TW201433530A - Transfer equipment - Google Patents

Transfer equipment Download PDF

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Publication number
TW201433530A
TW201433530A TW102144313A TW102144313A TW201433530A TW 201433530 A TW201433530 A TW 201433530A TW 102144313 A TW102144313 A TW 102144313A TW 102144313 A TW102144313 A TW 102144313A TW 201433530 A TW201433530 A TW 201433530A
Authority
TW
Taiwan
Prior art keywords
electronic component
rotary
holding
transfer
pickup
Prior art date
Application number
TW102144313A
Other languages
Chinese (zh)
Other versions
TWI505901B (en
Inventor
Yoshiaki Hara
Wataru Kageyama
Original Assignee
Ueno Seiki Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to PCT/JP2012/081412 priority Critical patent/WO2014087491A1/en
Priority to PCT/JP2013/060872 priority patent/WO2014087682A1/en
Application filed by Ueno Seiki Co Ltd filed Critical Ueno Seiki Co Ltd
Publication of TW201433530A publication Critical patent/TW201433530A/en
Application granted granted Critical
Publication of TWI505901B publication Critical patent/TWI505901B/en

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Classifications

    • HELECTRICITY
    • H05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05KPRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/02Feeding of components
    • H05K13/021Loading or unloading of containers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/004Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
    • B23P21/006Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed the conveying means comprising a rotating table

Abstract

An object of the present invention is to provide a transfer device capable of simultaneously achieving miniaturization and an increase in processing points. The transfer device of the present invention includes two rotary pickers 2 as a transport path. The two rotary pickups 2 intermittently rotate at a predetermined angle every time the front end of the holding portion 21 faces the outer side in the radial direction of the pickup and around the rotation axis. The rotary pickup 2 has the rotation axes parallel to each other and is disposed adjacent to each other on the same plane so as not to overlap each other. Further, the two rotary pickups 2 have a stop position in which the front ends of the holding portions 21 of the both sides face each other and are shared, and the stop position is used as the delivery point A, and the electronic component W is delivered.

Description

Transfer device
The present invention relates to a transfer device for taking out an electronic component from a container and mounting it on another container.
Heretofore, there has been proposed a transfer device in which an electronic component is taken out from a container and placed on a transport path, and the electronic component is processed at each processing point set on the transport path, and finally The electronic component is mounted in another housing, and the transfer device is actually used in the manufacturing process of the electronic component.
The electronic component is a component used for an electric appliance, and includes a semiconductor element. Examples of the semiconductor component include a transistor, a light-emitting diode (LED), or an integrated circuit, and a resistor, a capacitor, or the like. The container is, for example, a wafer sheet, a lead frame, an organic substrate, an inorganic substrate, an adhesive tray, a substrate, a parts feeder, or a belt formed with a bag (tape) ), trays, sorting boxes, etc. As processing of electronic parts at each processing point, there are various types of appearance inspection, adhesion application, posture confirmation, classification, forced discharge of defective products, mounting of substrates, inspection of electrical characteristics, heating or cooling, and the like. The temperature adjustment, the shape processing of the terminal extending from the electronic part, the correction of the posture, marking, and the like.
In particular, the semiconductor element is taken out from the wafer sheet, the tray, the belt, or the part feeder, and the back of the watch is reversed, and the transfer device is bonded to the lead frame or the mounting substrate via the adhesive, which is called a die bonding device. (die bonder).
As such a transfer device, there is known a type in which a plurality of rotary tables or a rotary pickup are provided, and electronic components are supplied by a rotary pickup in a line on a holding portion provided on the rotary table. The electronic component is delivered at the position of the arrangement, thereby forming a transport path (for example, refer to Patent Document 1 to Patent Document 3).
Here, the difference between the rotary table and the rotary pickup is clarified. In the case of a rotating table, first, for example, a turret table is used as a main transport path, and secondly, in order to arrange processing points of a plurality of electronic components, it is large and heavy compared with a rotary picker. Third, since the processing unit that processes the electronic component at the processing point is disposed below, the holding mechanism for holding the electronic component is suspended downward so as to be orthogonal to the mesa plane. On the other hand, in the case of the rotary pickup, first, the supply of the electronic component to the main conveyance path is not required, and the second conveyance path is not formed, and the second is smaller and lighter than the rotary table. The holding mechanism for holding the electronic component is disposed in parallel with the plane of rotation such that the front end of the holding mechanism faces all the way to the outside. That is, the rotary pickup is for supplying the electronic components to the turntable, and the rotary table forms the main transport path of the electronic components, and their use, type, and size are different.
The transfer device of Patent Document 1 has a pickup unit and a rotary head, and the pickup unit and the rotary head are arranged along the circumference so that a plurality of nozzles extend in a direction orthogonal to the circumferential plane. These picker units and the rotating head to make a part of the outer circumference heavy The stacking method is configured up and down, and the electronic parts are delivered in the overlapping portion. The pickup unit performs horizontal rotation, and the inversion processing can be completed by inverting the nozzle by 180 degrees by receiving the electronic component underneath and delivering the electronic component to the upper rotary head.
Further, in the transfer device of Patent Document 2, three or more rotating stages having different sizes are horizontally provided, and the holding portion extends in a direction orthogonal to the circumferential plane. The transfer device also arranges the rotary table up and down, and has a portion overlapping on a part of the outer circumference.
In the transfer device of Patent Document 3, the holding device as a large rotary table is horizontally disposed, and the adsorption device as a small rotary pickup is vertically disposed. In the transfer device, the adsorption device supplies the electronic components to the holding device, and the holding device receives the electronic components from the supply device and forms a main transport path for the electronic components, and their uses, types, and sizes are different. However, the transfer device also arranges the holding device and the adsorption device up and down, and has an overlapping portion at a portion of the outer circumference.
Prior technical literature
Patent literature
Patent Document 1: Japanese Patent Laid-Open Publication No. 2000-315856
Patent Document 2: Japanese Patent No. 2667712
Patent Document 3: Japanese Patent Laid-Open Publication No. 2011-66277
The conventional transfer device has a plurality of rotary tables, and electronic components are delivered at positions where the holding portions provided on the rotary table are arranged in a straight line, thereby forming a transport path. In this type of transfer device, each other The rotary table will create an overlap.
In the transfer device, it is necessary to perform various processes, and it is sometimes desirable to arrange a plurality of processing points on the transport path. However, in the overlapping portions of the rotary table, other rotary tables, motors, and the like become physical obstacles, making it difficult to set the machining points. Therefore, if an attempt is made to set a plurality of machining points, it is impossible to avoid an increase in the size of the rotary table. Thus, in order to set the transfer device, a large space is necessary.
When the size of the turntable is increased, a large motor is necessary in order to achieve a certain rotation speed of the turntable. Therefore, in order to set the transfer device, the space required will increase. Moreover, if a large motor is not used, it is impossible to avoid a decrease in the rotational speed of the rotary table.
As described above, in the transfer device in which a plurality of rotary stages are arranged to overlap each other, there is a trade-off relationship between miniaturization and increase in processing points. The present invention has been made to solve the problems of the prior art as described above, and an object of the invention is to provide a transfer device which can simultaneously achieve an increase in size and processing points.
A transfer device for solving the above problem, wherein an electronic component is taken out from a housing and mounted on another housing, the transfer device includes a holding portion that is held at a distal end and separated from the electronic component; and In the rack (N≧2) rotary pickup, a plurality of the holding portions are disposed around the rotating shaft, and the front end is always oriented outward, and the rotating shaft is intermittently rotated one by one at a predetermined angle around the rotating shaft. The main transfer path of the electronic component from the storage body to the other storage body is formed by the connection of the rotary pickup, and the adjacent rotary pickups are parallel to each other so as not to overlap each other. Configuration The electronic component is delivered on the same plane, and has a common stop position in which the front ends of the holding portions of the both sides face each other, and the stop position is used as a delivery point.
The rotary pickup device supplies the electronic component to the main transport path formed by the turret table from the container, and the turret table may be excluded from the rotary pickup itself. The main transport path is formed, and the electronic component is transferred from the container to the other container.
The rotary pickup is provided with an odd number of shelves, and the rotary pickup arranged in correspondence with the storage body holds one surface of the electronic component taken out from the storage body until being conveyed to the delivery point, but The rotary pickup disposed in correspondence with the other storage body may hold the opposite surface of the electronic component at the delivery point and be detached from the other storage body.
The above-described N-type rotary pickups may also be vertically longitudinally placed to have a vertical rotating surface.
In any one of the adjacent rotary pickers, an advance/retract drive unit is further disposed at the stop position corresponding to the delivery point, and the advance/retract drive unit moves the holding unit stopped at the stop position away from the rotation axis. The radial direction is pushed outward, and any of the above-described holding portions facing the delivery point may be sent or received as an electronic component to be delivered.
The forward/backward drive unit may include a motor that generates a thrust force for propelling the holding unit, and the motor may slow the moving speed of the advancement holding unit toward the other holding unit that faces the facing portion.
The forward/reverse drive unit may include a voice coil motor that controls a load applied to the advancement holding portion of the electronic component to be delivered.
In the state in which the voice coil motor has not yet reached the electronic component to be delivered, the above-described holding portion is provided with a counter thrust against the resistance received from the holding portion, and the electronic object to be delivered is absorbed. The collision of the part with the above-mentioned holding portion.
The forward/reverse drive unit may include a voice coil motor, and the voice coil motor may apply a counter thrust to the holding portion in response to the resistance received from the holding portion in a state in which the electronic component to be delivered is not yet reached. The operation of the voice coil motor generated by the contact between the electronic component to be delivered and the holding portion is changed, and the amount of rotation of the motor for advancing the holding portion is determined.
It is also possible to make the above-described N-rotary pickups the same product based on the same design.
The transfer device may further include a common holder that limits the positions of the rotation axes of the first rotary picker and the second rotary pickup.
It is also possible to arrange an appearance of the electronic component in a plurality of rotary pickers arranged in an odd number of the above-mentioned N rotary pickers and a rotary picker arranged in an even number. Photographic optical system.
Or one of the above electronic components of a photographic optical system The five faces other than the face are photographed, and the other photographic optical system photographs the one side of the electronic component. Further, one photographic optical system may photograph five surfaces other than the opposite surface of the electronic component, and the other photographic optical system may image the opposite surface of the electronic component.
In the rotary pickup arranged to correspond to the other storage body, an imaging optical system for photographing the posture of the electronic component may be disposed, and the other housing may be in the posture to be photographed. Move and rotate in two dimensions in a way that the position and rotation are consistent.
The container and the other container may be a wafer sheet, a lead frame, an organic substrate, an inorganic substrate, an adhesive tray, a substrate, a component feeder, or a belt or a tray formed with a bag. Any one or combination of the two.
A paste application device that applies an adhesive to the electronic component may be disposed in the rotary pickup disposed in correspondence with the other storage body.
According to the present invention, there is no overlapping portion in which the machining point cannot be set in the rotary pickup, and it is possible to provide more machining points and to increase the diameter without increasing the diameter, thereby realizing space saving. Further, by miniaturizing the rotary pickup, not only the vertical placement of the rotary pickup but also the miniaturization of the motor can be achieved. Therefore, it is more space-saving. Further, if the rotary pickup can be downsized, the rotation speed of the rotary pickup can be increased, and the conveyance speed of the electronic component can be improved.
1‧‧‧Transfer device
2, 2a, 2b, 2c‧‧‧ rotary picker
3‧‧‧Caste coating device
4‧‧‧ platform device
4a, 4b‧‧‧ platform installation
5, 5a, 5b‧‧‧ containment
6, 61, 62, 63, 64, 65, 66, 67 ‧ ‧ photographic optical system
7‧‧‧ bracket
8, 80, 81‧‧‧ discharge tube
82‧‧‧Catalogue
21‧‧‧ Keeping Department
21a‧‧‧During the holding side
21b‧‧‧Receiver on the receiving side
22‧‧‧ pedestal
23‧‧‧Motor
24‧‧‧ movable institutions
24a‧‧‧Sleeve
24b‧‧‧Sliding shaft
24c‧‧‧arm
24d‧‧‧Flange
25‧‧‧Advance and retreat drive
25b‧‧ ‧ spring
25c‧‧‧Protruding
25d‧‧‧Rotary motor
25e‧‧‧Cylinder cam
25f‧‧‧Cam followers
25g‧‧‧ voice coil motor
25h‧‧·Spring Department
25i‧‧‧ pole
31‧‧‧Printing pin
32‧‧‧Tray
50, 50a, 50b‧‧‧ ring supporter
71‧‧‧through holes
250‧‧‧Sliding members
251‧‧‧ side panel
252‧‧‧ top board
253‧‧‧Protruding support board
A‧‧‧ delivery location
B‧‧‧ pick up location
C‧‧‧Departure location
D‧‧‧ Appearance inspection location
E‧‧‧ Coating location
F‧‧‧Pose confirmation location
F‧‧‧Torque motor thrust
Resistance to F1‧‧‧ rods
F2‧‧‧Compressive force
F3‧‧‧New resistance
G‧‧‧Discharge location
P‧‧‧Substrate
R‧‧‧ opposite side
W‧‧‧Electronic parts
X, Y, θ‧‧‧ directions
Fig. 1 is a front elevational view showing the overall configuration of a transfer device according to the embodiment.
2 is a front view of the rotary pickup.
Figure 3 is a side view of the rotary pickup.
4 is a plan view of a rotary pickup.
Fig. 5 is a perspective view showing the advance/retract drive device.
Fig. 6 is a perspective view showing the bracket.
Fig. 7 is an explanatory view showing an operation of the transfer device;
8 is a perspective view showing movement of a housing in which electronic components are mounted.
Fig. 9 is a schematic view showing the operation of the advance/retract drive device.
FIG. 10 is a plan view showing movement of a housing on which electronic components are mounted.
Fig. 11 is a schematic view showing another example of the transfer device.
Fig. 12 is a schematic view showing still another example of the transfer device.
(1. Overall composition)
Hereinafter, the present embodiment of the transfer device of the present invention will be described in detail with reference to the drawings. Fig. 1 is a front elevational view showing the overall configuration of a transfer device 1 according to the present embodiment. The transfer device 1 takes out the electronic component W from one container 5a, and mounts it on the other container 5b via various processing points.
The electronic component W is a component used for an electric appliance, and examples thereof include a resistor or a capacitor other than the semiconductor element and the semiconductor element. Examples of the semiconductor element include discrete semiconductors such as a transistor, a diode, an LED, a capacitor, and a thyristor (discrete). Semiconductor), an integrated circuit such as an integrated circuit (IC) or a large-scale integrated circuit (LSI). The housings 5a and 5b are, for example, a wafer sheet, a lead frame, an organic substrate, an inorganic substrate, an adhesive tray, a substrate, a component feeder, or a bag, a tray, a sorting box, or the like which is formed into a bag. . In the present embodiment, the electronic component W is taken out from the tray and attached to the substrate.
The transfer device 1 includes two rotary pickups 2a and a rotary pickup 2b having a rotating surface perpendicular to the installation surface. The rotary pickup 2a and the rotary pickup 2b convey the electronic component W along the outer circumference by intermittent rotation. The two rotary pickups 2a and 2b are the first half and the second half of the transport path of the electronic component W, and a continuous transport path is formed by the delivery of the electronic component W. In other words, the transfer device 1 includes a rotary picker 2a and a rotary picker 2b for supplying electronic components to the main transport path in order to form the main transport path.
Each of the rotary pickup 2a and the rotary pickup 2b includes a plurality of holding portions 21 that are held by the front end and are separated from the electronic component W. The holding portion 21 is provided at the circumferentially uniform arrangement position on the same circumference, extends in the radial direction from the circumferential center thereof, and has the front end oriented outward in parallel with the circumferential plane. The rotary pickup 2a and the rotary pickup 2b rotate the holding portion 21 holding the electronic component W at a predetermined angle every time the axis orthogonal to the radial direction passes through the center of the circumference.
The two rotary pickups 2a and the rotary pickup 2b are disposed adjacent to each other, and the rotation axes for rotating the holding portion 21 are parallel, and the holding portions 21 are disposed on the same arrangement plane. In other words, the two rotary pickups 2a, the rotary pickup 2b does not overlap. Further, the position at which the holding portions 21 face each other at the front end is the delivery point A of the electronic component W, and the electronic component W held by the rotary pickup 2a is delivered to the rotary pickup 2b, and the front half of the transport path and the second half of the transport path are transported. Part is continuous.
At the delivery point A, the holding portion 21 (21a) on the delivery side holds one side of the electronic component W with its front end. That is, the opposite surface R of the electronic component W is directed to the holding portion 21 (21b) on the receiving side that faces the delivery point A. The holding portion 21 (21b) on the receiving side holds the opposite surface R at the tip end, and holds the electronic component W in this state until the other container 5b is accompanied by the rotation of the rotary pickup 2b. That is, the two rotary pickups 2a and the rotary pickup 2b are a continuous conveyance path from one housing 5a to the other housing 5b, and are also a front-back reversing mechanism of the electronic component W.
Further, all the stop positions other than the delivery point A of the holding portion 21 do not have physical obstacles caused by the overlap of the rotary pickup 2a and the rotary pickup 2b, and thus can be set as processing points of the electronic component W, respectively. .
For example, one platform device 4a and a platform device 4b are disposed at a processing point of each of the rotary pickup 2a and the rotary pickup 2b. The platform device 4a moves the accommodating body 5a on which the electronic component W is to be taken while moving in parallel along the XY, whereby the electronic components W in the housing 5a are placed at the pickup point B one by one. The other platform device 4b is moved in the XY direction while the storage body 5b on which the electronic component W is mounted is placed, and the respective mounting portions of the electronic component W are placed at the separation point C of the electronic component W one by one.
The pick-up point B is the stop position of the holding portion 21 of the rotary pickup 2a which is the front half of the transport path, which is closest to the container 5a, and the detachment point C is the holding portion of the rotary picker 2b which is the second half of the transport path. 21 is the closest stop position to the container 5b. In the present embodiment, the two rotary pickers 2a and the rotary picker 2b are vertically placed, and the rotational trajectory of the holding portion 21 is perpendicular to the installation surface, and the two rotary pickers 2a and the rotary pickup 2b are directly below each other. Become pick up location B and leave location C.
When the housing 5b on which the electronic component W is mounted is a lead frame or a substrate, the transfer device 1 applies an adhesive such as solder or a resin paste to the electronic component W in advance. The transfer device 1 is provided with a paste application device 3 at a processing point of the rotary pickup 2b in the latter half of the transport path.
Further, in the process of transferring the electronic component W from one housing 5a to the other housing 5b, the transfer device 1 performs visual inspection of the six faces of the electronic component W during the transfer. The transfer device 1 is provided with an imaging optical system 6 for photographing the appearance of an electronic component at each processing point of each of the rotary pickup 2a and the rotary pickup 2b.
The photographic optical system 61 disposed in a rotary pickup 2a conducts the image of the five faces of the electronic component W to the camera. The other side is held by the holding portion 21 of the rotary pickup 2a and faces the center of rotation. The photographing optical system 62 disposed in the other rotary pickup 2b transmits the image of the other surface released from the holding portion 21 to the camera by inverting the front and back of the electronic component W.
Further, the transfer device 1 inspects the posture of the electronic component W immediately before the electronic component W is mounted on the other housing 5b, and appropriately follows the electronic component W. The posture of the container 5b is adjusted to be mounted on the container 5b. In other words, the housing 5b on which the electronic component W is to be mounted is rotated by θ in the XY plane by the table device 4b that moves in the XY direction, and the rotary body of the electronic component W is mounted on the housing 5b. At a processing point of the pickup 2b, a photographing optical system 63 that photographs the posture of the electronic component W is disposed.
(2. Detailed composition)
(rotary picker)
2 is a front view of the rotary pickup 2a and the rotary pickup 2b, and FIG. 3 is a side view of the rotary pickup 2a and the rotary pickup 2b. 4 is a plan view of the rotary pickup 2a and the rotary pickup 2b. As shown in FIGS. 2 to 4, the two rotary pickups 2a and the rotary pickup 2b are the same product assembled from the same component based on the same design, and have the same shape, configuration, and size. This is because the front end of the holding portion 21 can be accurately arranged on the same line at the delivery point A. The rotary pickup 2a and the rotary pickup 2b are small in size and thus can be placed in the longitudinal direction and have a radius of about 5 cm to 30 cm.
The rotary pickup 2a and the rotary pickup 2b are disposed at the circumferentially uniform positions around the shaft of the yoke 22 such that the front end of the holding portion 21 faces outward, and the yoke 22 is intermittently rotated by the motor 23 Thereby, the holding portion 21 is simultaneously stopped at each rotation angle. The holding portion 21 is provided on the yoke 22 via the movable mechanism 24, and is movable toward the outside along the radial direction of the rotary picker 2, in other words, in a direction away from the center of the rotary pickup 2a and the rotary pickup 2b. Advance and retract. Moreover, at several stop positions of the holding portion 21, it is arranged to be able to protect The holding portion 21 is provided with a forward/backward driving device 25 that advances and retracts the propulsive force. The so-called stop positions are pick-up location B, delivery location A, and departure location C.
The holding portion 21 is, for example, an adsorption nozzle having an axis along the radial direction of the rotary pickup 2a and the rotary pickup 2b. The adsorption nozzle is a hollow cylinder that is open at the tip end of the nozzle, and the nozzle tip is directed outward in the radial direction of the pickup, and the inside of the nozzle communicates with the pneumatic circuit of the vacuum generating device via a pipe. The adsorption nozzle adsorbs the electronic component W by the generation of the negative pressure of the vacuum generating device, and the electronic component W is detached by vacuum destruction or positive pressure generation.
The yoke 22 is a cylinder that extends in a substantially disk shape at one end, and serves as a support for the holding portion 21 and is connected to the motor 23 to be a rotating shaft. The cylindrical portion of the pedestal 22 is coaxially fixed to the rotating shaft of the motor 23. Specifically, the rotating shaft of the motor 23 is fitted into the cylindrical portion of the creel 22 and fastened by bolts or the like.
The motor 23 is, for example, a servo motor having a rotating shaft, and alternately repeats the rotation of the fixed angle and the stop of the fixed time. The motor 23 has any one of the holding portions 21 located at the pickup point B and the detachment point C immediately below, and the other holding portion 21 is located at the delivery point A immediately beside.
The rotation angle of the motor 23 is equal to the installation angle of the holding portion 21. The holding portion 21 is disposed, for example, in a circumferentially uniform arrangement position, and is disposed so as to be included in an integral multiple of 90 degrees in an installation angle of the holding portion 21. Thereby, the holding portion 21 is stopped at the pickup point B, the departure point C, and the delivery point A immediately below.
Further, the time at which the rotation of the motor 23 is stopped corresponds to the pickup time of the electronic component W, the application time of the adhesive, the time for photographing the appearance, and the discharge time. The longest time in the time of the product, including the movement of the platform to adjust the posture.
The movable mechanism 24 is formed by making the slide shaft 24b in the radial direction of the pickup in the sleeve 24a fixed to the stay extending around the disk portion of the pedestal 22 The arm portion 24c is fixed by being slidably penetrated therethrough and at the radially outer end of the pickup of the slide shaft 24b. The holding portion 21 is fixed to the arm portion 24c. The arm portion 24c is fixed orthogonally to the slide shaft 24b, and extends in parallel with the rotary shaft of the rotary pickup 2a and the rotary pickup 2b, one end of which protrudes from the surface of the disk of the yoke 22, and the other end extends to the shaft. The back side of the disc of the frame 22. The holding portion 21 is extended along the radial direction of the rotary picker 2a and the rotary picker 2b at one end of the arm portion 24c that protrudes from the disk surface of the yoke 22.
(Advance and retract drive 25)
The advancing and retracting drive unit 25 is provided at the pick-up point B, the disengagement point C, and the delivery point A, and is disposed on the back side of the disc of the bobbin 22 in order to impart a propulsive force to the arm portion 24c and the portion to the back surface of the disc. At the delivery point A, the advancing and retracting drive unit 25 is provided only on the single rotary pickup 2b. That is, it is configured such that at the delivery point A, one holding portion 21 (21b) unilaterally greets the other holding portion 21 (21a) to deliver the electronic component W. Further, at least at the delivery point A, the advancing speed of the holding portion 21 (21b) is slowed as it approaches the electronic component W, and further control is performed to lower the load on the electronic component W to be close to zero.
The forward/backward driving device 25 applies a thrust force for advancing the holding portion 21 to the outside of the rotary picker 2a and the rotary picker 2b in the radial direction, and The thrust of the holding portion 21 retracted toward the center in the radial direction. More specifically, the arm portion 24c to which the holding portion 21 is fixed is pushed out in the radial direction, and the holding portion 21 fixed to the arm portion 24c is advanced. Then, the application of the thrust force to the arm portion 24c is released, and the sliding shaft 24b of the movable mechanism 24 is brought back to the center in the radial direction, whereby the arm portion 24c and the holding portion 21 fixed to the slide shaft 24b are retracted.
Specifically, as shown in FIG. 5, the advancing and retracting drive unit 25 includes a slide member 250 that is movable in the radial direction of the pickup. The sliding member 250 is an L-shaped plate member. One of the flat plates forming the L-shape is a side panel 251 whose plate faces the radial direction of the pickup, and the other flat plate is a top plate 252 which expands in the direction of the rotation axis of the rotary pickers 2a, 2b. The top plate 252 is located closer to the center side in the radial direction of the pickup than the side panel 251.
The sliding member 250 is movable in the radial direction of the pickup. Further, on the top plate 252 of the sliding member 250, one piece of the protrusion supporting plates 253 are connected to each other via the spring 25b so as to face each other. The protrusion supporting plate 253 is located closer to the outer side in the radial direction of the pickup than the top plate 252, and a protrusion 25c is provided on the outer surface of the pickup in the radial direction. The protruding portion 25c is located directly above the portion of the arm portion 24c that extends to the back surface of the pedestal 22.
In the forward/backward driving device 25, the sliding member 250 is moved outward in the radial direction of the pickup, and the protruding portion 25c abuts against the arm portion 24c, so that the holding portion 21 can be moved outward in the radial direction of the pickup via the arm portion 24c. Advance. Further, by moving the protrusion supporting plate 253 outward in the radial direction of the pickup, the load of the electronic component W affected by the tip end of the holding portion 21 can be adjusted.
As a thrust generating source for moving the slide member 250, a rotary motor 25d, a cylindrical cam 25e, and a cam follower 25f are provided. Further, as a thrust generating source for applying a load to the protrusion supporting plate 253, a voice coil motor 25g is provided.
The cam follower 25f is a cylindrical member and is erected on the side panel 251 of the sliding member 250, thereby extending in the direction of the rotation axis of the pickup. The cylindrical cam 25e has a shaft extending in the direction of the rotation axis of the pickup, and the shaft is supported by the shaft on the fixed rotation motor 25d, and the peripheral surface is used as a cam surface, and the cam surface is provided from the radial center side of the pickup. It abuts against the circumferential surface of the cam follower 25f. A convex portion that enlarges the diameter of the cylindrical cam 25e is partially formed on the cam surface.
Therefore, when the rotary motor 25d is driven, the cylindrical cam 25e rotates, and when the cam follower 25f passes through the convex portion of the cylindrical cam 25e, the distance between the rotation center of the cylindrical cam 25e and the cam follower 25f is enlarged. Since the cylindrical cam 25e abuts against the cam follower 25f from the center side in the radial direction of the pickup, the rotation center of the cylindrical cam 25e and the distance from the cam follower 25f toward the outer side in the radial direction of the pickup are enlarged. Thereby, the cam follower 25f is pressed downward toward the outer side in the radial direction of the pickup by the cylindrical cam 25e. The cam follower 25f is in a fixed relationship with the slide member 250, so that the slide member 250 is also pressed downward toward the outer side in the radial direction of the pickup. Soon, the protruding portion 25c abuts against the arm portion 24c to advance the holding portion 21.
The voice coil motor 25g is a linear motor whose current is proportional to the thrust, and has a magnet, a loop coil, and a rod connected to the loop coil. The Lorentz force is generated in the toroidal coil by the electromagnetic interaction of the energized loop coil and the magnet, so that the rod is advanced from the motor frame. The voice coil motor is 25g solid It is disposed on the top plate 252 and disposed between the top plate 252 and the protrusion supporting plate 253. The rod extends outward in the radial direction of the pickup, and the front end is connected to the protrusion supporting plate 253 from the center side in the radial direction of the pickup.
When the voice coil motor 25g is driven and the counter-rotation force from the total contraction force of the spring 25b and the reaction force received from the arm portion 24c is applied to the lever, the thrust is maintained via the protrusion supporting plate 253, the protruding portion 25c, the arm portion 24c, and the like. The front end of the portion 21 is applied to the electronic component W. When the holding portion 21 has not yet reached the electronic component W, the thrust against the resistance received by the rod is applied to the rod, and the collision generated when the holding portion 21 reaches the electronic component W is buried by the rod. It is absorbed, so that a load close to zero can be applied to the electronic component W.
Next, the advancing and retracting drive unit 25 includes a spring portion 25h as a thrust generating source for retracting the holding portion 21, and the spring portion 25h fixes the slide shaft 24b of the holding portion 21 via the arm portion 24c to the rotary pickup 2a. The center of the rotary picker 2b is biased in the radial direction. As shown in FIG. 2, the spring portion 25h has one end fixed by the edge of the sleeve 24a provided in the movable mechanism 24 as a support surface. The edge of the sleeve 24a to which the spring portion 25h is fixed is one end of the rotary pickup 2a and the center side in the radial direction of the rotary pickup 2b. Further, the slide shaft 24b also protrudes from the sleeve 24a toward the center side in the radial direction, and a flange 24d is formed at the protruding portion. The other end of the spring portion 25h is fixed to the flange 24d.
Therefore, when the slide shaft 24b moves outward in the radial direction of the rotary pickup 2a and the rotary pickup 2b, the spring portion 25h is compressed by the narrowing of the gap between the edge of the sleeve 24a and the flange 24d of the slide shaft 24b. If pushing toward the direction of advancement When the force is released, the spring portion 25h releases the urging force accumulated by the compression, and the holding portion 21 is moved to the pickup of the rotary pickup 2a or the rotary pickup 2b via the arm portion 24c and the slide shaft 24b. The center of the radius retreats.
(3. Assembly adjustment)
(support)
The two rotary pickups 2a and the rotary pickup 2b are fitted to the common holder 7 extending perpendicularly from the installation surface so that the rotation axis of the motor 23 is restricted, and assembled while being positioned. This is because the front end of the holding portion 21 can be accurately arranged on the same line at the delivery point A.
FIG. 6 is a perspective view showing the bracket 7. The holder 7 is a flat plate that restricts the positional relationship between the two rotary pickups 2a and the rotary pickup 2b. The bracket 7 has a fastening region that is fastened to each other by attaching one surface of each of the rotary pickup 2a and the motor 23 of the rotary pickup 2b to the back surface. Further, two through holes 71 penetrating the front and back are formed in the bracket 7. The through hole 71 is a bearing having substantially the same size as the motor shaft of the rotary pickup 2a and the rotary pickup 2b.
The two rotary pickups 2a and the rotary pickup 2b fix the motor 23 to the fastening region by passing the motor shaft through the corresponding through hole 71, and then insert the yoke 22 to which the holding portion 21 is attached from the surface side of the bracket 7. Into the motor shaft, thereby obtaining positioning and fixing.
Further, the through holes 71 are pierced at the same height at a predetermined interval. The predetermined interval is obtained by adding the predetermined advancement distance of the holding portion 21 and the thickness of the electronic component W to twice the radius of the rotary pickup 2a and the rotary pickup 2b. length. Thereby, the two rotary pickups 2a and the rotary pickup 2b are positioned and supported so that the holding portions 21 stopped right side of each other can accurately abut the nozzle openings.
(holding unit push amount adjustment)
The amount of advancement of the holding portion 21 by the rotary motor 25d is managed by the encoder, and the tip end of the holding portion 21 abuts against the point of the electronic component W, that is, the stop point of the holding portion 21, and is detected by the rod of the voice coil motor 25g. The resistance is preset. By the adjustment of the amount of advancement of the holding portion 21, the holding portion 21 can be moved at a high speed, and it is not necessary to apply an excessive load to the electronic component W.
In other words, after the two rotary pickups 2a and the rotary pickup 2b are assembled, the holding portion 21b is pushed outward in the radial direction of the pickup at the delivery point A. When the holding portion 21b is advanced, a thrust is applied to the lever, which is a force that resists the total of the compressive force against the spring 25b of the lever and the resistance received from the arm portion 24c. When the electronic component W is sandwiched between the holding portion 21a and the holding portion 21b, the rod is subjected to a new resistance from the electronic component W and is intended to move in the embedding direction. The new resistance corresponds to the weight of the rod and the friction during embedding. When the movement in the embedding direction is detected, the amount of rotation of the rotation motor 25d at the time of detection is stored in association with the combination information of the face-to-face holding portion 21a and the holding portion 21b or the stop point information such as the delivery point A. Further, in the adjustment of the amount of advancement, it is not necessary to use the actual electronic component W, and it is sufficient to use the dummy body.
(4. Action)
The operation of the transfer device 1 is as follows. First, the operation example As shown in FIG. 7, each of the rotary picker 2a and the rotary picker 2b arranges eight holding portions 21 at circumferentially equal positions, and is disposed directly below the rotary pickup 2a in the front half of the transport path. The platform device 4a that mounts the housing 5a in which the electronic component W is placed is disposed below the rotary pickup 2b in the second half of the transport path, and is placed on the housing 5b that is intended to be mounted and accommodates the electronic component W. The platform device 4b is placed.
The two rotary pickups 2a and the rotary pickup 2b rotate counterclockwise. That is, the transport path of the electronic component W continues from the pickup point B counterclockwise to the delivery point A, and continues from the delivery position to the departure point C counterclockwise.
In the first place where the pick-up point B is used, the respective stop positions are counted in the order of the transport path, and the photographing optical system 61 that performs the visual inspection of the five faces of the electronic component W is disposed at the position located at the fifth place. The seventh place is the delivery point A, and the photographic optical system 62 that performs the visual inspection of the other surface of the electronic component W is disposed at the eighth place. At the ninth point of the apex of the rotary picker 2b located in the latter half of the transport path, a paste application device 3 for applying an adhesive to the electronic component W is disposed. At the eleventh point, the photographing optical system 63 that photographs the posture of the electronic component W is placed. At the 12th position at a position immediately before the departure point C, the discharge container 8 for discharging the defective product is disposed. Moreover, the 13th point is the departure point C.
At the pick-up point B of the first place, the platform device 4a transports the electronic component W to the pickup point B, and the holding portion 21 located at the first position of the rotary pickup 2a holds the electronic component W. As shown in Fig. 8, the platform device 4a moves the platform in the XY direction. The order in which the electronic component W is moved to the pickup location B is in accordance with the control device (not Depending on the illustration).
For example, when the electronic component W is housed in the two-dimensional state in the housing 5a, when the electronic component W remains in the X row, the X-direction moving mechanism moves the platform in one direction by one pitch, and the Y-direction moving mechanism Then the platform is not moved. When the electronic components W of the X rows are all removed, in order to enable the electronic components W to move sequentially in the next Y column, the X-direction moving mechanism moves the platform in the opposite direction by the entire line, and the Y-direction moving mechanism moves the platform to the next. The direction moves at 1 pitch.
Further, the advancing and retracting drive unit 25 lowers the holding portion 21 toward the electronic component W at the pickup point B along the radial direction of the rotary pickup 2a. The holding portion 21 is guided by the movable mechanism 24 in the radial direction of the pickup. When the holding portion 21 abuts against one surface of the electronic component W, a vacuum is generated in the nozzle by the vacuum generating device, whereby the holding portion 21 holds the surface of the electronic component. When the holding portion 21 holds the electronic component W, the advance/retract drive device 25 releases the thrust force for advancing the holding portion 21. Further, the holding portion 21 holding the electronic component W is returned to the upper side by the spring portion 25h.
At the visual inspection site D of the fifth place, the appearance of the five faces except the one side of the electronic component W held by the holding portion 21 is photographed and classified into a good product or a defective product. In the photographic optical system 61, the five-sided image is guided to the periphery of the electronic component W that is stopped at the fifth place, and the complementary configuration is arranged on the extension line of the optical system that is emitted from the eclipse. A camera of an image element such as a complementary metal-oxide semiconductor (CMOS). Moreover, the photographic optical system 61 has a light source for the electronic component W. The light source, for example, will present the LED The ring configuration allows light to pass through the holes. The image of the electronic component W imaged by the camera is subjected to image analysis by an image processing unit (not shown), and it is determined whether or not there is damage or the like, and the information indicating the good or the defective product is associated with the determination result.
At the delivery point A of the seventh place, the holding part 21b of the rotary pickup 2b which is the latter half of the conveyance path receives the electronic component W. The holding portion 21a holding the electronic component W disengages the electronic component W by vacuum destruction or blowing, and the receiving portion 21b that receives the vacuum generates a negative pressure in the nozzle by the vacuum generating device, and the electronic component W is picked up toward the pickup. The opposite side R of the outer side of the radial direction of the device is held.
At this time, the advancing and retracting drive device 25 that advances the holding portion 21b controls the advancing speed of the holding portion 21b and the load applied to the electronic component W by the holding portion 21b. In other words, the rotation motor 25d of the advancing and retracting drive unit 25 lowers the number of rotations as the advancing holding portion 21b approaches the holding portion 21a holding the electronic component W, and slows down the advancing speed of the holding portion 21b, and abuts on the front end of the holding portion 21b. When the electronic part W is used, the advance speed is zero. The deceleration can be linear or phased. Further, when the holding portion 21b is in contact with the electronic component W, the rotation motor 25d of the advance/retract drive device 25 adjusts the thrust of the voice coil motor 25g so that the load applied to the electronic component W is close to zero.
Specifically, as shown in FIG. 9, the forward/backward driving device 25 rotates the cylindrical cam 25e by the driving of the rotary motor 25d. The cam follower 25f is passed through the convex portion of the cam surface, thereby pushing the sliding member 250 to which the cam follower 25f is attached to the outside in the radial direction. The protruding portion 25c of the protrusion supporting plate 253 connected to the sliding member 250 abuts against the arm portion 24c at a certain point of time, and holds the holding portion 21b together with the arm portion 24c was launched together. The holding portion 21b is guided by the movable mechanism 24 and is advanced toward the electronic component W held by the waiting holding portion 21a.
At this time, the rotation motor 25d of the advancing and retracting drive unit 25 rotates at a high rotation speed so that the holding portion 21b moves at a high speed before the front end of the holding portion 21b reaches the front side of the electronic component W, and holds it at the front when it reaches the front side. The mode in which the portion 21b moves at a low speed is rotated at a low rotation speed, and when the position at the contact with the electronic component W is reached, the speed is made zero. Moreover, there is a difference in torque limitation before and after reaching the electronic component W. After the front end of the holding portion 21b reaches the front side of the electronic component W, the restriction is strictly performed so as to reduce the maximum torque. In this speed or torque control, the amount of rotation of the rotary motor 25d associated with the stop point information such as the combination information of the face-to-face holding portion 21a and the holding portion 21b or the delivery point A is referred to. Thereby, an excessive load is applied to the electronic component W in advance.
Further, the voice coil motor 25g applies a thrust F to the lever 25i in advance, which is a thrust against the total of the resistance force F1 received by the lever 25i and the compression force F2 of the spring 25b, wherein the resistance force F1 is such that the electronic component has not yet been reached. The resisting force received by the rod 25i when the holding portion 21b of the W is advanced, and the compressive force F2 of the spring 25b is the compressive force of the spring 25b that supports the protrusion supporting plate 253. Thereby, the rod 25i is neither advanced nor embedded in the casing of the voice coil motor 25g.
However, when the front end of the holding portion 21b abuts on the electronic component W and receives a new resistance F3 from the electronic component W, the lever 25i is embedded in the voice coil motor 25g. In other words, the voice coil motor 25g is immersed in the frame by the lever 25i, and absorbs the collision between the holding portion 21b and the electronic component W. Therefore, the holding portion 21b is opposite to the electron zero The load imparted by the piece W is reduced to a considerable extent.
Therefore, the position of the holding portion 21a and the holding portion 21b is shifted by the positioning error at the delivery point A, and the other point is the fulcrum, and the other point is the force point, and the rotation torque may be generated in the electronic component W. However, in the advancing and retracting drive device 25, since the load applied to the electronic component W is close to zero, the posture shift of the electronic component W or the traverse of the electronic component W in the worst case can be avoided.
Further, the two rotary pickups 2a and the rotary pickup 2b are the same product and are assembled to the common holder 7. Therefore, as long as the two rotary pickups 2a and the rotary pickup 2b are assembled on the holder 7, the positions of the two rotary pickups 2a and the rotary pickup 2b are positioned, so that at the delivery point A, the face-to-face holding portion 21a and the holding portion 21b can be arranged in a straight line with high precision. Therefore, the occurrence of a situation in which the position of the facing holding portion 21a and the holding portion 21b is shifted is prevented as much as possible.
In the operation description, when the holding portion 21b holds the electronic component W, the forward/backward driving device 25 reversely rotates the cylindrical cam 25e by the driving of the rotary motor 25d, and the cam follower 25f is separated from the convex portion of the cam surface. Then, the propulsive force toward the arm portion 24c is released. The spring portion 25h is compressed by the advancement of the slide shaft 24b of the movable mechanism 24, and when the thrust force toward the arm portion 24c is released, the restoring force is exerted, and the slide shaft 24b is returned to the center in the radial direction. When the slide shaft 24b is returned to the center in the radial direction, the holding portion 21b fixed to the slide shaft 24b via the arm portion 24c is returned to the center direction of the rotary pickup 2b while holding the electronic component W.
At the 8th appearance check point D, the pair cannot be in the first half of the transport path The appearance of the opposite side R of the photographed electronic component W is photographed and divided into good or defective products. In the rotary pickup 2a which is the first half of the conveyance path, since it is held by the holding portion 21 and faces the rotation center side of the rotary pickup 2a, the appearance photography becomes difficult. On the other hand, in the rotary pickup 2b in the latter half of the transport path, the electronic component W is automatically reversed by the delivery, so that the opposite surface R that cannot be photographed is directed outward, and imaging can be performed.
At the coating point E at the ninth point, an adhesive is applied to the surface of the electronic component W facing outward. The paste application device 3 stands by toward the front end of the press pin 31 right above the application point E at the ninth point. The press pin 31 is a rod-shaped member whose tip end is tapered.
The paste application device 3 includes a tray 32 for storing an adhesive, and the press pin 31 is moved into the tray in advance, and the tip end of the press pin 31 is immersed in the adhesive, and then at the coating point E at the ninth place. Standby. When the electronic component W is transported to the application site E, the press pin 31 is lowered, and the adhesive is applied to the electronic component W stopped at the application site E.
At the posture confirmation point F at the eleventh point, the posture of the electronic component W is checked, and the offset of the electronic component in the XYθ direction is detected. At the posture confirmation point F, the imaging optical system 63 similar to the visual inspection spot D of the eighth place is also disposed, and the offset is calculated based on the image of the electronic component W. The offset is calculated by measuring the distance to each point of the electronic component based on the point of the image. The information of the offset amount in the XYθ direction is associated with the electronic component W and memorized.
At the discharge point G at the 12th place, the electronic component determined to be defective is forcibly discharged. At the discharge point G of the twelfth place, an opening is arranged in the falling direction. Discharge container 8. In the visual inspection, when the electronic component associated with the information indicating the defective product is transported to the discharge point G, the vacuum generating device generates a positive pressure inside the nozzle of the holding portion 21, and blows off the held electronic component and drops it. Up to the discharge container 8.
At the detachment point C at the thirteenth point, the platform device 4b transports the mounted portion to the detachment point C, and the holding portion 21 located at the thirteenth position of the rotary pickup 2b detaches the electronic component. As shown in Fig. 10, the platform device 4b moves the platform in the XY direction and rotates in the θ direction. In the case where an empty mounting portion remains on the X line, the movement in the X direction is an amount obtained by adding the amount of shift in the stored X direction to the amount of one pitch in one direction. In the case where there is no more empty mounting portion on the X line, the movement in the Y direction is an amount obtained by adding the amount of shift in the stored Y direction to the amount of one pitch in one direction. Further, the θ rotation corresponds to the amount of shift in the stored θ direction.
When the stage is moved in the XY direction and the θ direction in advance, when the movement is completed, the advance/retract drive device 25 lowers the holding portion 21 at the detachment point C at the thirteenth position, and the electronic component W is detached from the mounted portion. When the housing 5b placed on the stage device 4b is the substrate P, the surface on which the adhesive is applied faces the substrate P, and the electronic component W is bonded to the substrate P via the adhesive. At this time, the advance/retract drive device 25 controls the rotary motor 25d or the voice coil motor 25g to apply a constant load to the electronic component W, thereby promoting adhesion of the electronic component W to the substrate P.
(5. Effect)
As described above, the transfer device 1 of the present embodiment includes the two rotary pickups 2a and the rotary pickup 2b as the transport path. Two rotary pickups 2a, rotary pick The picker 2b intermittently rotates at a predetermined angle every time the front end of the holding portion 21 is always directed outward in the radial direction of the pickup and around the rotation axis. The rotary pickup 2a and the rotary pickup 2b are disposed so as to be adjacent to each other on the same plane so that the rotation axes are not parallel to each other. In addition, the two rotary pickups 2a and the rotary pickup 2b have a common stop position in which the front end of the holding portion 21a and the holding portion 21b of the holding portion 21b face each other, and the electronic component W is delivered as the delivery point A. .
In this manner, the rotary pickup 2a and the rotary pickup 2b are disposed so as to be parallel to each other so as not to overlap each other, and are arranged adjacent to each other on the same plane, whereby the rotary pickup 2a and the rotary pickup 2b can be disposed around the rotary pickup 2a and the rotary pickup 2b. Multiple machining points. The processing point is a part that performs various processes such as visual inspection, adhesive application, and posture confirmation on the electronic component W.
In other words, when the rotary pickup 2a and the rotary pickup 2b are partially overlapped, a machining point cannot be provided in the overlapping portion of the two rotary pickups 2a and the rotary pickup 2b and in the vicinity thereof. This is because a rotary pickup 2a, a rotary pickup 2b, a motor 23, and the like may become physical obstacles. However, in the transfer device 1 of the present embodiment, the overlapping portion is not provided, and the machining point can be set at all points except the delivery point A of the rotary pickup 2a and the rotary pickup 2b.
Further, in the transfer device 1, since a plurality of processing points can be provided, it is not necessary to increase the diameter of the pickup, and space saving can be achieved. Further, the miniaturization of the rotary pickup 2 realizes the vertical placement of the rotary pickup 2, and the motor 23 can be miniaturized. Therefore, it is more space-saving.
Moreover, if the rotary picker 2a and the rotary picker 2b can be downsized, the rotational speed of the rotary picker 2a and the rotary picker 2b can be increased. Therefore, the conveying speed of the electronic component W is improved. In the two rotary pickups 2a and the rotary pickup 2b, the delivery processing of the electronic component W is also the reverse processing of the electronic component W, so that the electronic component W can be made without additionally adding an inversion process in the delivery process. Reverse. Therefore, the transport speed of the electronic component W is further improved.
The alignment of the heights of the two rotary pickers 2a and the rotary picker 2b is necessary. In this regard, in the transfer device 1 of the present embodiment, the rotary pickup 2a and the rotary pickup 2b are the same product based on the same design, and the rotary pickup 2a and the rotary pickup are used. A common bracket 7 for limiting the position of the rotating shaft of 2b.
Thereby, it is only necessary to embed the rotary pickup 2a and the rotary pickup 2b in the holder 7, and the high-precision positioning of the two rotary pickups 2a and the rotary pickup 2b is completed, thereby facilitating the positioning operation. At the delivery point A, the front-facing holding portions 21 are arranged on the same straight line with high precision. Therefore, even if the electronic component W is delivered between the rotary pickup 2a and the rotary pickup 2b, the yield of the electronic component W is good, and the device is quite effective.
Further, in the transfer device 1, any one of the holding portions 21 facing the surface at the delivery point A can send or receive the electronic component W as a delivery target, and the advance/retract drive device 25 can move the moving portion of the holding portion 21 to be advanced. The other holding portion 21 that is close to the surface is slowed down, and the load applied to the electronic component W to be delivered is controlled by the advancing holding portion 21.
As a result, even if the offset is generated in the arrangement of the holding portion 21 at the delivery point A due to the assembly accuracy or the like, the offset occurs at the point where the load is applied to the front and back of the electronic component W, and the electronic component W is generated. The rotational torque is also extremely small, so that the posture of the electronic component W is not changed by the delivery, or the electronic component W does not traverse and receives an error. Therefore, at this point, the yield of the electronic component W is also good, and it is effective as a device.
(6. Modifications)
For example, as long as the transfer device 1 has the rotary pickup 2a and the rotary pickup 2b arranged in parallel on the same plane so as not to overlap each other, a plurality of machining points may be provided. The rotary picker 2a and the rotary picker 2b are placed laterally so as to be horizontal with the installation surface.
As the processing point, in addition to the visual inspection, the application of the adhesive, the posture confirmation, the forced discharge of the defective product, and the mounting of the substrate, the temperature can be checked for temperature, such as electrical property inspection, heating, or cooling. Various other settings such as shape processing, posture correction, marking, etc. of the terminal extending from the electronic component W are adjusted.
In addition to the adsorption nozzle for adsorbing and detaching the electronic component W by the generation and destruction of vacuum or the generation of positive pressure, the holding portion 21 may be provided with an electrostatic adsorption method or a Bernoulli chuck method. Or a chuck mechanism that mechanically holds the electronic component W.
In addition, the holding portion 21 provided in the rotary pickup 2a and the rotary pickup 2b is not limited to one type, and two types may be disposed. For example, in the case where the same type of holding unit 21 is arranged in parallel, the odd number and the even number are set in the same type. When the electronic component W of the first type is supplied, the different holding portions 21 are held by the odd-numbered holding portions 21, and when the electronic components W of the second type are supplied, they are held by the even-numbered holding portions 21. When the same type is continuously supplied, the rotary pickup 2a and the rotary pickup 2b are rotated at two pitches each time, and when different types are supplied, the rotary pickup 2a and the rotary pickup 2b are provided. Rotate at a pitch to maintain the different variety. In the production of a large variety and a small amount, when the variety replacement occurs frequently, the trouble of replacing the holding portion 21 depending on the variety is eliminated, and the production efficiency can be further improved.
Further, in the present embodiment, the electronic component W is received by the holding portion 21b of the rotary pickup 2b which is the latter half of the transport path, and the rotary pickup 2a which is the first half of the transport path may be used. The manner in which the holding portion 21a delivers the electronic component W. Furthermore, it is also possible to move both sides to the intermediate place. In this case, the advancing and retracting drive device 25 may be disposed at the delivery point A with respect to the rotary pickup 2a as the first half of the transport path, or the advancing and retracting drive may be disposed on the two rotary pickers 2a and the rotary pickup 2b. Device 25.
Even if a common bracket 7 is not used, the positioning operation can be performed by manual operation or the like. Further, for example, as the paste application device 3, a pin transfer method using a press pin is employed, and a dispenser method in which liquid sealed in the syringe is ejected from the tip end of the nozzle by air pressure or mechanical pressure may be employed.
Further, in the present embodiment, one container 5a is used as a tray, and the other container 5b is used as a mounting substrate. However, the present invention is not limited thereto, and a tray may be used. Any one or a combination of two of a substrate, a wafer sheet, and a bag forming a bag. Further, one of the photographic optical systems 6 for visual inspection is one-shot five-sided, but may be divided into a plurality of faces and placed at other stop positions.
For example, FIG. 11 is a schematic view showing another example of the transfer device 1. A housing 5 in the transfer device 1 is a wafer sheet. The first side stop position of the rotary pickup 2a which is the front half of the conveyance path opposite to the delivery position is the first position, and the two rotary pickups 2a and the rotary pickup 2b are rotated counterclockwise from the first position.
At the stop position of the first position which is the right side position, a ring holder 50 is disposed instead of the platform. At the stop position of the third position, the photographing optical system 6 that photographs one surface of the electronic component W that is radially outward in the rotary picker 2a which is the first half of the transport path is disposed. The stop position at the 5th place is the delivery point A. The discharge pipe 80 is disposed at a stop position that is separated from the first place by two points in the clockwise direction. The discharge pipe 80 will discharge the failed electronic component W at the delivery point A at the fifth place. This is because when the holding portion 21 is in the state in which the electronic component W is held, the two electronic components W are overlapped at the pickup point B at the first position.
In the sixth place, the photographic optical system 6 is disposed, and the photographic imaging system 6 applies an adhesive to the paste application device 3 provided at the seventh place, thereby applying the adhesive-coated surface of the electronic component W. photography. The photographic optical system 6 detects the offset amount of the electronic component W in the XYθ direction, and corrects the punching according to the offset amount. The position of the pin 31.
At the stop position of the eighth place, a photographing optical system 6 for performing visual inspection of the adhesive-coated surface is disposed. In the photographic optical system 6, the application form of the adhesive application surface and the adhesive is inspected. At the stop position of the ninth place, a photographing optical system 6 for visually inspecting the four sides of the electronic component W is disposed.
At the stop position at the 10th place, the sorting pipe 82 is provided instead of the discharge pipe. The sorting tube 82 accommodates an electronic component W that is not a defective product but has a low level. In each visual inspection, the rank is classified according to the degree of the good quality of the electronic component W, and the electronic component W associated with the predetermined grade is discharged to the sorting pipe 82 by the exhausting means.
At the stop position of the eleventh, a platform on which a mounting substrate such as a lead frame is placed is disposed. The defective product of the classification pipe 82 and the eleventh portion which have not left the tenth place is discarded to the discharge pipe 81 provided at the twelfth place. This is because the side is the delivery point A. If the holding unit 21 is in the state of holding the electronic component W, the two electronic parts W are overlapped at the delivery point A.
Further, in the present embodiment, the transfer device 1 is assumed to have a transport path by the two rotary pickers 2, but the number of the rotary pickers 2 forming the transport path is not limited to two, and may be continuous. Three, four..., N (N≧2).
FIG. 12 shows a transfer device 1 in which a transfer path is formed by juxtaposing three rotary pickups 2a, a rotary pickup 2b, and a rotary pickup 2c. The rotary pickup 2a, the rotary pickup 2b, and the rotary pickup 2c are placed in the longitudinal direction of the same vertical plane to be connected and arranged. Rotary pickup 2a at both ends, rotary picking The height of the device 2b is the same, and the rotary pickup 2c in the middle is disposed obliquely upward with respect to the rotary pickup 2a and the rotary pickup 2b at both ends. This is to shorten the arrangement length of the three rotary pickups 2a, the rotary pickup 2b, and the rotary pickup 2c.
The rotary pickup 2a lifts the electronic component W one by one from the wafer ring held by the wafer holder 50a. The rotary pickup 2c in the middle receives the electronic component W from the rotary pickup 2a and delivers it to the rotary pickup 2c. The rotary pickup 2b attaches the electronic component W to the wafer ring 50b held by the other wafer holder.
The transfer device 1 is also used as an inspection device for inspecting the appearance of the electronic component W, and a plurality of processing points on the transport path formed by the rotary pickup 2a, the rotary pickup 2b, and the rotary pickup 2c. The photographic optical system 64 to the photographic optical system 67 for the electronic component W are disposed.
The first imaging optical system 64 is disposed in the vicinity of the rotary pickup 2a, and is disposed at a first stop portion where the electronic components lifted from the one-ring holder 50a are initially stopped. The first photographic optical system 64 includes a mirror surface and a camera, and determines whether the electronic component W is good or defective. The electronic component W determined to be defective is quickly separated from the transport path.
The second imaging optical system 65 is in the vicinity of the rotary pickup 2c, and is disposed at a second stop portion where the electronic component W received from the rotary pickup 2a is stopped first. The second photographic optical system 65 includes a cymbal and a camera, and the positional deviation of the electronic component W is measured in advance in order to correct the position of the electronic component W. Correcting the electronic component W based on the measured positional deviation at the stop portion directly behind the second stop portion s position.
The third photographic optical system 66 is in the vicinity of the rotary pickup 2b, and is disposed at a third stop portion where the electronic component W received from the rotary pickup 2c is stopped first. The third photographic optical system 66 also includes a cymbal and a camera, and determines whether or not damage or the like is caused in the transport path of the electronic component W. The electronic component W that is determined to be defective in the presence of damage or the like is not attached to the wafer ring in the other ring holder 50b, and is detached from the transport path.
Further, the fourth imaging optical system 67 is disposed above the rotary pickup 2b and disposed at a fourth stop portion where the electronic component W is finally stopped before being attached to the other ring holder 50b. The fourth photographic optical system 67 includes a mirror surface and a camera, and the electronic component W is previously measured in positional offset in order to correct the attachment position of the electronic component W to the wafer ring. The ring holder 50b is moved in parallel based on the measured positional deviation, thereby adjusting the attachment position of the electronic component W.
(Other embodiments)
The embodiments and the modifications of the present invention have been described above, and various omissions, substitutions, changes and combinations may be made without departing from the scope of the invention. Further, the embodiments and the modifications thereof are included in the scope and spirit of the invention, and are included in the invention described in the claims and their equivalents.
1‧‧‧Transfer device
2a, 2b‧‧‧Rotary Pickup
3‧‧‧Caste coating device
4a, 4b‧‧‧ platform installation
5a, 5b‧‧‧ containment
6, 61, 62, 63‧ ‧ photographic optical system
8‧‧‧Draining tube
21‧‧‧ Keeping Department
21a‧‧‧During the holding side
21b‧‧‧Receiver on the receiving side
A‧‧‧ delivery location
B‧‧‧ pick up location
C‧‧‧Departure location
D‧‧‧ Appearance inspection location
E‧‧‧ Coating location
F‧‧‧Pose confirmation location
G‧‧‧Discharge location
R‧‧‧ opposite side
W‧‧‧Electronic parts

Claims (17)

  1. A transfer device for taking out an electronic component from a housing and mounting it on another housing, the transfer device comprising: a holding portion that holds and detaches a side of the electronic component from a front end; and a N frame (N≧ 2) The rotary pickup is provided with a plurality of the holding portions arranged around the rotating shaft, and intermittently rotating at a predetermined angle every time the front end is always outward, and the N-type rotary pickup is used. And a main transport path of the electronic component from the container to the other housing, wherein the adjacent rotary picks are arranged so as to be parallel to each other and disposed adjacent to each other in a plane Further, it has a common stop position which is a position where the front ends of the holding portions of the both sides face each other, and the electronic component is delivered by using the stop position as a delivery point.
  2. The transfer device according to the first aspect of the invention, wherein the rotary pickup device supplies the electronic component to the main transport path formed by the turret type from the storage body, wherein the The turret type is excluded, and the main transport path is formed by the rotary pickup itself, and the electronic component is transported from the storage body to the other storage body.
  3. The transfer device according to claim 1 or 2, wherein the rotary pickup is provided with an odd number of frames, and the rotary pickup disposed corresponding to the storage body is taken out from the storage body One side of the above electronic component is held until it is transported to the above delivery location The rotary picker disposed corresponding to the other storage body holds the opposite surface of the electronic component at the delivery point and is detached from the other storage body.
  4. The transfer device according to any one of claims 1 to 3, wherein the N-type rotary pickups are vertically placed and have a vertical rotating surface.
  5. The transfer device according to any one of claims 1 to 4, wherein, in any one of the adjacent rotary pickers, at the stop position corresponding to the delivery point, Further, the advance/retract drive unit is configured such that the holding unit stopped at the stop position advances outward in a radial direction away from the rotation axis, and is sent or received by any one of the holding units that face each other at the delivery point. Electronic parts to be delivered.
  6. The transfer device according to claim 5, wherein the advance/retract drive unit includes a motor that generates a thrust force for advancing the holding portion, and the motor causes the moving speed of the advancing holding portion to approach another face-to-face Keep the part slow down.
  7. The transfer device according to claim 5, wherein the advance/retract drive unit includes a voice coil motor, and the voice coil motor controls a load applied to the electronic component to be delivered by the advancement holding unit. .
  8. The transfer device according to claim 7, wherein the voice coil motor is provided with a counter-force against the resistance of the holding portion to the holding portion in a state where the electronic component to be delivered is not yet reached. And the voice coil motor absorbs the collision between the electronic component to be delivered and the holding portion.
  9. The transfer device according to claim 5, wherein the advance/retract drive unit includes a voice coil motor, and the voice coil motor maintains the electronic component that has not been delivered as the delivery target. The urging force is applied to the urging force from the holding portion, and the forward/backward driving unit determines the change in the operation of the voice coil motor by the contact between the electronic component to be delivered and the holding portion. The amount of rotation of the motor that advances the holding portion.
  10. The transfer device according to any one of claims 1 to 9, wherein the N-rotary pickup is the same product based on the same design.
  11. The transfer device according to any one of claims 1 to 10, further comprising a common bracket, wherein the bracket limits the first rotary picker and the second rotary picker The position of the above rotating shaft.
  12. The transfer device according to any one of the preceding claims, wherein the one of the odd-numbered arrays of the above-mentioned N-type rotary pickups is a rotary pick-up A photographic optical system that photographs the appearance of the electronic component is disposed on each of the pick-up and the even-numbered one of the rotary pick-ups.
  13. The transfer device according to claim 12, wherein the photographing optical system photographs five faces other than the one surface of the electronic component, and the other photographing optical system photographs the one surface of the electronic component.
  14. The transfer device according to claim 12, wherein the photographic optical system photographs five faces other than the opposite surface of the electronic component, and the other photographic optical system performs the opposite surface of the electronic component photography.
  15. The transfer device according to any one of claims 1 to 14, wherein the rotary pickup disposed in correspondence with the other storage body is disposed with respect to an electronic component The photographing optical system that performs photographing moves and rotates the other container in a two-dimensional direction so as to match the position and rotation in the photographed posture.
  16. The transfer device according to any one of claims 1 to 15, wherein the container and the other container are a wafer sheet, a lead frame, an organic substrate, an inorganic substrate, and an adhesive layer. A tray, a substrate, a part feeder, or a combination of a belt, a tray, a sorting box forming a bag, or a combination of the two.
  17. The transfer device according to any one of claims 1 to 16, wherein the rotary pickup disposed in correspondence with the other storage body is provided with an adhesive for the electronic component. Paste coating device.
TW102144313A 2012-12-04 2013-12-04 Transfer equipment TWI505901B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2012/081412 WO2014087491A1 (en) 2012-12-04 2012-12-04 Transfer device
PCT/JP2013/060872 WO2014087682A1 (en) 2012-12-04 2013-04-10 Transfer device

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TWI505901B TWI505901B (en) 2015-11-01

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Country Link
KR (1) KR101527106B1 (en)
CN (1) CN104768702B (en)
HK (1) HK1206683A1 (en)
MY (1) MY157624A (en)
SG (1) SG11201504004VA (en)
TW (1) TWI505901B (en)
WO (2) WO2014087491A1 (en)

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Also Published As

Publication number Publication date
WO2014087491A1 (en) 2014-06-12
KR20150041120A (en) 2015-04-15
SG11201504004VA (en) 2015-06-29
KR101527106B1 (en) 2015-06-09
CN104768702B (en) 2017-06-30
HK1206683A1 (en) 2016-01-15
TWI505901B (en) 2015-11-01
MY157624A (en) 2016-06-23
CN104768702A (en) 2015-07-08
WO2014087682A1 (en) 2014-06-12

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