KR20240012792A - Pcb supply system and method using robots - Google Patents

Abstract

The present invention relates to a substrate supply system and method for optical inspection using a robot.
According to one aspect of the present invention, a base portion providing a predetermined frame and space; A substrate storage unit provided on one side of the base portion to allow removal and installation of a basket loaded with a plurality of PCBs; a robot unit disposed on one side of the substrate storage unit to load the PCB from the basket or unload and load the PCB into the basket; A substrate table unit located on one side of the robot unit and aligning the PCB received from the robot unit to the correct position, or receiving the PCB for which optical inspection has been completed and aligning the PCB to the correct position; a cleaning unit located on one side of the substrate table unit and removing foreign substances from one side of the PCB seated on the substrate table unit when the PCB passes through to maintain a clean state before optical inspection; and a substrate pick-up means for holding the PCB that has passed through the cleaning unit and putting it into an optical inspection room for optical inspection, or holding the PCB that has been inspected in the optical inspection room and delivering it to the substrate table unit. Optics using a robot including a. A PCB supply system for inspection may be provided.

Description

Substrate supply system for optical inspection using a robot and its supply method {PCB SUPPLY SYSTEM AND METHOD USING ROBOTS}

The present invention relates to a substrate supply system and method for optical inspection using a robot.

Generally, in the Surface Mount Technology (SMT) system, when a printed circuit board is supplied through a printed circuit board supplier (loader), a solder paste is applied to the pattern on which the surface mount components are mounted using a screen printer, When components are supplied to the surface mounting device through a component supply device, the components are mounted on a pattern with solder paste applied, and the printed circuit board with the components is placed in a reflow oven to melt the solder paste and then harden it. has

Meanwhile, in the surface mount technology line, Automated Optical Inspection (hereinafter referred to as "AOI") is performed, and AOI is ultimately used to test components such as resistors, condensers, and ICs on printed circuit boards (PCBs). ) is a defect inspection that checks whether it has been assembled properly.

Images of the assembled printed circuit board are acquired and processed to inspect whether there is any misinstallation such as component displacement, or defective soldering such as over-soldering, under-soldering, or short-circuiting.

Such AOI equipment requires teaching work to register the positions of components mounted on the printed circuit board and set inspection standards as a preliminary work for inspection. The existing method of generating teaching data through teaching work has been to acquire a two-dimensional image of the entire printed circuit board using a camera and then directly input the positions of components mounted on the printed circuit board and other inspection conditions. .

In this way, the AOI performs an optical inspection on the components mounted on the printed circuit board to determine whether the components are mounted correctly, and those determined to be defective can be transferred to the NG buffer. On the other hand, printed circuit boards judged to be good by AOI can be loaded onto the unloader and shipped.

Conventional AOI equipment may be provided with loading equipment for supplying printed circuit boards for optical inspection of printed circuit boards, and unloading equipment for loading good printed circuit boards that have completed optical inspection back to their original positions. there is.

However, conventionally, loading equipment and unloading equipment for supplying and shipping printed circuit boards for optical inspection must be installed separately in different places in the inspection section, so they take up a lot of space, which causes the problem of increasing the overall size of the AOI equipment.

Korean Patent Publication No. 10-2017-0012911 (published on February 6, 2017)

A substrate supply system for optical inspection using a robot according to an embodiment of the present invention and its supply method are proposed to solve the above problems, and the loading and unloading equipment of printed circuit boards are installed in one place in a complex manner. The purpose is to reduce the size of the entire system by saving space.

In addition, the place where the robot loads or unloads the printed circuit board is provided in a multi-layer structure to provide convenience for loading and unloading while maximizing space utilization.

According to one aspect of the present invention, a base portion providing a predetermined frame and space; a substrate storage unit provided on one side of the base portion so that a basket loaded with a plurality of PCBs can be removed and installed; a robot unit disposed on one side of the substrate storage unit to load the PCB from the basket or unload and load the PCB into the basket; A substrate table unit located on one side of the robot unit and aligning the PCB received from the robot unit to the correct position, or receiving the PCB for which optical inspection has been completed and aligning the PCB to the correct position; a cleaning unit located on one side of the substrate table unit and removing foreign substances from one side of the PCB seated on the substrate table unit when the PCB passes through to maintain a clean state before optical inspection; and a substrate pick-up means for holding the PCB that has passed through the cleaning unit and putting it into an optical inspection room for optical inspection, or holding the PCB that has been inspected in the optical inspection room and delivering it to the substrate table unit. Optics using a robot including a. A PCB supply system for inspection may be provided.

In addition, the substrate table unit includes a pre-inspection table means that receives the PCB from the robot unit, aligns the PCB in a correct position, fixes the aligned PCB so that it does not move, and inputs the PCB into the cleaning unit; and a post-inspection unit, which is provided in a multi-layer structure on the upper part of the pre-inspection table means, receives the inspected PCB from the optical inspection room, aligns it in the correct position, and provides the aligned PCB to the substrate storage unit through the robot unit. A PCB supply system for optical inspection using a robot may be provided, including a table means.

In addition, the pre-inspection table means includes a pre-inspection table portion provided on an upper portion so that the PCB can be seated; A pre-inspection clamping unit located at the upper part of the pre-inspection table unit and capable of being lifted up and down, grips the PCB delivered from the robot unit and places it on the pre-inspection table unit; And a pre-inspection alignment unit disposed at predetermined intervals along the edge of the pre-inspection table unit and aligning the PCB placed on the pre-inspection table unit to the correct position. A PCB supply system for optical inspection using a robot comprising a. can be provided.

In addition, the pre-inspection table part is provided with a plurality of vacuum suction holes through which vacuum pressure is applied to the upper surface so that the PCB placed on the upper surface is fixed without moving. <br></br> PCB for optical inspection using a robot A supply system may be provided.

In addition, the pre-inspection table unit includes a guide rail extending from one side to a point where the PCB passes through the cleaning unit so that it can be moved through the cleaning unit while the PCB is vacuum-adsorbed to the upper surface; And a moving block that supports the pre-inspection table part at a lower part of the pre-inspection table part and is installed on the guide rail to move the pre-inspection table part along the guide rail. A PCB supply system for optical inspection using a robot comprising a. This can be provided.

In addition, the post-inspection table means includes: a post-inspection table unit provided to enable seating of the PCB on which the optical inspection has been completed received from the substrate pickup means; A post-inspection clamping unit located at the upper part of the post-inspection table unit and capable of being raised and lowered in an upward and downward direction to grip the PCB placed on the post-inspection table unit and then raise it to deliver it to the robot unit; and a post-inspection alignment unit disposed at predetermined intervals along the edge of the post-inspection table unit and aligning the PCB placed on the post-inspection table unit to a correct position before the post-inspection clamping unit grips the post-inspection table unit. A robot comprising a. A PCB supply system for optical inspection using can be provided.

In addition, the cleaning unit includes: a cleaning housing formed in a structure in which a portion is open so that the pre-inspection table means passes while moving from one side to the other side; and a cleaning roll rotatably provided inside the cleaning housing, which contacts and rotates one side of the PCB placed on the pre-inspection table means to remove foreign substances from the PCB in an adhesive manner. An optical inspection using a robot, including a. A PCB supply system for PCB may be provided.

In addition, the substrate pickup means picks up the PCB from which foreign substances have been removed from the pre-inspection table means that has passed through the cleaning unit and transfers it to the optical inspection room, and includes a non-elevating pickup unit provided to be movable in the horizontal direction; and an elevating pickup unit that picks up the inspected PCB discharged from the optical inspection room and transfers it to the post-inspection table means, and is movable in both the vertical and horizontal directions. For optical inspection using a robot, including a. A PCB supply system may be provided.

In addition, a PCB supply system for optical inspection using a robot will be provided, wherein at least one of the non-elevating pickup unit and the elevating pickup unit is configured to convert the PCB by a predetermined angle on a horizontal plane during the transfer of the PCB. You can.

In addition, the substrate storage unit is provided to accommodate at least one of the baskets, and when the robot unit loads or unloads the PCB loaded in the basket, a substrate that spreads a plurality of PCBs that are bent at a predetermined distance from each other. A PCB supply system for optical inspection using a robot, including an alignment means, may be provided.

According to one aspect of the present invention, a PCB loading step of removing a single PCB loaded in a basket of a substrate storage unit using a robot unit; A PCB cleaning preparation step of seating the PCB pulled out individually on the pre-inspection table means of the substrate table unit; A cleaning step of passing a cleaning unit through a cleaning unit to remove foreign matter from one side of the PCB seated on the pre-inspection table means before inspection; An optical inspection transfer step of transferring the PCB that has passed through the cleaning unit to the entrance of an optical inspection room; A PCB unloading preparation step of preparing for unloading by seating the PCB for which optical inspection has been completed on the post-inspection table means of the substrate table unit; And a PCB unloading step of loading the PCB of the post-inspection table means into the basket using the robot unit. A PCB supply method for optical inspection using a robot can be provided, including a.

In addition, a method of supplying a PCB for optical inspection using a robot may be provided, wherein the robot unit loads the PCB upside down so that the PCB is loaded in the opposite direction in which it was loaded when unloading the PCB.

In addition, after the PCB unloading step, when the inspection of one side of the PCB is completed, the inspection of one side is completed for the inspection of the other side, and the unloaded PCB is reloaded, sequentially going through the following steps from the PCB loading step, and the PCB A method of supplying PCBs for optical inspection using a robot can be provided, which is characterized by removing foreign substances on the other side and performing optical inspection.

In addition, the PCB loading step may provide a PCB supply method for optical inspection using a robot, characterized in that all PCBs loaded in the basket are sequentially loaded one by one.

In addition, the PCB loading step may provide a PCB supply method for optical inspection using a robot, characterized in that a random loading method is performed to randomly select the PCB loaded in the basket.

The optical inspection substrate supply system and method using a robot according to an embodiment of the present invention saves space by allowing PCB loading and unloading to be performed in one place, thereby reducing the size and travel distance of the entire system. There is an effect.

In particular, by providing a double-table double-layer structure where the robot loads or unloads the PCB, convenience for loading and unloading can be provided and space utilization can be maximized.

Figure 1 is a perspective view showing the main internal components of a substrate supply system 10 for optical inspection according to an embodiment of the present invention.
Figure 2 is a perspective view of Figure 1 viewed from the opposite direction.
Figure 3 is an enlarged view showing the substrate storage unit in Figure 1.
Figure 4 is an enlarged view showing the basket and substrate alignment means in the substrate storage unit.
Figure 5 is a partial enlarged view showing the substrate table unit and cleaning unit in the substrate supply system 10 for optical inspection according to an embodiment of the present invention.
FIG. 6 is a front view showing the substrate table unit and substrate pickup means in FIG. 5.
Figure 7 is a perspective view of Figure 5 viewed from the opposite direction.
Figure 8 is an enlarged view showing the pre-inspection table portion of the substrate table unit in the substrate supply system 10 for optical inspection according to an embodiment of the present invention.
FIG. 9 is a view of FIG. 1 viewed from a different angle and is a perspective view illustrating the substrate pickup means.
FIG. 10 is a front view of the substrate pickup means in FIG. 9 as seen from the front.
FIG. 11 is an enlarged view showing the non-elevating pickup unit and the elevating pickup unit of the substrate pickup means in FIG. 10.
Figure 12 is a flowchart briefly showing a method of supplying a substrate for optical inspection according to another embodiment of the present invention.

Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings. In addition, when describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description will be omitted. The following description is one of several aspects of the invention that may be claimed for patent, and may form part of a detailed description of the invention. The present invention can make various changes and include various embodiments, and specific embodiments may be illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention. Terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by these terms. These terms are used only to distinguish one component from another. When a component is said to be 'connected' or 'connected' to another component, it is understood that it may be directly connected or connected to the other component, but that other components may exist in between. It should be. The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise.

Hereinafter, an embodiment of the present invention will be described with reference to the attached drawings.

Figure 1 is a perspective view showing the main internal components of a substrate supply system 10 for optical inspection according to an embodiment of the present invention. Figure 2 is a perspective view of Figure 1 viewed from the opposite direction. Figure 3 is an enlarged view showing the substrate storage unit in Figure 1. Figure 4 is an enlarged view showing the basket and substrate alignment means in the substrate storage unit. Figure 5 is a partial enlarged view showing the substrate table unit and cleaning unit in the substrate supply system 10 for optical inspection according to an embodiment of the present invention. FIG. 6 is a front view showing the substrate table unit and substrate pickup means in FIG. 5. Figure 7 is a perspective view of Figure 5 viewed from the opposite direction. Figure 8 is an enlarged view showing the pre-inspection table portion of the substrate table unit in the substrate supply system 10 for optical inspection according to an embodiment of the present invention. FIG. 9 is a view of FIG. 1 viewed from a different angle and is a perspective view illustrating the substrate pickup means. FIG. 10 is a front view of the substrate pickup means in FIG. 9 as seen from the front. FIG. 11 is an enlarged view showing the non-elevating pickup unit and the elevating pickup unit of the substrate pickup means in FIG. 10. Figure 12 is a flow chart briefly showing a method of supplying a substrate for optical inspection according to another embodiment of the present invention.

The substrate supply system 10 for optical inspection according to an embodiment of the present invention includes a base unit 100, a substrate storage unit 200, a robot unit 300, a substrate table unit 400, a cleaning unit 500, and It may include a substrate pickup means 600.

The substrate supply system 10 for optical inspection according to this embodiment loads the PCBs individually from the basket 210 loaded with a plurality of PCBs (printed circuit boards), goes through a cleaning process, and then carries them to the optical inspection room 20 for optical inspection. It may be provided to put the PCB on which the optical inspection has been completed and unload it back into the basket 210.

As shown in Figures 1 and 2, the base portion 100 forms the overall appearance of the substrate supply system 10 for optical inspection and has a predetermined structure so that other components of the substrate supply system 10 for optical inspection can be installed. frame and space can be provided.

Accordingly, the base portion 100 may be configured to include a plurality of frames, panels, and various coupling members, and spaces of various sizes and shapes may be formed by these configurations.

The base portion 100 may be protected with a partition or an external cover, if necessary, to prevent the interior from being exposed to the outside. However, in this embodiment, for convenience of explanation, the external cover and partition are removed so that the internal composition and structure can be clearly seen. It is shown.

The substrate storage unit 200 is provided to be located in the lower part of one side of the base portion 100, and the basket 210 loaded with a plurality of PCBs 1 is configured to be attached to or detachable from the substrate storage unit 200. You can.

Referring to FIGS. 3 and 4 , the substrate storage unit 200 is provided to accommodate at least one basket 210, and if necessary, one or more baskets 210 are stored in the substrate storage unit 200. It can be accommodated and installed. Additionally, approximately 15 to 30 PCBs 1 can be stored in the basket 210, but the storage capacity of the basket 210 can be appropriately changed depending on the needs of the operator.

When the basket 210 is mounted on the substrate storage unit 200, the plurality of PCBs 1 loaded inside the basket 210 can be individually locked to prevent them from moving arbitrarily. When the PCB (1) loaded in the basket (210) is withdrawn for optical inspection, it is in an unlocked state, and the PCB that is in an unlocked state and is released from the basket (210) can be loaded by the robot unit (300). there is.

The plurality of PCBs 1 loaded in the basket 210 may be loaded one by one sequentially, and in some cases, the PCBs 1 loaded in the basket 210 may be randomly selected and loaded randomly. In random loading, random selection can be performed by the set program.

Meanwhile, the PCB 1 for which the optical inspection has been completed is loaded into the basket 210 through an unloading process by the robot unit 300, and when loading is completed, it can be locked again to prevent it from moving.

Here, when the robot unit 300 loads or unloads the PCB 1 of the basket 210, the PCB 1 in the shape of a thin sheet is easily bent and comes into contact with another neighboring PCB 1 in a curved shape. Problems that make loading and unloading difficult may arise, and the substrate storage unit 200 of this embodiment is bent when the robot unit 300 loads or unloads the PCB 1 loaded in the basket 210. It may include a substrate alignment means 220 that separates the plurality of PCBs 1 from each other at regular intervals.

The substrate alignment means 220 is provided with a plurality of hook parts 221 having an “L” shape as shown in FIGS. 3 and 4, and the hook parts 221 are positioned opposite to each other and are bent. It can be inserted between a plurality of PCBs (1).

When the plurality of hook parts 221 are inserted between the PCBs 1 and then move in a direction away from each other, the PCBs 1 with narrowed spacing are spread apart, creating a space into which the robot unit 300 can be inserted for loading or unloading. can secure.

In this way, the substrate storage unit 200 may be configured to raise and lower the hook portion 221 in the vertical direction in order to keep the distance between the plurality of bent PCBs 1 constant, and the plurality of hook portions 221 are They may be configured to move horizontally in a direction that approaches or moves away from each other.

Meanwhile, the robot unit 300 may be provided to load or unload the PCB 1 from the basket 210. The robot unit 300 may be placed on one side of the substrate storage unit 200 on the base portion 100, and holds the robot arm 310 of the robot unit 300 and the PCB 1 during loading/unloading. The substrate clamping tool 320 may be installed within reach of the substrate storage unit 200 and the substrate table unit 400.

As shown, the robot unit 300 includes a robot arm 310 having a plurality of multi-joints, and the robot arm 310 can implement various movements by having a plurality of degrees of freedom of movement.

Specifically, the robot unit 300 includes three linear motion degrees of freedom for forward/backward, left/right, and up/down, and three degrees of freedom for each axis (e.g., X-axis, Y-axis, and Z-axis). The dog's rotational movement (i.e., rolling, pitching, and yawing) degrees of freedom may be further included.

Accordingly, the robot unit 300 of the substrate supply system 10 for optical inspection according to this embodiment can freely and appropriately perform all operations required by the user. At this time, in order to freely perform all operations, each rotating part of the robot unit 300 may have a configuration including a reducer, motor, encoder, motor driver, etc.

In addition, at the end of the robot arm 310 of the robot unit 300, there is a substrate clamping tool 320 that can grip the PCB 1 to load or unload the PCB 1 loaded in the basket 210. can be combined

The substrate clamping tool 320 can grip the PCB 1 in various forms. For example, it may be provided in a form that grips the PCB 1 by vacuum adsorption using a vacuum, and the PCB 1 ) may be provided in a form that grips the PCB (1) using a clamping chuck of a structure that mechanically supports the It can be selected appropriately, and this is also included in the scope of the present invention.

Meanwhile, the substrate table unit 400 is located on one side of the robot unit 300 on the base unit 100, and the PCB 1 received from the robot unit 300 undergoes a cleaning process and an optical inspection process as post-processes. It may be provided to align the PCB 1 in the correct position before receiving it or unloading it into the basket 210 after receiving the PCB 1 for which optical inspection has been completed.

Referring to FIGS. 5 to 8 , the substrate table unit 400 may include a pre-inspection table means 410 and a post-inspection table means 420.

Here, the pre-inspection table means 410 is disposed at the lower part of the substrate table unit 400, and the post-inspection table means 420 is disposed at the upper part of the pre-inspection table means 410 to enable loading and unloading while occupying less space. This is convenient and can be provided in a double-layer structure that can increase space efficiency.

The pre-inspection table means 410 receives the PCB 1 from the robot unit 300, aligns the PCB 1 in the correct position, fixes the aligned PCB 1 so that it does not move, and returns it to the cleaning unit 500. May be provided for input.

In addition, the post-inspection table means 420 is provided in a multi-layer structure on top of the pre-inspection table means 410 to increase space efficiency without occupying additional space required for substrate unloading, and is used in an optical inspection room ( It may be provided to receive the inspected PCB 1 from 20), align it in the correct position, and deliver the aligned PCB 1 to the substrate storage unit 200 through the robot unit 300.

Hereinafter, the pre-inspection table means 410 and the post-inspection table means 420 will be described in detail.

The pre-inspection table means 410 may include a pre-inspection table part 411, a pre-inspection clamping part 412, and a pre-inspection alignment part 413.

The pre-inspection table part 411 is provided so that the PCB 1 received from the robot unit 300 can be seated on its top. The pre-inspection table part 411 is a part where the PCB 1 is placed and may be configured in a form corresponding to the size and shape of the PCB 1, and may be provided in a flat shape. Since the PCB 1 is mostly rectangular in shape, the pre-inspection table part 411 may also be provided in an approximately square shape. However, the shape of the pre-inspection table part 411 is not necessarily limited to a square shape and can be of various shapes as needed. It is also possible to provide

In addition, as shown in FIG. 8, the pre-inspection table part 411 is attached to the upper surface so that when the PCB 1 is placed on the upper surface, the PCB 1 does not move arbitrarily and is fixed on the pre-inspection table part 411. A plurality of vacuum suction holes 411a where vacuum pressure acts may be formed.

That is, when the PCB 1 is placed on the pre-inspection table part 411 and alignment is completed, vacuum pressure acts on the PCB 1 through the vacuum suction hole 411a, and the PCB 1 is inspected by vacuum. It can be fixed to the upper surface of the front table part 411 through vacuum suction.

In addition, the pre-inspection clamping part 412 is located within a predetermined section corresponding to the upper part of the pre-inspection table part 411, and can be provided to be able to be raised and lowered in the vertical direction. The pre-inspection clamping unit 412 may be provided in plural pieces to grip at least a plurality of points of the PCB 1, and moves away or closer in the vertical direction with the PCB 1 in between. It can be grasped.

When the robot unit 300 loads a single PCB 1 from the basket 210 and moves toward the pre-inspection table means 410, the pre-inspection clamping part 412 rises to the upper part of the pre-inspection table part 411.

Next, the pre-inspection clamping part 412 opens in the vertical direction so as to hold the PCB (1), and then when the PCB (1) is positioned between the pre-inspection clamping parts (412), the gap is reduced again and the PCB (1) Multiple points (e.g., four places) are grasped. The pre-inspection clamping unit 412 holding the PCB 1 descends and places the PCB 1 on the upper part of the pre-inspection table unit 411.

In addition, the pre-inspection alignment unit 413 is provided to align the PCB 1 placed on the pre-inspection table unit 411 to the correct position, and as shown in FIG. 8, the pre-inspection table unit 411 They may be arranged to be spaced apart at predetermined intervals along the seat.

When the pre-inspection clamping part 412 places the PCB (1) on the pre-inspection table part 411, the PCB (1) is not seated in the correct position and moves out of the correct position and falls on the edge of the upper surface of the pre-inspection table part 411. There may be cases where it protrudes more.

In this way, if the PCB 1 is not seated in the correct position and protrudes outward from the pre-inspection table part 411, the PCB 1 may be caught when passing through the cleaning unit 500, which is the next process, or the cleaning process may not be performed properly. Since a problem may occur, the PCB 1 is first aligned to the correct position to prevent this.

As shown in Figure 8, the pre-inspection alignment part 413 is arranged at intervals along the edge of the pre-inspection table part 411. The pre-inspection alignment part 413 may include a protruding stem 413a that protrudes upward. You can.

In addition, an open through hole 411d is formed at the edge of the pre-inspection table part 411 so that the protruding stem 413a passes through the edge of the pre-inspection table part 411 without interference when the protruding stem 413a protrudes. It can be. The through holes 411d may be provided corresponding to the number and location of the protruding stems 413a.

Therefore, after the PCB (1) is placed on the upper surface of the pre-inspection table part 411, the pre-inspection alignment part 413 operates and the protruding stem 413a rises along the edge of the pre-inspection table part 411 to reach the correct position. The PCB 1, which protrudes toward the edge of the pre-inspection table part 411, is slightly lifted by the protruding stem 413a and slides in the opposite direction to the protruding outside of the pre-inspection table part 411. , In this process, the PCB 1 is located inside all the protruding stems 413a and can be aligned in the correct position on the pre-inspection table part 411.

Once the PCB 1 is aligned in the correct position on the pre-inspection table part 411, the vacuum suction hole 411a operates to secure the PCB 1 by vacuum adsorption on the pre-inspection table part 411.

Meanwhile, the pre-inspection table part 411 to which the PCB 1 is vacuum-adsorbed is used to perform the cleaning process, which is a subsequent process of the PCB 1. It moves toward the cleaning unit 500 and passes through the cleaning unit 500.

Accordingly, the pre-inspection table unit 411 may further include a guide rail 411b and a moving block 411c in order to move the pre-inspection table unit 411 itself toward the cleaning unit 500.

As shown in FIGS. 6 to 8, the guide rail 411b is installed on one side so that the pre-inspection table part 411 moves through the cleaning unit 500 with the PCB 1 vacuum-adsorbed on the upper surface. It may extend long enough to pass through the cleaning unit 500.

One guide rail 411b may be provided, but a plurality of guide rails 411b may be provided in parallel with each other to stably guide the movement of the pre-examination table unit 411 at the lower part of the pre-examination table unit 411.

In addition, the moving block 411c supports the load of the pre-inspection table part 411 between the lower part of the pre-inspection table part 411 and the guide rail 411b and is installed on the guide rail 411b, and moves accordingly. The block 411c can move the pre-inspection table part 411 along the guide rail 411b.

At this time, the moving block 411c may include a power unit that serves as a power source for moving the pre-inspection table part 411, and the cleaning unit moves the pre-inspection table part 411 at a preset timing according to a control signal from a control unit (not shown). It can be moved to (500).

While the pre-inspection table part 411 passes through the cleaning unit 500, one side (e.g., upper surface) of the PCB 1 vacuum-adsorbed to the upper surface of the pre-inspection table part 411 is exposed to the cleaning unit 500. This removes foreign substances and maintains a clean state.

Meanwhile, if the post-inspection table means 420 is described in detail with reference to FIGS. 5 to 7, the post-inspection table means 420 includes a post-inspection table unit 421, a post-inspection clamping unit 422, and a post-inspection clamping unit 422. It may include an alignment unit 423.

The post-inspection table part 421 is located above the pre-inspection table part 411 at a predetermined distance in the height direction, so that the PCB 1 that has completed the optical inspection received from the substrate pickup means 600 can be seated. provided.

Here, since the configuration and structure of the post-inspection table unit 421 are the same as the pre-inspection table unit 411 described above, detailed description thereof will be omitted.

Additionally, the post-inspection clamping part 422 is located at the upper part of the post-inspection table part 421 and can be provided to be lifted up and down. The post-inspection clamping part 422 is provided to grip the PCB 1 placed on the post-inspection table part 421 and then raise it to a predetermined height so that the robot unit 300 can easily grip the PCB 1.

Since the post-inspection clamping unit 422 is also configured in the same way as the pre-inspection clamping unit 412 described above, detailed description will be omitted.

In addition, the post-inspection alignment unit 423 is spaced apart at predetermined intervals along the edge of the post-inspection table unit 421, and before the post-inspection clamping unit 422 grips the PCB 1, the post-inspection table unit ( The PCB (1) placed on 421) can be aligned in the correct position.

Accordingly, the post-inspection clamping unit 422 can grip the PCB 1 placed in the correct position, and as a result, the robot unit 300 can also grip the PCB 1 at an accurate position.

Meanwhile, the cleaning unit 500 is a component used in a substrate cleaning process corresponding to a post-process of the substrate table unit 400, and may be located on one side of the substrate table unit 400 on the base portion 100.

The cleaning unit 500 is installed on one side of the PCB 1 when the PCB 1 vacuum-adsorbed to the pre-inspection table part 411 of the substrate table unit 400 passes through the cleaning unit 500. By removing foreign substances such as dust, the PCB 1 can be kept clean before optical inspection.

That is, as the PCB 1 seated on the pre-inspection table part 411 passes through the cleaning unit 500, foreign substances present on the opposite side of the adsorption surface adsorbed on the pre-inspection table part 411 are removed from the cleaning unit 500. It can be removed by .

Referring to FIG. 7 , specifically, the cleaning unit 500 may include a cleaning housing 510 and a cleaning roll 520.

The cleaning housing 510 is disposed on the movement path of the pre-inspection table means 410 of the substrate table unit 400, and is installed so that the pre-inspection table means 410 passes while moving from one side to the other side. A portion of may be provided in an open structure.

Accordingly, the pre-inspection table part 411 on which the PCB 1 is vacuum-adsorbed may pass through the cleaning housing 510 and be discharged to the other side.

Additionally, the cleaning roll 520 is rotatably provided inside the cleaning housing 510 and may be arranged to contact the upper surface of the PCB 1 placed on the pre-inspection table means 410. An adhesive component that can adhere foreign substances may be applied or attached to the outer surface of the cleaning roll 520.

Accordingly, when the pre-inspection table means 410 passes through the cleaning housing 510, the cleaning roll 520 is rotated in contact with the upper surface of the PCB 1 placed on the pre-inspection table part 411, and this process Foreign substances present in the PCB 1 can be removed in an adhesive manner by using an adhesive material treated on the surface of the cleaning roll 520.

The PCB 1 from which foreign substances have been removed by the cleaning roll 520 may be discharged toward the outlet of the cleaning housing 510 while adsorbed on the pre-inspection table part 411.

Meanwhile, the substrate pickup means 600 may pick up the PCB 1 that has passed the cleaning unit 500 and place it into the optical inspection room 20 for optical inspection, or the PCB 1 for which the optical inspection has been completed in the optical inspection room 20. (1) may be picked up and delivered to the post-inspection table means 420 of the substrate table unit 400.

Referring to FIGS. 9 to 11 , the substrate pickup means 600 may include a non-elevating pickup unit 610 and an elevating pickup unit 620.

The non-elevating pickup unit 610 picks up the PCB 1 from which foreign substances have been removed from the pre-inspection table means 410, which has passed through the cleaning unit 500 and advanced out of the exit of the cleaning housing 510, and carries it to an optical inspection room for optical inspection. Can be provided for transfer to (20).

At this time, the height of the pre-inspection table means 410 located outside the exit of the cleaning housing 510 and the entrance height of the optical inspection room 20 can be provided to be the same, so the non-elevating pickup unit 610 does not rise or fall in the height direction and moves horizontally. It may be provided so that it can be moved only in one direction. However, if the non-elevating pickup unit 610 needs to be lifted in the height direction, it is possible to be configured to move in the same height direction as the elevating pickup unit 620.

At this time, the non-elevating pickup unit 610 may be moved in the horizontal direction along the pickup guide unit 630 that is formed to extend horizontally on one side of the base unit 100.

Specifically, the non-elevating pickup unit 610 may include a pickup body 611, a pickup guard 612, a pickup suction 613, and a rotation means 614.

The pickup body 611 is provided so that other components of the non-elevating pickup unit 610 can be installed, and is connected to the pickup guide unit 630 so that the non-elevating pickup unit 610 is installed along the pickup guide unit 630. Make sure it moves in the horizontal direction.

The pickup guard 612 is coupled to the lower part of the pickup body 611 and may be provided in a size corresponding to the size of the PCB (1).

The pickup suction 613 is disposed at predetermined intervals along the edge of the lower part of the pickup guard 612 and may be provided to adsorb the edge of the PCB 1 using a vacuum.

Accordingly, the pickup suction 613 can be installed in consideration of the position of the edge of the PCB 1 at the lower part of the pickup guard 612.

Additionally, rotation means 614 may be provided to rotate the pickup guard 612 with respect to the pickup body 611 on a horizontal plane. When the pickup guard 612 is rotated on a horizontal plane by the rotation means 614, the entry direction of the PCB 1 vacuum-sucked by the pickup suction 613 can be changed, which will be described again later.

Meanwhile, the elevating pickup unit 620 may be provided to pick up the inspected PCB 1 discharged from the optical inspection room 20 and transfer it to the post-inspection table means 420.

Here, the optical inspection room 20 may be formed at the same location, rather than at a different location, such as an inlet through which the PCB 1 is input and an outlet through which the PCB 1 is discharged, so that the PCB 1 that has been inspected can be discharged back to the input location.

Unlike the non-elevating pickup unit 610, the elevating pickup unit 620 can be provided to be movable in both the vertical and horizontal directions, depending on the height of the exit of the optical examination room 20 and the post-examination table means 420. Since the heights of the provided post-inspection table units 421 are different from each other, the elevating pickup unit 620 can be raised and lowered in the height direction.

Accordingly, the elevating pickup unit 620 may include all of the components of the non-elevating pickup unit 610 and may further include an elevating cylinder unit 621 that is not present in the non-elevating pickup unit 610.

That is, the elevating pickup unit 620 includes a pickup body, a pickup guard, a pickup suction, and a rotating means like the non-elevating pickup unit 610, but the reference numerals for these components in the drawings of FIGS. 9 to 11 will not be indicated separately and will be indicated with reference numerals only for the lifting cylinder unit 621 added to the non-elevating pickup unit 610.

Additionally, since the elevating pickup unit 620 must be moved from the exit of the optical examination room 20 to the post-examination table means 420, it can also be moved in the horizontal direction.

At this time, the elevating pickup unit 620 is installed on the pickup guide unit 630 through which the non-elevating pickup unit 610 moves horizontally and can be moved in the horizontal direction along the pickup guide unit 630. At this time, the non-elevating pickup unit 610 and the elevating pickup unit 620 may be set so that when one is moved, the other is located in a separately provided retreat space so as not to interfere with each other or impede movement.

For example, when the elevating pickup unit 620 moves toward the optical inspection room 20 to pick up the PCB 1 discharged at the exit of the optical inspection room 20, the non-elevating pickup unit 610 is connected to the elevating pickup unit 610. In order not to interfere with or be disturbed by the post-examination table means 420, the patient can move to and stay in a retreat space provided on one side of the optical examination room 20 in a direction further away from the table means 420.

In addition, at least one of the non-elevating pickup unit 610 and the elevating pickup unit 620 (i.e., the non-elevating pickup unit 610 or the elevating pickup unit 620 or both) is of the PCB (1). During the transfer process, the PCB 1 may be configured to be rotatable so that the PCB 1 can be changed by a predetermined angle on a horizontal plane. The rotation means 614 described above performs this function, and the same configuration as the rotation means 614 can be applied to the non-elevating pickup unit 610 as well as the elevating pickup unit 620.

Therefore, for example, when the PCB 1 is formed in a rectangular shape, the longitudinal direction of the PCB 1 discharged from the cleaning unit 500 and the longitudinal direction of the PCB 1 input into the optical inspection room 20 are arranged differently. It may be that the longitudinal direction of the PCB 1 discharged from the optical inspection room 20 and the longitudinal direction of the PCB 1 seated on the post-examination table portion 421 of the post-examination table means 420 may be different from each other. In this case, at least one of the non-elevating pickup unit 610 and the elevating pickup unit 620 rotates the PCB 1 at a predetermined angle (approximately 90 degrees or less) on the horizontal plane by the rotation means 614. This can facilitate the entry of PCB (1) into the next process.

Hereinafter, a method of supplying a PCB for optical inspection according to another embodiment of the present invention will be described with reference to FIG. 12.

The method of supplying PCBs for optical inspection according to this embodiment was partially explained when explaining the substrate supply system 10 for optical inspection above, so each step will be briefly described here.

First, in the PCB loading step (S10), a single PCB (1) can be withdrawn from the basket (210) in which a plurality of pre-inspection PCBs (1) are loaded using the robot unit 300.

When loading the PCB (1) in this way, all the PCB (1) loaded in the basket (210) can be loaded sequentially, or the PCB (1) loaded in the basket (210) can be randomly selected like a sampling test. It can also be loaded using a random loading method. The random loading method selects and loads some of the plurality of PCBs 1 loaded in the basket 210 according to preset logic and optically inspects them, and the loading method can be appropriately adopted according to the needs of the operator. there is.

In addition, the PCB cleaning preparation step (S20) may refer to a process of seating the PCB 1, which has been pulled out individually by the robot unit 300, on the pre-inspection table means 410 of the substrate table unit 400.

The robot unit 300 can load the PCB 1 individually from the basket 210 and place it on the pre-inspection table part 411 of the pre-inspection table means 410. In this process, as described in the above optical inspection substrate supply system 10, the pre-inspection clamping unit 412 can receive the PCB 1 from the robot unit 300 and place it on the pre-inspection table unit 411. The PCB (1) placed on the pre-inspection table part 411 is aligned in the correct position by the pre-inspection alignment part 413, and the aligned PCB (1) is fixed by vacuum adsorption on the pre-inspection table part 411. It can be.

In addition, the cleaning step (S30) is performed on the substrate table to remove foreign substances on one side (e.g., the upper surface) of the PCB 1 before inspection, which is vacuum-adsorbed on the pre-inspection table part 411 of the pre-inspection table means 410. This may refer to a process of passing the cleaning unit 500 disposed at the rear of the unit 400.

In the process of the PCB 1 vacuum-adsorbed on the pre-inspection table part 411 passing through the cleaning unit 500 together with the pre-inspection table part 411, a cleaning roll rotatably installed inside the cleaning housing 510 ( Foreign substances such as dust present on one side of the PCB 1 can be removed by the adhesive component of the cleaning roll 520 while contacting the cleaning roll 520.

Meanwhile, the optical inspection transfer step (S40) is a process of transferring the PCB 1 that has passed through the cleaning unit 500 to the entrance of the optical inspection room 20 by the non-elevating pickup unit 610 of the substrate pickup means 600. It can mean. The non-elevating pickup unit 610 can pick up the PCB 1 from which foreign substances have been removed and provide it to the entrance of the optical inspection room 20 so that an optical inspection of the PCB 1 can be performed.

In addition, when the optical inspection is completed, the PCB unloading preparation step (S50) is performed. In the PCB unloading preparation step (S50), the PCB (1) for which the inspection has been completed is carried out by the elevating pickup unit (620) of the substrate pickup means (600). This may refer to a process of picking up the substrate table unit 400, placing it on the table means 420 after inspection, and preparing for unloading into the basket 210.

In this step, the elevating pickup unit 620 picks up the post-inspection PCB 1 discharged from the exit of the optical inspection room 20 and places it on the post-inspection table unit 421 of the post-inspection table means 420, In-position alignment of the PCB 1 may be performed by the post-alignment unit 423.

In addition, in the PCB unloading step (S60), the PCB 1 placed on the post-inspection table part 421 of the post-inspection table means 420 is loaded (unloaded) into the basket 210 using the robot unit 300. ) can refer to the process of. At this stage, the post-inspection clamping unit 422 grasps the PCB 1 placed on the post-inspection table unit 421 and raises it to a predetermined height from the post-inspection table unit 421, so that the robot unit 300 holds the PCB 1. can be easily delivered.

Meanwhile, when the robot unit 300 unloads the PCB 1 in the PCB unloading step (S60), the PCB 1 is turned over so that the PCB 1 is loaded into the basket 210 in the opposite direction from which it was initially loaded. It can be loaded (unloaded), and the reason for doing this is for convenience when reloading to inspect the other side of the PCB (1). For reference, one PCB 1 performs both optical inspection on one side and the other side.

In addition, after the PCB unloading step (S60), when the inspection of one side (e.g., the upper side) of the PCB 1 is completed, the inspection of one side is completed for the inspection of the other side (e.g., the lower side) of the PCB 1. The unloaded PCB 1 can be reloaded.

When the PCB (1) is reloaded to inspect the other side of the PCB (1), the other side of the PCB (1) is sequentially processed through the steps from the PCB loading step (S10) to the PCB unloading step (S60) described above. Foreign matter removal and optical inspection can be performed.

Above, the substrate supply system for optical inspection using a robot according to an embodiment of the present invention and the supply method thereof have been described as specific embodiments, but this is only an example and the present invention is not limited thereto, and the basic idea disclosed herein It should be interpreted as having the widest possible scope. A person skilled in the art may combine and substitute the disclosed embodiments to implement embodiments not specified, but this also does not deviate from the scope of the present invention. In addition, a person skilled in the art can easily change or modify the embodiments disclosed based on the present specification, and it is clear that such changes or modifications also fall within the scope of the present invention.

1: PCB 10: Substrate supply system for optical inspection
20: Optical inspection room
100: base part
200: substrate storage unit 210: basket
220: substrate alignment means 221: hook portion
300: Robot unit 310: Robot arm
320: Substrate clamping tool
400: Substrate table unit 410: Pre-inspection table means
411: Pre-inspection table part 411a: Vacuum suction hole
411b: Guide rail 411c: Moving block
411d: Through hole 412: Clamping part before inspection
413: Pre-inspection alignment part 413a: Protruding stem
420: Post-inspection table means 421: Post-inspection table unit
422: Clamping section after inspection 423: Alignment section after inspection
500: Cleaning unit 510: Cleaning housing
520: Cleaning roll
600: substrate pickup means 610: non-elevating pickup unit
611: Pickup body 612: Pickup guard
613: pickup suction 614: rotation means
620: Elevating pickup unit 621: Elevating cylinder unit
630: Pickup guide unit
S10: PCB loading stage
S20: PCB cleaning preparation stage
S30: Cleaning step
S40: Optical inspection transfer step
S50: PCB unloading preparation stage
S60: PCB unloading step

Claims (15)

A base portion that provides a predetermined frame and space;
A substrate storage unit provided on one side of the base portion to allow removal and installation of a basket loaded with a plurality of PCBs;
a robot unit disposed on one side of the substrate storage unit to load the PCB from the basket or unload and load the PCB into the basket;
A substrate table unit located on one side of the robot unit and aligning the PCB received from the robot unit to the correct position, or receiving the PCB for which optical inspection has been completed and aligning the PCB to the correct position;
a cleaning unit located on one side of the substrate table unit and removing foreign substances from one side of the PCB seated on the substrate table unit when the PCB passes through to maintain a clean state before optical inspection; and
A substrate pickup means for holding the PCB that has passed through the cleaning unit and inserting it into an optical inspection room for optical inspection, or holding the PCB that has been inspected in the optical inspection room and delivering it to the substrate table unit.
PCB supply system for optical inspection using a robot. According to claim 1,
The substrate table unit,
Pre-inspection table means for receiving the PCB from the robot unit, aligning the PCB in a correct position, fixing the aligned PCB so that it does not move, and inserting the PCB into the cleaning unit; and
A post-inspection table is provided in a multi-layer structure on the upper part of the pre-inspection table means, receives the inspected PCB from the optical inspection room, aligns it in the correct position, and provides the aligned PCB to the substrate storage unit through the robot unit. means; including,
PCB supply system for optical inspection using a robot. According to clause 2,
The pre-inspection table means,
A pre-inspection table section provided at the top so that the PCB can be seated;
A pre-inspection clamping unit located at the upper part of the pre-inspection table unit and capable of being lifted up and down, grips the PCB delivered from the robot unit and places it on the pre-inspection table unit; and
A pre-inspection alignment unit disposed at predetermined intervals along the edge of the pre-inspection table unit and aligning the PCBs placed on the pre-inspection table unit to the correct position, comprising:
PCB supply system for optical inspection using a robot. According to clause 3,
The pre-inspection table part,
A plurality of vacuum suction holes through which vacuum pressure is applied are provided on the upper surface so that the PCB placed on the upper surface is fixed without moving.
PCB supply system for optical inspection using a robot. According to clause 4,
The pre-inspection table part,
A guide rail extending from one side to a point where the PCB passes the cleaning unit so that it can be moved through the cleaning unit while being vacuum-adsorbed to the upper surface; and
A moving block that supports the pre-examination table unit at a lower portion of the pre-examination table unit and is installed on the guide rail to move the pre-examination table unit along the guide rail.
PCB supply system for optical inspection using a robot. According to clause 2,
The post-inspection table means,
a post-inspection table unit provided to enable seating of the PCB on which the optical inspection has been completed received from the substrate pickup means;
A post-inspection clamping unit located at the upper part of the post-inspection table unit and capable of being raised and lowered in an upward and downward direction to grip the PCB placed on the post-inspection table unit and then raise it to deliver it to the robot unit; and
A post-inspection alignment unit disposed at predetermined intervals along the edge of the post-inspection table unit and aligning the PCB placed on the post-inspection table unit to the correct position before the post-inspection clamping unit grips the post-inspection table unit.
PCB supply system for optical inspection using a robot. According to clause 2,
The cleaning unit,
a cleaning housing whose portion is formed in an open structure so that the pre-inspection table means passes while moving from one side to the other; and
A cleaning roll is rotatably provided inside the cleaning housing and removes foreign substances from the PCB in an adhesive manner while rotating in contact with one side of the PCB placed on the pre-inspection table means.
PCB supply system for optical inspection using a robot. According to clause 2,
The substrate pickup means,
a non-elevating pickup unit that picks up the PCB from which foreign substances have been removed from the pre-inspection table means that has passed through the cleaning unit and transports it to the optical inspection room, and is provided to be movable in a horizontal direction; and
A lift-type pickup unit that picks up the inspected PCB discharged from the optical inspection room and transfers it to the post-inspection table means, and is movable in both the vertical and horizontal directions.
PCB supply system for optical inspection using a robot. According to clause 8,
At least one of the non-elevating pickup unit and the elevating pickup unit is configured to convert the PCB by a predetermined angle on a horizontal plane during the transfer of the PCB,
PCB supply system for optical inspection using a robot. According to claim 1,
The substrate storage unit,
Provided to accommodate at least one of the baskets,
When the robot unit loads or unloads the PCB loaded in the basket, it includes a substrate alignment means that spreads the plurality of bent PCBs at a certain distance from each other,
PCB supply system for optical inspection using a robot. A PCB loading step of removing each PCB loaded in the basket of the substrate storage unit using a robot unit;
A PCB cleaning preparation step of seating the PCB pulled out individually on the pre-inspection table means of the substrate table unit;
A cleaning step of passing a cleaning unit through a cleaning unit to remove foreign matter from one side of the PCB seated on the pre-inspection table means before inspection;
An optical inspection transfer step of transferring the PCB that has passed through the cleaning unit to the entrance of an optical inspection room;
A PCB unloading preparation step of preparing for unloading by seating the PCB for which optical inspection has been completed on the post-inspection table means of the substrate table unit; and
A PCB unloading step of loading the PCB of the post-inspection table means into the basket using the robot unit.
Method of supplying PCB for optical inspection using a robot. According to claim 11,
The robot unit is characterized in that when unloading the PCB, it loads the PCB upside down so that it is loaded in the opposite direction from which it was loaded.
Method of supplying PCB for optical inspection using a robot. According to claim 12,
After the PCB unloading step, when the inspection of one side of the PCB is completed, the inspection of one side is completed for the inspection of the other side, and the unloaded PCB is reloaded and the other side of the PCB is inspected sequentially through the next steps from the PCB loading step. Characterized in removing foreign substances and performing optical inspection,
Method of supplying PCB for optical inspection using a robot. According to claim 11,
The PCB loading step is,
Characterized in that sequentially loading all PCBs loaded in the basket one by one,
Method of supplying PCB for optical inspection using a robot. According to claim 11,
The PCB loading step is,
Characterized in that a random loading method is performed to randomly select PCBs loaded in the basket.
Method of supplying PCB for optical inspection using a robot.

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