configuration, the docking block 7 to which the test socket 8 is attached is attached to and detached from the handler base plate 5.

  FIG. 3 shows a configuration for contacting the IC 4 and the test socket 8 in such an IC alignment mechanism. In the figure, 10 is a main controller that controls the entire IC device test apparatus, and 13 is a motor controller that controls the rotation of the motor 12 via the motor driver 11 based on a command from the main controller 10.

  Reference numeral 14 denotes display means for converting the rotation speed of the motor 12 into the position of the conduct head 3 and displays it. Reference numeral 15 denotes a timing belt, which transmits the rotation of the motor 12 to the contact head 3 via the ball screw 16 and the slider 2. The contact head 3 attracts the IC 4 and moves in a linear direction according to the rotation of the motor 12. Reference numeral 18 denotes two positioning pins provided on the contact head 3, and 7 denotes a docking block to which a test socket 8 facing the IC 4 is attached.

A mechanical stopper 19 is fixed to the docking block 8 at a position facing the positioning pin 18.
4A to 4D show the positional relationship between the IC 4 and the test socket 8, and FIGS. 4A to 4A show the positional relationship between the positioning pin 18 and the mechanical stopper 19 at that time.

  As shown in the figure, the contact pin 30 includes a spring 32 and can be expanded and contracted by a certain amount. A predetermined spring pressure is applied to the contact portion 30 at the time of expansion and contraction on the contact pin 30, and electrical contact is obtained by pressing the solder ball 31 against the tip, and various electrical measurements are performed.

FIG. 4 will be briefly described. (A) shows a state in which the contact pin 30 and the solder ball 31 are not in contact with each other. At this time, the distance between the flange 33 of the positioning pin 18 and the mechanical stopper 19 shown in (aa) is a1.
(B) shows a state in which the contact pin 30 and the solder ball 31 are in light contact, but the spring pressure is hardly applied. At this time, the distance between the flange 33 of the positioning pin 18 and the mechanical stopper 19 shown in (ab) is a2. It has become.

Next, (c) shows a state in which the solder ball 31 is pushed down to the lowest position and the maximum spring pressure is applied. At this time, the flange 33 of the positioning pin 18 and the mechanical stopper 19 shown in (ac) are in contact with each other. ing.
(D) shows a state in which the solder ball 31 is slightly lifted from the lowermost position and is in contact with the contact pin 30 with an optimal spring pressure applied to the contact portion. At this time, the positioning pin indicated by (ad) The distance between the 18 flanges 33 and the mechanical stopper 19 is a3.

In order to determine the position (contact position) where the IC device adsorbed to the contact head is installed in the IC socket with an appropriate pressing pressure,
a) With the main controller 10 (see FIG. 3), the motor drive is turned off (servo off state),
b) Turn the timing belt 15 by hand to lower the contact head 3 not sucking the IC device downward;
c) Find the position of the mechanical stopper 19 with your hand,
d) The signal from the encoder built in the motor 12 is read on the display 14 at that time.
e) The difference between the designed mechanical stopper 19 and the contact position is added to the value of the display 14 read in d), and the value is used as the contact position (the state of ad in FIG. 4d).

However, in the position adjusting method of the positioning pin 18 and the mechanical stopper 19 as described above,
a) Each time the motor drive in the controller must be turned off.
b) The dangerous motor drive must be reached.
c) Since an appropriate stop position must be found with the sense of the hand, individual differences, reproducibility, and accuracy are poor.
d) If there are multiple heads, multiple manual operations are required.
e) Machine differences with respect to a plurality of identical devices are likely to occur.
There was a problem.

  The present invention solves the above-mentioned problems, and the IC device test apparatus automatically detects the optimum positions of the positioning pin 18 of the contact head 3 and the mechanical stopper 19 of the test socket 8 without depending on the human hand. It is an object to provide a teaching method for work positions.

In order to achieve such an object, the invention of the teaching method of the working position of the contact head according to claim 1 of the present invention,
A main controller for controlling the entire IC device test apparatus;
Based on the command of the main controller, a motor controller that controls the rotation of the motor via a motor driver;
Display means for converting and displaying the number of rotations of the motor into the position of the contact head;
A contact head configured to move in a linear direction in response to rotation of the motor;
Positioning pins provided on the contact head;
A docking plate disposed opposite to the contact head and mounted with an IC socket;
A mechanical stopper provided on the docking plate;
A contact head working position teaching method for automatically detecting the working position of the contact head for automatically pressing the IC to be measured against the IC socket with an appropriate pressure. There,
By the main controller,
1) A step of lowering a torque limit value of a motor driver that moves the contact head up and down to a necessary minimum level.
2) A step of giving a lowering command to the motor and lowering the contact head not attracting the IC device from the standby position to a stop position close to a predetermined mechanical stopper.
3) A step of giving a lowering command to the motor from the stop position to lower the short distance stepwise.
4) When the positioning pin provided on the contact head descending stepwise comes into contact with the mechanical stopper provided on the docking plate, a difference between the lowering command value given to the motor and the current value occurs. To stop the contact head from descending.
5) A step of setting a current value when the contact head is stopped as a mechanical stopper position and storing a predetermined position slightly above the mechanical stopper position.
It is characterized by performing .

In claim 2, in the teaching method of the working position of the contact head according to claim 1, after the step 5), by the main controller,
6) step of reducing the position integral limiting value of the position integral limiting value of the motor controller to compensate for the integration of the difference between the descent command value and the current value applied to the motor until the step 2) to 4)
To further execute

In claim 3, in the teaching method of the working position of the contact head according to claim 2 ,
After step 6), by the main controller
7) wherein the contact head is raised to the standby position from the mechanical stopper position, the step of returning to the original torque limit value of the motor driver and the position integral limiting value of the motor controller
Is further executed .

In Claim 4, in the teaching method of the working position of the contact head of Claims 1 thru | or 3,
The step of descending stepwise is characterized in that the amount of descending at one time is about 0.5 to 1 mm.

In Claim 5, in the teaching method of the working position of the contact head of Claims 1 thru | or 4,
The predetermined position slightly above the mechanical stopper position is about 0.1 to 0.5 mm.

As is apparent from the above description, the invention according to claims 1 to 5 has the following effects.
The main controller 1) Lowers the torque limit value of the motor driver to the required minimum level. 2) Gives a lowering command to the motor and closes the contact head that is not attracting the IC device from the standby position to a predetermined mechanical stopper. 3) A lowering command is given to the motor further from the stop position to lower the short distance stepwise. 4) A positioning pin provided on the contact head that lowers stepwise is provided on the docking plate. When the difference between the lowering command value given to the motor and the current value occurs, stop the lowering command of the motor and stop the lowering of the contact head. 5) The current value when the contact head stops and mechanical stopper position. Thus slightly store a predetermined position above from the mechanical stopper position, human The device can automatically detect the optimum positions of the positioning pins 18 of the contact head 3 and the mechanical stoppers 19 of the test socket 8 without any effort.
After step 5), the main controller makes 6) the position integral limiter value of the motor controller smaller than the position integral limiter values of steps 2) to 4) , and 7) raises the contact head to the standby position. The torque limit value of the motor driver and the position integral limiter value of the motor controller are restored to their original values , so the influence of the integral compensation of the motor control system accumulated due to the difference between the motor descent command value and the current value is eliminated, and the contact The operation of raising the head can be performed quickly.

In addition, it is possible to auto-teaching all the heads in use with a single operation.
In addition, it becomes possible to select a head to be taught, and parameters necessary for auto teaching can be stored as product type data.

  FIG. 1 is an explanatory diagram showing an example of an embodiment of the present invention. The configuration of the IC handler is the same as that of the conventional example shown in FIG. Further, a technique for accurately positioning the IC 4 attracted by the contact head 3 on the test socket 8 to be inspected is also necessary, but this technique is not discussed in the present invention.

Here, it is assumed that the contact head 3 is accurately positioned on the test socket 8. In the present invention, the optimum contact position between the IC 4 and the test socket 8 is obtained by automatically detecting the position of the mechanical stopper 19 provided on the docking block 7.
Note that the IC device is not attracted to the contact head 3 when teaching (automatic detection) is executed.

  In FIG. 1, the contact head 3 shown in FIG. 3 is located at the contact position origin (standby position) a. A solid line arrow indicates the current value of the contact head indicated by the display 14, and a dotted line arrow indicates a command value.

  First, the torque limit value of the motor driver 11 that moves the contact head 3 up and down is lowered to a necessary minimum level. As will be described later, this step is for measuring in a state where the output torque of the motor 12 is limited as much as possible in order to avoid an excessive load being applied to the docking block 7 and fluctuation of the position of the mechanical stopper 19.

  Next, a lowering command is given to the motor 12 to lower the contact head from the standby position (origin) a to the search start position indicated by b (this search start position is determined by the design values of the apparatus including the IC 4 and the test socket 8). For example, it is about 5 mm above which the mechanical stopper 19 and the positioning pin 18 abut).

  Next, as shown in FIGS. 1A and 1B, a lowering command is further given from the search start position to the motor 12, and a short distance indicated by d1 is gradually increased (for example, a single descent amount is 0.5 to 0.5). Search by lowering (by intermittently giving a lowering command of about 1 mm).

  Then, the positioning pin 18 provided on the contact head 3 that descends stepwise comes into contact with the mechanical stopper 19 provided on the docking block 7 while descending the distance indicated by d2, and the lowering command value and the current value given to the motor 12 are contacted. When the difference occurs, the lowering command of the motor 12 is stopped and the lowering of the contact head 3 is stopped.

  In this case, while the search start position b and the positioning pin 18 are descending the distance indicated by d1, the current value and the command value match, and when contacting the mechanical stopper 19 provided in the docking block 7, the current value becomes the mechanical stopper position. The current value is larger than the command value (the numerical value of the lowering command is indicated by a minus value, so a smaller value is larger).

  Next, the current value when the contact head 3 stops is set as the mechanical stopper position, and a predetermined position slightly above the mechanical stopper position is stored. This predetermined position is a position where the pressing force of the solder ball 31 of the IC 4 and the contact pin 30 provided on the test socket 8 is optimal.

That is, the relationship between the mechanical stopper position and the contact position is as shown in the following equation.
(Contact position) = (Mechanical stopper position) + (Correction value)
Mechanical stopper position: Mechanical stopper position obtained by automatic detection Correction value: Contact position based on mechanical stopper position

Next, by reducing the position integral limiter value of the motor controller and integrating the difference (position deviation) between the motor lowering command value and the current value over time , the accumulated integral compensation effect of the motor control system is eliminated.
Normally, the motor controller 13 performs integral compensation to cause the motor to follow the command value. However, in the mechanical stopper position detection method as described above, when the contact head 3 reaches (contacts) the mechanical stopper 19, the command value and the current value are detected. The difference between the values is not reduced, and the control works strongly in the direction of lowering the contact head 3 so as to approach the command value given to the motor due to the influence of the integral compensation.

Even if the command value is set above the current value in this state, the integral compensation is determined by the past state, so control is performed in a downward direction for a certain period of time, and it takes time for the control to switch in the upward direction. Take it. In order to perform the operation of raising the contact head quickly, it is necessary to temporarily reduce the influence of the integral compensation, and therefore the position integral limiter value is reduced to such an extent that the operation direction can be switched quickly without any trouble.

Next, the contact head 3 is raised to the standby position, and the torque limit value of the motor driver 11 and the position integral limiter value of the motor controller 13 are returned to the original values.
It is assumed that a program for performing such an operation is installed in the main controller 10.
According to the above-described teaching method of the working position of the contact head, the IC device test apparatus automatically sets the optimum position of the positioning pin 18 of the contact head 3 and the mechanical stopper 19 of the test socket 8 without depending on a human hand. it is a detectable to Turkey.

  The above description merely shows a specific preferred embodiment for the purpose of explaining and illustrating the present invention. Therefore, the present invention is not limited to the above-described embodiments, and includes many changes and modifications without departing from the essence thereof.

It is explanatory drawing which shows an example of embodiment of this invention. It is explanatory drawing which shows the structure of a prior art example. It is a figure which shows the principal part structure of IC hand etc. which are applied to a prior art example and this invention. It is a principal part enlarged view which shows the contact positional relationship of IC and IC socket, and the relationship between a positioning pin and a mechanical stopper.

Explanation of symbols

1,12 Motor 2 Slider 3 Contact head 4 IC
5 Handler Base Plates 6 and 18 Positioning Pin 7 Docking Block 8 Test Socket 8a Test Socket Mounting Screw 9 Test Socket Positioning Pin 10 Main Controller 11 Motor Driver 13 Motor Controller 14 Display 15 Timing Belt 16 Ball Screw 19 Mechanical Stopper 30 Contact Pin 31 Solder ball 32 Spring 33 Buttocks

Claims (5)

A main controller for controlling the entire IC device test apparatus;
Based on the command of the main controller, a motor controller that controls the rotation of the motor via a motor driver;
Display means for converting and displaying the number of rotations of the motor into the position of the contact head;
A contact head configured to move in a linear direction in response to rotation of the motor;
Positioning pins provided on the contact head;
A docking plate disposed opposite to the contact head and mounted with an IC socket;
A mechanical stopper provided on the docking plate;
A contact head working position teaching method for automatically detecting the working position of the contact head for automatically pressing the IC to be measured against the IC socket with an appropriate pressure. There,
By the main controller,
1) A step of lowering a torque limit value of a motor driver that moves the contact head up and down to a necessary minimum level.
2) A step of giving a lowering command to the motor and lowering the contact head from a standby position to a predetermined stop position close to the mechanical stopper.
3) A step of giving a lowering command to the motor from the stop position to lower the short distance stepwise.
4) When the positioning pin provided on the contact head descending stepwise comes into contact with the mechanical stopper provided on the docking plate, a difference occurs between the descent command value given to the motor and the current value. To stop the contact head from descending.
5) A step of storing the current position when the contact head is stopped as a mechanical stopper position and storing a predetermined position slightly above the mechanical stopper position.
The method of teaching the working position of the contact head, characterized in that After step 5), by the main controller
6) step of reducing the position integral limiting value of the position integral limiting value of the motor controller to compensate for the integration of the difference between the descent command value and the current value applied to the motor until the step 2) to 4)
The method for teaching the working position of the contact head according to claim 1 , further comprising : After step 6), by the main controller
7) wherein the contact head is raised to the standby position from the mechanical stopper position, the step of returning to the original torque limit value of the motor driver and the position integral limiting value of the motor controller
The method for teaching the working position of the contact head according to claim 2 , further comprising :   The method for teaching the working position of the contact head according to claim 1, wherein the stepwise lowering step has a lowering amount of about 0.5 to 1 mm.   5. The teaching method for the working position of a contact head according to claim 1, wherein the predetermined position slightly above the mechanical stopper position is about 0.1 to 0.5 mm.

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