KR102503901B1 - System for determining movement amount of picker structure and press and method for driving the same - Google Patents

Abstract

Disclosed are a system for determining a movement amount of a picker structure and a press and a driving method thereof, capable of presetting a movement amount of a press on a ring frame having multiple packages attached thereto and the movement amount of a picker structure on the ring frame having the multiple packages attached thereto without error. According to an embodiment of the present invention, the system for determining a movement amount of a picker structure and a press includes: a lower vision for sensing at least one among the position of a first reference point, which is set on the picker structure, and the position of a second reference point which is set on the press; a first upper vision for sensing the position of a third reference point which is set on the ring frame having the multiple packages mounted thereon, wherein the multiple packages are held by the picker structure; and a second upper vision for sensing the position of a fourth reference point, which is set on the multiple packages, on the ring frame having the multiple packages mounted thereon.

Description

Picker structure and press movement amount determining system and driving method thereof

The present application relates to a picker structure, a press movement amount determination system, and a driving method thereof. For example, the present disclosure relates to a semiconductor processing system that determines the amount of movement of a picker structure and a press.

Semiconductor package manufacturing may include a cutting process of cutting into individual packages from a strip on which a plurality of packages are formed, a washing process of washing the packages cut in the cutting process, and a drying process of drying the washed packages in the washing process. Then, A sputtering process for forming a coating layer for electromagnetic wave shielding may be performed on the individualized packages. In order to perform the sputtering process, the packages need to be supplied to a device that performs the sputtering process while being attached to the film of the ring frame. can For this purpose, a device for attaching the package to the film of the ring frame may be required.

However, in a conventional package singulation and cutting device, a separate process of dividing a strip into packages, sorting a plurality of packages on a tray or shelf, and then attaching the packages contained in the tray to a ring frame is performed. In addition, the conventional device for attaching the package to the film of the ring frame has a problem in that the adhesion of the package to the film of the ring frame is low.

On the other hand, a package manufacturing system may be introduced in which a plurality of packages are temporarily attached to the film of the ring frame and then pressurized by a press to adhere to the film, thereby improving the fixing force of the package to the film. It is necessary to accurately set the movement amount for placement on the ring frame to which the package of is attached.

The background technology of the present application is disclosed in Korean Patent Registration No. 10-2146777.

The present invention is to solve the above-described problems of the prior art, and the movement amount of the picker structure with respect to the ring frame in which a plurality of packages are seated and the movement amount of the press with respect to the ring frame in a state in which a plurality of packages are attached can be preset without error. It is an object of the present invention to provide a picker structure, a system for determining a movement amount of a press, and a method for driving the same.

The present invention is to solve the problems of the prior art described above, and provides a picker structure capable of sensing the side reference point and the press side reference point of the picker structure using a single lower vision module, a press movement amount determining system, and a driving method thereof. aims to do

However, the technical problem to be achieved by the embodiments of the present application is not limited to the technical problems described above, and other technical problems may exist.

As a technical means for achieving the above technical problem, a system for determining the movement amount of a picker structure and a press according to an embodiment of the present invention is a location of a first reference point set for the picker structure and a second reference point set for the press. A lower vision for sensing at least one of the positions, a first upper vision for sensing the position of a third reference point set with respect to a ring frame on which the plurality of packages held by the picker structure are seated, and the plurality of packages are seated and a second upper vision for sensing a position of a fourth reference point set for the plurality of packages with respect to the ring frame.

Also, the lower vision may be movable such that a switch between a position for sensing the first reference point and a position for sensing the second reference point is possible.

In addition, the picker structure may be movable along a temporary picker rail extending in the x-axis direction.

Further, the press may be movable along a picker unit-side rail that is spaced apart from the temporary picker rail in one direction relative to the y-axis direction and extends in the x-axis direction.

In addition, the lower vision is capable of switching between a position for sensing the first reference point corresponding to the rail for the temporary picker and a position for sensing the second reference point corresponding to the rail on the side of the picker unit. The y-axis It may be movable along the direction.

In addition, the picker structure and the system for determining the movement amount of the press according to an embodiment of the present disclosure may include a jig in which a plurality of holes are formed.

Also, in a state in which the jig is disposed between the lower vision and the first upper vision, reference coordinates of the lower vision and the first upper vision may be matched using at least one hole among the plurality of holes.

Also, in a state in which the jig is disposed between the lower vision and the second upper vision, reference coordinates of the lower vision and the second upper vision may be matched using at least one hole among the plurality of holes.

Also, the picker structure may include a plurality of pickers.

Also, the lower vision may sense the position of the reference point of each of the plurality of pickers as the position of the first reference point.

In addition, the second upper vision and the press move in the x-axis direction along the picker unit-side rail, place the ring frame on a stage on which the ring frame is seated, or pick up the ring frame from the stage. Can be placed with respect to the picker.

In addition, the picker structure may pick up the plurality of packages and temporarily attach them to a film of the ring frame on a stage on which the ring frame is placed.

In addition, the press may press the plurality of packages on the stage in a downward direction so that the plurality of packages are fixed on the film.

Also, the first upper vision may be disposed with respect to the picker structure.

Meanwhile, a method of driving a picker structure and a system for determining a movement amount of a press according to an embodiment of the present invention includes the steps of sensing the position of a first reference point set with respect to the picker structure with a lower vision, and a first upper vision applied to the picker structure. Sensing the position of a third reference point set with respect to a ring frame on which the plurality of packages held by the user are seated, and placing the plurality of packages on the ring frame using the position of the first reference point and the position of the third reference point. Determining a movement amount of at least one of the picker structure to be seated and a stage on which the ring frame is seated, sensing the position of a second reference point set with respect to the press by the lower vision, and the plurality of second upper vision Sensing the position of a fourth reference point set for the plurality of packages with respect to the ring frame on which the package of is seated, and using the position of the second reference point and the position of the fourth reference point, among the press and the stage Determining at least one movement amount may be included.

The above-described problem solving means are merely exemplary and should not be construed as intended to limit the present disclosure. In addition to the exemplary embodiments described above, additional embodiments may exist in the drawings and detailed description of the invention.

According to the above-mentioned problem solving means of the present application, the movement amount of the picker structure with respect to the ring frame to which a plurality of packages are seated and the movement amount of the press with respect to the ring frame in a state in which a plurality of packages are attached can be previously set without an error. A picker structure and A press movement amount determination system and its driving method can be provided.

According to the above-described problem solving means of the present application, a picker structure capable of sensing the reference point on the side of the picker structure and the reference point on the press side using a single lower vision module, a system for determining the movement amount of a press, and a driving method thereof can be provided.

However, the effects obtainable herein are not limited to the effects described above, and other effects may exist.

1 is a schematic plan view of a picker structure and a system for determining a movement amount of a press according to an embodiment of the present disclosure.
2 is an enlarged view of a lower vision module of a picker structure and a system for determining a movement amount of a press according to an embodiment of the present disclosure.
3 is a diagram for explaining a process for determining a movement amount of a picker structure performed through a system for determining a movement amount of a picker structure and a press according to an embodiment of the present disclosure.
4 is a diagram for explaining a process for determining a movement amount of a press performed through a picker structure and a system for determining a movement amount of a press according to an embodiment of the present disclosure.

Hereinafter, embodiments of the present application will be described in detail so that those skilled in the art can easily practice with reference to the accompanying drawings. However, the present disclosure may be implemented in many different forms and is not limited to the embodiments described herein. And in order to clearly describe the present application in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the present specification, when a part is said to be “connected” to another part, it is not only “directly connected”, but also “electrically connected” or “indirectly connected” with another element in between. "Including cases where

Throughout the present specification, when a member is referred to as being “on,” “above,” “on top of,” “below,” “below,” or “below” another member, this means that a member is located in relation to another member. This includes not only the case of contact but also the case of another member between the two members.

Throughout the present specification, when a certain component is said to "include", it means that it may further include other components without excluding other components unless otherwise stated.

In addition, in the description of the embodiments of the present application, terms related to direction or position (upper side, etc.) are set based on the arrangement state of each component shown in the drawings. For example, when looking at FIGS. 3 and 4, the 12 o'clock direction may be the upper side (one side of the z-axis), and the generally 6 o'clock direction may be the lower side (the other side of the z-axis).

The present application relates to a picker structure, a press movement amount determination system, and a driving method thereof. For example, the present disclosure relates to a semiconductor processing system that determines the amount of movement of a picker structure and a press.

Referring to FIG. 1 , a semiconductor processing system according to an exemplary embodiment of the present disclosure may include a cutting unit 1 . The cutting unit 1 may operate to prepare a plurality of packages by cutting the strip.

Specifically, the cutting unit 1 includes a loading and unloading device 11 introducing the strip. The magazine in which the strip is loaded may be loaded onto the tray unit 111 of the loading and unloading device 11, and the magazine loaded in the tray unit 111 may be gripped by the clamp structure 112 and moved to a preparation position. And, the strip from the magazine moved to the preparation position can be transferred to the loading and unloading unit 113. The strip transferred to the loading and unloading unit 113 may be transferred to the chuck table 1102 by the strip picker 1101 . For reference, among the strips introduced into the semiconductor processing system disclosed herein by the loading and unloading device 11, the collected strips that are judged to be defective before being transferred to the package cutting device 12 described later will be transported to the tray unit 111. The strips that are not determined as recovery strips may be transferred to the package cutting device 12 .

Also, referring to FIG. 1 , the semiconductor processing system disclosed herein may include a package cutting device 12 for cutting a strip into packages. The strip transferred to the chuck table 1102 may be transferred to the package cutting device 12 and cut (separated) into individual packages in the package cutting device 12 .

Also, referring to FIG. 1 , the semiconductor processing system may include a cleaning unit 13 that cleans the cut packages. The package formed by cutting the strip in the package cutting device 12 may be transferred to the cleaning unit 13 and cleaned.

Also, referring to FIG. 1 , the cutting unit 1 may include a drying device 14 for drying the washed package. Packages washed in the cleaning unit 13 may be transferred to the drying device 14 and dried.

Also, referring to FIG. 1 , the cutting unit 1 may include a grid picker 16 that transports packages dried in the drying device 14 . The grid picker 16 may transfer the dried packages to an auxiliary transfer stage 242 to be described later.

Also, referring to FIG. 1 , the semiconductor processing system disclosed herein includes an attachment part 2 for attaching a plurality of prepared packages to a film of a ring frame. That is, according to the semiconductor processing system disclosed herein, a package formed by cutting the strip may be attached to the film of the ring frame by the attachment part 2 .

For reference, the ring frame may have a closed shape in which a hole is formed. A film may be disposed to cover the hole of the ring frame and the film may be attached to the ring frame. In addition, a plurality of packages may be attached to one of both sides of the film. The press 3 presses the package against the ring frame with one surface of the film facing upward so that the package adheres better to the film compared to the case where the press 3 does not press the package.

Referring to FIG. 1, the attachment part 2 is movable in the y-axis direction along the conveying part-side rail 211 and the conveying part-side rail 211 extending in the y-axis direction from one side of the x-axis of the cutting part 1 and a ring frame transfer unit 21 including a stage 212 on which the ring frame is seated.

Referring to FIG. 1 , a plurality of ring frame transfer units 21 may be provided. A plurality of ring frame transfer units 21 may be provided at intervals along the x-axis.

Also, referring to FIG. 1 , the attaching unit 2 may include a ring frame picker unit 22 . The ring frame picker 22 may place the ring frame on the stage 212 located on one side of the y-axis of the transfer unit-side rail 211 or pick up the ring frame from the stage 212 .

Also, referring to FIG. 1 , the attachment unit 2 may include a package picker unit 23 . The package picker unit 23 may pick up a plurality of packages and temporarily attach them to the film of the ring frame on the stage located on the other side of the y-axis of the transfer unit-side rail 211 . The package picker unit 23 extends across the other side of the y-axis of the transport unit-side rail 211 in the x-axis, and along the rail 231 for the temporary picker and the rail 231 for the temporary picker, in the y-axis direction A movable temporary attachment picker 232 may be included. Temporary attachment may be performed by the temporary attachment picker 232 picking up the package and placing it on the film.

Also, referring to FIG. 1 , the attachment unit 2 may include an auxiliary transfer unit 24 that transfers packages from the cutting unit 1 to the package picker unit 23 . The auxiliary feeder 24 extends in the y-axis direction between the cutting part 1 and the ring frame feeder 21 in the x-axis direction and the auxiliary feed rail 241 along the auxiliary feed rail 241 in the y-axis direction. A movable auxiliary transfer stage 242 may be included. For example, the plurality of packages finally prepared in the cutting unit 1 may be placed on the auxiliary conveying stage 242 located on one side of the y-axis of the auxiliary conveying rail 241, and the auxiliary conveying stage 242 ), the auxiliary transfer stage 242 can be moved to the other side of the y-axis, and when the auxiliary transfer stage 242 is located on the other side of the y-axis of the auxiliary transfer rail 241, The temporary attachment picker 232 can pick up the package on the auxiliary transfer stage 242 and place it on the film of the ring frame on the stage 212 of the ring frame transfer unit 21 . The temporary attachment picker 232 may pick up the package and place it by first pressing it on the film of the ring frame.

Referring to FIG. 1 , one auxiliary transfer rail 241 may be provided, and two auxiliary transfer stages 242 may be provided to be movable along one auxiliary transfer rail 241 .

In addition, referring to FIG. 1 , the semiconductor processing system disclosed herein attaches each of a plurality of packages attached to a film of a ring frame to a ring frame so that each of the plurality of packages attached to the film of the ring frame is adhered to the film of the ring frame. It may include a press 3 for pressing the film side of the frame. The press 3 applies downward pressure to the package from the top of the package, thereby allowing the package to adhere to the film. The press 3 may include a cylinder and a motor that drives the cylinder. The cylinder may include a main body and a piston that reciprocates up and down with respect to the main body, and applies downward pressure to the package through the downward movement of the piston. can More specifically, a motor and a rail may be provided for vertical movement (z-axis movement) of the entire press 3, and control the vertical movement and downward pressing force of a tool (or pad) in contact with the package of the press 3. It may include an electric regulator that does. At this time, the downward pressing force is a value greater than (exceeding) the downward pressure applied to the package when the aforementioned tentative picker 232 places the package on the film, but smaller than (less than) the downward pressure that causes the film to be damaged. can be set.

Referring to FIG. 1 , the press 3 may attach a plurality of packages on a film of a ring frame on a stage 212 positioned on one side of the y-axis of a rail 211 on the transfer unit side.

Specifically, the ring frame picker unit 22 may include a picker unit-side rail 221 provided to cross one side of the y-axis of the transfer unit-side rail 211 in the x-axis direction at the upper side of the transfer unit-side rail 211. . Also, referring to FIG. 1 , the ring frame picker 22 may include a ring frame picker 222 capable of moving in the x-axis direction along the picker-side rail 221 and gripping the ring frame. The ring frame picker 222 receives and transports the ring frame to which the package is not attached from the ring frame loading unit 6 to be described later, and transports it to an empty stage located on one side of the y-axis of the transfer unit-side rail 211 from the upper side A ring frame can be placed on (212). In addition, the ring frame in a state in which the package is attached may be picked up from the stage 212 located on one side of the y-axis of the transfer unit-side rail 211 and supplied (transferred) to the ring frame loading unit 6 .

In addition, the press 3 may be provided to be movable in the x-axis direction along the picker unit-side rail 221 . Accordingly, the press 3 is movable in the x-axis direction on the stage 212 located on one side of the y-axis of the transfer part-side rail 211 along the picker-side rail 221 . Also, for reference, the press 3 may share the picker unit-side rail 221 with the ring frame picker 222 and the second upper vision 41 to be described later.

In addition, the pressing of each of the plurality of packages temporarily attached on the film of the ring frame of the press 3 is the movement of the press 3 in the x-axis direction, the movement of the stage 212 in the y-axis direction, and the press ( 3) can be achieved by pressing the lower side. The press 3 may perform a compacting process by firstly pressing the film of the ring frame and secondarily pressing the attached package.

For example, in the film of the ring frame, a plurality of packages may be arranged and arranged on a plane in various forms, for example, may be arranged in n columns along the x-axis and m rows along the y-axis. In this case, each of the plurality of packages may have a position in the x-axis and y-axis directions, respectively. In order for the press 3 to press the package, the press 3 must be located on the upper side of the package to face the package vertically. can However, since the press 3 can only move in the x-axis direction, in order for the press 3 to be positioned above the package, the press 3 moves in the x-axis so that the press 3 moves in the x-axis position of the package. , and the stage 212 moves in the y-axis so that the package has the same y-axis position as the y-axis position of the press 3 . Accordingly, the press 3 can be positioned on the package so that the press 3 and the package oppose each other vertically so that the press 3 can press the package, and the press 3 pushes the package downward. The package may be adhered to the film by pressing. In addition, since a plurality of packages are temporarily attached to the film, the press 3 and the stage 212 determine the x-axis position and y-axis position of each of the plurality of packages so that the press 3 can press each of the plurality of packages. It moves as described above in correspondence with the position, and the press 3 can press each of a plurality of packages.

Further, if necessary, the press 3 may press a plurality of packages one by one, but may also press a plurality of packages one by one. For example, 3 or 4 packages can be pressed simultaneously.

In addition, the semiconductor processing system disclosed herein may include a second upper vision 41 . The second upper vision 41 may scan a plurality of packages on the film of the ring frame on the stage 212 positioned on one side of the y-axis of the transfer unit-side rail 211 .

For example, the second upper vision 41 may scan the position of each of the plurality of packages on the film of the ring frame on the stage 212 before the press 3 is set, and the press 3 is set. It may be performed corresponding to the position of each of the plurality of packages on the film of the ring frame on the stage 212 scanned by the second upper vision 41 .

For example, the second upper vision 41 may calculate the position of each of the plurality of packages on the film of the ring frame on the stage 212 as an x-axis value and a y-axis value, and at this time, by the calculated result, as described above Similarly, the press 3 moves in the x-axis direction and the stage 212 moves in the y-axis direction, so that the press 3 can press each of a plurality of packages. Alternatively, the second upper vision 41 may calculate the position of each of the plurality of packages on the film of the ring frame on the stage 212 as an x-axis value and a y-axis value, and the prediction of each of the plurality of packages that has been input in advance The position values (x-axis value and y-axis value) are compared with the calculated position values, and if they are the same within the error range, as described above, the press 3 moves in the x-axis direction and the stage 212 moves in the y-axis direction By moving, presses can be made for each of a plurality of packages of the press 3 .

Also, the second upper vision 41 may sense states of a plurality of packages. For example, if the package is in an abnormal state (eg, a state in which the package is rotated out of angle on a plane compared to the normal state disposed at a preset angle, etc.), the second upper vision 41 may detect this, and the press 3 ) may not be pressed. In addition, the second upper vision 41 can inspect the upper surface of the package for foreign substances such as dust before the pressing of the press 3 is performed, and can also inspect the state of the package after the pressing is performed. .

In addition, although not shown in the drawing, in the semiconductor processing system disclosed herein, the package picker 23 picks up a plurality of packages and places the ring on the stage 212 located on the other side of the y-axis of the transfer unit-side rail 211. After temporary attachment to the film of the frame, a cleaning unit (not shown) for removing foreign substances such as dust located on the upper surface of the package during the process of moving the stage 212 to one side of the y-axis of the rail 211 on the transfer unit side can include more. For example, the cleaning unit is installed on the upper part of the middle region of the rail 211 on the side of the transfer part, and provides air flow of a certain strength and wind speed or higher toward the upper surface of the ring frame on the upper side of the ring frame on the stage 212. Hood unit It may include a suction unit for sucking in and scattering foreign substances. Accordingly, foreign matter that may be located on the package before being adhered by the press 3 can be effectively removed.

In addition, the second upper vision 41 may be provided to be movable in the x-axis direction along the picker unit-side rail 241 . In this case, since the second upper vision 41 is movable in the x-axis direction, movement of the second upper vision 41 in the x-axis direction and movement of the stage 212 in the y-axis direction are required to sense a plurality of packages on the film. Sensing may be performed in combination. This may correspond to or be the same as the combination of the movement of the press 3 in the x-axis direction and the movement of the stage 212 in the y-axis direction for the press 3 of a plurality of packages, and thus a detailed description thereof will be omitted.

Also, for example, the second upper vision 41 may be coupled to the press 3 . Accordingly, the second upper vision 41 and the press 3 may move in conjunction with each other. Also, the press 3 may be coupled to the ring frame picker 222 . In this case, the second upper vision 41, the press 3, and the ring frame picker 222 may move in conjunction with each other.

Also, referring to FIG. 1 , the semiconductor processing system disclosed herein may include a ring frame loading unit 6 . When the attachment of the plurality of packages to the film of the ring frame is completed, the ring frame picker can pick up the ring frame and transfer it to the ring frame loading unit 6 by moving in the x-axis, and the ring frame loading unit 6 The ring frame to which the package is attached can be loaded. In addition, there may be a ring frame to which packages are not attached to the ring frame loading unit 6, and the ring frame picker receives and transfers the frames from the ring frame loading unit 6 to which packages are not attached to the stage 212 in an empty state. ) can be placed on.

As described above, according to the semiconductor processing system disclosed herein, the strip can be moved from the loading and unloading device 11 to the package cutting device 12 and cut (separated) into individual packages in the package cutting device 12. there is. The package may be transferred to the cleaning unit 13 and cleaned. In addition, the packages washed in the cleaning unit 13 may be transferred to the drying device 34 and dried. In addition, the dried package may be placed on the auxiliary transport stage 242 located on one side of the y-axis of the auxiliary transport rail 241, and when a plurality of packages are placed on the auxiliary transport stage 242 , The auxiliary transfer stage 242 can be moved to the other side of the y-axis, and when the auxiliary transfer stage 242 is located on the other side of the y-axis of the auxiliary transfer rail 241, the temporary attachment picker 232 is the auxiliary transfer stage 242 can be picked up and placed on the film of the ring frame on the stage 212 of the ring frame transfer unit 21, and the tentative picker 232 places the package on the film of the ring frame Thereby, the package can be temporarily attached to the film of the ring frame.

Thereafter, the stage 212 may be moved to one side of the y-axis, and the second upper vision 41 may move a plurality of images on the film of the ring frame on the stage 212 located on one side of the y-axis of the transfer part-side rail 211. The packages of can be scanned, and according to the scan result, each of a plurality of packages is pressed against the film by the x-axis movement of the press 3, the y-axis movement of the stage 212, and the downward pressing of the press 3 to obtain a plurality of A package of can be adhered to the film. When the film fixing of the plurality of packages is completed, the ring frame picker 222 can pick up the ring frames on the stage 212 and transfer them to the ring frame loading unit 6, and the ring frame loading unit 6 The ring frame can be picked up from and placed on an empty stage 212 .

In addition, referring to FIG. 1 , a lower vision 52 for sensing at least one of the position of the first reference point set with respect to the picker structure 232 and the position of the second reference point set with respect to the press 3 is included. The lower vision module 5 may be movably arranged to enable switching between a position for sensing the first reference point and a position for sensing the second reference point.

2 is an enlarged view of a lower vision module of a picker structure and a system for determining a movement amount of a press according to an embodiment of the present disclosure.

Referring to FIG. 2, each of the pickers 2321 of the picker structure 232 may be movably disposed along the rail 231 for attachable pickers extending in the x-axis direction, and referring to FIG. 1, the press (3) may be movably disposed along the picker unit side rail 221 that is spaced apart from the temporary picker rail 231 in one direction relative to the y-axis direction and extends in the x-axis direction.

In addition, the lower vision 52 can switch between a position for sensing the first reference point corresponding to the rail 231 for the temporary picker and a position for sensing the second reference point corresponding to the rail 221 on the side of the picker unit. It may be movably disposed along the vision rail 51 extending along the y-axis direction so as to move along the y-axis direction.

Also, referring to FIG. 2 , the lower vision module 5 has a plurality of holes formed therein, and a gap between the lower vision 52 and the first upper vision 42 or between the lower vision 52 and the second upper vision 41 is formed. A jig 53 for matching reference coordinates may be included. In this regard, a process of matching reference coordinates between visions using the jig 53 will be described later with reference to FIGS. 3 and 4 .

Specifically, in a state in which the jig 53 is disposed between the lower vision 52 and the first upper vision 42, the lower vision 52 and the lower vision 52 are formed by using at least one hole among a plurality of holes formed in the jig 53. The reference coordinates of the first upper vision 42 are matched so that a local coordinate system for determining the movement amount of the picker structure 232 may be defined, and similarly, the jig 53 is the lower vision 52 and the second upper vision ( 41), the reference coordinates of the lower vision 52 and the second upper vision 41 are matched using at least one of the plurality of holes formed in the jig 53 in a state disposed between the jig 53 and the movement amount of the press 3 A local coordinate system for determining can be defined.

In other words, the system for determining the movement amount of the picker structure and the press disclosed herein uses a single lower vision module 5 so that the lower vision 52 and the jig 53 are attached to the picker structure 232 along the vision rail 51. The position at which the coordinates of the reference points of the first upper vision 42 and the picker structure 232 can be sensed and the reference points of the second upper vision 41 and the press 3 disposed with respect to the press 3 By enabling switching between positions where coordinates can be sensed, overall processes such as package cutting, positioning, placing, aligning, and determining the amount of movement of individual modules for temporary attachment and attachment to the ring frame of the package are more efficient than before. There are advantages to making it happen.

In addition, according to one embodiment of the present application, the second upper vision 41 and the press 3 move in the x-axis direction along the rail 221 on the side of the picker unit, and the ring frame is mounted on the stage 212. It can be placed relative to the ring frame picker 222 that places the frame or picks up the ring frame from the stage 212 .

Also, according to an embodiment of the present application, the picker structure 232 may include a plurality of pickers 2321, and the lower vision 52 determines the position of each reference point of the plurality of pickers 2321 relative to the first reference point. It can be sensed as a position. Also, the first upper vision 41 may be disposed with respect to the picker structure 232 .

Hereinafter, referring to FIG. 3 , a process for determining a movement amount between the picker structure 232 and the stage 212 using the lower vision 52 and the first upper vision 42 will be described.

3 is a diagram for explaining a process for determining a movement amount of a picker structure performed through a system for determining a movement amount of a picker structure and a press according to an embodiment of the present disclosure.

Referring to FIG. 3 , a picker structure movement amount determination process described below relates to a picker structure 232 including n pickers 2321 and a first upper vision 42 and a method for determining a movement amount of a stage 212. will be.

Accordingly, in the process of determining the movement amount of the picker structure, the final x-axis movement amount of the picker structure 232 for matching the coordinates of the reference point of each of the n pickers of the picker structure 232 with the coordinates of at least one reference point of the stage 212 and a final y-axis movement amount of the stage 212 may be calculated. Hereinafter, for convenience of explanation, a reference point set for the picker structure 232 is referred to as a first reference point, and at least one reference point set for the stage 212 is disposed on the stage 212, and a plurality of reference points are placed on the upper surface. It is referred to as the third reference point set for the ring frame on which the package is seated.

The process of determining the movement amount of the picker structure includes a step (first step) of calculating an x-axis separation value and a y-axis separation value of the coordinates of the reference point of each of the n pickers 2321 from the coordinates of the reference point of the first upper vision 42. do.

For example, eight pickers 2321 may be provided. In this case, the first step is the x-axis between the coordinates of the reference points of each of the eight pickers 2321 and the coordinates of the reference point of the first upper vision 42. The separation value and the y-axis separation value can be calculated. For example, the x-axis separation value and the y-axis separation value of the coordinates of the reference point of the first picker 2321a and the coordinates of the reference point of the first upper vision 42 may be calculated, and the reference point of the second picker 2321b The x-axis separation value and the y-axis separation value of the coordinates of the coordinates and the reference point of the first upper vision 42 can be calculated, in this way, the coordinates of the reference point of each of the n pickers and the reference point of the first upper vision 42 The x-axis spacing value and the y-axis spacing value between the coordinates of can be calculated. For reference, the reference point of the first upper vision 42 may mean the center of the sensing region of the setting vision, and the reference point of the picker 2321 may mean the center of the suction hole of the picker 2321.

In the first step, the picker structure 232 is moved in the x axis from the initial position of the picker structure 232 so that the coordinates of the reference point of the first upper vision 42 and the coordinates of the reference point of the lower vision 52 coincide. Alternatively, by moving the lower vision 52 on the y-axis from the initial position, the x-axis value of the first matching coordinate when the coordinates of the reference point of the first upper vision 42 and the coordinates of the reference point of the lower vision 52 coincide. Calculating the x-axis distance value between the coordinates of the reference point of the setting vision at the initial position and the y-axis distance value between the y-axis value of the first matching coordinate and the coordinates of the reference point of the lower vision 52 at the initial position (Step 1-1 step) may be included.

According to the 1-1 step, when the coordinates of the reference point of the first upper vision 42 at the initial position, which is the coordinate before movement of the first upper vision 42, are set to (0, 0), the first coincidence coordinates , (x-axis spacing value, y-axis spacing value) as coordinates.

For reference, FIG. 3 is a conceptual perspective view when the coordinates of the reference point of the first upper vision 42 coincide with the coordinates of the reference point of the lower vision 52 . Referring to FIG. 3 , when the coordinates of the reference point of the first upper vision 42 coincide with the coordinates of the reference point of the lower vision 52, the first upper vision 42 is positioned above the lower vision 52. can

In addition, in the first step, the picker structure 232 is moved along the x-axis so that the coordinates of the reference point of each of the n pickers 2321a to 2321h and the coordinates of the reference point of the lower vision 52 sequentially coincide. By moving the vision 52 on the y-axis, the n second matching coordinates when the reference point coordinates of each of the n pickers 2321 coincide with the reference point coordinates of the lower vision 52 and the first upper vision at the initial position ( 42) may include calculating n x-axis spacing values and n y-axis spacing values between coordinates of the reference point (step 1-2).

For example, in step 1-2, the picker structure 232 is moved along the x-axis so that the coordinates of the reference point of the first picker 2321a among the n number of pickers 2321 coincide with the coordinates of the reference point of the lower vision 52. Alternatively, the lower vision 52 may be moved on the y-axis, and accordingly, the coordinates of the reference point of the first picker 2321a and the coordinates of the reference point of the lower vision 52 coincide. Second matching coordinates of the picker 2321a) may be generated. At this time, the x-axis value of the second coincident coordinate is the initial position of the first upper vision 42 moved in conjunction with the picker structure 232 so that the coordinates of the reference point of the first picker 2321a are located at the second coincident coordinate. It may be the movement amount (x-axis movement amount) from the coordinates of , and the y-axis value of the second match coordinate is the initial position of the lower vision 52 moving so that the reference point coordinate of the lower vision 52 is located at the second match coordinate It may be a movement amount (y-axis movement amount) from the coordinates of . These second matching coordinates may be formed as coordinates when the coordinates of the reference point of the first upper vision 42 at the initial position are set to (0, 0).

In this way, when the x-axis distance value and the y-axis distance value between the coordinates of the reference point of the first picker 2321a and the reference point of the first upper vision 42 at the initial position are calculated, then, the first-second step The picker structure 232 may be moved in the x-axis or the lower vision 52 may be moved in the y-axis so that the coordinates of the reference point of the second picker 2321b coincide with the coordinates of the reference point of the lower vision 52. , When the coordinates of the reference point of the second picker 2321b and the coordinates of the reference point of the lower vision 52 coincide, the second coincidence coordinate (the second coincidence coordinate of the second picker 2321b) may be generated. At this time, the x-axis value of the second coincidence coordinate is the first upper vision 42 moved in conjunction with the picker structure 232 so that the coordinates of the reference point of the second picker 2321b are located at the second coincidence coordinate. It may be the movement amount (x-axis movement amount) from the coordinates of the initial position of , and the y-axis value of the second second coincidence coordinate is the lower vision that moves so that the coordinates of the reference point of the lower vision 52 are located at the second second coincidence coordinate ( 52) may be a movement amount (y-axis movement amount) from the coordinates of the initial position. These second coincidence coordinates may be set as coordinates when the coordinates of the reference point of the first upper vision 42 at the initial position are set to (0, 0).

In this way, in step 1-2, n second matching coordinates when each of the n pickers 2321a to 2321h coincide with the coordinates of the reference point of the lower vision 52 may be generated, or n An x-axis separation value of each of the two second matching coordinates and the coordinates of the reference point of the first upper vision 42 at the initial position and a y-axis distance value of the coordinates of the reference point of the lower vision 52 at the initial position may be calculated. Each of the n second coincident coordinates may be a coordinate value given to each of the n second coincident coordinates when the coordinates of the reference point of the first upper vision 42 are set to (0, 0), and the first coordinates of the initial position It can also be replaced with the x-axis distance value and the y-axis distance value of the coordinates of the reference point of the upper vision 42.

In addition, the first step is the x-axis separation value between the x-axis value of the first coincident coordinate and the x-axis value of the reference point coordinate of the first upper vision 42 at the initial position and the y-axis value of the first coincident coordinate and the initial position n x-axis spacing values between the y-axis spacing value of the coordinates of the reference point of the lower vision 52 and the second matching coordinates and the reference point coordinates of the first upper vision 42 at the initial position (since the number of pickers 2321 is n ) and n y-axis separation values between the second coincident coordinates and the coordinates of the reference point of the lower vision 52 at the initial position, each reference point of n pickers 2321 from the coordinates of the reference point of the first upper vision 42 It may include calculating the x-axis spacing value and the y-axis spacing value of the coordinates of (steps 1-3).

The difference between each of the second coincident coordinates and the first coincident coordinate of each of the n pickers 2321a to 2321h is the x-axis of the coordinates of the reference point of each of the n pickers 2321a to 2321h and the reference point of the first upper vision 42 It can be calculated as the spacing value and the y-axis spacing value. Taking the first picker 2321a as an example, as described above, the absolute value of the difference between the x-axis value of the second coincidence coordinate and the x-axis value of the first coincidence coordinate of the first picker 2321a is It can be calculated as the x-axis distance value of the coordinates of the reference point and the coordinates of the reference point of the first upper vision 42, and the y-axis value of the second matching coordinate of the first picker 2321a and the y-axis value of the first matching coordinate The absolute value of the difference can be calculated as the y-axis separation value of the coordinates of the reference point of the first picker 2321a and the coordinates of the reference point of the first upper vision 42, and in this way, each of the n pickers 2321a to 2321h An x-axis separation value and a y-axis separation value between the coordinates of the reference point and the coordinates of the reference point of the first upper vision 42 may be calculated.

In addition, referring to FIG. 3 , in the process of determining the movement amount of the picker structure, prior to step 1-1, the coordinates of the reference point of the jig 53 and the coordinates of the reference point of the lower vision 52 coincide with the upper side of the lower vision 52. It includes the step of arranging the jig 53 as. The jig 53 is movable in the y-axis relative to the lower vision 52, and the coordinates of the reference point of the jig 53 match the coordinates of the reference point of the lower vision 52 before step 1-1. can move upwards. A plurality of holes, for example, nine holes may be formed in the jig 53, and a hole located in the center of the nine holes may be a reference point.

In this case, step 1-1 is to set the picker structure 232 on the x-axis so that the coordinates of the reference point of the first upper vision 42, the coordinates of the reference point of the jig 53, and the coordinates of the reference point of the lower vision 52 coincide. and move the lower vision 52 along the y-axis.

Also, the process of determining the movement amount of the picker structure may include removing the jig 53 between steps 1-1 and 1-2. Accordingly, when the coordinates of the reference point of the lower vision 52 and the coordinates of the reference points of each of the n pickers 2321a to 2321h match (when the second matching coordinates are generated), each of the n pickers 2321a to 2321h and the lower vision The jig 53 may not be located between (52).

In addition, the process of determining the movement amount of the picker structure includes calculating an x-axis separation value and a y-axis separation value between the coordinates of the reference point of the first upper vision 42 at the initial position and the coordinates of at least one reference point of the stage 212 ( Step 2) may be included.

Specifically, in the second step, the first upper vision 42 moves in the x-axis direction (ie, the picker structure 232 moves in the x-axis direction), and the stage 212 moves in the y-axis direction (initial position), the coordinates of the reference point of the first upper vision 42 are sequentially matched with the coordinates of the reference point (third reference point) of the stage 212 to match the coordinates of the reference point of the third matched coordinates (the coordinates of the reference point of the stage 212). and the coordinates of the reference point of the first upper vision 42 when the coordinates of the reference point of the first upper vision 42 coincide), and the coordinates of the reference point of the first upper vision 42 at the initial position and at least one of the stages 212 The x-axis spacing value and the y-axis spacing value between the coordinates of each reference point of can be calculated. For reference, the x-axis distance value and the y-axis distance distance value in the second step are coordinates when the coordinates of the reference point of the first upper vision 42 and the coordinates of the reference point of the stage 212 coincide (third coincidence coordinates) It may mean the x-axis distance value and the y-axis distance value between the coordinates of the reference point of the first upper vision 42 at the initial position and

For example, in the second step, the coordinates of the reference point of the first upper vision 42 may be sequentially matched with the coordinates of each of the at least one reference point of the stage 212, and in this process, the above-described third match The coordinates may be generated, and the third coincidence coordinates from the coordinates of the reference point of the first upper vision 42 at the initial position are the third coincidence from the x-axis separation value of each coordinate and the coordinates of the reference point of the stage 212 at the initial position. The y-axis distance value of the coordinates (or the coordinates calculated when the coordinates of the reference point of the first upper vision 42 at the initial position are set as the origin (0, 0) (x-axis value and y-axis value of the coordinate)) can be calculated.

For example, in the second step, the first upper vision 42 (picker structure (picker structure ( 232)) (for example, the driving amount of the motor that moves the picker structure 232 generated when the picker structure 232 is moved) and the movement amount of the stage 212 from the initial position (for example, the stage 212) by using the driving amount of the motor that moves the x-axis separation value of the third coincidence coordinate from the coordinate of the reference point of the first upper vision 42 at the initial position and the coordinate of the reference point of the stage 212 at the initial position The y-axis separation value of the third coincident coordinate (ie, the y-axis separation value of the stage 212 at the initial position and the first coincidence coordinate) may be calculated.

For reference, considering that the picker structure 232 moves in the x-axis and the stage 212 moves in the y-axis, through the movement amount of the picker structure 232 in the x-axis direction, the first position of the initial position The x-axis distance value of the third coincidence coordinate of the stage 212 from the coordinates of the reference point of the upper vision 42 can be calculated, and the stage 212 at the initial position through the amount of movement of the stage 212 in the y-axis direction. ), a y-axis separation value from each of the third matching coordinates may be calculated.

In addition, the process of determining the movement amount of the picker structure is the x-axis distance value and y-axis distance value from the coordinates of the reference point of the first upper vision 42 of the coordinates of the reference point of each n number of pickers, the first upper vision 42 at the initial position Based on the initial position of the first upper vision 42, considering the x-axis separation value and the y-axis separation value between the coordinates of the reference point and the third matching coordinate of each of the at least one coordinate of the stage 212 at the initial position Calculate the final x-axis movement amount of the picker structure 232 and the y-axis movement amount of the stage 212 so that the coordinates of the reference point of each of the n pickers 2321a to 2321h become the same as the coordinates of the reference point set for the stage 212 It includes the step of doing (step 3).

Hereinafter, with reference to FIG. 4 , a press movement amount determination process for determining a movement amount between the press 3 and the stage 212 using the lower vision 52 and the second upper vision 41 will be described.

4 is a diagram for explaining a process for determining a movement amount of a press performed through a picker structure and a system for determining a movement amount of a press according to an embodiment of the present disclosure.

Referring to FIG. 4 , a method for determining a movement amount of a press disclosed herein includes a press 3 having a pad 311 including at least one contact surface and disposed with respect to a second upper vision 41 and a plurality of A method for determining a movement amount of a stage 212 on which a ring frame in a state in which a package is seated is disposed.

Accordingly, the method for determining the movement amount of a press disclosed herein is based on at least one contact surface of the pad 311 of the press 3 (for example, three contact surfaces including 311a, 311b, and 311c in FIG. 4), respectively. To calculate the movement amount information (final x-axis movement amount) of the press 3 and the movement amount information (final y-axis movement amount) of the stage 212 for matching between the coordinates of the reference point and the coordinates of the reference point set for the stage 212 can

The method of determining the movement amount of the press is first the coordinates of the reference point of the press 3 from the coordinates of the reference point of the second upper vision 41 (in other words, the coordinates of each reference point of the at least one contact surface of the pad 311 of the press 3). ) may include a step (first step) of calculating setting vision-press displacement information including an x-axis spacing value and a y-axis spacing value of .

For example, at least one contact surface of the pad 311 of the press 3 may be provided with three, and in this case, the first step is the coordinates of the reference point of each of the three contact surfaces 311a, 311b, and 311c. An x-axis distance value and a y-axis distance distance value between coordinates of the reference point of the second upper vision 41 may be calculated. For example, the x-axis separation value and the y-axis separation value of the coordinates of the reference point of the first contact surface 311a and the coordinates of the reference point of the second upper vision 41 may be calculated, and the reference point of the second contact surface 311b The x-axis separation value and the y-axis separation value of the coordinates of the coordinates and the reference point of the second upper vision 41 can be calculated, and in this way, the coordinates of the reference point of each contact surface and the reference point of the second upper vision 41 An x-axis spacing value and a y-axis spacing value between coordinates may be calculated. For reference, the reference point of the second upper vision 41 may mean the center of the sensing area of the second upper vision 41, and the reference point of the press 3 is the center of the contact surface formed below the pad 311. can mean

The first step is to move the press 3 from the initial position of the press 3 on the x axis so that the coordinates of the reference point of the second upper vision 41 and the coordinates of the reference point of the lower vision 52 coincide. The x-axis value of the first matching coordinate and the initial position when the coordinates of the reference point of the second upper vision 41 coincide with the coordinates of the reference point of the lower vision 52 by moving the vision 52 from the initial position on the y-axis Calculating the x-axis distance value between the coordinates of the reference point of the setting vision and the y-axis distance value between the y-axis value of the first matching coordinate and the coordinates of the reference point of the lower vision 52 at the initial position (Step 1-1) can include According to the 1-1 step, when the coordinates of the reference point of the second upper vision 41 at the initial position, which is the coordinate before movement of the second upper vision 41, are set to (0, 0), the first coincidence coordinates , (x-axis spacing value, y-axis spacing value) as coordinates.

For reference, FIG. 4 shows a conceptual perspective view when the coordinates of the reference point of the second upper vision 41 coincide with the coordinates of the reference point of the lower vision 52 . Referring to FIG. 4 , when the coordinates of the reference point of the second upper vision 41 coincide with the coordinates of the reference point of the lower vision 52, the second upper vision 41 is positioned above the lower vision 52. can

In addition, in the first step, the press 3 is moved along the x-axis so that the coordinates of the reference point of each of the at least one contact surface of the pad 311 of the press 3 sequentially match the coordinates of the reference point of the lower vision 52. Or, by moving the lower vision 52 on the y-axis, a plurality of coordinates when the coordinates of the reference point of each of the at least one contact surface of the pad 311 of the press 3 coincide with the coordinates of the reference point of the lower vision 52 Calculating a plurality of x-axis distance values and a plurality of y-axis distance values between the second matching coordinates of the dog and the coordinates of the reference point of the second upper vision 41 at the initial position (step 1-2). .

For example, in step 1-2, the x-axis press 3 is set so that the coordinates of the reference point of the first contact surface 311a of the at least one contact surface of the pad 311 coincide with the coordinates of the reference point of the lower vision 52. or the lower vision 52 may be moved along the y-axis, and accordingly, the coordinates of the reference point of the first contact surface 311a and the coordinates of the reference point of the lower vision 52 coincide with the first second matching coordinates (Second coincidence coordinates of the first contact surface 311a) may be created. At this time, the x-axis value of the second coincidence coordinate is the initial position of the second upper vision 41 moved in conjunction with the press 3 moving so that the coordinates of the reference point of the first contact surface 311a are located at the second coincidence coordinate. It may be the movement amount (x-axis movement amount) from the coordinates, and the y-axis value of the second coincident coordinate is the initial position of the lower vision 52 moving so that the coordinates of the reference point of the lower vision 52 are located at the second coincident coordinate. It may be a movement amount (y-axis movement amount) from coordinates. These second matching coordinates may be defined as coordinates when the coordinates of the reference point of the second upper vision 41 at the initial position are set to (0, 0).

In this way, when the x-axis distance value and the y-axis distance value between the coordinates of the reference point of the first contact surface 311a and the reference point of the second upper vision 41 at the initial position are calculated, then, the first-second step The press 3 may be moved in the x-axis or the lower vision 52 may be moved in the y-axis so that the coordinates of the reference point of the second contact surface 311b coincide with the coordinates of the reference point of the lower vision 52, and accordingly, When the coordinates of the reference point of the second contact surface 311b coincide with the coordinates of the reference point of the lower vision 52, second matching coordinates (second matching coordinates of the second contact surface 311b) may be generated. At this time, the x-axis value of the second coincidence coordinate is the value of the second upper vision 41 moved in conjunction with the press 3 moving so that the coordinates of the reference point of the second contact surface 311b are positioned at the second coincidence coordinate. It may be the movement amount (x-axis movement amount) from the coordinates of the initial position, and the y-axis value of the second second coincidence coordinate is the lower vision 52 moving so that the coordinates of the reference point of the lower vision 52 are located at the second second coincidence coordinate ) may be a movement amount (y-axis movement amount) from the coordinates of the initial position. These second coincidence coordinates may be defined as coordinates when the coordinates of the reference point of the second upper vision 41 at the initial position are set to (0, 0).

In this way, the first and second steps generate a plurality of second matching coordinates when each of the at least one contact surface of the pad 311 of the press 3 coincides with the coordinates of the reference point of the lower vision 52. Alternatively, the x-axis spacing value of each of the plurality of second matching coordinates and the coordinates of the reference point of the second upper vision 41 at the initial position and the y-axis spacing value of the coordinates of the reference point of the lower vision 52 at the initial position can be calculated. Each of the plurality of second coincidence coordinates may be a coordinate value given to each of the plurality of second coincidence coordinates when the coordinates of the reference point of the second upper vision 41 are set to (0, 0), and the second coincidence coordinates of the initial position It can also be replaced with the x-axis distance value and the y-axis distance value of the coordinates of the reference point of the upper vision 41.

In addition, the first step is the x-axis separation value between the x-axis value of the first coincident coordinate and the x-axis value of the reference point coordinate of the second upper vision 41 at the initial position, the y-axis value of the first coincident coordinate and the initial position The y-axis separation value of the coordinates of the reference point of the lower vision 52 and the plurality of x-axis separation values between the reference point coordinates of the second upper vision 41 of the second coincident coordinates and the initial position and the second coincidence coordinates and the initial position Coordinates of each reference point of the at least one contact surface of the pad 311 of the press 3 from the coordinates of the reference point of the second upper vision 41 based on the plurality of y-axis separation values between the reference point coordinates of the lower vision 52 It may include calculating an x-axis spacing value and a y-axis spacing value of (steps 1-3).

The difference between the second coincident coordinates and the first coincident coordinates of each of the at least one contact surface of the pad 311 of the press 3 is the coordinate of the reference point of each of the at least one contact surface of the pad 311 and the second upper vision 41 It can be calculated as the x-axis spacing value and the y-axis spacing value of the coordinates of the reference point of . Taking the first contact surface 311a as an example, as described above, the absolute value of the difference between the x-axis value of the second matching coordinate and the x-axis value of the first matching coordinate of the first contact surface 311a is the first contact surface 311a. It can be calculated as the x-axis distance value of the coordinates of the reference point and the coordinates of the reference point of the second upper vision 41, and the y-axis value of the second matching coordinate of the first contact surface 311a and the y-axis value of the first matching coordinate The absolute value of the difference can be calculated as the y-axis separation value of the coordinates of the reference point of the first contact surface 311a and the coordinates of the reference point of the second upper vision 41, and in this way, the coordinates of the reference point of each of the at least one contact surface and An x-axis spacing value and a y-axis spacing value of the coordinates of the reference point of the second upper vision 41 may be calculated.

In addition, referring to FIG. 2 , in the method of determining the movement amount of the press, the coordinates of the reference point of the jig 53 and the coordinates of the reference point of the lower vision 52 coincide with the upper side of the lower vision 52 before step 1-1. It includes the step of arranging the jig 53 as. The jig 53 is movable in the y-axis relative to the lower vision 52, and the coordinates of the reference point of the jig 53 match the coordinates of the reference point of the lower vision 52 before step 1-1. can move upwards.

In this case, in step 1-1, the press 3 is moved along the x-axis so that the coordinates of the reference point of the second upper vision 41, the coordinates of the reference point of the jig 53, and the coordinates of the reference point of the lower vision 52 coincide. and the lower vision 52 can be moved along the y-axis.

Also, the method for determining the movement amount of the press may include removing the jig 53 between the first-first step and the first-second step. Accordingly, when the coordinates of the reference point of the lower vision 52 and the coordinates of the reference points of each of the at least one contact surface coincide (when the second matching coordinates are generated), between each of the at least one contact surface and the lower vision 52, a jig 53 ) may not be located.

In addition, the method for determining the movement amount of the press disclosed herein is a setting including an x-axis distance value and a y-axis distance value between the coordinates of the reference point of the second upper vision 41 at the initial position and the coordinates of the reference point of the stage 212 A step of calculating vision-stage displacement information (step 2) may be included.

Specifically, in the second step, the second upper vision 41 moves in the x-axis direction (ie, the press 3 moves in the x-axis direction) and the stage 212 moves in the y-axis direction, Setting vision-stage displacement information may be calculated by sequentially matching the coordinates of the reference point of the upper two visions 41 with the coordinates of at least one reference point of the stage 212, and the initial position of the second upper vision 41 An x-axis separation value and a y-axis separation value between the coordinates of the reference point and the coordinates of at least one reference point of the stage 212 may be calculated. For reference, the x-axis spacing value and the y-axis spacing value in the second step are coordinates when the coordinates of the reference point of the second upper vision 41 and the coordinates of at least one reference point of the stage 212 coincide (the first 3 coincident coordinates) and the coordinates of the reference point of the second upper vision 41 at the initial position.

In this regard, according to one embodiment of the present application, the reference point of the stage 212 is a specific package among a plurality of packages attached to the ring frame seated on the stage 212 (eg, to form a plurality of rows and a plurality of columns). It may be set as the center point of a package corresponding to the first column and first row among a plurality of packages to be seated, a package disposed at the center of an area in which a plurality of packages are seated, etc.), but is not limited thereto.

For example, in the second step, the coordinates of the reference point of the second upper vision 41 may be sequentially matched with the coordinates of at least one reference point of the stage 212, and in this process, the above-described third matching coordinates may be generated, and the x-axis separation value of the third coincidence coordinate from the coordinates of the reference point of the second upper vision 41 at the initial position and the third from the coordinates of at least one reference point of the stage 212 at the initial position The y-axis distance value of the matching coordinate (or the coordinate calculated when the coordinates of the reference point of the second upper vision 41 at the initial position are set as the origin (0, 0) (x-axis value and y-axis value of the coordinate)) this can be calculated.

For example, in the second step, the second upper vision 41 (press ( 3)) of the movement amount (for example, the driving amount of the motor that moves the press 3 generated when the press 3 is moved) and the movement amount of the stage 212 from the initial position (for example, moving the stage 212 from the x-axis separation value of the third matching coordinate from the coordinate of the reference point of the second upper vision 41 at the initial position and the coordinates of at least one reference point of the stage 212 at the initial position The y-axis separation value of the third coincidence coordinate of can be calculated. For reference, considering that the press 3 moves in the x-axis and the stage 212 moves in the y-axis, the second upper vision of the initial position through the amount of movement of the press 3 in the x-axis direction The x-axis separation value of the third matching coordinate of each of the at least one reference point of the stage 212 from the coordinates of the reference point of (41) can be calculated, and the initial position through the movement amount of the stage 212 in the y-axis direction A y-axis separation value of the third coincident coordinates of each of the at least one reference point of the stage 212 of may be calculated.

In addition, the method of determining the movement amount of the press is a setting vision including an x-axis distance value and a y-axis distance value from the coordinates of the reference point of the second upper vision 41 of the coordinates of the reference point of the press 3 - press displacement information, initial Setting vision including an x-axis separation value and a y-axis separation value between the coordinates of the reference point of the second upper vision 41 of the position and the coordinates of at least one reference point of the stage 212 of the initial position, respectively, and the third matching coordinates- Based on the initial position of the second upper vision 41, based on the stage displacement information, the coordinates of the reference point of each of the at least one contact surface are the same as the coordinates of the reference point of the stage 212 in the final x-axis of the press 3. A step (third step) of calculating the movement amount and the y-axis movement amount of the stage 212 is included.

Specifically, the final x-axis movement amount of the press 3 and the final y-axis movement amount of the stage 212 for the coordinates of the reference point of each of the at least one contact surface to be the same as the coordinates of the at least one reference point of the stage 212 are calculated. can

A picker structure or a method for determining a movement amount of a press according to an embodiment of the present disclosure may be implemented in the form of program instructions that can be executed by various computer means and recorded on a computer readable medium. The computer readable medium may include program instructions, data files, data structures, etc. alone or in combination. Program instructions recorded on the medium may be those specially designed and configured for the present invention or those known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. - includes hardware devices specially configured to store and execute program instructions, such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of program instructions include high-level language codes that can be executed by a computer using an interpreter, as well as machine language codes such as those produced by a compiler. The hardware devices described above may be configured to act as one or more software modules to perform the operations of the present invention, and vice versa.

In addition, the above-described picker structure or the method of determining the movement amount of the press may be implemented in the form of a computer program or application stored in a recording medium and executed by a computer.

The above description of the present application is for illustrative purposes, and those skilled in the art will understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present application. Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present application is indicated by the following claims rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts thereof should be construed as being included in the scope of the present application.

1: cutting part
11: loading and unloading device
111: tray unit
112: clamp structure
113: loading and unloading unit
12: package cutting device
13: washing part
14: Dry device
16: grid picker
2: Attachment
21: ring frame transfer unit
211: transport side rail
212: stage
22: ring frame picker
221: picker side rail
222: ring frame picker
23: package picker
231: rail for temporary picker
232: temporary attachment picker, picker structure
2321: Picker
42: first upper vision
24: auxiliary transfer unit
241: auxiliary conveying rail
242: auxiliary transfer stage
3: press part
41: second upper vision
5: lower vision module
52 lower vision
53: jig
6: ring frame loading part

Claims (9)

In the picker structure and the movement amount determination system of the press,
a lower vision for sensing at least one of a position of a first reference point set with respect to the picker structure and a position of a second reference point set with respect to a press;
a first upper vision for sensing a position of a third reference point set with respect to a ring frame on which the plurality of packages held by the picker structure are seated; and
A second upper vision for sensing the position of a fourth reference point set for the plurality of packages seated on the ring frame;
Including, system. According to claim 1,
Wherein the lower vision is movable to enable switching between a position for sensing the first reference point and a position for sensing the second reference point. According to claim 2,
The picker structure is movable along a rail for a temporary picker extending in the x-axis direction,
The press is spaced apart in one direction relative to the y-axis direction with respect to the temporary picker rail and is movable along a rail on the side of the picker part extending in the x-axis direction,
The lower vision is configured to change the y-axis direction between a position for sensing the first reference point corresponding to the rail for the temporary picker and a position for sensing the second reference point corresponding to the rail on the side of the picker unit. A system that is movable along. According to claim 1,
Further comprising a jig in which a plurality of holes are formed,
In a state in which the jig is disposed between the lower vision and the first upper vision, reference coordinates of the lower vision and the first upper vision are matched using at least one hole among the plurality of holes,
In a state in which the jig is disposed between the lower vision and the second upper vision, reference coordinates of the lower vision and the second upper vision are matched using at least one hole among the plurality of holes. According to claim 1,
The picker structure includes a plurality of pickers,
Wherein the lower vision senses a location of a reference point of each of the plurality of pickers as a location of the first reference point. According to claim 3,
The second upper vision and the press move in the x-axis direction along the picker unit side rail, place the ring frame on a stage on which the ring frame is seated, or in a ring frame picker that picks up the ring frame from the stage. system, which is deployed against. According to claim 1,
The picker structure picks up the plurality of packages and temporarily attaches them to a film of a ring frame on a stage on which the ring frame is seated,
Wherein the press presses the plurality of packages on the stage in a downward direction so that the plurality of packages are fixed on the film. According to claim 7,
wherein the first upper vision is disposed relative to the picker structure. In the drive method of the picker structure and the movement amount determination system of the press,
Sensing a position of a first reference point set with respect to a picker structure in a lower vision;
sensing a position of a third reference point set with respect to a ring frame on which a plurality of packages held by the picker structure are seated, using a first upper vision;
determining a movement amount of at least one of the picker structure for seating the plurality of packages on the ring frame and a stage on which the ring frame is seated, using the location of the first reference point and the location of the third reference point;
sensing a position of a second reference point set for a press by the lower vision;
sensing a position of a fourth reference point set for the plurality of packages seated on the ring frame using a second upper vision; and
determining a movement amount of at least one of the press and the stage using the location of the second reference point and the location of the fourth reference point;
Including, method.

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