TW201712787A - Device handler - Google Patents

Abstract

The present invention relates to an element handler and, more particularly, to an element handler for loading elements on a carrier tape. The present invention provides an element handler characterized by comprising: a loading member cassette unit on which a plurality of element loading members are loaded, multiple elements being attached to the element loading members; an element loading member table for receiving an element loading member from the loading member cassette unit and moving the element loading member in the horizontal direction; and an unloading unit installed to be spaced from the element loading member table in the horizontal direction and provided with a carrier tape, on which an element transferred from the element loading member by at least one transfer tool is loaded.

Description

Component processor

BACKGROUND OF THE INVENTION 1. Field of the Invention This invention relates to an apparatus processor, and more particularly, an element processing apparatus that picks up an element from a component mounting component and unloads the component onto the component loading component.

Semiconductor components such as SD RAM, Flash RAM, LSI, and LED (hereinafter referred to as "components") are generally marketed after they have finished semiconductor manufacturing, sewing processes, packaging processes, and the like.

Here, in order to ensure the reliability of products that have been exported to the market, the detection device, the sorting device, the detection and classification device, and the like are used, and the products of the sample are selected and marketed by the automatic detection and classification of the detection results.

In addition, types of wafers such as a component SD RAM, a flash RAM, an LSI, a Red Flash, and a terminal structure such as a BGA are variously present.

Moreover, the final inspection after the component packaging process is of course the component in the state of the wafer at the end of the semiconductor process, and the component classification process for the detection and monitoring results has a tendency to improve the production efficiency.

Further, based on the miniaturization requirements for components, components are not undergoing a modular process depending on a resin or the like, and the trend from the wafer level to the final productization is recently expanding.

Among the component mounting components that are the same as the wafer ring, in order to market the market, etc., it is necessary to urgently develop a component processor that can perform component unloading with the component loading component more quickly by the tape spool.

SUMMARY OF THE INVENTION An object of the present invention is to provide an element processor which can pick up an element from a component mounting member and can stably load it to the component loading member, in accordance with the trend as described above.

In order to achieve the above object, the present invention is disclosed as a component processor including the component mounting component table 200, and the plurality of component mounting members 10 to which the plurality of components 1 are attached are moved in the horizontal direction; The transfer tool 400 is disposed on one side of the component mounting component table 200 and includes an unloading portion 800 on which the component loading member 20 is disposed, and is received from the component mounting component 10 based on one or more transfer tools And unloading, the one or more transfer tools are disposed on the upper side of the component mounting component table 200, and at the pickup position 1 of the component mounting component, the component 1 is picked up and rotated to make the picked component 1 The bottom surface is reversed to the upper side; the second transfer tool 500 picks up the component 1 based on the first transfer tool 400 at the transfer position 2, and transmits the component 1 to the camera based on at least one of the rotational movement and the linear movement. The loading position 3 of the component loading member 20 of the unloading unit 800 is described.

The first transfer tool moves the component linearly in a diagonal direction while picking up the component from the component loading member while rotating the rotation.

At the communication position 2, at the upper portion of the first transfer tool 400, a second camera 812a may be additionally provided, which is an image for acquiring the bottom surface of the picked-up element 1.

The component processor may include a pair of first transfer tools, the pair of first transfer tools being disposed symmetrically with respect to each other with respect to a first direction of the picking position 1 toward the loading position 3.

The first transfer tool includes a rotation motor 612 that is disposed perpendicular to a first direction at the picking position 1 toward the loading position 3, and includes a rotating shaft 611; a linear moving portion 620, The linear moving portion 620 linearly moves along a second direction that is perpendicular to the first direction based on the rotation of the rotating shaft 611; one or more first pickers 600 are aligned with the linear moving portion 620 The component 1 is picked up in combination.

The component processor may include a pair of second transfer tools corresponding to the pair of first transfer tools 400.

At an upper portion of the transfer path between the transfer position 2 and the loading position 3 of the second transfer tool 500, an upper visual detecting portion that performs upper visual inspection on the picked-up element is provided. The second transfer tool 500 rotates between the communication position 2 and the visual detection position 2-1 corresponding to the upper visual detection unit, and rotates the bottom surface of the picked-up element 1 toward the lower side.

The upper visual detecting portion may include a third camera 813a located at an upper portion of the transfer path of the second transfer tool 500 at the visual detection position 2-1 for acquiring an upper view of the picked up component 1. image.

The third camera 813a can acquire the upper and four side images of the picked up component 1.

The second transfer tool 500 can perform relative movement in the vertical direction with respect to the upper visual detecting unit in order to adjust the vertical distance from the visual detection position 2-1 to the upper visual detecting unit.

The first picker includes a detaching support portion 630 coupled with the linear moving portion 620, and a picking portion 640 detachably coupled with the detaching support portion 630 to pick up the component 1. The picking portion 640 includes: a main body portion 645 that is coupled to the detaching support portion 630 and detachable; a picking member 641 that is coupled to the main body portion 645 and movable up and down; and an air that is conveyed to the picking member 641 The rotation preventing portion 650 that presses the pick-up member 641 under pressure and the upper and lower driving portion 642 that drives the pick-up member 641 to move up and down. The detachment support portion 630 is provided with a pneumatic pressure transmitting portion 631 for transmitting air pressure to the pickup portion 640, and a power supply portion for supplying power to the vertical drive portion 642.

The rotation preventing portion 650 includes a loading member 653 disposed on the main body portion 645 and movable up and down, and a connecting member 652 disposed on an upper side of the main body portion 645 and the loading member 653 and the picking member 641 The upper part is connected and joined. The vertical drive unit 642 includes a voice coil motor (Voice Coil Motor), and when the components are picked up, power is applied to the pickup member 641 to drive up and down.

According to the component processor of the present invention, the component is loaded to the unloading such as the tape carrier by a structure constituted by picking up and transferring by using one or more transfer tools of the component loading member loaded with the plurality of components, which are the same as the wafer ring. On the part, there is an advantage that the unloading operation can be performed more quickly.

Further, according to the component processor of the present invention, on the component loading member, while the rotation-based rotation operation is performed, the component is transferred once by the transfer tool moving in the diagonal direction, and the rotated component is picked up to perform the component two. Transfer and load the component to the component loading unit. This has the advantage of faster picking and loading of the components.

In particular, according to the component processor of the present invention, during the transfer of the component after the rotation, when the upper surface of the component is visually detected, the camera module for performing the visual inspection is located on the upper side, so that the component is rotated and transferred. The upper and lower heights in the field become the advantage of minimization.

Further, the pickup is rotated by minimizing the vertical height in the field formed by the rotation and transfer of the element, that is, the upper and lower heights of the first transfer tool are minimized, and the size of the first transfer tool is minimized and the transfer distance is minimized. It has the advantage of increasing the processing speed per unit time (UPH, units per hour).

And, based on the camera module being located at the upper portion of the second transfer tool transfer path, the component loading member, that is, by minimizing the transfer distance of the wafer and the take-up spool, reduces the planar size of the device on the one hand, and the component on the other hand Minimizing the transfer time has the advantage of increasing the processing speed per unit time (UPH, units per hour).

Moreover, based on the camera module being located at the upper portion of the second transfer tool transfer path, the five-sided detection of the component, that is, the detection of the upper surface and the four sides of the quadrilateral shaped element, is performed by performing between the camera module and the second transfer tool. Moving up and down, it has the advantage of being able to perform 5-sided inspection more quickly and conveniently.

1‧‧‧ components

10‧‧‧Component mounting parts

11‧‧‧ Tapes

12‧‧‧Frame parts

20‧‧‧Component loading parts

100‧‧‧Installation parts box

200‧‧‧Installation parts workbench

400‧‧‧First Transfer Tool

500‧‧‧Second transfer tool

520‧‧‧ Pickup Moving Department

540‧‧‧Second Picker

570‧‧‧Up and down moving department

580‧‧‧Rotary motor

589‧‧‧Connector

600‧‧‧First Picking Department

611‧‧‧Rotary axis

612‧‧‧Rotary motor

620‧‧‧Linear Moving Department

630‧‧‧Disassembly support

631‧‧ Air Compressor

640‧‧‧ Pickup Department

641‧‧‧ Pick up parts

641a‧‧ Air flow path

642‧‧‧Upper and lower drive department

645‧‧‧ Main body

650‧‧‧Rotation Prevention Department

651‧‧‧Fixed parts

652‧‧‧Connecting parts

653‧‧‧Loading parts

710‧‧‧Load status visual inspection device

730‧‧‧Disassembly support

800‧‧‧Unloading Department

811‧‧‧First Lighting Department

812‧‧‧Second Lighting Department

812a‧‧‧second camera

813‧‧‧ Third Lighting Department

813a‧‧‧ third camera

810‧‧‧With the supply department

811‧‧‧Band carrier supply roll

820‧‧‧ tape department

1 is a plan view showing the concept of an element processor according to an embodiment of the present invention; FIG. 2 is a perspective view showing an example of a component mounting member used in the component processor of FIG. 1. FIG. 3a and FIG. A modified view of the component mounting member used, a perspective view and a cross-sectional view showing the wafer ring case; and FIG. 4 is a conceptual diagram showing the component transfer device from the component mounting component to the component loading component in the component processor of FIG. 1; FIGS. 5a to 5c are A perspective view showing a portion of a first transfer tool operating process of picking up, rotating, and diagonally moving the component in the component processor of FIG. 1; Figure 6 is a plan view showing the pickup of the first transfer tool of Figure 5; Figure 7a is a side view showing the Y-axis direction component transfer process of Figure 6; Figure 7b is a view showing the component non-reversal and reverse during the transfer of Figure 7a. Figure 7c is a cross-sectional view in the Y-axis direction of Figure 6; Figure 8 is a perspective view showing the second transfer tool of the component processor of Figure 1; Figure 9 is a plan view of the second transfer tool of Figure 8; Figure 10a And FIG. 10b is a plan view showing an example of a first transfer tool for picking, rotating, and diagonally moving the actuator in the component processor of FIG. 1; and FIG. 11 is a component transfer process showing a modified embodiment of the component processor according to the present invention; Conceptual illustration.

Hereinafter, the component processor of the present invention will be described in detail with reference to the attached drawings.

The component processor according to an embodiment of the present invention has a structure in which the component loading member 20 that picks up the component 1 mounted on the component mounting member 10 and mounts the component 1 on the unloading portion can have various configurations.

For example, an element processor according to an embodiment of the present invention, as shown in FIG. 1, includes: a mounting member box portion 100 loaded with a plurality of component mounting members 10 attached by a plurality of components 1; a component mounting component table 200, The component mounting member 10 supplied from the mounting member case portion 100 is received, and the component mounting member 10 is moved in the horizontal direction; the unloading portion 800 is provided in isolation from the component mounting member table 200 in the horizontal direction, and the component loading member 20 is provided. The component loading unit 20 receives and loads the component 1 conveyed from the component mounting component 10 by means of one or more transfer tools 400, 500.

The mounting member case portion 100 has a structure in which a plurality of component mounting members 10 attached by a plurality of components 1 are mounted, and can have various structures.

Here, the semiconductor element, the LED element, the solar cell element, and the like mounted on the component mounting member 10 are components of a semiconductor process and a sawing process.

In particular, the element 1 may be an element that terminates the packaging process after the semiconductor process, or may be an object such as a wafer level component after the semiconductor process and the sawing process.

Further, the component mounting member 10 as a member on which the plurality of components 1 are mounted may have various configurations such as a tray and a wafer ring if the component 1 can be mounted.

As an example, the component mounting member 10, as shown in FIG. 2, FIG. 3a, and FIG. 3b, may be a wafer ring, a semiconductor process, and a structure in which the component 1 having an end sawing process is loaded, and may include a roll to which the component 1 is attached. The structure of the belt member 11 and the frame member 12 of the fixed reel 11.

Further, if the web 11 is a member to which the component 1 can be attached, any member may be used, and may be a so-called blue web.

The frame member 12 may be formed in a quadrangular shape, a circular ring shape or the like if it is the winding tape 11 to which the fixing member 1 is attached.

The mounting member case portion 100 is configured to mount a plurality of component mounting members 10, and any structure may be employed if the component mounting members 10 can be stacked one above another.

The component mounting member table 200 is configured to receive the component mounting member 10 supplied from the mounting member casing portion 100 and to move the component mounting member 10 in the horizontal direction, and can be configured in various configurations.

For example, the component mounting component table 200 is configured to move the component mounting component 10 in the horizontal direction, and receives the component mounting component 10 supplied from the mounting component case portion 100 based on a wafer ring mounting portion (not shown). The same transfer tool as the first transfer tool 400 can pick up the component 1. If it is such a structure, various structures such as an X-Y table and an X-Y-θ table can be used.

Further, the component mounting member 10 for transferring the component mounting member 10 from the mounting member casing portion 100 to the component mounting member table 200, the component mounting member 10 is lifted from the mounting member casing portion 100, and if it is capable of being picked up The component mounting member 10 is transmitted to the structure of the component mounting component table 200, and any structure is acceptable.

The unloading portion 800 is provided in isolation from the component mounting member table 200 in the horizontal direction, and is provided with a component loading member 20 that receives the component 1 conveyed from the component mounting member 10 and is loaded. If it is the above structure, various other structures are available.

In particular, the unloading portion 800 may be a combination of a tape carrier and a cover tape (tape type), a tray, or the like, and the structure of the component loading member 20 that can be used to unload the component 1 can be determined.

For example, the unloading portion 800 is formed by using a combination of a tape carrier and a cover tape, and the accommodating portion of the loading member 1 is formed in the longitudinal direction, and after the component is loaded at the component loading position, the cover tape (not shown) is used. The sealed tape carrier can form the component loading component 20.

At this time, the unloading portion 800 may include a tape supply portion 810 for supplying a tape carrier to be loaded with an element, and a tape winding portion 820 for feeding the tape carrier based on the tape supply portion 810 via the component, as shown in FIG. Loading position, and winding the tape carrier loaded with the component; covering the tape supply portion, disposed on the transfer path of the tape carrier between the tape supply portion 810 and the tape winding portion 820, and after loading the component 1, feeding the tape a cover tape attached to the upper surface of the carrier; a sealing portion disposed on the transfer path of the tape carrier between the tape supply portion 810 and the tape take-up portion 820, attaching the cover tape to the upper surface of the tape carrier; and a plurality of rollers, The movement of the tape carrier and the cover tape is guided to enable the tape carrier to smoothly move from the tape supply portion 810 to the tape take-up portion 820.

Here, the tape carrier formed by the accommodating portion of the loading member 1 may have any structure as long as it is formed by the accommodating portion of the loading member 1. It can usually be made of plastic material.

The tape supply portion 810 is provided so that the tape carrier supply roll 811 wound by the tape carrier formed by the accommodating portion of the loading member 1 can be rotated, and any structure can be used if the above configuration can be satisfied.

The component 1 is mounted on the accommodating portion of the tape carrier and is attached to the tape carrier via the sealing portion, and the tape winding portion 820 winds up the tape carrier. If it is such an arrangement, the tape carrier can be made The structure of the rolled reel is rotated, and any structure is acceptable.

At this time, the tape winding portion 820 may be provided with a rotation control portion for interlocking the tape winding portion 820 with the tape supply portion 810 to control the movement of the tape carrier.

The cover tape supply unit has a structure in which a cover tape attached to the upper surface of the tape carrier loaded on the element 1 is supplied, and various configurations are possible. If the arrangement is such that the reel of the cover tape can be rotated, any structure is acceptable.

Here, the cover tape supply unit may be provided with a rotation control unit for interlocking the cover tape supply unit with the winding unit 820 to control the movement of the tape carrier.

Moreover, the cover tape can have various structures depending on the manner of attachment to the tape carrier. For example, an infrared heater can be used to attach the cover tape to the tape carrier.

The sealing portion is provided on the transfer path of the tape carrier, and the cover tape is attached to the upper surface of the tape carrier, and various structures can be provided depending on the manner in which the cover tape and the tape carrier are attached.

In particular, the sealing portion is provided with an inclined pressing structure, so that the guiding cover tape and the tape carrier can be firmly attached.

The transfer roller serves as a guide belt carrier and a cover tape, so that the tape carrier can be smoothly moved from the tape supply portion 810 to the structure of the tape take-up portion 820, and the number, size, installation position, and the like are determined. The movement of the tape carrier and the cover tape can be stably performed.

Further, after the belt carrier winds up the winding wheel in accordance with the appropriate number of windings, the unloading portion 800 can set the cutting blade at an appropriate position between the belt supply portion 810 and the winding portion 820 because the belt carrier needs to be conveyed ( Not shown), the cutting blade is used for cutting the belt carrier.

Here, the structure is provided such that if the tape carrier of the tape supply portion 810 can be wound around the tape winding portion 820 at one time, it is of course unnecessary to provide a cutting blade.

Moreover, the unloading portion 800 may additionally provide a loading state visual detecting device 710 for detecting whether the component 1 in the housing portion of the tape carrier is normally loaded.

The loading state visual inspection device 710 is provided on the upper side between the component loading position 3 and the winding portion 820 with reference to the transfer direction of the tape carrier, and can detect whether or not the component 1 in the housing portion of the tape carrier is normally loaded.

Moreover, the unloading portion 800 may additionally provide a belt visual detecting device for detecting whether the covering tape is normally attached to the belt carrier.

The belt visual inspection device 710 is disposed on the upper side between the component loading position 3 and the take-up portion 820 with reference to the transfer direction of the tape carrier, and detects whether the cover tape is normal by the camera that obtains the image of the tape carrier. Attached to a tape carrier, etc.

Further, the transfer tool 400, 500 picks up the component 1 from the component mounting component 10 disposed at the component mounting component table 200, and transmits the component 1 to the component of the unloading section 800 based on at least one of rotational movement and linear movement. The component 20 is loaded. As such a configuration, at least one can be configured.

For example, the transfer tool 400, 500 includes: a first transfer tool 400 disposed on the upper side of the component mounting component table 200, rotated to reverse the bottom surface of the picked component 1 to the upper side; the second transfer tool 500, After the component 1 that is reversed by the first transfer tool 400 is picked up, based on the rotation At least one of the moving and linear movements conveys the component 1 to the component loading component 20 of the unloading section 800.

In particular, the first transfer tool 400 is configured such that, as shown in the contents of FIGS. 4 to 7b, the picked up component is reversed based on the rotation, and the component 1 is moved to the transfer position 2 at the pickup position 1.

At this time, the first transfer tool 400 is inclined to the first direction (Y-axis direction) connecting the pickup position 1 and the loading position 3, that is, preferably, the pickup of the component 1 is performed to the communication position 2 located in the diagonal direction. The structure of the transfer.

Further, in order to perform picking up and transferring of components more quickly, the first transfer tool 400 may be provided in a pair in a mutually symmetrical manner with reference to the first direction (Y-axis direction).

The first transfer tool 400 according to the first embodiment, as shown in FIGS. 4 to 7b, includes a rotation motor 612 that is disposed perpendicular to the first direction (Y-axis direction) and that has a rotation axis 611. a linear moving portion 620 that linearly moves in a second direction (X-axis direction) that is based on the rotation of the rotating shaft 611 and the first direction Vertical; one or more first picking portions 600, in combination with the linear moving portion 620, pick up the component 1.

The linear moving portion 620 is coupled to the rotating shaft 611 as a structure for realizing linear movement based on the rotation, and includes: a screw portion that rotates in conjunction with the rotating shaft 611 and is formed by a bolt portion; and a nut portion due to the screw portion The screws are coupled, and the spiral portion 621 is linearly moved when rotated.

Here, the linear moving portion 620 may include a cam coupling member that is formed by a cam groove on the outer peripheral surface, and corresponds to the cam member, and the rotating cam member is linearly moved instead of the spiral portion 621.

The first picker 600, as a structure that picks up the component 1 in combination with the linear moving portion 620, can have various configurations.

The first picking portion 600, as an example, as shown in FIGS. 6 to 7b, includes a detaching support portion 630 coupled with the linear moving portion 620, and a picking portion 640 detachable from the detaching support portion 630. The components 1 are picked up in combination.

The detachment support portion 630 may be any structure if it is combined with the linear movement portion and supports the pickup portion 640.

Further, the detachment support portion 630 may be provided with a pneumatic transmission unit 631 for air transmission by the pickup unit 640, and a power supply unit (not shown) for supplying power to the up-down drive unit 642 to drive the following. The pickup member 641 moves up and down.

The pick-up portion 640 is detachably coupled to the detachment support portion 630, and if it is a structure in which the component 1 is picked up, various other configurations are possible.

The picking portion 640 includes: a main body portion 645 that is coupled to the detaching support portion 630 and detachable; a picking member 641 that is coupled to the main body portion 645 and movable up and down; and an air that is conveyed to the picking member 641 A rotation preventing portion 650 that presses the pickup member 641 under pressure and a vertical driving portion 642 that drives the pickup member 641 to move up and down.

The main body portion 645 is configured by a pick-up member 641 or the like and may be configured by at least one member.

The pickup member 641 is coupled to the main body portion 645 and is movable up and down as a structure for picking up the component 1 based on vacuum pressure, and the end is constituted by a hollow rod provided with a member for picking up the component 1. Pick up head (not shown).

Specifically, the pickup member 641 is formed by a pneumatic flow path 641a formed in the vertical direction, and various configurations can be provided at the end depending on the structure and type of the element 1.

The rotation preventing portion 650 has a structure in which the air pressure is transmitted to the pickup member 641 and the pickup member 641 is prevented from rotating.

As an example, the rotation preventing portion 650 may include: a loading member 653 disposed on the main body portion 645 and movable up and down; a connecting member 652 disposed on an upper side of the main body portion 645, and the loading member 653 and the The upper portion of the pickup member 641 is penetrated and joined.

Here, the pick-up member 641 is provided to protrude upward with respect to the connecting member 652, and is rotatable, and is formed to penetrate inside and outside.

Further, the portion of the connecting member 652 that protrudes upward is fixedly coupled to the connecting member 652 based on the fixed member 651 provided so as not to be rotatable relative to the connecting member 652.

According to the configuration described above, a part of the second transfer tool 500 to be separated from the detachment support portion 630 can be flexibly used as the pickup portion.

The upper and lower driving portion 642 includes a voice coil motor that moves the pickup member 641 up and down when the component is picked up, or drives the pickup member 641 up and down by applying a power source to slow down the impact on the component 1.

Further, in order to improve the efficiency of component pick-up, the first transfer tool 400 preferably has a pair of axes symmetrical, based on the Y-axis direction.

That is, in one of the pair of first transfer tools 400, the component mounting member 10 picks up the component 1 from the wafer ring, and the remaining one of the first transfer tools 400 moves to the components for component communication. Position 2, Element 1 can be communicated based on the second transfer tool described below.

Here, if the first transfer tool 400 is provided with a pair, the second transfer tool 500 is preferably also provided with a pair.

Further, from the first transfer tool 400 to the component transfer position 2, as shown in the contents of FIG. 1 to FIG. 4, it is preferably provided in an axisymmetric form with respect to one position as a reference with respect to the Y-axis direction.

The operation of the first transfer tool 400 configured as described above will be described below.

The first transfer tool 400 picks up the component 1 from the component mounting component 10 at the component pickup position 1 as shown in the content of FIG. 5a.

At this time, a pin 90 is provided on the upper side of the component mounting member 10, and the pin 90 is used to lift the component located at the component picking position 1 to the upper side.

Further, the pickup member 641 of the first transfer tool 400 moves downward by the up-and-down driving of the vertical drive unit 642, and picks up the component 1.

At this time, the other of the pair of first transfer tools 400 is reversed, that is, the element 1 picked up by the pickup member 641 is placed in the upper state, and the element 1 is conveyed in the component transfer position 2.

Further, the first transfer tool 400 that has finished picking up the component at the component pickup position 1 transfers the component 1 to the component transfer position 2 based on the rotation and linear movement via FIGS. 5b and 5c.

Here, when the first transfer tool 400 moves from the component pickup position 1 to the component transfer position 2, it is realized based on a combination of rotation or linear movement, and may be realized based on other various methods.

As an example, the first transfer tool 400 may be rotated by 180° for the first time with the X axis as the rotation axis, and then moved in the X axis direction for the second time. Here, the rotation and the linear movement can be performed by swapping each other.

Further, the first transfer tool 400 can be simultaneously rotated by 180° in the X-axis and in the X-axis direction.

Further, in the pair of first transfer tools 400, the remaining first transfer tool 400 after the end of the transfer to the second transfer tool 500 is moved to the component pickup position 1 based on the reverse process of FIGS. 5a to 5c. .

As another embodiment of the first transfer tool 400, the first transfer tool 400 based on the second embodiment is inclined to the first direction (Y-axis direction) as shown in the contents of FIGS. 10a and 10b, that is, includes A rotation motor 612 that is vertically disposed in the first direction (Y-axis direction) and includes a rotation shaft 611; one or more first pickup portions 600 are provided to be offset from the center of the rotation shaft 611.

The first pick-up portion 600 has a structure for picking up components, and a structure in which the component 1 is picked up from the component mounting member 10 based on vacuum pressure, and various other configurations are possible.

Further, as shown in the contents of FIG. 4 and FIG. 10a, the first transfer tool 400 is inclined to the first direction (Y-axis direction) connected to the pickup position 1 and the loading position 3, that is, to the diagonal direction. The example of picking up and transferring the position 2 actuator 1 has been described, but as shown in the content of Fig. 11, the first direction (Y-axis direction) connected to the pickup position 1 and the loading position 3 is perpendicular and the pickup of the actuator 1 is performed. And transfer is of course feasible.

The second transfer tool 500 picks up the component 1 that has been reversed by the first transfer tool 400, and then transmits the component 1 to the component loading member 20 of the unloading portion 800 based on a plurality of linear movements, depending on the movement form. It has a wide variety of structures.

By way of a specific example, the second transfer tool 500, as shown in FIG. 1, includes: a second picker 540 that moves to the loading position after picking up the component 1 at the transfer position 2. 3. The component 1 is again transmitted to the component loading unit 20 of the unloading section 800; the pickup moving section 520 moves the second pickup 540 based on a plurality of linear movements.

The second picker 540 has a configuration in which the component 1 is picked up at the transfer position 2, moved to the loading position 3, and the component 1 is transmitted to the component loading member 20 of the unloading portion 800, and various other configurations are possible.

In particular, the second picker 540 may be configured by a portion other than the detaching support portion 630 in the first picking portion 600 as shown in FIGS. 7b and 8.

At this time, the second pickup 540, when the component loading member 20 performs the component unloading, since the component 1 needs to be horizontally rotated (the rotation central axis is rotated about the Z axis), the fixing member 651 described earlier is removed, so that The pickup member 641 is rotatable. And because of the pickup part The upper end portion of the 641 is connected to the connector 589, and when the rotary motor 580 is rotated, the pickup member 641 is rotated.

Specifically, the component 1 picked up by the second pickup 540 is unloaded to the tape carrier in an abnormal state during the pickup process to be picked up. Therefore, in order to correct this situation, it is necessary to rotate in the horizontal direction, that is, to correct the rotation in the Z-axis direction as the center of rotation.

Thereby, the rotation motor 580 analyzes the photograph of the element 1 photographed by the third camera described below, and corrects the rotary second picker 540 picked up by the element 1 based on the rotation error of the analysis result.

Further, the rotary motor 580 is configured to rotate the pickup member 641, and may be directly connected to the connector 589. Alternatively, as shown in Figs. 8 and 9, the pickup member 641 may be rotated by a belt and a pulley.

The second picker 540 is coupled to the pickup moving portion 520 in a variety of configurations, similar to the detaching support portion 630, and is supported by the detaching support portion at the first picking portion 600.

The detachment support portion may have a structure similar to that of the detachment support portion 630 of the first pickup portion 600, although not explicitly shown in FIGS. 7b and 8.

After the second pickup 540 picks up the element 1 reversed by the first transfer tool 400 between the conveyance position 2 and the loading position 3, the pickup moving portion 520 moves the second pickup 540 based on the linear movement. The pickup moving portion 520 can have various structures as such a structure.

The pickup moving portion 520 may include a first linear moving portion for supporting the detaching support portion 730 and moving it in the Y-axis direction, and a second linear moving portion for detaching the support portion 730 along the X-axis direction Make a linear move.

The first linear moving portion and the second linear moving portion are configured to move the detaching support portion 730, in particular, the second picker 540 supported by the detaching support portion 730 in the X-axis and Y-axis directions, according to The movement method can be realized by various structures such as a screw jack, a belt and a spiral structure.

In addition, the second transfer tool 500, as shown in the above description, is preferably provided with a pair of corresponding first transfer tools 400 for picking up the position 1 and loading the components in order to improve the transfer efficiency of the components. The Y axis of position 3 is centered and arranged symmetrically.

Further, as shown in the content of FIG. 4, the pair of second transfer tools 500 are alternately moved from the respective element transfer positions 2 to the component loading positions 3.

In addition, in FIGS. 4 to 5c, reference numerals 811 and 812, which are not illustrated, refer to illumination portions for illuminating the respective elements 1.

The illumination portion may be any structure such as an LED element if it can illuminate the structure of the element 1.

Specifically, the first illumination unit 811 is disposed on the upper portion of the component mounting member 10, and the first camera (not shown) on the upper side illuminates the image of the component 1, specifically, the component located at the component pickup position 1. So that the first camera acquires an image of the component 1.

The second illumination portion 812 is disposed at an upper portion of the first transfer tool 400 at the component transfer position 2, and the second camera 812a at the upper portion illuminates the component 1 picked up by the first transfer tool 400.

Further, although not shown, the element 1 picked up by the second transfer tool 500 is disposed on the lower side of the second transfer tool 500 during the transfer path from the component transfer position 2 to the component loading position 3, and The third camera 813a can be set by relying on the pickup state of the component 1 of the second transfer tool 500 and the state above the component 1 (visual detection above) for confirming at least one of the two.

At this time, in order to assist the photographing of the third camera 813a, the third illumination portion 813 may be provided.

Moreover, the above visual inspection may be on the upper side of the component 1, visually detecting the component 1 by a shape lamp such as a socket, a searchlight, or a variety of protrusions.

Moreover, the above visual inspection can be performed based on the relative up and down movement between the camera module and the second transfer tool 500 when the five-sided detection of the actuator 1 , that is, the upper surface and the four sides of the rectangular shaped element 1 are detected. .

In addition, in order to perform the above-described visual inspection, the third illumination unit 813 and the third camera 813 are disposed on the lower side of the transfer path of the second transfer tool 500, and therefore, the position of the second transfer tool 500 should be slightly higher. some.

However, if the installation position of the second transfer tool 500 is slightly higher, in order to convey to the components of the second transfer tool 500, the height of the up and down movement of the component 1 of the first transfer tool 400 may become larger, which may cause the device to become larger in size. , thereby creating a problem of increasing the transfer path.

Therefore, in order to perform the above-described visual inspection, the third illumination unit 813 and the third camera are preferably disposed on the upper portion of the transfer path of the second transfer tool 500 as shown in FIGS. 4, 7a, 7b, and 11.

At this time, as shown in the content of FIG. 7a, the second transfer tool 500 performs the visual inspection of the upper portion of the third illumination portion 813 and the third camera 813a at the upper portion, and in the state of the pickup element 1, the pickup rotates 180°. That is, the structure is set such that the drawing rotates 180° around the rotation axis in the X-axis direction. Figure 2-1 refers to the visual inspection position above.

The arrangement of the second transfer tool 500 can be rotated by 180° around the rotation axis in the X-axis direction in the drawing, and any configuration is possible.

In addition, the above visual inspection detects the upper surface and the four sides of the rectangular shaped element 1 at the 5-sided detection of the actuator 1, and based on the relative upper and lower sides between the camera module block and the second transfer tool 500. Move and execute.

For example, in a state where the pickup is reversed by 180°, that is, in a state where the drawing is rotated by 180° around the rotation axis in the X-axis direction, the second transfer tool 500 may perform 5D visual inspection for performing 5D visual inspection. The upper side of the module (not shown) moves.

In addition, after performing the 5D visual inspection, the pickup performs an additional 180° rotation, that is, an additional rotation of 180° around the rotation axis of the X-axis direction in the drawing, that is, after the rotation in the opposite direction, the moving tool The 500 moves to the loading position 3 and transmits the component 1 to the component loading unit 20 of the unloading unit 800.

Here, when the second transfer tool 500 moves from the pickup position 1 to the loading position 2, the element 1 can be transferred based on the rotation of the X-axis direction by 180° or based on the combination with the horizontal movement.

In addition, the component processor according to the embodiment of the present invention is characterized in that, after the component is picked up and reversed by the first transfer tool 400, that is, after the rotation, the component is picked up from the first transfer tool 400 by the second transfer tool 500. The structure loaded to the tape carrier. However, the present invention is not limited thereto, and the first transfer tool 400 may not be operated, and the component 1 may be picked up from the component mounting member 10 by the second transfer tool 500 and then reversed, that is, the component 1 may be loaded to the state without being rotated. Belt carrier. The structure of such a change is also feasible.

At this time, the first transfer tool 400 is separated from the apparatus and installed at another loading place. Alternatively, it may be moved to an appropriate position that does not interfere with the pickup of the components of the second transfer tool 500.

At this time, the second transfer tool 500, the component pickup of the first transfer tool 400, and the height difference for the rotation, specifically, the up-and-down movement adjustment is required according to the difference between the component pickup position 1 and the component conveyance position 2.

Thus, the second transfer tool 500, as shown in the contents of FIGS. 8 and 9, may additionally include an up-and-down moving portion 570 for linearly moving the second picker 540 in the up and down direction, that is, in the Z-axis direction.

The vertical movement unit 570 has a configuration in which the second pickup 540 is moved in the vertical direction, and can have various configurations.

As an example, the vertical movement unit 570 may have a structure in which a first linear movement unit and a second linear movement unit described above are added, and may include a rotation motor, a spiral portion that rotates by a rotation motor, and a linear guide portion. The linear movement of the spiral portion moves in the vertical direction in conjunction with the detachment support portion of the second pick-up portion 540.

The above is merely illustrative of a preferred embodiment of the invention. It is well known that the scope of the present invention is not limited to the analysis of the above embodiments. The technical idea of the present invention and the technical idea including the above are all included in the scope of the present invention.

10‧‧‧Component mounting parts

20‧‧‧Component loading parts

100‧‧‧Installation parts box

200‧‧‧Installation parts workbench

400‧‧‧First Transfer Tool

500‧‧‧Second transfer tool

520‧‧‧ Pickup Moving Department

710‧‧‧Load status visual inspection device

800‧‧‧Unloading Department

810‧‧‧With the supply department

820‧‧‧ tape department

Claims (16)

An element processor comprising: a component mounting component table (200) for moving a plurality of component mounting components (10) to which a plurality of components (1) are attached in a horizontal direction; and an unloading section (800) disposed on the component Mounting the upper side of the component table (200), the unloading portion (800) is provided with a component loading member (20), and is unloaded based on the conveyance of the component (1) from the component mounting component (10) based on one or more transfer tools; a plurality of transfer tools, including: a first transfer tool (400) disposed on an upper side of the component mounting component table (200), the component (1) being picked up at a pick-up position (1) of the component mounting component Rotating after picking up, the bottom surface of the picked up element (1) is reversed to the upper side; the second transfer tool (500), at the conveying position (2), is reversed based on the first transfer tool (400) After the component (1) is picked up, the component (1) is transmitted to the loading position of the component loading component (20) of the unloading portion (800) based on at least one of a rotational movement and a linear movement (3). ). The component processor according to claim 1, wherein the first transfer tool (400) picks up the component (1) from the component unloading component (20), and performs a rotation-based turning motion At the same time, the element (1) is linearly moved in the diagonal direction. The component processor according to claim 1 or 2, wherein at the communication position (2), a second camera is additionally provided at an upper portion of the first transfer tool (400) ( 812a), the second camera (812a) is for acquiring an image of the bottom surface of the picked up component (1). The component processor according to claim 1 or 2, wherein the component processor comprises: a pair of first transfer tools (400), and the pair of first transfer tools (400) The pickup position (1) is set to be symmetrical with each other with respect to the first direction of the loading position (3). The component processor according to claim 4, wherein the first transfer tool (400) comprises: a rotary motor (612), and the rotary motor (612) is oriented at the pickup position (1) The first direction of the loading position (3) is vertically disposed, and has a rotating shaft (611); a linear moving portion (620) along which the linear moving portion (620) rotates based on the rotation axis (611) The first direction is linearly moved in a second direction perpendicular to the vertical direction; and one or more first pickers (600) are combined with the linear moving portion (620) to pick up the component (1). The component processor of claim 4, wherein the component processor comprises a pair of second transfer tools (500) corresponding to the pair of first transfer tools (400). The component processor according to claim 1 or 2, wherein the transfer path between the transfer position (2) and the loading position (3) of the second transfer tool (500) is upper Wherein, an upper visual detecting portion that performs upper visual inspection on the picked-up element is provided; the second transfer tool (500) is at the transmitting position (2) and a visual detecting position corresponding to the upper visual detecting portion (2) -1) Rotate to rotate the bottom surface of the picked up component (1) toward the lower side. The component processor according to claim 7, wherein the upper visual detecting portion includes a third camera (813a), and the third camera (813a) is located at the visual detecting position (2-1) And an upper portion of the transfer path of the second transfer tool (500) for acquiring an upper image of the picked up component (1). The component processor according to claim 8, wherein the third camera (813a) acquires an image of the upper surface and the four sides of the picked-up component (1). The component processor of claim 8, wherein the second transfer tool (500) adjusts the visual detection position (2-1) to the The vertical distance of the upper visual detecting portion is relatively movable in the vertical direction with respect to the upper visual detecting portion. The component processor according to claim 8, wherein at the communication position (2), a second camera (812a) is additionally provided at an upper portion of the first transfer tool (400). The second camera (812a) is an image for acquiring the bottom surface of the picked-up element (1). The component processor of claim 8, wherein the component processor comprises: a pair of first transfer tools (400), the pair of first transfer tools (400) for picking up The position (1) is set to be symmetrical with respect to the first direction of the loading position (3). The component processor of claim 12, wherein the first transfer tool (400) comprises: a rotary motor (612), the rotary motor (612) is oriented toward the pick-up position (1) The first direction of the loading position (3) is vertically disposed, and has a rotating shaft (611); and a linear moving portion (620) that linearly moves along the second direction, the second The direction is perpendicular to the first direction based on the rotation of the rotating shaft (611). The component processor of claim 13, wherein the component processor comprises a pair of second transfer tools (500) corresponding to the pair of first transfer tools (400). The component processor according to claim 5, wherein the first picker comprises: a detaching support portion (630) combined with the linear moving portion (620); and a picking portion (640), The component (1) is detachably coupled to the detachment support portion (630); the pickup portion (640) includes: a body portion (645) that is coupled to the detachment support portion (630) and detachable a pickup member (641) coupled to the main body portion (645) and movable up and down; conveying air pressure to the pickup member (641) and preventing the pickup member (641) a rotation preventing portion (650); and a vertical driving portion (642) for driving the picking member (641) to move up and down; the detaching support portion (630) includes: for conveying to the picking portion (640) An air pressure transmitting portion (631) for air pressure; and a power supply portion for supplying power to the vertical driving portion (642). The component processor according to claim 15, wherein the rotation preventing portion (650) includes: a loading member (653) disposed on the main body portion (645) and movable up and down; and a connecting member (652) Provided on an upper side of the main body portion (645), coupled to an upper portion of the loading member (653) and the pick-up member (641); the upper and lower driving portion (642) includes a voice coil motor, when the component is picked up A power source is applied to the pickup member (641) to drive it up and down.