JPH1152013A - Method for confirming stay of ic in moving tray - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for confirming that an IC stays at each of all storage positions in a tray without lowering production efficiency of a horizontal transfer type autohandler. SOLUTION: While ICs 2 are transferred to a first moving tray 1 by an unloader after an apparatus starts working, the wait time of a storage hand 3 is measured. For a succeeding moving tray 1 and thereafter, before the ICs 2 are carried by the unloader to a predetermined position in the moving tray 1 within the wait time, whether the ICs 2 stay at the predetermined position is confirmed by the storage hand 3. Therefore, a conventional wait time required for the confirmation of the stay of the ICs 2 is saved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for confirming remaining ICs in a movable tray. In particular, the present invention relates to a method for confirming remaining IC in a tray by an unloader in a horizontal transfer type auto handler.

[0002]

2. Description of the Related Art An auto-handler is a device that automatically supplies assembled ICs to a test system and automatically sorts and stores the ICs based on test results.

FIG. 4 is an external view of a horizontal transport type auto handler for forcibly transporting a surface mount type IC in a horizontal direction.
In FIG. 4, a P & P (Pick and Place) comprising a supply hand 4 for transferring ICs from the tray into the apparatus and a storage hand 3 for classifying and storing the measured ICs in the tray.
A unit 8 is provided.

FIG. 5 is a front view of FIG. In FIG. 5, the tray 1 mounted on the loader 6A
Then, the ICs separated one by one and placed in the tray 1 are supplied into the apparatus by the supply hand 4.

After all the ICs in the tray 1 have been supplied by the supply hand 4, the empty tray 1 is transported to the empty tray buffer 6B by the empty tray transport hand 7 and stored.

Then, the empty tray 1 temporarily stored in the empty tray buffer section 6B is moved to the unloader 6C by the empty tray transport hand 7. The tray 1 that has been moved to the unloader 6 </ b> C is
2 are supplied.

Therefore, no IC should remain on the tray 1 moved to the unloader 6C.

However, if the IC remains on the tray 1 moved to the unloader 6C due to an operation error of the supply hand 4, the accommodation hand 3 cannot accommodate the measured IC in the tray 1, and the IC inside the apparatus cannot be measured. There is a problem that the flow is stagnant.

For this reason, the tray 1 moved to the unloader 6C, as shown in FIG.
About ₁₁ to P _45, the housing hand 3, the residual of IC2 is confirmed.

Next, the configuration of the accommodation hand 3 will be described with reference to FIG. Although FIG. 7 is a configuration diagram of the accommodation hand 3, the configuration of the supply hand 4 is the same as that of FIG. 7A is a double-acting cylinder, 3B is a suction pad, 3C is a cylinder, 3D.
Is a bracket.

[0011] The body of the cylinder 3A is a bracket 3D.
It is fixed to. The piston rod of the cylinder 3A is
It is connected to an L-shaped arm 31A. Arm 31A
Is slidingly connected to the body of the cylinder 3A.

In FIG. 7, when the cylinder 3A is driven, the arm 31A moves. In other words, the cylinder 3A in FIG. 7 is an air cylinder with a slide arm.

A detector 31B is attached to the cylinder 3A so as to detect the most protruding state of the piston rod.

The arm 31A holds a suction pad 3B via a metal fitting, and the suction pad 3B is covered with a rigid cylinder 3C.

With the above configuration, if the suction pad 3B is lowered by driving the cylinder 3A, the suction pad 3B contacts the IC package together with the cylinder 3C.

Therefore, IC can be sucked by sucking air from the center of the suction pad 3B. In addition, suction pad 3
If B is lowered and suction is stopped, the IC can be released.

Next, returning to FIG. 6, the description will be continued. FIG.
1 is a plan view of a tray 1 used in the present invention. As shown in FIG. 6, a plurality of grooves 1A are formed in the tray 1 vertically and horizontally.

When the IC 2 is placed in the groove 1A, the posture of the IC 2 is regulated, and the IC 2 is aligned on the tray 1.

A hole 1B through which air passes is formed at the center of the groove 1A, and is used for confirming the remaining IC, which will be described later.

That is, as shown in FIG. 6, when the IC 2 remains at the accommodation position P ₁₁ of the tray 1, the accommodation hand 3
Suction pad 3B sucks IC2, and the suction sensor
2 senses the presence.

However, when the IC 2 does not remain on the tray 1, the suction air passes through the hole 1B provided in the tray 1, and the suction sensor does not sense. In this way, by the cooperation of the suction pad 3B of the storage hand 3, the hole 1B formed in the tray 1, and the suction sensor, the remaining of the IC is confirmed.

Next, the procedure for confirming the remaining IC in the movable tray 1 in the unloader 6C will be described with reference to the flowchart of FIG. When the tray 1 is conveyed to the unloader 6C, in step 201 of FIG. 8, the housing hand 3 accommodating position of the tray 1, for example, is moved to P _11. Step 2
In 02, the containing hand 3 is lowered. Step 203
Then, the remaining of the IC 2 is confirmed by the accommodation hand 3.

If the residual IC 2 is detected in step 203, the accommodation hand 3 is raised in step 204. In step 205, an IC residual alarm is output. When the residual alarm is output, the device stops,
The IC remaining in the tray 1 is removed by the operator.

When the apparatus is restarted, step 2
Returning to the previous stage 02, again, residual IC2 at the housing position P ₁₁ of the tray 1 is confirmed.

If no residual IC 2 is detected in step 203, the containing hand 3 is raised in step 206. In step 207, it is determined whether or not the next confirmation position exists in the tray 1. Step 207
In, if there is a next check position, returns to the previous stage in step 201, the receiving hands 3 following confirmation position, for example, is moved to P _12.

By repeating the above operation, it is confirmed that the IC 2 remains at all the accommodation positions P _{11 to} P ₄₅ on the tray 1.

In step 207, after confirming the remaining of the IC 2 in all the grooves 1A on the tray 1, the process proceeds to step 208, in which the accommodation hand 3 is moved to the standby position.
A series of operations ends. Then, the storing operation of the measured IC by the storing hand 3 is started in the tray 1 in which it is confirmed that no IC remains.

Next, the configuration inside the apparatus will be described with reference to FIG. FIG. 9 is a plan view of FIG. In FIG. 9, 6E is a supply shuttle, 6F is a supply and storage stage, 6G is a turntable, 6H is a contactor, 6J is a storage rod feed mechanism, and 60 is a chamber.

The supply hand 4 is a tray 1 on the loader 6A.
After that, the IC 2 is transferred to the supply shuttle 6E. The supply shuttle 6E moves the IC 2 to the supply / storage stage 6F. The IC 2 is transferred from the supply / storage stage 6F to the turntable 6G in the chamber 60. Chamber 6
The IC2 that has reached the predetermined temperature within 0 is measured by the contactor 6H, and the measured IC2 moves to the unloader 6C via the accommodation rod feeding mechanism 6J. The accommodation hand 3 is on standby until the IC 2 is transferred to the end of the accommodation rod feeding mechanism 6J.

[0030]

Next, the time sequence of the checking operation, the standby operation, and the storing operation by the storing hand 3 will be described with reference to the time chart of FIG.

From time t1 to t2 in FIG. 10, the remaining IC is confirmed in all the grooves 1A. When the remaining operation of the IC is completed, the accommodation hand 3 is moved to the standby position, and the accommodation hand 3 is made to stand by during the standby time T1 between time t2 and t3.

[0032] in time t3, when the Measured IC2 arrives at the standby position, accommodating hand 3, to accommodate the IC2 in the receiving position P ₁₁ of the tray 1.

[0033] Then, after storing the IC in the accommodating position P ₁₁ moves the housing hand 3 to the stand-by position, time t4~t
After 5 standby time t2, when IC2 arrives at the standby position, accommodating the IC2 to the next receiving position P _21.

As shown in FIG. 10, at time T0 between times t1 and t2, all the grooves 1A on the tray 1
It is confirmed that the IC remains in a lump. During this time, even if the measured IC to be stored arrives at the standby position, the storage hand 3 does not shift to the transfer operation.

As a result, the accommodating operation of the IC by the accommodating hand 3 stagnates, the measured IC cannot be discharged, and the production efficiency of the apparatus is reduced.

That is, in the conventional method, the flow of the IC inside the apparatus is stopped while the IC remains in the tray 1 by the storage hand 3 is confirmed, and the operation efficiency of the horizontal transfer type auto handler is reduced. .

Further, conventionally, every time the tray 1 is replaced, a fixed time T0 for occupying the remaining IC is occupied.
The timing of the storing operation of the measured IC is missed, and the production efficiency of the device is reduced.

According to the present invention, the ICs can be stored in all the IC accommodation positions in the tray without reducing the production efficiency of the apparatus.
It is an object of the present invention to provide a method for confirming the residual of the compound.

[0039]

In order to achieve this object, according to the present invention, the tray 1 of the loader 6A is provided with a plurality of I
C2 is mounted vertically and horizontally, and the supply hand 4 sequentially transfers the IC2 in the uppermost tray 1, and the tray 1 after the transfer is completed is
A horizontal transport type auto handler that moves to the unloader 6C and confirms that the IC 2 remains in the movable tray 1 before the measured IC 2 is transferred to the movable tray 1 by the unloader 6C by the accommodation hand 3; Unloader 6 after device operation
While IC2 is transferred to the first moving tray 1 in C,
The standby time of the accommodation hand 3 is measured, and the next and subsequent mobile trays 1 in the unloader 6C are moved to the predetermined position in the mobile tray 1 before the IC 2 is transferred to the predetermined position within the standby time. The remaining of the IC 2 is confirmed by the accommodation hand 3.

According to the method of the present invention, the IC in the tray
Instead of setting the timing of the residual check of the IC collectively within a predetermined time after the tray is replaced as in the conventional case, the timing is set separately when the IC is stored in the tray. The time required for confirming the remaining IC can be absorbed within the waiting time of the accommodation hand.

That is, conventionally, as shown in FIG. 10, the accommodation hand 3 inserts the IC into the groove 1A at the intended accommodation position in the tray 1.
Then, it moves to the standby position. During the standby time Tn, while the next IC arrives, the accommodation hand 3 is waiting at the standby position.

According to the present invention, after the receiving hand 3 stores the IC in the predetermined storing position in the tray 1 using the above-described waiting time until the IC arrives, the next storing position is stored within the standby time. Confirm that the IC remains in the groove.

Here, the standby time of the accommodation hand 3 until the next IC arrives changes depending on the test time of the IC. The longer the IC test time, the longer the standby time of the containing hand 3. The apparatus detects the existence of a standby time of the accommodation hand 3 until the next measured IC arrives, confirms the remaining IC at the next accommodation position during the standby time, and improves the production efficiency of the apparatus.

[0044]

An embodiment of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a partial configuration diagram of an unloader of a horizontal transport type auto handler. In FIG. 1, the containing hand 3 moves up and down and moves on the XY plane according to a command from the apparatus. The moving means of the accommodation hand 3 is omitted. Further, the tray 1, for convenience of explanation, given the address P ₁₁ to P ₄₅ of the stowed position of the IC.

Next, the operation of FIG. 1 will be described. After the housing hand 3 stores the IC 2 in the tray 1 and moves to the standby position, the standby time of the housing hand 3 until the next IC arrives depends on the operation status of the apparatus and the IC test time. Therefore, it cannot be predicted before the operation of the apparatus.

Therefore, the first tray 1 after the operation of the apparatus
To the unloader 6 by the empty tray transfer hand 7
When the tray 1 is transported to C, the remaining ICs are checked all together. Then, in the first tray 1, the measured I
When storing C2, the standby time of the storing hand 3 is measured.

Here, if there is a waiting time for the accommodation hand 3, the apparatus confirms the remaining IC for the second and subsequent trays 1 within the waiting time for the accommodation hand 3.

In FIG. 1, when the tray 1 is replaced,
Accommodating hand 3 is first moved to the accommodation position P ₁₁ of the tray 1, by driving the cylinder 3A lowering the suction pad 3B, confirms the remaining IC in stowed position P _11. When it is confirmed whether or not the IC remains, the next suction pad 3B is raised, and the accommodation hand 3 is moved to the standby position.

Next, the following operation will be described with reference to the flowchart of FIG. In step 101 of FIG. 2, the housing hand 3 adsorbed the Measured IC 2, is moved to the stowed position P ₁₁ on the tray 1. In step 102, the containing hand 3 is lowered. In step 103, for accommodating the Measured IC2 adsorbed on the stowed position P _11. In step 104, the containing hand 3 is raised.

[0050] In the above steps, Measured IC2 is accommodated in the accommodating position P ₁₁ of the tray 1. Next, step 10
In 5, it is confirmed whether the next storage position exists in the tray 1. In step 105, if there is a next accommodation position,
Proceed to step 106.

In Step 106, receiving the hand 3, the following accommodation position on the tray 1, for example, moved to P _21, in step 107, the suction pads 3B by driving the cylinder 3A
Descend. Next, in step 108, the accommodation position P
_{At 12} it is confirmed that the IC remains.

If it is confirmed in step 108 that the IC remains, the accommodation hand 3 is raised in step 109,
At step 110, an IC residual alarm is output, and the apparatus is stopped. The accommodation position P ₂₁ in IC2 removed, and re-running the device returns to the previous stage in step 107, receiving position P ₂₁
Indicates that IC2 remains.

If there is no remaining IC2 in step 108, the containing hand 3 is raised in step 111, and the containing hand 3 is moved to the standby position in step 112, and a series of operations is ended. If there is no next storage position in step 105, the process proceeds to step 112.

Next, the operation of FIG. 2 will be described with reference to the time chart of FIG. At time t1 in FIG. 3, the measured IC
When 2 arrives at the standby position, the accommodation hand 3 moves to the accommodation position P
₁₁ houses IC2. Then, the accommodation hand 3 to the waiting time in S1 of between time t3 the next Measured IC2 from the time t2 after the return to the standby position arrives at the standby position, the residual of IC2 at the next receiving position P ₂₁ is confirmed You.

[0055] to the time t3, when the Measured IC2 arrives at the standby position, accommodating hand 3, to the next of the stowed position P ₂₁ IC2
To store. Similarly, the receiving hands 3 within the waiting time S2 of between time t5 next Measured IC2 from the time t4 after the return to the standby position reaches the standby position, confirmed IC2 remaining at the next receiving position P ₃₁ Is done.

After the measured IC is stored in the predetermined storage position of the tray 1 in this way, the standby time is used to
The remaining IC at the next accommodation position is confirmed, and the IC can be confirmed at all accommodation positions in the tray 1 in parallel with the operation of accommodating the IC in the tray 1.

[0057]

According to the present invention, there is provided a horizontal transfer type comprising a tray for storing measured ICs, and means for moving on a plane XY coordinate and sucking and transferring the measured ICs to an arbitrary position in the tray. An auto-handler, wherein the suction and conveyance unit, after storing the measured IC at an arbitrary position in the tray, confirms that the IC remains at the next IC storage position, and checks all the ICs in the tray. By confirming the remaining IC at the accommodation position, the IC can be confirmed at all the IC accommodation positions in the tray without interrupting the measurement of the IC in the measuring section. Production efficiency is improved.

[0058]

[Brief description of the drawings]

FIG. 1 is a partial configuration diagram for explaining a method according to an embodiment of the present invention.

FIG. 2 is a flowchart illustrating the operation of FIG.

FIG. 3 is a time chart for explaining the operation of FIG. 2;

FIG. 4 is an external view of a horizontal transfer type auto handler according to the present invention.

FIG. 5 is a front view of FIG. 4;

FIG. 6 is a plan view of the tray of FIG. 5;

FIG. 7 is a configuration diagram of a storage hand 3 of FIG.

FIG. 8 is a flowchart of a conventional method for confirming residual IC.

FIG. 9 is a plan view of FIG. 4;

FIG. 10 is a time chart for explaining the operation of FIG. 8;

[Explanation of symbols]

 Reference Signs List 1 tray 1A groove 1B hole 2 IC 3 accommodation hand 3A cylinder 3B suction pad 3C cylinder 3D bracket 6A loader 6B empty tray buffer section 6C unloader 6D defective storage section 6E supply shuttle 6F supply / storage stage 6G turntable 6H contactor 60 chamber Storage rod feed mechanism

Claims (4)

[Claims] 1. A horizontal plane comprising a tray (1) for storing a measured IC, and means for moving on a plane XY coordinate and sucking and transferring the measured IC to an arbitrary position in the tray (1). A transport type auto handler, wherein the suction transport unit stores the measured IC at an arbitrary position in the tray (1), and then confirms that the IC remains at the next IC storage position; (1) IC for all the accommodation positions in
IC in moving tray characterized by confirming residual
How to check for residue. 2. A tray (1) of the loader (6A) has a plurality of ICs (2) mounted vertically and horizontally, and an IC (2) in the uppermost tray (1) is supplied with a supply hand (4). The tray (1) is sequentially transferred, and after the transfer is completed, the tray (1) is unloaded.
C), and before the measured IC (2) is transferred to the moving tray (1) by the unloader (6C) by the accommodation hand (3), the IC (2) is stored in the moving tray (1). ) Is a horizontal transfer type auto-handler in which the IC (2) is transferred to the first moving tray (1) by the unloader (6C) after the apparatus is operated. The standby time of (3) is measured, and the IC (2) is moved to a predetermined position in the mobile tray (1) within the standby time during the next and subsequent times in the unloader (6C). A method for confirming the residual IC in the movable tray, wherein the residual of the IC (2) at the predetermined position is confirmed by the accommodation hand (3) before being loaded. 3. The supply hand (4) has a suction pad (3B) for adsorbing and desorbing an IC (2), and has a suction sensor in an air circuit of the suction pad (3B). A hole (1B) is formed in the bottom of the groove (1A) for accommodating the IC (2), the suction pad (3B) is brought close to the groove bottom, and the tray (1) is detected by the suction sensor. 3. The method according to claim 1, wherein the remaining IC (2) is confirmed. 4. A supply hand (4) supplies an IC (2) from a tray (1) on a loader (6A) to a supply shuttle (6E).
And the supply shuttle (6E) moves the IC (2) to the supply / storage stage (6F). From the supply / storage stage (6F), the IC (2) is moved to the chamber (6).
The IC (2) transferred to the turntable (6G) in the chamber (0) and having reached a predetermined temperature in the chamber (60) is measured by the contactor (6H), and the measured IC (2) is sent to the accommodation rod. 4. The method according to claim 1, wherein the method is applied to a horizontal transport type auto handler that moves to an unloader (6C) side via a mechanism (6J).