201246425. 六、發明說明： 【發明所屬之技術領域】 本發明關於一種電子零件搬送裝置及包帶單元(taping unit)。此電子零件搬送裝置一邊搬送電子零件一邊進行工 程處理，並在運送帶(carriertape)上收納所屬的電子零件。 此包帶單元設有運送帶。 【先前技術】 半導體元件等的電子零件經切割（dicing)、裝片 (mourning)、接合(bonding)及密封(sealing),各組裝工^並 分f成單m會進行各種檢查等的後工程，並在運送帶 ，管狀容器(tube container)等進行包裝後出貨。作為後工 程，可以舉例印字(marking)處理、外觀檢查、電氣特性檢 查、引線(lead)成形4理、電子零件的分類或這些處理的組 合〇 、 包含包裝處理的後工程主要藉由將電子零件搬送至工 程處理機構的電子科搬送裝置來進行。電子零件搬送裝 置由對電子零件進行整賴送賴送機構及搬送路徑上的 各種工程處理機構所構成。搬送機構-般使用轉台(turn table)搬送方式敍線搬送方式等，並在搬送雜上將電子 零件依序供給至並列的各種王程處理機構。搬送機構具有 由真空吸附、靜電⑽、白努利吸盤(此麵⑴咖⑻或機 械性的夾具(chuc職構所構成的保持I置，藉由保持震置 保持電子令件並依序將電子產品搬送至工程處理機構。 工程處理機構中，在搬送路徑的後段裡設有包帶單 201246425 4]495pif 運送帶 ==送的鏈輪二h移== 至袋部 送帶的袋部上方並使電子零件收納 ^子=件收納至袋部後，會進行電子產品是否有翻轉 内壁“使= :指電子零件因掛在袋部的 相機2目視或設於運送帶的運送方向後段的照 暫下’將電子零件搬送裝置 械性机的自動或者進行機 作率Ξ翻轉的發生而引起的電子零件搬送裝置的停止與操 於正禮=相關。11此，較希朗是使電子料在袋部内 、白及位置以靜止的方式而被收納。此時，習知 具it零件搬送裝置比包帶單元位於搬送路徑的前段，其 二有修正f子零件姿勢的姿勢修正單元及姿勢判別” (例如參照專利文獻2)。 件:勢修正單元及姿勢判別單元利用照相機檢出電子零 的女勢，保持裝置將電子零件保持在中心，而且電子零 向以對齊運$帶的袋部的方式預先將電子零件的方 先前技術文獻 專利文獻 201246425 t利文獻1 :日本專利特開2003_165506號公報 利文獻2 :日本專利特開2〇〇7_95725號公報 利用於保持裝置的電子零件的姿勢而造成的翻轉可 姿勢声正Γ子零件的鋪姿勢來防止。但是，即便具有此 的翻轉。St勢判別單元:也不能完全防止電子零件 的位置偏移而造成勢以外’也有因為運送帶 此外亦IP運送帶具有每她次之袋雜置不同的情況。 匕夕卜’將魏帶設置於包帶單元時也會產生定位 帶的位置偏移的方法，可以考慮使用治具來； 調部的位置的目視及反映目視結果的 業了產生多餘的勞力以外’亦伴隨著產生電子 =;】置的啟動延遲，皆與操作率的低下相關 供—種電子零件搬送裝置及包帶單元，農目 i述的問題點，並可以在電子零件往運：帶 、内L恭簡ί且更加確實地防止電子零件的翻轉。 邊搬送零件搬ΐ裝置’其特徵在於其為― =:=有所述的電子二=保 梦ΐ 所述㈣路徑做間祕移動的保持 二所达雷：：運运帶(所職部收納以所述保持装置保 持的所述電子轉麵置於所舰魏射麟保持裝ί 201246425 41495pif 的停止位置）、檢出所述袋部的位置的帶位置檢出裝置、 據所述帶位置檢出裝置的檢出結果而檢出所述運送嫌艮 置偏移的偏移檢出裝置及修正所述位置偏移的修位 所述偏移檢出裝置也可以比較所述保持裝置移^ 述運送帶上方時的位置及所述袋部的位置而檢出位置偏所 移。 所述修正裴置也可以根據所述位置偏移使所述運送帶 往短邊方向及長邊方向移動。 所述修正裝置也可以具有鏈輪及驅動裝置，所述鍵輪 搬送所述運送帶，而所述驅動裝置使所述鏈輪僅旋轉對^ 於所述位置偏移的量。 & 所述修正裝置也可以具有鏈輪及測微器 (micrometer)，所述鏈輪搬送所述運送帶，而所述測微器使 所述鏈輪往所述運送帶的短邊方向移動。 所述修正裝置也可以利用往所述位置偏移之相反方向 僅移位相同距離的方式，而變更相對於所述保持裝置的所 述電子零件的姿勢。 所述帶位置檢出裝置包含拍攝所述運送帶影像的帶拍 攝裝置及檢出所述運送帶的所定地方的所述影像上位置的 帶影像處理裝置。所述偏移檢出裝置也可以根據所述帶影 像處理裝置檢出的所述位置來檢出所述位置偏移。 所述運送帶的所定地方也可以是所述袋部的底部。 所述帶影像處理裝置包含重疊顯示所述影像及框架圖 形的顯示裝置與根據使用者的輸入而變更所述框架圖形的 201246425.^ 位置大j、及形狀的、*更裝置。也可以根據所述變更裝置 所變更後的所述框㈣形的位置而檢出所述所定地方的所 述影像上的位置。 、，所述偏移檢tB裝置包含於麟運送帶的所定地方形成 所述保持震置的壓痕的升降裝置(所述壓痕藉由將所述保 持裝置降低直到其_顺料送帶）、轉所述壓痕影像 的壓痕拍攝裝置及檢出所顧痕的所述影像上位置的壓痕 影像處理裝置。也可以根據崎祕驗置作為所述所定 位置而檢出所述位置偏移。 所述運送帶形成2個所述袋部之間的連結區域，所述 壓痕也可以在所述連結區域形成。 ，所述壓痕f彡像處轉置具有重魏示所述影像及框架 圖开/的’.、、貞示I置與根據使用者的輸人*變更所述框架圖开》 的位置、大小及形狀的變更裝置。也可以根據所述變更裝 置所戈更後的所述框架圖形的位置而檢出所述壓痕的所述 影像上的位置。 此外，本發明為—種包帶單元，其特徵在於其具備具 、、，X。卩的運送T(所述袋部收納所述電子零件並配置於搬 ，電子零件的搬送路徑上的—地點）、檢出所述袋部位置的 置檢出裝置、根據所述帶位置檢出裝置的檢出結果而 j所述運送帶的位置偏移之偏移檢出裝置及根據所述位 置偏移而修正所述位置偏移的修正裝置。 所述偏移檢㈣置也可⑽健持裝置㈣至所述運 、上方日^的位置(所述保持裝置保持所述電子零件並沿 201246425 41495pif 著所述搬送路徑移動)及所述袋部的位置而檢出位置偏移。 所述修正裝置也可以根據所述位置偏移使所述運送帶 往短邊方向及長邊方向移動。 所述修正裝置也可以具有鏈輪及驅動裝置，所述鏈輪 搬送所述運送帶’而所述驅動裝置使所述鏈輪僅旋轉對應 於所述位置偏移的量。 所述修正裝置也可以具有鏈輪及測微器 (micrometer) ’所述鏈輪搬送所述運送帶，而所述測微器使 所述鏈輪往所述運送帶的短邊方向移動。 所述位置檢出裝置包含拍攝所述運送帶影像的帶拍攝 裝置及檢出所述運送帶的所定地方的所述影像上位置的帶 影像處理裝置。所述偏移檢出裝置也可以根據所述帶影像 處理裝置所檢出的所述位置來檢出所述位置偏移。 所述運送帶的所定地方也可以是所述袋部的底部。 所述帶影像處理裝置包含重疊顯示所述影像及框架圖 形的顯示裝置與根據使用者的輸入而變更所述框架圖形的 位置、大小及形狀的變更裝置。也可以根據所述變更裝置 所變更後的所述框架圖形的位置而檢出所述所定地方的所 述影像上的位置。 所述偏移檢出裝置包含於所述運送帶的所定地方形成 所述保持裝置的壓痕的升降裝置(所述壓痕藉由將所述保 持裝置降低直到其壓觸到所述運送帶）、拍攝所述壓痕影像 ^壓痕拍攝裝置及檢出所述壓痕的所述影像上位置的壓痕 衫像處理裝置。也可以根據所述壓痕的位置而檢出所述位 201246425 峙丄外yupif 置偏移。 所述運送帶形成2個所述袋部之間的連結區域，所述 壓痕也可以在所述連結區域形成。 ，所述廢痕f彡像處理裝置具有4魏示所述影像及框架 圖形的顯讀置與根據使用者的輸人rfq變更所述框架圖形 ^位置；M、及形狀的變更裝置。也可以根據所述變更裝 =父更後的所述购圖形的位置而檢述壓痕的所述 影像上的位置。 代邮=日f因為可以在設置運送帶時簡單地檢出及修正其 轉並提升裝置的操S更加確實地防止電子零件的翻 【實施方式】 零件說明關於本發明的電子 (1)第1實施例 [A .電子零件搬送裝置] 圖。圖圖施例的電子零件搬送裝置的平面概略 圖^^㈣子零倾钱置_面概略圖。 裝置!作為後工程:=== =子零件搬送 理。因此，此料轉搬各種工程處 各種處理的工程處 ^對電子零件D進行 序搬送電子零件D _送機^：各種的工減理機射依 201246425 41495pif 電子零件D為使用於電子產品的零件，其含有半導體 元件。作為半導體元件’可舉例電晶體(transistor)或積體電 路(integrated circuit)或電阻器(resistor)或電容器（condenser) 等。作為工程處理，主要有經過切割（dicing)、裝片 (mounting)、接合(bonding)及密封(sealing)等各組裝工程的 後工程，包括印字(marking)、外觀檢查、測試接觸 conduct)、分類排序(sort)或包裝或這些的組合。本實施例 的電子零件搬送裝置1至少進行包裝處理。 、 搬送機構為含有轉台(tumtable)21而構成。轉台21的 中“以配置在其下方的直接驅動馬達(direct 咖沉)22 的驅動軸來技。轉台21伴隨著直接軸馬達22的驅動 進行間歇性的所定角度旋轉。 轉台21的外周部中，保持電子零件D的多數個保持 =3沿著轉台21的外周等距離地間隔並配置著。保 f的配置間隔和轉台21的1個節距的旋轉角度相等。轉 21的外周為電子零件D的搬送路徑。亦即，電子零件 沿耆轉台21的外周而搬送。以保 D並使轉台21旋轉’而沿著外_ ^ f 3保持電子令件 乃。 有外周線方向整列搬送電子零件 本實關巾’保騎置3V補電子零件D及 令件D脫離的吸附喷嘴31。吸 冤子 去-l w L # 次附赁嘴31的管内部和圖式 藉:對電:通’吸附喷嘴31 使電子零仰麟。 知細’並糾真空破壞 10 201246425 4i4y^pif 此吸附喷嘴31藉由配置於轉台21外周部的支撐 及附喷嘴31的下端以突出轉台21下面的方式而 撐者’此突出端成為㈣電子零件D及使電子零件d脫 的吸附部31a。支樓部32在吸附嗔嘴31可以滑動的情況 下支撐吸附喷嘴31，吸附噴嘴31相對於轉台21可以 ㈣$21的延伸方向假定為水平面的情況 在吸时嘴31的各停止位置p上配置了具有操縱桿 、驅動部33。具體而t，驅動部33為馬達，使操縱桿 34上下動作。使操縱桿34的下端以面對設於吸附噴嘴η 上端的被壓卿31b的方式配置，對應驅動部33的驅動而 與吸附喷嘴31的被壓縮部3lb抵接，並付傾壓力將吸附 喷嘴31往下方壓低。 如圖1所示，作為工裎處理機構，轉台21的旋轉方向 順序:’換言之，從搬送路徑前段的順序中，例如以零件 供給^元(partsfeeder)4卜印字單元(markingunit)42、外觀 檢查f兀43、測試接觸單元44、分類排序單元45、姿勢 判別單元49，姿勢修正單元46、包帶單元(tapingunit)47 及不良品排出單元48的順序配置。 這些工程處理機構以包圍轉台21並在外周方向等距 離地間隔的方式配置。配置間隔與轉台21的i個節距的旋 轉角度或其整數倍相等。工程處理機構的配置位置與保持 裝置3的停止位置P一致。停止位置p中配置任一台搬送 處理機構。此外，若停止位置p的數目^搬送處理機構4 201246425 41495pif =停可以不同’也可以存在未配置搬送處理 交件單元41為在電子零件搬送裝置α供給電子 二：二零:供給單元41組合圓形的振動零件 的外周端正下方的搬送路徑 續地整列搬送。印字單元42具有面對電數子連 照射用的透鏡，對電子零件0照射雷 〜…射 外觀檢查單元43具有照相機，i電子‘=進1 ^並從f像檢查電子零件D的電_狀、表面的 蓦’艮5木及異物等的有無。測試接觸單元4 *具、㈢ 子τ件D的引線、'•通電流或施加電 電 電子零件D的電壓、電流、電阻或頻率等的查 會類排序單元45依電氣特性及 ^士果。 子零件D分類成不良品及良品， 一的、、、。果將電201246425. VI. Description of the Invention: [Technical Field] The present invention relates to an electronic component transporting apparatus and a taping unit. The electronic component transport apparatus performs engineering processing while transporting electronic components, and stores the associated electronic components on a carrier tape. This strap unit is provided with a transport belt. [Prior Art] Electronic components such as semiconductor components are subjected to dicing, mourning, bonding, and sealing, and each assembly worker divides into a single m to perform various inspections and the like. And shipped in a conveyor belt, a tube container, etc., and then shipped. As a post-engineering, printing processing, visual inspection, electrical property inspection, lead forming, classification of electronic parts, or a combination of these processes may be exemplified, and post-processing including packaging processing is mainly performed by electronic components. It is carried out by an electronic transfer device that is transported to the engineering processing facility. The electronic component transporting device is composed of various engineering processing mechanisms for the electronic components to be transported and transported. The transfer mechanism generally uses a turn table transfer method, a line transfer method, and the like, and supplies the electronic components to the various king process mechanisms arranged in parallel on the transport. The transport mechanism has a vacuum adsorption, electrostatic (10), white Nuori suction cup (this side (1) coffee (8) or mechanical fixture (the holding of the Chuc structure), by holding the shock to keep the electronic order and sequentially placing the electrons The product is transported to the engineering processing organization. In the engineering processing mechanism, there is a strap in the rear section of the transport path 201246425 4]495pif transport belt == sent sprocket two h shift == to the bag above the bag After the electronic component is stored in the bag, the electronic product is turned over or not. "Make =: the electronic component is visually attached to the camera 2 in the bag or in the rear of the conveyor. The next step is to stop the electronic component transport device caused by the automatic or machine-operated rate of the electronic component transport device. This is related to the operation of the ceremony. 11 This is to make the electronic material in the bag. The inside, the white, and the position are stored in a stationary manner. At this time, the conventional component transfer device is located in the front stage of the transport path than the tape wrapping unit, and the posture correcting means and posture determination for correcting the posture of the sub-parts are corrected. example Refer to Patent Document 2). Piece: The potential correction unit and the posture discriminating unit detect the electronic zero by the camera, the holding device holds the electronic component in the center, and the electronic zero direction is pre-aligned by aligning the pocket of the belt. In the case of the electronic component of the holding device, the inversion can be made by the posture of the electronic component of the holding device, which is disclosed in Japanese Laid-Open Patent Publication No. Hei. No. Hei. No. Hei. The pose sound is prevented by the paving posture of the scorpion part. However, even if there is such a flip, the St potential discriminating unit cannot completely prevent the positional deviation of the electronic component from being caused by the potential, and also because the transport belt has an IP transport belt. Every second bag is miscellaneous. 匕 卜 ' 将 将 将 将 将 将 将 将 将 将 将 将 将 将 魏 魏 魏 魏 魏 魏 魏 魏 魏 魏 魏 魏 魏 魏 魏 魏 魏 魏 魏 魏 魏 魏 魏 魏 魏 设置 魏 魏 魏The industry that reflects the visual results produces extra labor, which is accompanied by the generation delay of the electronic=;] setting, which is related to the low operating rate. For the electronic parts transporting device and the strapping unit, the problem of the agricultural project can be carried out in the electronic parts: the belt, the inner L, and the electronic parts are more reliably prevented from being turned over. The device 'is characterized in that it is - =:= there is the above-mentioned electronic two = Bao Meng ΐ said (four) path to do the secret movement of the two dynasty:: transport belt (the department is stored with the holding device Holding the electronic rotating surface in the stop position of the ship Weilu Lin retaining device 2012 201246425 41495pif), detecting the position of the bag portion, the position detecting device, and detecting the position detecting device according to the belt position detecting device As a result, the offset detecting device that detects the offset of the transport dislocation and the trimming device that corrects the positional offset may also compare the offset detecting device when the retaining device moves over the transport belt. The position and the position of the pocket portion are detected and the position is shifted. The correction means may also move the transport belt in the short side direction and the long side direction in accordance with the positional shift. The correction device may also have a sprocket and a driving device, the key wheel transporting the conveyor belt, and the driving device rotating the sprocket only by the amount of the positional offset. < The correction device may also have a sprocket and a micrometer, the sprocket carries the conveyor belt, and the micrometer moves the sprocket toward the short side of the conveyor belt . The correcting means may change the posture of the electronic component with respect to the holding means by shifting only the same distance in the opposite direction of the positional shift. The tape position detecting device includes a tape taking device that images the image of the tape, and a tape image processing device that detects the position on the image of the predetermined portion of the tape. The offset detecting means may detect the positional shift based on the position detected by the image processing apparatus. The predetermined place of the conveyor belt may also be the bottom of the bag portion. The image processing device includes a display device that superimposes the image and the frame image, and a device that changes the frame shape according to the input of the user, and has a larger position and a shape. The position on the image of the predetermined place may be detected based on the position of the frame (four) shape after the change of the changing means. The offset detecting tB device includes a lifting device for forming the indented indentation at a predetermined place of the lining conveyor belt (the indentation is lowered by the holding device until the _feeding belt is conveyed) And an indentation imaging device that rotates the indentation image and an indentation image processing device that detects the position on the image of the image. The positional shift may also be detected based on the sonication check as the predetermined position. The transport belt forms a joint region between the two pocket portions, and the indentation may be formed in the joint region. The position of the indentation f image has a position indicating that the image and the frame image are opened, and the position of the frame is opened according to the user's input * A device for changing the size and shape. The position on the image of the indentation may be detected based on the position of the frame pattern after the changing device. Further, the present invention is a tape wrapping unit characterized in that it is provided with , , and X. The transport T of the cymbal (the pocket portion accommodates the electronic component and is placed on the transport path of the electronic component), and the detection device that detects the position of the pocket is detected based on the position of the pocket The detection result of the device, j, the offset detecting device for shifting the position of the transport belt, and the correcting device for correcting the positional shift based on the positional deviation. The offset detection (4) may also (10) the holding device (4) to the position of the transport and the upper day (the holding device holds the electronic component and move along the transport path along 201246425 41495pif) and the bag portion The position is detected and the position is offset. The correction device may move the transport belt in the short side direction and the long side direction in accordance with the positional shift. The correction device may also have a sprocket and a driving device, the sprocket transporting the transport belt' and the driving device rotating the sprocket only by an amount corresponding to the positional shift. The correction device may have a sprocket and a micrometer. The sprocket carries the conveyor belt, and the micrometer moves the sprocket toward the short side of the conveyor belt. The position detecting device includes a belt photographing device that photographs the image of the transport belt, and a video image processing device that detects the position of the image on a predetermined place of the transport belt. The offset detecting means may detect the positional offset based on the position detected by the image processing apparatus. The predetermined place of the conveyor belt may also be the bottom of the bag portion. The image processing device includes a display device that superimposes the image and the frame image, and a changing device that changes the position, size, and shape of the frame pattern in response to user input. The position on the image of the predetermined place may be detected based on the position of the frame pattern after the change of the changing means. The offset detecting device includes a lifting device that forms an indentation of the holding device at a predetermined place of the conveyor belt (the indentation is lowered by the holding device until it is pressed against the conveyor belt) And capturing the indentation image, the indentation imaging device, and the indentation image processing device for detecting the position of the indentation on the image. It is also possible to detect the bit 201246425 y upupif offset according to the position of the indentation. The transport belt forms a joint region between the two pocket portions, and the indentation may be formed in the joint region. The waste mark image processing device has a display device for displaying the image and the frame pattern, and a device for changing the shape of the frame pattern M and the shape according to the user's input rfq. The position on the image of the indentation may also be described based on the position of the purchased image of the changed device. It is possible to prevent the electronic component from being turned over more easily by simply detecting and correcting the operation of the transfer device when the transport belt is set. [Embodiment] The electronic part (1) of the present invention is the first Embodiment [A. Electronic component conveying device] Fig. The schematic diagram of the electronic component transporting device of the illustrated embodiment is shown in Fig. ^^(4) sub-zero dumping _ surface schematic. Device! As a post-project: === = sub-part transport. Therefore, this material is transferred to various engineering offices of various engineering offices. ^Electronic parts D are sequentially transported to electronic parts. D_Feeding machine^: Various work-reducing machines are shot according to 201246425 41495pif Electronic parts D are parts used in electronic products. It contains semiconductor components. The semiconductor element ' can be exemplified by a transistor or an integrated circuit or a resistor or a condenser. As engineering treatment, there are mainly post-engineering of various assembly projects such as dicing, mounting, bonding, and sealing, including marking, visual inspection, test contact conduct, and classification. Sort or package or a combination of these. The electronic component conveying apparatus 1 of the present embodiment performs at least packaging processing. The transport mechanism is configured to include a tumtable 21 . The middle of the turntable 21 is "operated by the drive shaft of the direct drive motor 22 disposed below it. The turntable 21 is intermittently rotated at an appropriate angle with the drive of the direct shaft motor 22. The outer peripheral portion of the turntable 21 A plurality of holding electronic parts D are held at the same distance and spaced apart along the outer circumference of the turntable 21. The arrangement interval of the f is equal to the rotation angle of one pitch of the turntable 21. The outer circumference of the turn 21 is an electronic part. The transport path of D. That is, the electronic component is transported along the outer circumference of the turntable 21. In order to protect D and rotate the turntable 21, the electronic component is held along the outer _^f3. The actual cleaning towel 'protects the riding 3V electronic parts D and the D of the disassembly nozzle 31. The suction tweezers go to -lw L # times the mouth of the nozzle 31 inside the tube and the drawing borrow: electricity: pass 'adsorption The nozzle 31 causes the electron to be erected. The vacuum is broken and the vacuum is broken. 10 201246425 4i4y^pif The adsorption nozzle 31 is supported by the support disposed on the outer peripheral portion of the turntable 21 and the lower end of the nozzle 31 to protrude below the turntable 21 'This prominent end becomes (four) electronic parts D and an adsorption portion 31a for removing the electronic component d. The branch portion 32 supports the adsorption nozzle 31 when the adsorption nozzle 31 can slide, and the adsorption nozzle 31 can assume a horizontal plane with respect to the extension of the turntable 21 by (4) Each of the stop positions p of the suction nozzle 31 is provided with a joystick and a drive unit 33. Specifically, the drive unit 33 is a motor, and the joystick 34 is moved up and down. The lower end of the joystick 34 is disposed facing the adsorption nozzle. The upper end of the η is arranged so as to be pressed against the compressed portion 31b of the adsorption nozzle 31 in response to the driving of the driving unit 33, and the suction pressure is lowered downward by the tilting pressure. As shown in Fig. 1,裎 processing mechanism, the order of rotation direction of the turntable 21: 'In other words, from the order of the front stage of the transport path, for example, a parts supply unit 4, a marking unit 42, an appearance check f兀43, and a test contact unit 44. The sorting unit 45, the posture discriminating unit 49, the posture correcting unit 46, the tape unit 47, and the defective product discharging unit 48 are arranged in order. These engineering processing mechanisms surround the turntable 21 and The circumferential direction is arranged equidistantly. The arrangement interval is equal to the rotation angle of the i pitches of the turntable 21 or an integral multiple thereof. The arrangement position of the engineering processing mechanism coincides with the stop position P of the holding device 3. The stop position p is arranged. In addition, if the number of the stop positions is the same, the number of the stop positions is the same as that of the transfer processing unit 4 201246425 41495pif = the stop can be different, and the unplaced transfer processing delivery unit 41 may be provided for the electronic component transfer device α to supply the electronic two: two Zero: The supply unit 41 continuously transports the transport path immediately below the outer peripheral end of the circular vibrating component. The printing unit 42 has a lens for illuminating the electric number, and irradiates the electronic component 0 with a lightning ray. The appearance inspection unit 43 has a camera, i electron '=1 ^ and checks the electric part of the electronic component D from the f image. The presence or absence of surface 蓦'艮5 wood and foreign matter. Test the contact unit 4 *, (3) the lead of the sub-T member D, '• current or the voltage, current, resistance or frequency of the applied electronic component D. The sorting unit 45 is based on the electrical characteristics and the effect. Sub-parts D are classified into defective products and good products, one, and one. Will be electricity
分類並照:。姿勢判別單元49具有照相===行 的位置姿勢進行判別。成為判 于電子今件D 包括方向及吸附喷嘴31的保持位置。、一零件D的姿勢 姿勢判別單元49所判別的姿勢並配合Ϊ子Ϊ:::46依 向，進行保持位置的定位。 电子7件D的方 如後述，包帶單元47收納判定為良 不良品排出單元48從電子零件檢查子〜件D。 的電子零件D。 —、 排出未包帶包骏 201246425. 如此的電子零件搬送裝置l 控制部，利用對直接驅動馬達Ί圖式，示出的搬送 =子信號;構㈣ 制部具有儲存控制程式的唯讀記;0Μ;亦;= (CPU)及驅動器_VER) ’依照控制程式，並 面在各驅動機構中依各時序輸出動作^。 機界 經此搬送控制部控制的電子零件搬送裝置 行如下的好轉D的處理。處^1 時間的停止。各吸附二 二轉台21外周上依序移動至各停：Sort and take: The posture discriminating unit 49 has a position and posture of a photograph === line for discrimination. It is assumed that the electron current piece D includes the direction and the holding position of the adsorption nozzle 31. The position of the part D is determined by the posture determining unit 49, and the positioning of the holding position is performed in accordance with the direction of the tweezer:::46. As will be described later, the tape unit 47 stores the defective defective product discharge unit 48 from the electronic component inspection member to the member D. Electronic part D. -, discharge unwrapped Bao Jun 201246425. The electronic component transport apparatus 1 control unit uses the transport = sub-signal shown in the direct drive motor diagram; the configuration (4) has a storage control program read-only; 0Μ;also;= (CPU) and driver_VER) 'According to the control program, the operation is output in each drive unit according to each timing. The electronic component transfer device controlled by the transfer control unit performs the following process of the improvement D. At the end of the ^1 time. Each of the adsorption two-turntables 21 is sequentially moved to the respective stops on the outer circumference:
，置P。各賴倾31若移驗停錄置P =及操縱?4的動作朝向工程處理機構41〜4= 下降，並稭由真空破壞使電子零件D 二 構㈣接收到電子零件D，即對此電子零機 子零件D的處理結束後，吸附喷嘴31再次朝：载 子零件D。此外，_卫程處理機構41, 的 亦存在不進行吸附喷嘴31的下降、脫離、再保 以及上升的動作的裝置。 >、持 Μ藉由如此的電子零件搬送裝置1的動作，電子零件D 在，1循環從零件供給裝置41供給至搬送路徑，其=以^ 的母循％依序供給至印字單元42、外觀檢查單 試接觸單元44及分類排序單元45以進行各^工程。、測 然後，藉由姿勢判別單元49及姿勢修正單元"邮修正 13 201246425 41495pif 電子令件D的姿勢後’將電子零件D供給至包帶單元47， 2運送帶上包裝電子零件D。因為不㈣未包裝的電子 令D被供給至不良品排出單元48，並從電子零件 置1排出。 义 [Β.包帶單元] A 詳述具有電子零件搬送裝置1的包帶單元47。圖 為L帶單元的俯視概略圖。圖4為包帶單元的側面概略 圖。 、、，w如圖3及圖4所示，包帶單元47設有運送帶471。運 ^ H 4收納電子零件D的包裝材且具有帶形狀。在運 、 中，於長邊方向以所定距離間隔，並藉由壓印 ⑽〇SS)加工等而形成凹型的袋部471a(P〇Cket)。此袋部 ° 4?ia 4…且供二:Γ71&的底部中設有貫通底部 電子零件’穴部—可以將已收納的 代如早7^ 4 7藉由對運送帶4 71間歇性地進行搬送，使 ϋ持驗搬送路徑上的—祕，亦即依序移動 包帶ϊ==立置p。作為運送帶471_^^ /、有2個鏈輪(sprocket)472及驅動馬達473。 肤，具有沿著圓周方向使針突出的圓筒捲輪形 門隔si署日°心輛而能夠旋轉。2個鏈輪472以一定距離 仍及細^^連的^向。各鍵輪472藉由各驅動馬達 钱械11地連結，並且受到驅動馬達473的驅動 14 201246425 ^I4y5pif f而旋轉。作為驅動馬達473，例如可舉例可以達成微小 方疋轉角度的步進馬達(stepping motor)等。 ，送帶471於靠近長邊的任一處貫穿設置有以所定距 離間，開的孔(perf〇rati〇n)(圖式未示出）並架設於鏈輪 嫌藉由鏈輪472的針鉤住孔，而在鏈輪々π間搬送運送 ▼ 71運送▼ 471的袋部471a以依序停止在停止位置p 的方式進行搬送。亦即，袋部術以停止在停止位置p 的方式進行補偵（〇ffset)，且運送帶471的一次搬送距離與 袋部471a間的距離相等。 此外’包▼單元47於運送帶471的搬送路徑上具有照 相機474。照相機474為具有互補式金氧半導體元件(⑽沉) 或電荷耦合元件(CCD)等照相元件的照相裝置，且對運送 帶471的搬送路徑上的一地點進行拍攝。此照相機474的 配置位置在停止位置p的更後段上，例如可以於運送帶仍 的行進方向對袋部471a進行拍攝的上方的位置。 [C ·帶位置修正裝置] 運送帶471的短邊方向及長邊方向上可進行位置修 正’如在運送帶471替換時的調整作業中，利用檢出的運 送帶471的位置偏移，將運送帶471往消除此位置偏移的 方向移動。運送帶471的長邊方向的位置修正機構為鏈輪 72及驅動馬達473。藉由驅動馬達仍驅動使鏈輪472 以所定角度旋轉，進而對運送帶471的長邊方向的位置進 行補償。 寬度方向的位置修正機構以包含螺釘調整器(§⑽ 15 201246425 4149i>pif adjuster)475及壓縮彈簧476所構成。螺釘調整器475為具 有測微頭(miCrometer head)的螺釘機構，螺釘尖端以抵接^ 輪472的一個側面的方式設置。測微頭將螺釘的旋轉角度 換异成螺釘位置的位移量且將位移量反映至尺度。壓縮彈 簧476以抵接鏈輪472相反側的側面的方式固定，^於 釘調整器475的方向上給予恢復力（如6巧以叩免^^)。、’' 螺釘调整|§ 475藉由調整增加螺釘尖端的突出長 抵抗壓縮彈* 476的按壓力，利用鏈輪472相對於轴;;動 而往短邊方向押出移動。若使螺釘調整器475的突出長卢 減少，亦即，若使螺釘調整器475的尖端從與鍵輪^^ 邊緣分離的方向進行移動，藉由_彈簧476的按 鏈輪472往反方向進行移動。 D ·控制部 的位2部477根據照相機474的拍攝結果對運送帶471 的帶位置修正農置進行控制。控制部 的構成例如包括：進行依照程式 行控制的演算處理裝置、記_ 了^ j對各機構進 裝置、記憶程式的外部記.狀置、使各機 乍的驅動器_VER)及顯示影像的顯示器。此二 制狗7可為包帶單元47所單獨具有， 益2 零件搬送装置1的搬送控制部中。 匕3電 ㈣L5為表示控制部477的構成的方塊圖。首先，單 說月控制部477的動作及目的，控制 2；間早 位置P中的袋部471a及保持裝置的 刀別¥握停止 衣罝j的位置關係，以檢出袋 16 201246425 部471a及保持裝置3的位置偏移G(參照 果以消除位置偏移G的衫而使帶位跡出、、” 本文停止位置p中的袋部他及保持裝置有 因為物理性的妨礙而無法確認的情況。此時，於::4置二 的位置相巾，_袋部_在停止位置 下’使運送帶471僅移動停止位置？距離照相= 置之相當的距離’以照相機474對移動至拍攝位置的 鈥部471a進仃拍攝，進而進行位置確認。 此外，保持農置3的位置確認中，藉由保 運送帶47i形成後述的壓痕简參照 f移 動和袋部杨進行位置確認時的移動距離之同ϋ 離’再以照相機474進行拍攝。因為壓痕478指出於停止 位置Ρ中的保持裝置3的位置。 出於拎止 從停止位置Ρ使壓痕478僅移動和袋部㈣進行位置 確認時的移動雜之同樣的距離並拍攝則的情況下，影 像上座標系中袋部471a及壓痕478的位置偏移G與停止 位置P中的袋冑471a及保持裝置3的位置偏移G可視為 相同。因此，依據影像上檢出的位置偏移G，並利用使 位置修正|置作動而可輯行停止位置p巾的袋部伽 及保持裝置3的對位。 為了如此的位置偏移G的檢出及位置偏移的修正，本 實施例的控制部477具有運送帶控制部477a、升降控制部 477b、照相機控制部477e、影像處理部477d、偏移檢出部 477e、顯示部477f、修正控制部477g及輸入裝置477h.。 201246425 41495pif 控制部477a藉由驅動使鏈輪472旋轉的驅動馬 ，使運送帶471的袋部471a及連結區域471b位於 各自，停止位置P。然後，運送帶控制部47%使運送帶471 依所定距離進行移動。此移動距離和停止位置P到照相機 474的拍攝點的距離相同。亦即’使停止位置p的袋部π。 和連結區域471b移動至各自的拍攝點。 、—升降控制部477b為了壓痕478的形成而使驅動部33 進仃驅動，並使吸附喷嘴31向著運送帶471下降。下降位 置為運送*^ 471的連結區域471b。亦即，運送帶控制部477a 在^降控制部477b進行控制之前，使連結區域471b移動 至杇止位置P。下降量為將吸附噴嘴31的尖端以所定壓力 進行直到可以壓觸到連結區域471b的距離。所定壓力為在 連結區域471b形成壓痕478程度的壓力。 照相機控制部477c使袋部471a或壓痕478在照相機 =74進行拍攝。藉由運送帶控制部47乃使得袋部及 壓痕478保持各自在停止位置p中的位置關係，而使袋部 471a及壓痕478定位在各自拍攝點。影像處理部”^解 析照相機474取得的拍攝點的影像資料，以確認袋部471a 的底部471d及壓痕478各自的位置。具體上，影像處理部 477d經過二元化處理或正規化處理及輪廓抽象處理來檢 出底部471d及壓痕478的區域，並算出底部471d及壓痕 478各自的重心座標。 偏移檢出部477e利用比較袋部471a的底部471d及壓 痕478的位置來檢出它們的位置偏移G。換言之，壓痕478 18 201246425. 的位置為吸附喷嘴31移動至停止位置p時的位置。亦即， 運送帶471在好的精度設定情況下，若袋部471a正確地移 動至停止位置P，則沒有底部471d及壓痕478的位置偏移 在底部471d及壓痕478的位置比較處理上，利用差分 各自底部471d及壓痕478位置的重心座標的X方向及γ 方向以异出位置偏移G。此外，為了算出的簡便，照相機 474以影像上的X方向對應於運送帶471的短邊方向，而 影像上的Υ方向對應於運送帶471的長邊方向的方式配 置。 顯示部477f為螢幕，且將偏移檢出部477e的檢出結 果亦即位置偏移G分成X方向及Y方向顯示。輸入裝 置477h為使用者(user)的輸入介面(interface)，且使用於切 換電子零件搬送裝置i的動作模式(m〇de)。作為動作模 式，至少具有進行位置偏移檢出及位置偏移修正的位置修 正模式。作為輸入裝置477h，可舉例按鈕(button)、觸控 面板(touch panel)或滑鼠(mouse)等。在輸入裝置477h以觸 控面板顯示器（t〇uch panel display)構成的情況下，輸入裝 置477h可與顯示部477f共用。 修正控制部477g驅動使鏈輪472旋轉的驅動馬達 473，使運送帶471向反方向僅移動相同於γ方向的位置 偏移G的距離，亦即使運送帶471向反方向僅移動運送帶 471的長邊方向的位置偏移G的距離。至於在運送帶471 的短邊方向的情況下，使用者利用一邊參照顯示部477f 的X方向的位置偏移G，一邊調整螺釘調整器475的方式 19 201246425 41495pif 以使運送帶471移動。 [E .位置修正動作] 根據圖6至圖10對如此的運送帶471的位置修正動作 進行說明。圖6為表示位置修正動作的流糊。圖7為表 不運送帶471安裝狀態的示意圖。圖8為表示運送帶47ι 影像的示意圖。圖9為表示吸附噴嘴之壓痕影像的示意 圖。圖10為表示運送帶移動的示意圖。 首先，使用者將運送帶471安裝至包帶單元47(步驟 S01)。運送帶471以袋部471a位於停止位置p的方式安 裝。如圖7所不，運送帶4Ή安裝時的袋部位置ρι依批 次間的不同及安裝時的定位誤差，會有與正f位置相異、 與停止位置P的鋪裝置3的位置（夾具位置p2)產生位置 偏移G(AX、△ Y)的情況。 此時，安裝運送帶471後，使用者使用輸入裝置477h 選擇位置修正模式(步驟S02)。選擇位置修正模式後，運送 帶控制部477a使運送帶471僅移動與停止位置p至照相機 474的拍攝點之間相當的距離(步驟s〇3)。 使運送帶471移動後，照相機控制部477c以照相機 474對帶影像Tp進行拍攝(步驟S04)。此時，如圖8所示， 存在於停止位置P的袋部471續、鄉動絲攝點，袋部 471a的底部471d投影至帶影像τρ。 接著運送帶控制部477a使運送帶471僅移動袋部 47la之間-半的距離(步驟S〇5)。此時，連結區域應 該存在於停止位置P。使連結區域471b移動至停止位置？ 20 201246425 後，升降控制部477b將使吸附噴嘴31下降，於連結區域 471b形成壓痕478(步驟S06)。 形成壓痕478後’運送帶控制部477a使運送帶471 僅移動與停止位置P至照相機474的拍攝點之間相當的距 離(步驟S07)。 -使運送帶471移動後，照相機控制部477c以照相機 474對壓痕影像Mp進行拍攝(步驟s〇8)。此時，如圖9所 不，存在於停止位置P的連結區域471b應該移動至拍攝 點，形成於連結區域471b的壓痕478投影至壓痕影像Mp。 影像處理部477d從帶影像Τρ及壓痕影像Mp檢出袋 部471a的底部471d及壓痕478，並確認袋部位置P1及夾 具位置P2(步驟S09)。具體而言，帶影像Τρ及壓痕影像 Mp經過二元化處理或正規化處理及輪廓抽象處理將底部 471d及壓痕478的區域與其他區域區分開來，並算出底部 471d及壓痕478區域的重心座標。 檢出影像上的袋部位置！^及夾具位置P2後，偏移檢 出部477e利用比較袋部位置ρι及夾具位置p2以算出它 們的位置偏移G(步驟S10)。具體而言，亦即每次將底部 47M的影像區域的重心座標及壓痕478的影像區域的重心 座標差分至X座標及γ座標。 算出位置偏移G後’顯示部477f將依據短邊方向及 長邊方向各自顯示位置偏移G(步驟sll)。短邊方向為χ 座標的差分結果，而長邊方向為Υ座標的差分結果。 然後’修正控制部477g取得γ轴方向的位置偏移G， 201246425 41495pif i = G的反方向上，使運送帶471在長邊方向僅 移動f位置偏移G相同的距離。χ轴方向上 Ϊ Μ ’使鏈輪472在顯示於顯示部477f的^抽 ::=r的反方向上僅移動和位置偏移嶋 [F ·作用效果] M 所述’本實施例的電子零件搬送裝置1及包帶 ^ 他的位置，利用比較此袋部他的位 在運送帶471上形成的壓痕478的位置以, set P. If the shifting 31 is moved to stop the recording P = and the operation of the ? 4 is directed toward the engineering processing mechanism 41 ~ 4 = falling, and the vacuum is destroyed by the vacuum to cause the electronic component D (four) to receive the electronic component D, that is, the electronic After the processing of the zero machine sub-part D is completed, the adsorption nozzle 31 is again directed toward the carrier component D. Further, the _process processing means 41 also has means for not performing the operations of lowering, detaching, re-guaranteeing, and ascending the adsorption nozzle 31. > By the operation of the electronic component conveying apparatus 1 as described above, the electronic component D is supplied from the component supply device 41 to the transport path in one cycle, and is supplied to the printing unit 42 in the order of % of the mother. The visual inspection single-test contact unit 44 and the sorting sorting unit 45 perform various items. Then, the posture discriminating unit 49 and the posture correcting unit "mail correction 13 201246425 41495pif the posture of the electronic order D are supplied to the tape unit 47, 2 the packaging tape electronic component D is transported. Since the (four) unpackaged electronic order D is supplied to the defective product discharge unit 48, it is discharged from the electronic component unit 1. [Package Unit] A The tape unit 47 having the electronic component transport apparatus 1 will be described in detail. The figure shows a top view of the L-belt unit. Figure 4 is a schematic side view of the tape unit. As shown in FIGS. 3 and 4, the wrapping unit 47 is provided with a transport belt 471. The packaging material of the electronic component D is accommodated and has a belt shape. In the middle and the middle, the concave bag portion 471a (P〇Cket) is formed by the embossing (10) 〇 SS) processing at a predetermined distance in the longitudinal direction. The bag portion is 4? ia 4... and the bottom portion of the second: Γ71& is provided with a through-bottom electronic part 'hole portion--the stored one can be intermittently 7*4 7 by intermittently transporting the belt 4 71 Carrying the transport, so that the 秘 ϋ 验 搬 搬 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 As the transport belt 471_^^ /, there are two sprockets 472 and a drive motor 473. The skin has a cylindrical reel-shaped door that protrudes in the circumferential direction, and is capable of rotating. The two sprockets 472 are still at a certain distance and are still connected to each other. Each of the key wheels 472 is coupled by each of the drive motors 11, and is rotated by the drive of the drive motor 473 14 201246425 ^I4y5pif f. As the drive motor 473, for example, a stepping motor or the like which can achieve a slight angle of rotation can be exemplified. The feeding belt 471 is disposed at any position near the long side, and is provided with a hole opened at a predetermined distance (perf〇rati〇n) (not shown) and erected on the sprocket by the needle of the sprocket 472 When the hole is hooked, the bag portion 471a of the transport ▼ 71 is transported by the sprocket 々 π to stop the transport at the stop position p in order. That is, the pocket portion performs the detection (停止 ffset) so as to stop at the stop position p, and the primary transport distance of the transport belt 471 is equal to the distance between the pocket portions 471a. Further, the 'package ▼ unit 47 has a camera 474 on the transport path of the transport belt 471. The camera 474 is a photographic apparatus having a photographic element such as a complementary MOS element ((10) sink) or a charge coupled device (CCD), and photographs a spot on the transport path of the transport belt 471. The arrangement position of this camera 474 is at a later stage of the stop position p, for example, at an upper position where the pocket portion 471a is photographed in the traveling direction of the transport belt. [C. Belt position correction device] The position correction can be performed in the short-side direction and the long-side direction of the conveyance belt 471. When the conveyance belt 471 is replaced, the positional deviation of the detected conveyance belt 471 is used. The transport belt 471 moves in a direction that eliminates this positional offset. The position correcting mechanism in the longitudinal direction of the transport belt 471 is a sprocket 72 and a drive motor 473. The sprocket 472 is rotated at a predetermined angle by the drive motor, and the position of the longitudinal direction of the transport belt 471 is compensated. The position correcting mechanism in the width direction is constituted by a screw adjuster (§(10) 15 201246425 4149i> pif adjuster) 475 and a compression spring 476. The screw adjuster 475 is a screw mechanism having a miCrometer head that is disposed to abut one side of the wheel 472. The micrometer head changes the rotation angle of the screw into the displacement of the screw position and reflects the displacement amount to the scale. The compression spring 476 is fixed in such a manner as to abut against the side of the opposite side of the sprocket 472, and gives a restoring force in the direction of the nail adjuster 475 (e.g., 6). , '' Screw adjustment|§ 475 by adjusting the protrusion length of the screw tip to resist the pressing force of the compression bomb * 476, using the sprocket 472 relative to the shaft;; moving to the short side direction to move. If the protruding length of the screw adjuster 475 is reduced, that is, if the tip end of the screw adjuster 475 is moved from the direction away from the edge of the key wheel, the sprocket 472 of the spring 476 is reversed. mobile. D. The bit 2 portion 477 of the control unit controls the tape position correction of the transport belt 471 based on the imaging result of the camera 474. The configuration of the control unit includes, for example, performing an arithmetic processing device controlled by the program line, recording the external device of the device, the external device of the memory program, the driver _VER for each device, and displaying the image. monitor. The two-legged dog 7 can be separately provided in the tape transport unit 47, and is used in the transport control unit of the component transporting device 1.匕3 (4) L5 is a block diagram showing the configuration of the control unit 477. First, the operation and purpose of the monthly control unit 477 are simply described, and the positional relationship between the pocket portion 471a in the early morning position P and the holder of the holding device is stopped, and the pocket 16 201246425 portion 471a is detected. The positional deviation G of the holding device 3 (refer to the effect of eliminating the positional shift G of the shirt to make the belt track," the bag portion in the stop position p and the holding device are not confirmed due to physical obstruction. In this case, at the position of::4, the position of the towel, the _ bag portion _ under the stop position, causes the transport belt 471 to move only to the stop position, and the distance from the camera = the distance of the camera 474 is moved to the camera. In the position confirmation of the position 471a of the position, the position confirmation is performed. In the position confirmation of the holding of the agricultural unit 3, the movement of the indentation is described later by the conveyance belt 47i. The distance is also taken from the camera 474. Since the indentation 478 indicates the position of the holding device 3 in the stop position 。. The position of the indentation 478 is only moved and the pocket portion (4) is moved from the stop position. Movement when confirming In the case of the same distance and shooting, the positional shift G of the pocket portion 471a and the indentation 478 in the image upper coordinate system and the positional deviation G of the pocket 471a and the holding device 3 in the stop position P can be regarded as the same. Therefore, according to the positional deviation G detected on the image, and by the position correction|operation, the pocket portion of the stop position p towel can be aligned with the alignment of the holding device 3. For such a positional deviation G check The control unit 477 of the present embodiment includes a transport belt control unit 477a, a lift control unit 477b, a camera control unit 477e, a video processing unit 477d, an offset detecting unit 477e, a display unit 477f, and a correction control. The portion 477g and the input device 477h. 201246425 41495pif The control unit 477a drives the drive horse that rotates the sprocket 472 to position the pocket portion 471a and the connection region 471b of the transport belt 471 at the stop position P. Then, the transport belt control portion 47% causes the transport belt 471 to move by a predetermined distance. This moving distance is the same as the distance from the stop position P to the photographing point of the camera 474. That is, 'the pocket portion π of the stop position p is made. And the joint region 471b is moved to From the photographing point, the elevating control unit 477b drives the driving unit 33 for the formation of the indentation 478, and lowers the suction nozzle 31 toward the transport belt 471. The lowered position is the connecting region 471b for transporting *^471. In other words, the conveyance belt control unit 477a moves the connection region 471b to the stop position P before the control unit 477b performs the control. The amount of decrease is such that the tip end of the adsorption nozzle 31 is pressed at a predetermined pressure until the connection region 471b can be pressed. The predetermined pressure is a pressure at which the indentation 478 is formed in the joint region 471b. The camera control unit 477c causes the pocket portion 471a or the indentation 478 to take an image at the camera = 74. By the conveyance belt control unit 47, the pocket portion and the indentation 478 are held in their respective positional positions in the stop position p, and the pocket portion 471a and the indentation 478 are positioned at the respective photographing points. The image processing unit "" analyzes the image data of the photographing point acquired by the camera 474 to confirm the position of each of the bottom portion 471d and the indentation 478 of the pocket portion 471a. Specifically, the image processing portion 477d undergoes binarization processing or normalization processing and contouring. The area of the bottom portion 471d and the indentation 478 is detected by abstract processing, and the center of gravity coordinates of each of the bottom portion 471d and the indentation 478 are calculated. The offset detecting portion 477e is detected by comparing the positions of the bottom portion 471d of the pocket portion 471a and the indentation 478. Their position is shifted by G. In other words, the position of the indentation 478 18 201246425. is the position when the adsorption nozzle 31 is moved to the stop position p. That is, the conveyance belt 471 is correctly set, if the pocket portion 471a is correctly When moving to the stop position P, there is no positional deviation of the bottom portion 471d and the indentation 478 in the position comparison processing of the bottom portion 471d and the indentation 478, and the X direction and the γ direction of the center of gravity coordinates of the positions of the respective bottom portions 471d and the indentations 478 are used. In addition, for the sake of simplicity of calculation, the camera 474 corresponds to the short side direction of the transport belt 471 in the X direction on the image, and the Υ direction on the image corresponds to the transport belt 4 The display unit 477f is a screen, and the position shift G, which is a result of detection of the offset detecting unit 477e, is divided into X-direction and Y-direction display. The input device 477h is a user. The input interface is used to switch the operation mode (m〇de) of the electronic component transport device i. The operation mode includes at least a position correction mode for performing position shift detection and positional offset correction. 477h, for example, a button, a touch panel, a mouse, etc. In the case where the input device 477h is configured by a touch panel display, the input device 477h can be The display unit 477f is shared. The correction control unit 477g drives the drive motor 473 that rotates the sprocket 472 to move the transport belt 471 in the opposite direction by only the distance of the positional shift G in the γ direction, even if the transport belt 471 is only in the reverse direction. The distance in the longitudinal direction of the transporting belt 471 is shifted by the distance G. As for the short side direction of the transport belt 471, the user uses the positional shift G in the X direction with reference to the display portion 477f. Method of adjusting the screw adjuster 475 19 201246425 41495pif The transport belt 471 is moved. [E. Position Correction Operation] The position correction operation of the transport belt 471 will be described with reference to Figs. 6 to 10. Fig. 6 shows the position correction operation. Fig. 7 is a schematic view showing the mounting state of the transport belt 471. Fig. 8 is a schematic view showing the image of the transport belt 47. Fig. 9 is a view showing the image of the indentation of the adsorption nozzle. Fig. 10 is a schematic view showing the movement of the conveyor belt. First, the user attaches the transport belt 471 to the strap unit 47 (step S01). The transport belt 471 is mounted such that the pocket portion 471a is at the stop position p. As shown in Fig. 7, the position of the bag portion ρ at the time of installation of the transport belt 4Ή varies depending on the lot and the positioning error at the time of installation, and the position of the paving device 3 which is different from the positive f position and the stop position P (clamp) Position p2) A case where the positional shift G (AX, ΔY) is generated. At this time, after the transport belt 471 is attached, the user selects the position correction mode using the input device 477h (step S02). When the position correction mode is selected, the conveyance belt control unit 477a moves the conveyance belt 471 by only a distance from the stop position p to the photographing point of the camera 474 (step s3). When the transport belt 471 is moved, the camera control unit 477c images the taken image Tp by the camera 474 (step S04). At this time, as shown in Fig. 8, the pocket portion 471 existing at the stop position P continues, and the bottom portion 471d of the pocket portion 471a is projected onto the belt image τρ. Next, the conveyance belt control unit 477a moves the conveyance belt 471 by only a half distance between the pocket portions 47la (step S〇5). At this time, the link area should exist at the stop position P. Move the joint area 471b to the stop position? After 201246425, the elevation control unit 477b lowers the adsorption nozzle 31 and forms an indentation 478 in the connection region 471b (step S06). After the formation of the indentation 478, the conveyance belt control unit 477a causes the conveyance belt 471 to move only the distance from the stop position P to the photographing point of the camera 474 (step S07). - After the transport belt 471 is moved, the camera control unit 477c images the indentation image Mp by the camera 474 (step s 8). At this time, as shown in Fig. 9, the connection region 471b existing at the stop position P should be moved to the imaging point, and the indentation 478 formed in the connection region 471b is projected onto the indentation image Mp. The image processing unit 477d detects the bottom portion 471d and the indentation 478 of the bag portion 471a from the image pickup Τρ and the indentation image Mp, and confirms the pocket portion position P1 and the gripper position P2 (step S09). Specifically, the image Τρ and the indentation image Mp are separated from the other regions by the binarization processing or the normalization processing and the contour abstraction processing, and the bottom portion 471d and the indentation 478 region are calculated. Center of gravity coordinates. Check out the position of the pocket on the image! After the clamp position P2, the offset detecting portion 477e calculates the positional shift G by comparing the pocket position ρι and the grip position p2 (step S10). Specifically, the center of gravity of the image area of the bottom portion 47M and the center of gravity of the image area of the indentation 478 are differentiated to the X coordinate and the γ coordinate each time. After the positional shift G is calculated, the display unit 477f shifts the display position G according to each of the short side direction and the long side direction (step s11). The short side direction is the difference result of the χ coordinate, and the long side direction is the differential result of the Υ coordinate. Then, the correction control unit 477g acquires the positional shift G in the γ-axis direction, and in the opposite direction of 201246425 41495pif i = G, the transport belt 471 is moved by the same distance by the f-position offset G in the longitudinal direction. In the direction of the x-axis Ϊ 使 'The sprocket 472 is only moved and displaced in the opposite direction of the pumping::=r displayed on the display portion 477f. [F·acting effect] M The electronic component of the present embodiment The position of the conveying device 1 and the belt is determined by comparing the position of the indentation 478 formed on the conveying belt 471 by the position of the bag portion.
Ur 並根據此位置偏移g ’使運送帶471以 在短邊方向及長邊方向移動的方式來進行。 時的I7丨8為了表核时嘴31軸至停止位置p上 減，可用消除袋部4 71 a位置及麗痕47 8位置的位置 _電子零件D的翻轉頻率降低，以使電子零件 罢的㈣率提升。此外，利用形成壓痕478並使 點的高护"·、車又對象不為要照相機474的拍攝 °° ’所以此方法可減少電子零件搬送裝置1 的啟動則調整時間，而提升操作率。 山玫ϋ施例巾’將袋部的底部471d的位置當作檢 、原因為袋部47la的底部471d是運送帶471中具 有最明確的固定形狀。亦即，為了可以明確地拍攝運送帶 171Λ各部分’若各部分形狀固定的話，位置檢出的地方 就/又有限於袋部471a的底部47必 袋部471a的上緣或絲㈣la的底㈣Id開口的穴部 22 201246425 471 e當作檢出的地方。 此外，本實施例中，以在連結於袋部471a之間的連结 區域471b上形成壓痕478的方式來進行。由於在連結區域 471b上不存在穴部471e。因此，壓痕478形成的位置也不 而要限制於連結區域471b’且壓痕478也可以形成在贷部 4^71a的底部471d。藉由壓痕478在穴部47le上重複 分，在影像上僅能確認一部分壓痕478的情況下，以其一 部分的軌跡類推壓痕478位置的方式也是可行。 ^ (2)第2實施例 影像處理部477d依據運送帶471的材質、顏色、袋部 471a的深度或者裝置設置環境的不同，而有不能檢出 471a或壓痕478的情況。第二實施例對於藉由影像處理而 無法檢出袋部471a或壓痕478的情況是有效的。 一圖11之(a)及圖11之(b)為表示手動操作位置檢出的表 不晝，。第2實施例中，顯示部477f重疊並顯示框架圖形 F在，痕影像Mp上。框架圖形F為圓形或矩形。顯示部 477f可以藉由顯示圓形的圖像Ia(IC〇n)及矩形的圖像lb以 改變框架圖形F的形狀。 口如圖11之(a)及圖U之⑼所示，使用輸入裝置4T?h 3以改變此框架圖形F的位置及大小。具體而言，藉由框 二圖形F内的一點的拖曳操作，顯示部477f可改變框架圖 ^的f示位置。此外’藉由框架圖形F的外緣的拖曳操 乍’，示部娜可改變框架圖形F的大小。 ’、 顯不晝面中顯示有位置檢出的觸發器按鈕Ic 。按下此 23 201246425 41495pif 按鈕Ic後，影像處理部477d會檢出框架圖形1?的位置， 並將此檢出結果當作袋部位置P1或夹具位置p2來處理， 如上所述，第2實施例的電子零件搬送裝置丨及勹册 單元47中，具有將照相機474拍_的影像與框架圖^ 重叠顯示的顯示部477f及根據使用者的輸入而改變框二 圖形F的位置、大小及形狀的輸入裝置477h。影像處^ 477d則是藉由框架圖形F的位置來檢出壓痕478或^吾。 471a的位置（亦即夹具位置P2或袋部位置ρι)。藉由 做法，即便有無法檢出壓痕478或袋部471a的情^，若^ 以目視的話，同樣可以進行位置偏移G的修正。右可 ⑶第3實施例 / 接著將-邊參照圖12至圖14 一邊說明第3實 =零件搬送裝置i。圖12為表示姿勢修正單元4 面概略圖。圖Π為表示修正控制部477g進行修 ^ 圖。圖14為表示位置偏#之修正動作的流程^。 ~ 第1實施例中，雖說藉由運送帶471的 2移G·但是第3實施例的電子零件搬送褒置 置於包T早7C 47前段的姿勢修正單元％進行位 m正。亦即，姿勢修正單以6除了電子= 向齡以外’也會進行額外的位置偏移 [A ·構成] ^此’如圖12所示’第3實施例中， Μ 向（其為搬送路㈣切線方向it _動機構及轉台21的¥軸方向(其為搬送路= 24 201246425 對著轉的0方向移動機構：附載台464 此安勢修正單元46之電子零 式使電子零件 外此安勢修正早元46使電子跫株η ΑΑ 士 =:r喷嘴31二動= 方式j電子零件Dftx財向及 此貫轭例中，修正控制部477g在電 處理電子料D之前，料纽置p2及袋部=置1 置偏移G當作補償值先行進行記憶。 1的位 然後’如圖13所示，修正控制部4 送裝置1處理電子零❹的時候，在預先記憶=== G加异吸时嘴31及電子零件D的姿勢偏移 使電子零件D在X軸、Y軸及Θ轴方向上僅移動此二 果的值而驅動X軸移動機構461、γ轴移動機構46 軸移動機構463。此外，吸附喷嘴31及電子零件d的姿 偏移A可藉由具有照相機的姿勢判別單元49進行 [B .動作] % ° 將一邊參照圖14 一邊說明關於如此的姿勢修正單元 46的位置偏移之修正動作。此外，示於此流程圖動作前 第1實施例的步驟soi至步驟S10的位置偏移量算出處理 結束後，將位置偏移量當作補償值先行記憶。 处 將位置偏移G當作補償值記憶的狀態以及電子零件搬 25 201246425 414y5pif 送裝置1處理電子零件D的狀況中，若電子零件D停止於 姿勢判別單元49(步驟S21)，姿勢判別單元49會使用昭相 機拍攝電子零件D(S22)。姿勢判別單元49拍攝^電子零件 D後，姿勢判別單元49對影像進行解析，並算出吸附喷嘴 31及電子零件D的χ、γ及θ方向的姿勢偏移八(步驟S23)。 接著，藉由使轉台21再順時針轉丨個節距而將電子零 件D定位於姿勢修正單元46的吸附載台奶4的上方後广 藉由使吸附喷嘴31降低以讓電子零件D載置在吸附載台 464上面（步驟S24)。 ° 修正控制部477g利用加算預先記憶的位置偏移〇及 步驟S23算出的姿勢偏移A，先行算出χ、γ及θ方向 新的位置偏移（步驟S25)。然後，修正控制部477g驅動又 軸移動機構46卜Y軸移動機構462及0方向移動機構 463,使吸附載台464往消除所算出的位置偏移的 (步驟S26)。 勢 位置偏移修正結束後’吸附噴嘴3丨保持電子零件D (沐 驟S27)。此時，吸附喷嘴31從電子零件D的中二僅移= 與位置偏移G反方向但同量的距離’以保持 卜因此，電子零件D及袋部471a的位置精度2 = 減少電子零件D的翻轉。 人 (3)其他貫施例 本發明的實施例雖說如上所說明，但是此實施例僅咏 作例子提示，並無意圖限定此發明的範圍。此二 例可能以其他各式各樣的形㈣施，只要不脫離此發明^ 26 201246425 主旨範圍，可以進行種種的 =:ΐ::二於本發明的 利範圍的發明及其相等的範圍。 41〜49的轉台例—個配置各種工程處理機構 送的方彳為搬送機構，轉台21可以用直線搬 多個轉台21組成—個搬送路捏的 方式。此外，作為保持裝置3，苴中n 吸附或脫離的吸附噴31，可以用4及 電子i件！D ^nBem〇UlliChUCk)或配有機械性地夹住 工程ί理鐘《具機構來取代簡噴嘴3卜此外，各種的 „構41〜49不限於上述提到的種類，可以替換各 種工&處理機構，或可以適當_更其配置順序。 此外，照相機474及停止位置ρ的位置關係之精度在 非节固定的情況下，為了預先確認壓痕梢的位置，利用 在主記憶t置先行記憶⑽噴嘴S1到達包帶單元47的停 止位置p時的位置，或利用從此記憶的位置往運送帶471 長邊方向的延長線上配置照相機474的原點位置等方式， 皆可以使壓痕478的形成處理簡單化。 【圖式簡單說明】 圖1為第1實施例的電子零件搬送裝置的平面概略圖。 圖2為第1實施例的電子零件搬送裝置的侧面概略圖。 圖3為第1實施例的包帶單元的平面概略圖。 圖4為第1實施例的包帶單元的側面概略圖。 圖5為第1實施例的控制部的構成方塊圖。 27 201246425 414V^pif 圖6為第1實施例的位置修正動作的流程圖。 圖7為運送帶安裝狀態的示意圖。 圖8為運送帶影像的示意圖。 圖9為吸附喷嘴壓痕影像的示意圖。 圖10為運送帶移動的示意圖。 圖11之(a)及圖11之(b)為第2實施例的電子零件搬送 裝置的手動操作位置檢出的表示晝面。 圖12為姿勢修正單元的側面概略圖。 圖13為第3實施例的修正控制部進行修正的示意圖。 圖14為第3實施例的位置修正動作的流程圖。 【主要元件符號說明】 1 :電子零件搬送裝置 21 :轉台 22 :直接驅動馬達 3 :保持裝置 31 :吸附喷嘴 32 :支撐部 33 :驅動部 34 :操縱桿 41 :零件供給單元 42 :印字單元 43 :外觀檢查單元 44 :測試接觸單元 45 :分類排序單元 28 201246425^ 46 :姿勢修正單元 461 : X轴移動機構 462 : Y軸移動機構 463 : Θ軸移動機構 464:吸附載台 465 :吸附載台台座 47 :包帶單元 471 :運送帶 471a :袋部 471b :連結區域 471d :底部 471e :六部 472 :鏈輪 473 :驅動馬達 474 :照相機 475 :螺釘調整器 476 :壓縮彈簧 477 :控制部 477a:運送帶控制部 477b:升降控制部 ' 477c :照相機控制部 477d :影像處理部 477e :偏移檢出部 477f :顯示部 201246425 4i4yDpif 477g :修正控制部 477h :輸入裝置 478 :壓痕 48 :不良品排出單元 49 :姿勢判別單元 D:電子零件 F :框架圖形 G:位置偏移 P :停止位置 P1 :袋部位置 P2 :夾具位置 Tp :帶影像 Μρ :壓痕影像 30Ur performs the movement of the transport belt 471 in the short side direction and the long side direction based on the position shift g '. In the case of I7丨8, the nozzle 31 is reduced to the stop position p for the surface of the core, and the position of the pocket portion 4 71 a and the position of the sharp mark 47 8 can be used to reduce the inversion frequency of the electronic component D to make the electronic component (4) Rate increase. In addition, by forming the indentation 478 and making the point high protection "·, the vehicle object is not required to take the camera 474°°, so this method can reduce the adjustment time of the start of the electronic component conveying device 1, and increase the operation rate. . The position of the bottom portion 471d of the bag portion is taken as a check. The reason is that the bottom portion 471d of the bag portion 47la has the most clear fixed shape in the transport belt 471. That is, in order to be able to clearly photograph the respective portions of the transport belt 171, if the shape of each portion is fixed, the position where the position is detected is limited to the bottom edge of the pocket portion 471a, the upper edge of the pocket portion 471a, or the bottom of the silk (four) la (four) Id. The open hole portion 22 201246425 471 e is used as a detection place. Further, in the present embodiment, the indentation 478 is formed on the joint region 471b connected between the pocket portions 471a. Since the hole portion 471e does not exist on the joint region 471b. Therefore, the position at which the indentation 478 is formed is not limited to the joint region 471b' and the indentation 478 may be formed at the bottom portion 471d of the credit portion 4^71a. In the case where the indentation 478 is repeated on the hole portion 47le, and only a part of the indentation 478 can be confirmed on the image, it is also possible to push the position of the indentation 478 by a part of the locus. (2) Second Embodiment The image processing unit 477d may not detect 471a or the indentation 478 depending on the material, color, depth of the pocket portion 471a, or the installation environment of the transport belt 471. The second embodiment is effective for the case where the pocket portion 471a or the indentation 478 cannot be detected by image processing. Fig. 11 (a) and Fig. 11 (b) are diagrams showing the detection of the manual operation position. In the second embodiment, the display portion 477f overlaps and displays the frame pattern F on the trace image Mp. The frame graphic F is circular or rectangular. The display portion 477f can change the shape of the frame pattern F by displaying a circular image Ia (IC〇n) and a rectangular image lb. As shown in Fig. 11 (a) and Fig. 9 (9), the input device 4T?h 3 is used to change the position and size of the frame pattern F. Specifically, the display portion 477f can change the position of the frame map by the drag operation of a point in the frame F pattern F. Further, by the drag operation of the outer edge of the frame pattern F, the display portion F can change the size of the frame pattern F. The trigger button Ic of the position detection is displayed in the display. When the 23 201246425 41495pif button Ic is pressed, the image processing unit 477d detects the position of the frame pattern 1 and processes the result as the pocket position P1 or the grip position p2. As described above, the second embodiment The electronic component transporting unit and the register unit 47 of the example have a display unit 477f that superimposes the image of the camera 474 and the frame image, and changes the position, size, and shape of the frame F according to the user's input. Input device 477h. The image area ^ 477d detects the indentation 478 or ^ by the position of the frame pattern F. The position of the 471a (i.e., the grip position P2 or the pocket position ρι). By doing so, even if the indentation 478 or the pocket portion 471a cannot be detected, the positional shift G can be corrected similarly if it is visually observed. Right (3) Third embodiment / Next, the third real part transporting apparatus i will be described with reference to Figs. 12 to 14 . Fig. 12 is a schematic plan view showing the posture correcting means 4. In the figure, the correction control unit 477g performs a repair. Fig. 14 is a flow chart showing the correction operation of the positional deviation #. In the first embodiment, the electronic component transporting device of the third embodiment is placed in the posture correcting unit % of the front portion of the bag T early 7C 47 to perform the bit m positive. In other words, the posture correction sheet has an additional positional shift [A · configuration] in addition to the electronic = age. [This is as shown in Fig. 12, in the third embodiment, the Μ direction (which is the transport path) (4) Tangential direction it _ The direction of the axis of the moving mechanism and the turntable 21 (the conveyance path = 24 201246425 The moving mechanism in the 0 direction of the turn: the loading table 464. The electronic zero of the ampoule correction unit 46 makes the electronic parts outside. The potential correction early 46 makes the electronic η ΑΑ = = = r nozzle 31 two motion = mode j electronic parts Dftx financial direction and the yoke example, the correction control unit 477g before the electronic processing of the electronic material D, the material is placed p2 And pocket part = set offset G is used as the compensation value to remember first. The bit of 1 then 'as shown in Fig. 13, when the correction control unit 4 sends the device 1 to process the electronic zero, it is pre-memorized === G The posture shift of the nozzle 31 and the electronic component D is increased, and the electronic component D moves only the values of the two fruits in the X-axis, the Y-axis, and the x-axis direction to drive the X-axis moving mechanism 461 and the γ-axis moving mechanism 46 axis. The moving mechanism 463. Further, the positional deviation A of the adsorption nozzle 31 and the electronic component d can be judged by the posture of the camera The unit 49 performs [B. Action] % °. The correction operation of the positional deviation of the posture correcting means 46 will be described with reference to Fig. 14. Further, the steps from the first embodiment to the steps before the operation of the flowchart are shown. After the position shift amount calculation processing of S10 is completed, the position shift amount is first stored as the compensation value. The position offset G is stored as the compensation value and the electronic component is moved. 25 201246425 414y5pif The device 1 processes the electronic component D. In the case where the electronic component D is stopped by the posture determining unit 49 (step S21), the posture determining unit 49 photographs the electronic component D using the camera. (S22). After the posture determining unit 49 takes the electronic component D, the posture determining unit 49 The image is analyzed, and the posture shifts of the 喷嘴, γ, and θ directions of the adsorption nozzle 31 and the electronic component D are calculated (step S23). Next, the electronic component is turned by turning the turntable 21 clockwise again. D is positioned above the adsorption stage milk 4 of the posture correcting unit 46, and then the adsorption nozzle 31 is lowered to place the electronic component D on the adsorption stage 464 (step S24). 477g first calculates a new positional shift in the χ, γ, and θ directions by adding the pre-memorized position offset 〇 and the posture shift A calculated in step S23 (step S25). Then, the correction control unit 477g drives the re-axis moving mechanism 46. The Y-axis moving mechanism 462 and the 0-direction moving mechanism 463 shift the adsorption stage 464 to the calculated position (step S26). After the potential position shift correction is completed, the adsorption nozzle 3 holds the electronic component D. Step S27) At this time, the adsorption nozzle 31 is only shifted from the middle two of the electronic component D = the same distance from the positional deviation G but the same amount is maintained. Therefore, the positional accuracy of the electronic component D and the pocket portion 471a is 2 = Reduce the flip of the electronic part D. (3) Other Embodiments Although the embodiments of the present invention have been described above, the embodiments are merely illustrative and are not intended to limit the scope of the invention. The two examples may be in various other forms (four), and various inventions can be made without departing from the scope of the invention. For example, the transfer table of 41 to 49 is configured as a transport mechanism, and the turntable 21 can be configured by moving a plurality of turntables 21 in a straight line. In addition, as the holding device 3, the adsorption spray 31 for adsorbing or detaching n in the crucible can be used with 4 and electronic components! D ^nBem〇UlliChUCk) or with mechanical clamping of the project, "There is a mechanism to replace the simple nozzle 3". In addition, the various configurations 41 to 49 are not limited to the types mentioned above, and can be replaced with various types of work & In addition, the accuracy of the positional relationship between the camera 474 and the stop position ρ is fixed in the case where the position of the indentation is fixed in advance, and the first memory is used in the main memory t. (10) The position of the indentation 478 can be formed by the position where the nozzle S1 reaches the stop position p of the tape wrapping unit 47, or by the position of the origin of the camera 474 on the extension line from the position stored in the longitudinal direction of the transport belt 471. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic plan view of an electronic component conveying apparatus according to a first embodiment. Fig. 2 is a schematic side view of an electronic component conveying apparatus according to a first embodiment. Fig. 4 is a schematic side view of the tape unit of the first embodiment. Fig. 5 is a block diagram showing the configuration of the control unit of the first embodiment. 27 201246425 414V^pif Fig. 6 Fig. 7 is a schematic view showing the state in which the conveyor belt is mounted. Fig. 8 is a schematic view showing the image of the conveyor belt. Fig. 9 is a schematic view showing the image of the indentation of the suction nozzle. Fig. 10 is a schematic view showing the movement of the conveyor belt. Fig. 11 (a) and Fig. 11 (b) are schematic views showing the detection of the manual operation position of the electronic component conveying device of the second embodiment. Fig. 12 is a schematic side view of the posture correcting means. Fig. 14 is a flow chart showing the position correction operation of the third embodiment. [Description of main component symbols] 1: Electronic component conveying device 21: Turntable 22: Direct drive motor 3: Holding device 31: adsorption nozzle 32: support portion 33: drive portion 34: joystick 41: part supply unit 42: printing unit 43: appearance inspection unit 44: test contact unit 45: sorting unit 28 201246425^46: posture correction unit 461: X-axis moving mechanism 462 : Y-axis moving mechanism 463 : Θ axis moving mechanism 464 : adsorption stage 465 : adsorption stage pedestal 47 : wrapping unit 471 : conveying belt 471 a : pocket portion 471 b : connecting portion 471d : Bottom portion 471e: six-part 472: sprocket 473: drive motor 474: camera 475: screw adjuster 476: compression spring 477: control unit 477a: conveyance belt control unit 477b: elevation control unit '477c: camera control unit 477d: image processing unit 477e: offset detection unit 477f: display unit 201246425 4i4yDpif 477g: correction control unit 477h: input device 478: indentation 48: defective product discharge unit 49: posture determination unit D: electronic part F: frame pattern G: positional shift P : stop position P1 : pocket position P2 : clamp position Tp : with image Μ ρ : indentation image 30