KR101864325B1 - Chip mounter and method for designing the same - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component manufacturing method and a component manufacturing method. A component mounting machine according to an embodiment of the present invention includes a beam extending in a first horizontal direction, a linear motor rail coupled to a first side of the beam and extending in the first direction, And a part pickup head linearly movably coupled in a first direction, the beam having a mass part formed to extend in the first direction and forming an upper surface / lower surface of the beam and an opposite surface to the first surface, And a hollow formed inside the mass portion and extending in the first direction, the hollow of the beam being opened to the first side of the beam and directly contacting the linear motor rail.

Description

TECHNICAL FIELD [0001] The present invention relates to a method of designing a component part and a component part,

The present invention relates to a component assembly and a method for designing the same.

A chip mounter is a surface mount device that picks up semiconductor components and attaches them to a printed circuit board, and is widely used in the manufacturing process of electronic products. 2. Description of the Related Art In recent years, due to the demand for miniaturization of semiconductor components and increase in the number of parts to be mounted per unit time, development of component parts capable of high-speed and high-precision position control has become important.

The control performance of the component system is closely related to the dynamic characteristics of the frame of the component part. For example, if the natural frequencies are located within the target control band of the component realm, the control performance of the component real-time system may deteriorate. Therefore, to improve the control performance of the component real-time system, it is necessary to design the frame of the component body considering the eigenvalue.

However, when the design of the frame is changed by adding the stiffener and changing the thickness or shape of the member based on the existing frame of the component body, the performance improvement effect of the system is hard to be guaranteed and repetitive analysis and testing are required Development period and development cost can be increased.

An aspect of the present invention is to provide a component having excellent static and dynamic rigidity and favorable for high-speed / high-precision control of a component body and a method for designing such a component.

A component mounting machine according to an embodiment of the present invention includes a beam extending in a first horizontal direction, a linear motor rail coupled to a first side of the beam and extending in the first direction, And a part pickup head linearly movably coupled in a first direction, the beam having a mass part formed to extend in the first direction and forming an upper surface / lower surface of the beam and an opposite surface to the first surface, And a hollow formed inside the mass portion and extending in the first direction, the hollow of the beam being opened to the first side of the beam and directly contacting the linear motor rail.

Further, the inner surface of the mass portion of the beam in contact with the hollow of the beam in the component body may be formed as a curved surface.

Also, the hollow of the beam may be formed in such a shape that the cross-sectional area at both end sides in the longitudinal direction thereof is smaller than the cross-sectional area at the center thereof.

In addition, the hollow of the beam may be formed in a shape such that the width of the hollow of the beam decreases in a direction perpendicular to the linear motor rail.

According to another aspect of the present invention, there is provided a component mounting machine including a beam extending in a first horizontal direction, a linear motor rail coupled to a first side of the beam and extending in the first direction, And a part pick-up head which is linearly movably coupled in the first direction, wherein the beam has a mass part formed so as to extend in the first direction, and a part pickup head formed on the inside of the mass part, And an opening formed in the first side surface is open to a second side surface opposite the first side surface and has a hollow shape smaller than an opening formed in the second side surface do.

According to another aspect of the present invention, there is provided a method of designing a component yarn or a component having a beam to which a component pickup head is linearly movably mounted, the method comprising the steps of: (A) inputting an objective function corresponding to a weighted summation of the beam into an arithmetic unit, (b) calculating the objective function corresponding to an arbitrary shape of the beam by an arithmetic unit, and (C) calculating an objective function corresponding to a shape of the beam changed and changed by an arithmetic unit; and (c) repeating the step (c) to minimize the objective function within a predetermined beam volume or weight condition (D) in which the shape of the beam is determined by the computing device.

Also, the objective function may be weighted by the inverse of the at least one natural frequency of the beam and the strain energy due to the weight of the beam.

The component mounting machine according to one aspect of the present invention is excellent in static / dynamic and is advantageous for high-speed / high-precision control. Further, the method of designing a component body according to another aspect of the present invention can effectively design such a component mounting machine.

1 is a perspective view schematically showing a conventional gantry type component mounting machine.
Fig. 2 is a perspective view schematically showing an X-ray beam module of a conventional gantry-type part body.
FIG. 3 is a schematic view of a cross section of the X-beam module of FIG. 2. FIG.
4 is a flowchart schematically illustrating a method of designing a component yarn according to an aspect of the present invention.
5 is a perspective view schematically showing an X-ray beam module of a gantry-type part body to which a method of designing a component body according to an embodiment of the present invention is applied.
FIG. 6 is a schematic cross-sectional view of the X-Beam module of FIG. 5, illustrating a cross-section to which a design method according to an embodiment of the present invention is applied.
FIG. 7 is a flowchart schematically illustrating a process of designing a component manufacturing process according to an embodiment of the present invention.
8 is a perspective view schematically showing an X-ray beam module of a component body according to an embodiment of the present invention.
Figure 9 is a schematic cross-sectional view of the X-beam module of Figure 8;
10a to 10d show cross sections of X-beam modules of various types of component fabrics.
11 is another modification of the X-ray module of the component body according to the embodiment of the present invention.
Figure 12 is yet another variation of the X-ray beam module of a component assembly according to an embodiment of the present invention, and Figure 13 is a schematic plan view of the X-beam module of Figure 12;

Hereinafter, some embodiments of the present invention will be described with reference to the accompanying drawings. In the accompanying drawings, like reference numerals denote substantially identical members, so redundant explanations of these members can be omitted.

1 is a perspective view schematically showing a general gantry type component mounting machine.

Referring to FIG. 1, the gentle-type component body 1 has a pick-up head 400 and an XY stage for horizontally moving the pick-up head 400 in X and Y directions.

The pickup head 400 has a suction nozzle 405 for picking up and dropping a component. The adsorption nozzle 405 adsorbs the component by vacuum, and is disposed so as to be able to lift or lower the adsorbed component.

The XY stage 10 supports a pick-up head support 410 on which the pick-up head 400 is fixed and includes a base frame 100, a Y linear motor rail 200, and an X beam module 300.

The base frame 100 supports the Y linear motor rails 200 and can be fixed to other structures or designed to have a large weight so that the position is fixed stably even when the XY stage 10 is driven.

The Y linear motor rail 200 is coupled to the base frame 100 and extends in the Y direction. The Y linear motor rail 200 includes a rail portion 210 extending in the Y direction and a stator portion 220 of the linear motor extending in the Y direction. And the Y linear motor rails 200 may be formed as a pair arranged in parallel.

The X beam module 300 is formed to extend in the X direction and is coupled to the rail 210 of the Y linear motor rail 200 so as to be linearly movable along the Y linear motor rail 200 in the Y direction.

FIG. 2 is a schematic view showing an example of an X-ray beam module of a conventional gantry type component body, and FIG. 3 is a view schematically showing a cross section of the X-ray beam module shown in FIG. 2 and 3, a conventional X-beam module 300a is slidably coupled to a rail portion 210 of a Y linear motor rail 200, and a stator portion (not shown) of a Y linear motor rail 200 And a rotor section 420 corresponding to the rotor section 220. Therefore, the position of the X-beam module 300a can be changed in the Y direction according to the driving of the linear motor. An X linear motor rail is installed in the X beam module 300a. The X linear motor rails include a rail portion 310 and a stator portion 320 of the linear motor which are arranged to extend in the X direction. The pick-up head support portion 410 is slidably coupled to the rail portion 310 of the X linear motor rail and the pick-up head 400a is fixedly coupled to the pick-up head support portion 410. The pickup head support portion 410 is provided with a rotor portion 420 of the linear motor corresponding to the stator portion 320 of the linear motor of the X beam module 300a. Accordingly, when the linear motor is operated, the pickup head 400 coupled to the X beam module 300a can be displaced in the X direction.

Since the X-beam module 300 of the XY stage 10 is linearly movable in the Y-direction and the pickup head 400 is arranged to be linearly movable in the X-direction with respect to the X-beam module 300, Can be positionally controlled in the X direction and the Y direction.

A wide control bandwidth is required for the high-speed / high-precision position control of the pickup head 400. The XY stage 10 of the component body 1 is required to have a large control bandwidth because the eigenvalue of the frame of the XY stage 10 affects the control bandwidth. You can give. For example, if resonance occurs within the control bandwidth, the system may become unstable. On the other hand, when the resonance filter is used in a low frequency band to solve such a problem, the control response of the system may be slowed down. Therefore, it is necessary to consider the eigenvalue in designing the frame of the component body 1.

4 is a flowchart schematically illustrating a method of designing a component yarn according to an embodiment of the present invention, which is aimed at high-speed and high-precision position control of an XY stage of a component yarn.

Referring to FIG. 4, in the method of designing a component orchest of the present embodiment, a frequency response analysis is performed through finite element modeling of an XY stage of a component body orchestage (S10), and it is determined whether there is a resonance point affecting a target frequency band (S20). Through the frequency response analysis and the test, it was confirmed that the resonance mode which greatly influences the high-speed / high-precision position control in the case of the component body having the shape of FIG. 1 is the bending mode of the X-beam module.

When the resonance mode in the target control band of the XY stage is grasped, a design area of the XY stage is determined (S30). FIG. 5 is a perspective view schematically showing an X-ray beam module of a gantry-type component body to which the design method of the present embodiment is applied, and FIG. 6 is a view showing an X-ray beam module and an optimized design region of FIG. 5 and 6, a dummy head 401 in which a pickup head is simplified is disposed for simplification of modeling. 5 and 6, the X-ray beam module 300b to be subjected to the optimum design includes an X-beam motor 301 and an X-linear motor rail 303 disposed on one side 3011 facing the Y- Respectively. Considering that the vertical bending resonance mode of the X-beam module 300b has a great influence on the high-speed / high-precision position control in the present embodiment, the cross-section of the X-beam module 300b is subjected to the dynamic stiffening optimization design , The sectional area of the X beam 301 excluding the X linear motor rails 303 is selected as an object of optimum design, particularly, as shown in FIG.

Once the target area of the optimum design is determined, the optimal design problem for the design area is formulated (S40). In this embodiment, a topology optimization method is used as a method for solving the optimum design problem. The formulation for the optimal design problem can be performed as follows.

(여기서 m_e는 설계 영역에서의 각 요소들의 질량, M₀는 제한 총 질량)Constraint:

(Where m _e is the mass of each element in the design domain, M ₀ is the total mass of restriction)

The objective function expressed by Equation (1) is a value corresponding to the sum of the strain energy of the X-ray beam module 300b due to its own weight and the reciprocals of various specific eigenvalues by weighting them. Deformation due to own weight may not directly affect the control performance of the component parts, but if a large deformation occurs, the pick-up head may be inclined and the component mounting failure may occur. In the present embodiment, the load of the X-beam module 300b is heard as the load causing the deformation energy, but the dynamic load of the dummy head 401, the load due to the attractive force between the rotor portion 420 of the linear motor and the stator portion 320, The load and the load due to thermal deformation due to heat generated in the linear motor may additionally be considered.

The objective function designed as described above has a tendency to increase as the deformation of the X-ray beam module 300b becomes larger and as the eigenvalue of the X-ray beam module 300b becomes smaller. Therefore, by finding the cross section of the X-beam 301 that minimizes this within a given mass constraint condition, it is possible to design an optimal shape of the X-beam 301 for securing excellent dynamic rigidity.

Once the optimal design problem is formulated, an optimization problem analysis is performed and a design improvement plan is derived from this (S50). In this embodiment, the density values of the finite elements in the design region are used as design variables for the optimization problem, and the objective function of Equation 1 is used for the objective function.

An iteration is performed to find the cross-sectional shape of the X-beam 301 that minimizes the objective function under constraint, which is performed by an electronic computing device such as a computer. Fig. 7 is a flowchart schematically showing that a method for optimizing a component industry of the present embodiment is performed in a computer.

Referring to FIG. 7, the method for optimizing a component X-ray 301 of the present embodiment includes a step S51 of inputting an objective function to a computer, a step S52 of inputting an initial cross-sectional shape of the X- A step S54 of calculating an objective function value according to an initial cross-sectional shape of the X-beam, a step S54 of changing the cross-sectional shape of the X-beam, a step S55 of calculating an objective function value according to the cross- (S56) of determining whether the function converges to the minimum value, and outputting (S57) the optimal cross-sectional shape of the X-beam when the objective function converges to the minimum value.

In the step S51 in which the objective function is input, the objective function and the constraint condition of the equation (1) defined above are input to the computer and stored.

The initial cross-sectional shape of the X-beam 301 is input together with the input of the objective function. The shape of the initial section of the X-beam 301 may be set arbitrarily, such as a shape in which the section is completely filled. The input of the initial cross-sectional shape of the X-beam 301 may be performed before or after the input of the objective function.

The value of the objective function corresponding to the initial cross-sectional shape of the X-beam is calculated using the initial cross-section and the objective function of the X-beam 301 input to the computer (S53). In general, the arbitrary initial section is not an optimal sectional shape, so the objective function does not correspond to the minimum value, so it is necessary to find an optimal sectional shape that minimizes the objective function.

The cross section of the X beam 301 is deformed from the initial cross sectional shape (S54) to find the cross section of the X beam 301 which minimizes the objective function, and the objective function according to the cross section of the deformed X beam 301 is calculated. As a method for simulating the deformation of the cross-sectional shape of the X-beam 301, the physical properties such as the density and the elastic modulus of each finite element are classified into discrete Is used.

It is determined whether the value of the objective function has converged to the minimum value while continuously repeating the above process (S56). As a method of determining whether the objective function has converged to the minimum value, a method of determining whether the variation amount of the objective function value is within a predetermined threshold range can be used. If it is determined that the objective function does not converge to the minimum value, the step of changing the cross section of the X beam (S54) is performed again. On the other hand, when it is determined that the objective function converges to the minimum value, the iterative calculation is stopped and the shape of the cross section of the X beam 301 from which the minimum value of the objective function is derived is adopted as an optimal cross sectional shape and output.

In order to realize the optimum design of the X-beam section of the component XY stage by the above method, commercially available software, Optistruct ™ from Altair Engineering Co., Ltd., can be used.

FIG. 8 is a view schematically showing an X-ray beam module of a gantry-type part body derived by the optimum design analysis of this embodiment, and FIG. 9 is a view schematically showing a cross section of the X-beam of FIG. The X-beam module of FIGS. 8 and 9 is derived from a phase optimization method using an objective function considering static deformation by self weight and three eigenmodes.

8 and 9, the X-ray beam 301 of the X-ray beam module 300b of the XY stage of the component body derived from the optimum design method of this embodiment has a constant cross-sectional shape and a mass And a hollow 3013 formed inside the mass portion 3015 and opened to the side 3011 of the X beam 301 to which the X linear motor rail 303 is coupled.

More specifically, the mass portion 3015 includes an upper plate 3012 and a lower plate 3014 which are in contact with the X linear motor rails 303 which are coupled to the side surfaces 3011 of the X-beam 301, And a side plate 3016 which connects the upper and lower plates 3012 and 3014 and is arranged perpendicular to the Y direction. The upper plate 3012, the lower plate 3014 and the side plates 3016 of the X-beam 301 are formed integrally with each other and have an outer surface formed in a planar shape, Are connected in series. The hollow 3013 is formed between the upper plate 3012, the lower plate 3014 and the side plate 3016 and has a shape extending in the X direction and is opened to the opposite side of the side plate 3016, (303).

Projections 3018 and 3019 protruding inwardly of the hollow of the X beam 301 are formed at the ends of the upper plate 3012 and the lower plate 3014, that is, the portions contacting the X linear motor rails 303, Therefore, the hollow 3013 of the X-beam 301 has a narrow portion opened toward the side surface 3011 of the X-beam 301 and a wider inner portion thereof. The protrusions 3018 and 3019 are also continuously connected to the inner curved surface of the X-beam 301 in a gentle curve.

The X linear motor rail 303 coupled to the side surface 3011 of the X beam 301 includes a base plate 3031 directly coupled to the X beam 301, And a rail portion 310 disposed at an end portion of the rail support portion 3033. As shown in Fig. The stator portion 320 of the linear motor is disposed between the pair of rail supporting portions 3033 of the base plate 3031.

A pick-up head support portion 410 to which the dummy head 401 is mounted is slidably coupled to a rail portion 310 of the X linear motor rail 303. The pickup head support portion 410 is provided with a rotor portion 420 of a linear motor and the rotor portion 420 constitutes a linear motor together with the stator portion 320 of the linear motor provided on the X linear motor rail 303. The dummy head 401 is actually replaced with a pick-up head in manufacturing a component mounting machine.

In order to evaluate the performance of the X-ray module 300b derived as described above, comparative analysis with other general X-ray beam modules was performed.

The following Table 1 shows the performance evaluation of the X-ray beam module 300a of the component part or the X-ray module 300b of this embodiment shown in FIG.

Performance factor original model Optimization model compare Static displacement (μm) 10 6 decrease Skew mode [Hz] 62 75 increase ending mode 1 [Hz] 208 249 increase ending mode 2 [Hz] 260 309 increase

As shown in Table 1, it can be seen that the optimization model has improved static and dynamic stiffness compared to the conventional X-ray beam module 300a.

Since the cross section of the X-ray beam module of the component body can be designed in various forms other than the shape of the X-ray beam module 300a of the component body of FIG. 2, And the X-beam module of this embodiment were also evaluated.

10A to 10C are cross-sectional views of a general form of an X-ray beam module designed according to a designer's intuition, and FIG. 10D is a cross-sectional view of an X-ray beam module obtained in this embodiment.

As a result of performing numerical analysis on the X-beam modules 300a-1, 300a-2,300a-3, and 300b having the cross-sections shown in FIGS. 10a to 10d, the results shown in Table 2 were obtained. In the following Table 2, case 1 shows the X-ray beam module of FIG. 10A, case 2 shows the X-ray beam module of FIG. 10B, and case 3 shows the performance evaluation result of the X-ray beam module of FIG. 10C.

Performance factor case 1 case 2 case 3 Optimization model Static displacement (μm) 10 10 10 6 Skew mode [Hz] 60 62 63 75 Bending mode 1 [Hz] 202 202 203 249 Bending mode 2 [Hz] 249 249 263 309

From the performance evaluation results, it can be seen that the X-ray beam module 300b of the present embodiment has a smaller static displacement and a higher eigenvalue than the other X-ray beam modules 300a-1,300a-2,300a-3. Therefore, in the case of the X-beam module 300b of this embodiment, the tilting of the v-pick-up head can be effectively suppressed due to the small static displacement, and the eigenvalue can be made high to widen the control bandwidth of the component real part. Therefore, the component mounting machine having the X-beam module of this embodiment can be more advantageous for high-speed / high-precision control. The phenomenon that the X-ray beam module of this embodiment increases both the static and dynamic stiffness as compared with the general model by the designer's intuition is that the mass of the X-ray beam 301 is located as far as possible from the center thereof, Sectional moment of inertia and torsional moment of the torsional moment can be relatively formed.

Also, since the X-ray beam 301 of the present embodiment has a simple structure, it is advantageous in terms of easiness of fabrication of an X-ray beam module of a component body, which is also advantageous in reducing the production cost.

The optimization design method of the above embodiment and the X-ray beam module of the component-mounted XY stage manufactured in accordance with this embodiment can be changed somewhat by restricting or eliminating the geometric shape of the X-beam.

11 is a view schematically showing a modification of the X-beam module. The X-beam of the X-beam module shown in Fig. 11 is an optimization result using the equation using only the eigenvalue as an objective function in the optimization formulation and using the volume constraint condition.

11, the X-beam 305 of the X-ray beam module 300c of the present modification example also includes a mass portion 305 having an upper plate 3052, a lower plate 3054, and a side plate 3056 like the X- And a hollow 3053 formed inside the mass portion and opened to the X linear motor rail 303 side. The X-beam 305 of this modification also has a constant cross-sectional shape and is formed to extend in the X-direction, and its inner surface is formed into a gently curved surface. However, the X-ray beam 305 of the present modification is formed such that the outer coupling portion 3057 of the upper plate 3052 and the side plate 3056 and the outer coupling portion 3057 of the lower plate 3054 and the side plate 3056 are perpendicular But may be formed to be drawn into the center of the X-beam.

The X beam module 300c of the present modification also has excellent dynamic rigidity, so that the control bandwidth of the component real-time system can be widened, which is advantageous for high-speed / high-precision control of the component body.

12 is a view schematically showing another modification of the X-beam module. The X-beam of the X-beam module of FIG. 12 is an optimization result using an objective function considering only the eigenvalue, without using a filter condition for the section to appear as a constant shape.

12, the X beam 307 of the X-ray beam module 300d of this modification is also formed inside the mass portion and in the mass portion extending in the X direction, and includes a side surface 3071 to which the X linear motor rails are coupled, And a hollow 3073 spanned by the opposite side 3077 of the rail. Since the optimization of the X-beam in this modification is performed without applying the filter condition of a constant cross-sectional condition, the mass portion of the X-beam 307 changes in the cross-sectional shape in the X-direction. More specifically, the X-beam 307 of this modification extends in the X-direction with a length of the extent that the hollow 3073 inside the mass portion does not reach the end of the X-beam 307, and the cross- Sectional shape. The hollow 3073 of the present modification is also formed in a larger shape in which the opening of the side 3077 opposite to the opening of one side 3071 of the X beam to which the X linear motor rail 303 is coupled is larger. That is, the hollow 3073 has a shape enlarged from the side surface 3071 of the X beam to which the X linear motor rail 303 is coupled to the opposite side surface 3077.

The X-beam module 300d of the present modification also has a superior dynamic rigidity, so that the control bandwidth of the component real-time system can be widened, which is advantageous for high-speed / high-precision control of the component body.

While the present invention has been described in connection with certain exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

1 ... parts industry
10 ... XY stage
100 ... base frame
200 ... Y Linear motor rails
300, 300a, 300b, 300c ... X beam module
301,305, 307 ... X beam
303 ... X linear motor rails
400 ... pick-up head
401 ... dummy head

Claims (6)

delete delete delete A beam extending in a first horizontal direction,
A linear motor rail coupled to a first side of the beam and extending in the first direction,
And a component pickup head linearly movably coupled to the linear motor rail in the first direction,
The beam,
A mass portion formed to extend in the first direction,
A first side of the beam and a second side opposite to the first side, the first side being formed in the mass portion and extending in the first direction to a length shorter than the beam, Wherein the opening formed has a shape that is smaller than the opening formed by the second side,
Parts production. A method of designing a component shaft having a beam to which a component pickup head is linearly movably mounted,
(a) inputting an objective function corresponding to a weighted summation of reciprocals of at least one natural frequency of the beam to a computing device;
(b) calculating the objective function corresponding to an arbitrary shape of the beam by an arithmetic unit;
(c) the shape of the beam is changed, and the objective function corresponding to the changed shape of the beam is calculated by the computing device; And
and (d) repeating the step (c), wherein the shape of the beam that minimizes the objective function within a predetermined beam volume or weight condition is determined by the computing device Design method. delete

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