KR20040063747A - Zig for calibrating the needle of dispenser and Calibrating apparatus using this zig - Google Patents

Abstract

PURPOSE: A device for measuring the three-dimensional position coordinate of a dispenser needle and a calibration device are provided to accurately correct an error in a short time in changing a dispenser needle and to decrease the percent defective of a product. CONSTITUTION: A device for measuring the three-dimensional position coordinate of a dispenser needle comprises a body formed in a specific thickness and having upper and lower faces, an x-axis guide groove(102) formed in the body and guiding the x-axial movement of a needle, a y-axis guide groove(103) formed in the body and guiding the y-axial movement of the needle, an x-axis sensor(11) installed on the inner wall face of the x-axis guide groove and sensing the moving needle, a y-axis sensor installed on the inner wall face of the y-axis guide groove and sensing the moving needle, and a z-axis sensor sensing the z-axis coordinate of the needle by sensing the contacting to the end of the needle.

Description

Device for measuring three-dimensional position coordinates of the dispenser needle and a calibration device using the same {Zig for calibrating the needle of dispenser and Calibrating apparatus using this zig}

The present invention relates to an apparatus for measuring the three-dimensional position coordinates of the dispenser needle, and more particularly, to obtain the three-dimensional position coordinates (x, y, z) of the needle attached to the dispenser using a measuring jig, A calibration device for comparing a position coordinate with a set reference coordinate and correcting the offset thereof.

When repairing or disassembling and reassembling a robot with a dispenser that dispenses a certain amount of liquid (e.g. epoxy), especially a machine that requires precise position control, such as a robot, or is attached to the dispenser In the case of replacing the needle, an offset occurs in which the change occurs in the previous adjustment state.

However, when this offset occurs, a product defect occurs in the precision position control requiring careful control.

As an example, let's look at the problems of the prior art disclosed in Korean Patent Publication No. 10-1998-019579 (hereinafter, referred to as 579 '). The 579 'issue points out a number of problems arising in the semiconductor package process, particularly the gap between the lead frame and the needle in a dispenser used to apply epoxy to the upper surface of the lead frame for bonding chips, etc. in the semiconductor package manufacturing process. Due to the inconsistency, a poor adhesion of chips and the like is caused when a small amount of epoxy is applied, and on the contrary, a problem that causes a poor appearance of a product when an excessive application of epoxy is pointed out.

In addition, the problem caused by the replacement of the needle, in detail, the needle is carried in a certain length from the manufacturer, workers in the field cut to any length and mounted on the dispenser. In addition, these needles are very small in diameter and are easily deformed by external forces, etc., and are frequently worn, so they need to be replaced frequently. do. Therefore, when replacing the needle before or during the operation, it is necessary to adjust the origin of the needle so that the position of the needle exchanged with the lead frame does not change.

In the conventional origin adjustment, the operator lowers the exchanged needle by manual operation to contact the upper surface of the lead frame, obtains new coordinates of the needle using a gauge, etc., then corrects the coordinates by comparing it with the original coordinates. The zero point of the needle was adjusted by inputting it to the controller.

Since the origin of the needle was manually adjusted, there was a high possibility that the needle would be deformed or broken during the operation. In particular, since the zero point is adjusted depending on the operator's sense, accurate measurement is difficult, and the measured value also varies from operator to operator, which makes it difficult to obtain a consistent quality product.

The present invention was devised to solve the above problems, and an object of the present invention is to provide an apparatus capable of obtaining an accurate three-dimensional position coordinate (x, y, z) of the dispenser needle.

In addition, another object of the present invention is to provide a calibration device capable of replacing the needle of the dispenser or correcting the offset caused by another reason.

The following drawings attached to this specification are illustrative of preferred embodiments of the present invention, and together with the detailed description of the invention to serve to further understand the technical spirit of the present invention, the present invention is a matter described in such drawings It should not be construed as limited to

1 shows the configuration of a device according to the invention.

Figure 2a shows a first embodiment of a measuring jig according to the present invention.

Figure 2b shows a second embodiment of a measuring jig according to the invention.

3 shows a configuration of an operation controller according to the present invention.

Figure 4 shows the process of calibrating the needle using the measuring jig of the present invention.

* Brief description of the major symbols in the drawings *

10: measuring jig 20: motion controller 30: robot

40 dispenser

In order to achieve the above object, the apparatus for measuring the three-dimensional position coordinates (x, y, z) of the dispenser needle according to the present invention

A body 104 having a constant thickness and having upper and lower surfaces;

An x-axis guide groove 102 formed in the body and configured to receive the needle and guide movement of the needle in the x-axis direction;

A y-axis guide groove 103 formed in the body for accommodating the needle to guide movement of the needle in the y-axis direction;

An x-axis detecting sensor 11 installed on an inner wall of the x-axis guide groove to detect a needle moving along the groove;

A y-axis detecting sensor 11 installed on an inner wall of the y-axis guide groove and detecting a needle moving along the groove; And

It is installed on the upper surface of the body includes a z-axis detection sensor for sensing the z-axis coordinates of the needle by sensing the contact with the end of the needle.

In this case, the x-axis sensor and the y-axis sensor is composed of a light sensor and the light receiving unit of a pair of light sensor, the z-axis sensor is preferably composed of a piezoelectric sensor.

Further, an apparatus for measuring the three-dimensional position coordinates (x, y, z) of the dispenser needle as another aspect according to the present invention

A body 104 having a predetermined thickness and having upper and lower surfaces;

An x-axis guide groove 102 formed in the body and configured to receive the needle and guide movement of the needle in the x-axis direction;

A y-axis guide groove 103 formed in the body for accommodating the needle to guide movement of the needle in the y-axis direction;

A z-axis guide groove 115 formed in the body to guide the needle in the z-axis direction by receiving the needle;

An x-axis detecting sensor 11 installed on an inner wall of the x-axis guide groove to detect a needle moving along the groove;

A y-axis detecting sensor 11 installed on an inner wall of the y-axis guide groove and detecting a needle moving along the groove; And

It is installed on the inner wall surface of the z-axis guide groove includes a y-axis detection sensor 11 for detecting the needle descending along the groove.

At this time, the x-axis sensor, the y-axis sensor and the z-axis sensor is preferably composed of an optical sensor that makes a light emitting unit and the light receiving unit a pair.

In addition, the guide groove of the present invention may be in the form of a slot (slit) extending in the axial direction by the upper and lower surfaces of the body communicate with each other, or a slit (slit) extending in the axial direction by a predetermined depth from the upper surface of the body.

In addition, the x-axis guide groove and the y-axis guide groove may be formed in communication with each other, it is particularly preferable to have a "-" shape is connected to each other.

The calibration device as another aspect of this invention

A dispenser for constantly discharging liquid to the work object through the needle;

A robot on which the dispenser is mounted;

A jig according to any one of claims 1 and 3 for measuring position coordinates of the needle;

And a drive controller for controlling the driving of the robot.

In addition, the drive controller is again

Means for calculating a three-dimensional position coordinate (x, y, z) of the needle based on sensing signals transmitted from a sensing sensor installed in the jig;

Means for calculating an offset value by comparing the position coordinates (x, y, z) of the needle with preset origin coordinates (x _o , y _o , z _o );

And means for generating a robot driving control signal for compensating the offset value and transmitting it to the robot driving mechanism.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the specification and claims should not be construed as having a conventional or dictionary meaning, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention.

Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

First, the calibration device of the present invention is shown in FIG. 1, which is a robot 30 having a dispenser 40 attached thereto, an operation controller 20 for controlling the movement of the robot, and attached to the dispenser 40. It consists of a measuring jig 10 for sensing the three-dimensional position coordinates of the needle (41).

The robot 30 includes a power drive unit including a motor for generating power and elements such as a belt and a gear for transmitting power of the motor, and the dispenser 40 is fixedly attached to one end of the power drive unit. .

The motion controller 20 stores various programs for controlling the operation of the robot in a storage device (not shown). The motion controller 20 preferably controls the robot 30 to the dispenser 40 by the program. The contained liquid is always discharged to the outside constantly through the needle 41.

The measuring jig 10 of the present invention shown in FIG. 2 is used to sense the three-dimensional position coordinates (x, y, z) of the needle 41 when the needle 41 is calibrated.

First, FIG. 2A shows a first embodiment of a measuring jig according to the present invention.

Referring to the drawings, the jig 10 according to the present embodiment is composed of a body 104 and at least one guide groove 101 formed in the body 104. The guide groove 101 includes an x-axis guide groove 102 for guiding the needle 41 in the x-axis direction and a y-axis guide groove 103 for guiding the needle in the y-axis direction.

In addition, the x-axis detecting sensor 11 and the y-axis detecting sensor 12 are attached to the wall of the x-axis guide groove 102 and the wall of the y-axis guide groove 103, respectively, so that the needles 41 in each direction are included. Senses movement). Preferably, an optical sensor having a light emitting part and a light receiving part can be used as the x- and y-axis detecting sensors 11 and 12, and when the needle 41 is within the sensing range of these sensors, the sensor is turned on and the range After exiting, it operates to turn off again.

The guide groove 101 is preferably composed of a "b" shaped groove in which the x-axis guide groove 102 and the y-axis guide groove 103 communicate with each other. Of course, the x-axis guide groove 102 and the y-axis guide groove 103 may not be in communication with each other, but may be formed on the body independently. In addition, the guide grooves 102 and 103 may be in the form of slots that penetrate the upper and lower surfaces of the body, but may also have a slit form.

In addition, a sensor 13 for arranging the z-axis coordinates of the needles 41 is provided on the upper body 104a of the jig 10, and a piezoelectric sensor is preferably used as the sensor. That is, when the needle 41 is positioned vertically above the z-axis detection sensor 13 and then the needle is lowered, the sensor is activated when the end of the needle 41 contacts the z-axis detection sensor 13. .

2B shows a second embodiment of the measuring jig according to the present invention.

As shown in the figure, the jig 10 of this embodiment is substantially the same in configuration as the jig of the first embodiment. However, in the first embodiment, the z-axis detection sensor 13 is installed on the upper surface 40 of the body. However, in the present embodiment, the x-axis guide groove 102 and the y-axis guide groove 103 are different from each other. The z-axis guide groove 115 is separately provided, and the z-axis detection sensor 13 is installed on the wall of the guide groove 115.

In this case, the z-axis detection sensor is preferably an optical sensor in which the light emitting unit and the light receiving unit form a pair. In addition, the z-axis guide groove 115 is preferably in the form of a slot through the upper surface 114a and the lower surface 114b of the body, but may also be a slit form.

Therefore, when the needle 41 is lowered along the z-axis guide groove 113, the sensor 13 detects the needle 41 and generates an electric signal.

This measuring jig 10 is installed on either side of the work bench, so that calibration with the work is possible.

The calibration apparatus of the present invention uses the measuring jig 10 to measure the needle 41 when the needle is replaced during operation of a robot control system equipped with a conventional dispenser, or when an offset occurs due to another reason. The current position coordinates (x, y, z) are obtained, the coordinates are compared with the origin coordinates (x _o , y _o , z _o ), and an offset value is calculated, and a control signal for compensating the offset value is generated.

In order to perform such an operation, an operation controller for controlling the motion of the calibration device includes a signal detector 21, an error correction unit 22, and a motion controller 23 as shown in FIG. 3.

The signal detector 21 detects an electrical signal from the sensors 11, 12 and 13 of the measuring jig 10 and changes it to a numerical value. The numerical value is modeled and the three-dimensional position coordinate (x, calculate y, z).

The error correction section 22 calculates the deviation (ie, offset value) of the needle by comparing the obtained position coordinates (x, y, z) with the origin coordinates (x _o , y _o , z _o ). Here, the origin coordinates (x _o , y _o , z _o ) are three-dimensional coordinates of the needle measured in the ideal state (or initial state).

The motion control unit 23 generates a drive control signal for controlling the movement of the robot so that the offset value calculated by the error correction unit 22 is compensated.

Figure 4 shows the process of calibrating the needle of the dispenser using the measuring jig of the present invention.

The worker replaces the needle (S10), and drives the robot 30 to move the needle 41 to the measuring jig 10 (S20).

In the measuring jig 10, the needle is guided to the guide groove 101 of the jig 10 to obtain coordinates (S30). First, the needle 41 moves along the x-axis direction of the guide groove 101. In this process, x-axis coordinates are obtained.

The motion controller 21 moves the needle 41 in the forward direction of the x-axis guide groove 101 by moving the needle 41 at the origin (reference point used when measuring the coordinates of the needle) where the needle 41 is located. At this time, the needle 41 is perpendicular to the ground. The needle 41 is guided to the guide groove 101 to move in the linear direction of the x-axis. At this time, when the needle 41 enters the sensing area, the sensor 11 is turned on to generate an electrical signal. Accordingly, the signal detector 21 models the electrical signal generated by the sensor to obtain the primary coordinate (x-axis coordinate) of the needle.

Thereafter, the needle 41 is moved again in the opposite direction to the moving direction of the needle 41 having obtained the primary coordinates (x-axis coordinates) to obtain secondary coordinates (x-axis coordinates) in the same manner as the above-described primary coordinates. If the difference between the primary x coordinate and the secondary x coordinate of the needle obtained in this way is within the set error range, the final x coordinate is obtained from the average of these two coordinates.

The y coordinate is also obtained by the sensor 12 sensing the y-axis movement of the needle in the same manner as the x coordinate.

After obtaining the x and y coordinates, the needle 41 is raised to a predetermined height above the jig 10, and the z coordinate is obtained at this position.

In the case of using the measuring jig (jig of FIG. 2A) of the first embodiment, the needle 41 descends downward toward the sensor 13 on the upper surface of the jig 10, and eventually the sensor 13 and You will come across. At this time, as the sensor 13 is turned on, an electrical signal is generated and transmitted to the signal detector 21. Accordingly, the signal detector 21 obtains the z-axis coordinates of the needle 41 by modeling the received electrical signal.

On the other hand, in the case of using the measuring jig (jig of FIG. 2B) of the second embodiment, the needle 41 is raised upward on the same line as the guide groove 113, and is lowered downward starting from this origin to guide groove ( 113) It will be inserted into. In addition, when the needle 41 falls into the sensing range of the sensor 13 while descending, the sensor 13 is turned on to generate an electrical signal to the signal detector 21 to obtain z-axis coordinates. .

Accordingly, the motion controller 20 compares the obtained position coordinates (x, y, z) with the origin coordinates (x _o , y _o , z _o ) to find a deviation, and the motion controller 23 calculates the deviation. The operation of the robot is calibrated so that the offset is corrected (S40, S50). Therefore, even if the position of the needle is wrong, it is possible to easily correct the offset during the operation through the movement of the robot.

As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto and is intended by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalents of the claims to be described.

According to the present invention, in replacing the needle of the dispenser, the error can be corrected accurately in a short time. In addition, since the time is less, the defect rate of the product can be lowered in the time-dependent process such as the semiconductor process, and in particular, by using the measuring jig, the error of the needle can be corrected with a very high level of accuracy.

Claims (10)

An apparatus for measuring the three-dimensional position coordinates (x, y, z) of the dispenser needle, A body 104 having a constant thickness and having upper and lower surfaces; An x-axis guide groove 102 formed in the body and configured to receive the needle and guide movement of the needle in the x-axis direction; A y-axis guide groove 103 formed in the body for accommodating the needle to guide movement of the needle in the y-axis direction; An x-axis detecting sensor 11 installed on an inner wall of the x-axis guide groove to detect a needle moving along the groove; A y-axis detecting sensor 11 installed on an inner wall of the y-axis guide groove and detecting a needle moving along the groove; And It is installed on the upper surface of the body device comprising a z-axis detection sensor for detecting the z-axis coordinates of the needle by sensing the contact with the end of the needle. The method of claim 1, The x-axis detection sensor and the y-axis detection sensor is composed of a light sensor and a light receiving unit of a pair of light sensor, characterized in that the z-axis detection sensor is composed of a piezoelectric sensor. An apparatus for measuring the three-dimensional position coordinates (x, y, z) of the dispenser needle, A body 104 having a predetermined thickness and having upper and lower surfaces; An x-axis guide groove 102 formed in the body and configured to receive the needle and guide movement of the needle in the x-axis direction; A y-axis guide groove 103 formed in the body for accommodating the needle to guide movement of the needle in the y-axis direction; A z-axis guide groove 115 formed in the body to guide the needle in the z-axis direction by receiving the needle; An x-axis detecting sensor 11 installed on an inner wall of the x-axis guide groove to detect a needle moving along the groove; A y-axis detecting sensor 11 installed on an inner wall of the y-axis guide groove and detecting a needle moving along the groove; And And a y-axis detecting sensor (11) installed on an inner wall of the z-axis guide groove to detect a needle descending along the groove. The method of claim 3, wherein And the x-axis sensor, the y-axis sensor and the z-axis sensor are all composed of an optical sensor in which a light emitting unit and a light receiving unit form a pair. The method according to claim 1 or 3, The guide groove is characterized in that the upper and lower surfaces of the body in communication with the slot (slot) form extending in the axial direction. The method according to claim 1 or 3, The guide groove is a device characterized in that the slit (slit) extending in the axial direction by digging a predetermined depth from the upper surface of the body. The method of claim 5, wherein And the x-axis guide groove and the y-axis guide groove communicate with each other. The method of claim 7, wherein And the x-axis guide groove and the y-axis guide groove are connected to each other to have a "-" shape. A dispenser for constantly discharging liquid to the work object through the needle; A robot on which the dispenser is mounted; A jig according to any one of claims 1 and 3 for measuring position coordinates of the needle; A drive controller for controlling the drive of the robot; The drive controller Means for calculating a three-dimensional position coordinate (x, y, z) of the needle based on sensing signals transmitted from a sensing sensor installed in the jig; Means for calculating an offset value by comparing the position coordinates (x, y, z) of the needle with preset origin coordinates (x _o , y _o , z _o ); And means for generating a robot drive control signal for compensating the offset value and transmitting it to the robot drive mechanism. 10. The apparatus of claim 9, wherein the means for calculating the three-dimensional positional coordinates (x, y, z) of the needle is The needle is moved along the guide groove of the jig to obtain first coordinates (x ₁ , y ₁ , z ₁ ), and the direction in which the needle moves to obtain the first coordinates (x ₁ , y ₁ , z ₁ ). By moving the needle in the opposite direction to obtain the second coordinate (x ₂ , y ₂ , z ₂ ), the first (x ₁ , y ₁ , z ₁ ) and the second coordinate (x ₂ , y ₂ , z ₂₎ And the three-dimensional position coordinate (x, y, z) of the needle by calculating the average value if the difference between