JPH08142304A - Marking device - Google Patents

Abstract

PURPOSE: To automate adjustment of a printing position of a rubber stamp by providing a comparison operation circuit for obtaining a misregistration quantity of a mark image and a robot control unit for controlling drive of a robot based on the misregistration quantity. CONSTITUTION: On a main face of a stage 2, positioning blocks 10a and 10c which are respectively arranged on lines intersecting at right angles are fixed. A matter to be marked 1 is laid on the stage 2 so as to come into contact with the inside faces of the positioning blocks 10a and 10b, so that it is laid on the stage 2 always in a fixed state. A head 3 positioned at a position to be called a tip of an arm of a robot 5 can be controlled so as to move smoothly in a three-dimensional manner. Accordingly, a bottom face of a rubber stamp 4 adhered to the bottom face of the head 3 by using a double-sided tape is brought into contact with a stamp 6 so as to attach an ink. Thereafter, a desired mark 7 can be printed on the top face of the matter to be marked 1 on the stage 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a marking device, and more particularly to a marking device for printing desired marks or symbols by pressing a rubber stamp on the package surface of a semiconductor device.

[0002]

2. Description of the Related Art Some products such as semiconductor devices have a mark printed directly on the surface of the product, for example, the package surface. Such mark printing is performed by a rubber stamp transfer or a laser marking device. The transfer technology using rubber stamps is described in "Technical Data" N0.6001 and N0.6002 issued by Markem Estech Co., Ltd. Regarding the laser marking device, NEC Technical Report Vol.45, N
o.7 / 1992, P137-P141.

[0003]

The applicant of the present invention also prints a mark on a package of a semiconductor device using a transfer device (marking device) using a rubber stamp. The marking device used by the applicant has a structure in which a rubber stamp is attached to a block attached to a head portion of the marking device via a double-sided tape. For this reason,
It takes time to adjust the printing position when the rubber stamp is replaced due to wear or when the rubber stamp is replaced due to product type change. That is,
Adjustment of the printing position requires skill because it is performed by changing the position where the rubber stamp is attached.

It is an object of the present invention to provide a marking device capable of automatically adjusting the printing position of a rubber stamp.

The above and other objects and novel features of the present invention will be apparent from the description of the present specification and the accompanying drawings.

[0006]

The outline of the representative ones of the inventions disclosed in the present application will be briefly described as follows. That is, the marking device of the present invention prints a mark on the surface of the object to be marked by pressing the stage on which the object to be marked is placed and the rubber stamp attached to the head portion of the arm tip portion to the surface of the object to be marked. A robot, a camera that detects a mark on the surface of the object to be marked, an image recognition circuit that obtains a mark image from image data by the camera, a comparison calculation circuit that obtains a positional deviation amount of the mark image, and the positional deviation amount. And a robot control unit for controlling the drive of the robot based on the above. The comparison operation circuit is configured to obtain the positional deviation amount of the mark image by comparison operation between the mark image and the data relating to the object to be marked which is previously input to the memory. A positioning block for positioning the object to be marked is arranged on the stage. The marking device of the present invention performs test printing when the rubber stamp attached to the head portion of the robot arm tip is replaced, and also obtains the positional deviation amount of the mark. In the subsequent marking, the positional deviation amount is set. The robot is driven so as to correct the marking.

[0007]

According to the above-mentioned means, the marking device of the present invention performs the test printing after replacing the rubber stamp attached to the head portion of the robot arm tip portion, detects the mark image, and detects the mark position. Since the robot control unit controls the robot to detect the amount of misalignment and further correct the amount of positional misalignment, mark positioning adjustment can be performed automatically, and in marking after test printing, the mark can be placed at a predetermined position on the object to be marked. You will be able to mark accurately.

In the marking device of the present invention, since the data relating to the object to be marked, which has been inputted in the memory in advance, and the mark image are compared and calculated, the positional deviation amount of the mark image is obtained. Even if the object to be marked or the rubber stamp is changed, the amount of positional deviation of the mark can be automatically detected.

In the marking apparatus of the present invention, since the positioning block for positioning the object to be marked is arranged on the stage, the object to be marked is placed on the stage so as to come into contact with the positioning block. Accurate marking is possible.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 2 is a conceptual diagram showing an outline of the marking device according to the present embodiment. The marking device is roughly classified into a stage 2 on which the object 1 to be marked is placed on the main surface (upper surface), and a robot 5 having a rubber stamp 4 attached to a head portion 3.
From the stamp 6 that supplies ink to the rubber stamp 4, the camera 8 that optically detects the mark 7 (the area portion indicated by the chain double-dashed line) of the object 1 to be marked on the stage 2, and the control unit 25. Has become.

On the main surface of the stage 2, positioning blocks 10a and 10b are arranged respectively on orthogonal lines.
Has been fixed. The object to be marked 1 is placed on the stage 2 so as to be in contact with the inner surfaces of the positioning blocks 10a and 10b, so that it is always placed on the stage 2 in a fixed posture.

The robot 5 includes a main body 11 and the main body 11
A support column 12 that extends upward and vertically as well as is controlled in rotation, a first arm 13 that extends horizontally from the support column 12, and a support unit that is fixed to the tip of the first arm 13. 14, a rotation part 15 which is rotationally controlled with respect to the support part 14, a second arm 16 extending in the horizontal direction from the rotation part 15, a support part 20 at the tip of the second arm 16, and Lifting shaft 2 that moves up and down with respect to the support 20
1 and a plate-shaped head portion 3 fixed to the tip (lower end) of the elevating shaft 21.

As a result, the head 3 located at the position which should be called the tip of the arm of the robot 5 can be smoothly and three-dimensionally controlled to move. Therefore, the lower surface of the rubber stamp 4 adhered to the lower surface of the head part 3 by using a double-sided tape or the like is brought into contact with the stamp 6 to apply ink, and thereafter, the ink is carried onto the object 1 to be marked on the stage 2 and lowered. As a result, the desired mark 7 can be printed on the upper surface of the object to be marked 1.

It should be noted that, when seen in a plan view, the head portion 3 comes to be located at the tip portion of the second arm 16.

The control of the robot 5 is performed by the control unit 25.
Robot control unit 26. The control unit 25 includes a robot control unit 26, an image recognition circuit 27, a comparison calculation circuit 28, a memory 29, an input device 30 and the like. The input device 30 is the robot control unit 2
6, connected to the comparison operation circuit 28 and the memory 29. The image recognition circuit 27 is connected to the comparison calculation circuit 28, and the comparison calculation circuit 28 is connected to the robot control unit 26. Further, the comparison operation circuit 28 exchanges information with the memory 29.

The camera 8 can observe the mark 7 printed on the object 1 to be marked on the stage 2. The image of the mark 7 is captured and the image data is sent to the image recognition circuit 27. FIG. 3 is a schematic diagram showing the mark 7 marked on the object to be marked 1 and the ideal mark 35 at the ideal position indicated by the alternate long and two short dashes line. Is an image of the object to be marked 1, the positioning block 10a, 10b and the positioning block 10a,
It can be said that the image is 10b. In this case, it can be said that the position of the ideal mark 35 is the information called from the memory 29.

The central coordinates of the ideal mark 35 are Po (xo,
yo) and the center coordinate of mark 7 (mark image) is P
When (x, y), the center coordinate Po of the ideal mark 35
The central coordinates of the mark 7 with respect to (x0, y0) are P (x,
The deviation amounts Δx and Δy of y) are obtained, and the rotation deviation amount θ is obtained by the comparison calculation circuit 28. This calculation is performed by the comparison calculation circuit 28 by reading the product data stored in the memory 29 and performing a comparison calculation. Prior to the detection of the deviation amount, the dummy product (marked object 1) is placed on the positioning block 10 of the stage 2.
It is necessary to perform test printing (marking) after contacting with a and 10b respectively. The positioning block 10
Positioning of the object to be marked 1 using a and 10b becomes highly accurate.

The robot control unit 26 determines that the displacement amounts Δx, Δy and the rotational displacement amount θ are zero on the basis of the positional displacement amounts of the mark 7, that is, the displacement amounts Δx, Δy and the rotational displacement amount θ obtained by the comparison calculation. The robot 5 is controlled so that As a result, in the subsequent marking, the mark 7 marked on the marking object 1 matches the ideal mark 35.

Next, the use and operation of the marking device of this embodiment will be described. Prior to marking, a predetermined rubber stamp 4 is attached to the head portion 3. Further, a product to be marked by using a mouse or a keyboard is designated in the comparison calculation circuit 28.

The mark position is corrected by the input device 30. That is, as shown in the flowchart of FIG. 1, test printing (marking) is performed according to a mark position correction (step 101) instruction (step 102). In this case, a dummy product is used as the object to be marked 1 because use of a product causes waste.

Next, mark detection is performed by the camera 8 (step 103) and the image data is sent to the image recognition circuit 27. In the image recognition circuit 27, the mark 7 is binarized and recognized as an image.

Next, the comparison calculation circuit 28 performs a comparison calculation between the mark image and the product data (ideal mark 35) to obtain the deviation amounts Δx and Δy and the rotation deviation amount θ (step 104). Thereafter, the robot control unit 26 corrects the robot drive amount (step 105), and the mark position correction is completed (step 106).

Next, the object 1 to be marked is intermittently loaded and unloaded on the stage 2, and when the object 1 to be marked is positioned on the stage 2, the object 1 to be marked is marked by the rubber stamp 4. The mark 7 is marked.

The marking device of this embodiment is a robot 5
When the rubber stamp 4 attached to the head portion 3 located at the arm tip portion (second arm 16) is replaced, test printing is performed and the mark image is detected to detect the positional deviation amount of the mark 7, and Since the robot 5 is controlled by the robot control unit 26 so as to correct the amount of positional deviation, accurate marking is possible and yield can be improved.

The marking device of this embodiment is a robot 5
When the rubber stamp 4 attached to the head portion 3 located at the arm tip portion (second arm 16) is replaced, test printing is performed and the mark image is detected to detect the positional deviation amount of the mark 7, and Since the robot control unit 26 controls the robot 5 so as to correct the amount of positional deviation, the mark positioning adjustment can be automatically performed.

In the marking device of the present invention, the data (product data) relating to the object to be marked 1 which has been inputted in the memory 29 in advance and the mark image are compared and calculated so as to obtain the positional deviation amount of the mark image. Since it is configured, even if the types of the marking target 1 and the rubber stamp 4 change, the positional deviation amount of the mark can be automatically detected. The marking target 1 is specified by input from the input device 30.

Further, in the marking device of the present invention, since the positioning blocks 10a and 10b for positioning the object 1 to be marked are arranged on the stage 2, the positioning blocks 10a and 10b should be brought into contact with the positioning blocks 10a and 10b. If the object to be marked 1 is placed on the stage 2, it will be accurately positioned at the specified position, and accurate marking is possible. This improves the marking yield.

Although the invention made by the present inventor has been specifically described based on the embodiments, the present invention is not limited to the above embodiments, and various modifications can be made without departing from the scope of the invention. Needless to say.

[0029]

The effects obtained by the typical ones of the inventions disclosed in the present application will be briefly described as follows. According to the marking device of the present invention,
Each time the rubber stamp is replaced on the head, the amount of positional deviation and the robot drive amount can be automatically adjusted, which eliminates the troublesome work of adjusting the marking position based on the replacement of the rubber stamp, and ensures proper marking. Is possible.

[Brief description of drawings]

FIG. 1 is a flowchart showing a marking procedure in a marking device according to an embodiment of the present invention.

FIG. 2 is a conceptual diagram showing an outline of the marking device according to the present embodiment.

FIG. 3 is a schematic diagram showing a positional deviation state of a mark printed by the marking device of this embodiment.

[Explanation of symbols]

1 ... Object to be marked, 2 ... Stage, 3 ... Head part, 4
... rubber stamp, 5 ... robot, 6 ... stamp, 7 ... mark,
8 ... Camera, 10a, 10b ... Positioning block, 11
... main body, 12 ... support portion, 13 ... first arm, 14 ... supporting portion, 15 ... rotating portion, 16 ... second arm, 20 ... supporting portion,
21 ... Lifting axis, 25 ... Control part, 26 ... Robot control unit, 27 ... Image recognition circuit, 28 ... Comparison arithmetic circuit, 29 ... Memory, 30 ... Input device, 35 ... Ideal mark.

Claims (3)

[Claims] 1. A stage on which an object to be marked is placed,
A robot for printing a mark on the surface of the object to be marked by pressing a rubber stamp attached to the head portion of the arm tip part to the surface of the object to be marked, a camera for detecting the mark on the surface of the object to be marked, and the camera An image recognition circuit for obtaining a mark image from image data according to the above, a comparison calculation circuit for obtaining a positional deviation amount of the mark image, and a robot control unit for controlling the drive of the robot based on the positional deviation amount. Characteristic marking device. 2. The comparison calculation circuit is configured to obtain the positional deviation amount of the mark image by a comparison calculation of the mark image and the data relating to the object to be marked which is previously input to the memory. The marking device according to claim 1. 3. The marking device according to claim 1, wherein a positioning block for positioning an object to be marked is arranged on the stage.