TWI525732B - Conveyer for electrical parts and taping unit - Google Patents

Description

Electronic component conveying device and strap unit

The present invention relates to an electronic component transporting apparatus and a taping unit. The electronic component transport apparatus performs engineering processing while transporting electronic components, and stores the associated electronic components on a carrier tape. This strap unit is provided with a transport belt.

After the electronic components such as semiconductor components are dicing, mounting, bonding, and sealing, and are separated into individual pieces, various inspections and the like are performed, and they are transported. Packed with a tube or tube container, etc. As the post-engineering, a marking process, an appearance inspection, an electrical property inspection, a lead forming process, a classification of electronic parts, or a combination of these processes can be exemplified.

The post-construction process including the packaging process is mainly performed by transferring the electronic components to the electronic component conveying device of the engineering processing mechanism. The electronic component transport device is composed of a transport mechanism that transports electronic components in a row and various engineering processing mechanisms on the transport path. The transport mechanism generally uses a turn table transport method or a linear transport method, and supplies electronic components to the various engineering processing mechanisms in parallel on the transport path. The transport mechanism has a holding device composed of a vacuum suction, an electrostatic adsorption, a Bernoulli chuck or a mechanical chuck mechanism, and the electronic device is held by the holding device to sequentially transport the electronic product to the engineering process. mechanism.

In the engineering processing organization, a package slip is provided in the rear section of the transport path. yuan. The tape unit has a sprocket that intermittently conveys the conveyor belt so as to arrange the pockets in the longitudinal direction and to match the positional relationship between the stop position of the holding device and the pocket. The holding device that has moved to the stop position becomes positioned above the pocket portion of the transport belt and the electronic component is stored in the pocket portion.

After the electronic components are stored in the bag, the electronic product is checked for overturning. The inversion of the electronic component means that the electronic component is not stored in the correct direction and position because it is hung on the inner wall of the bag or the like. This inversion can be discriminated by the operator's visual or camera provided in the rear of the transport direction of the transport belt. When the inversion occurs, the electronic component transport apparatus is temporarily stopped, and the good work is replaced by the manual work of the operator, or the automatic punching of the mechanical punching is performed (for example, refer to Patent Document 1).

The stop of the electronic component conveying device due to the occurrence of the inversion is related to the low operation rate. Therefore, it is desirable to store the electronic component in a correct orientation and position in the pocket portion in a stationary manner. In this case, the conventional electronic component transport apparatus is located in the front stage of the transport path, and has a posture correcting means and a posture discriminating means for correcting the posture of the electronic component (see, for example, Patent Document 2).

The posture correcting means and the posture discriminating means detect the posture of the electronic component by the camera, and the holding device holds the electronic component in the center, and the direction of the electronic component is aligned in advance so that the direction of the electronic component is aligned so as to align the pocket portion of the transport belt.

Prior technical literature

Patent literature

Patent Document 1: Japanese Patent Laid-Open Publication No. 2003-165506

Patent Document 2: Japanese Patent Laid-Open Publication No. 2007-95725

The inversion due to the posture of the electronic component of the holding device can be prevented by correcting the holding posture of the electronic component. However, even with this posture correcting unit and posture determining unit, the inversion of the electronic component cannot be completely prevented. In addition to the holding posture of the electronic component, there is a case where the position of the conveyance belt is shifted and the rotation is reversed.

That is, the conveyor belt has a different position of the pockets of each batch. In addition, positioning errors are also generated when the conveyor belt is placed on the tape unit. As a method of eliminating the positional deviation of the conveyor belt, it is conceivable to adjust using a jig. However, according to the method of using the jig, in the replacement of the transport belt, since the user must perform the visual inspection of the position of the bag portion and the adjustment of the visual result, in addition to generating extra labor, the electronic component is also transported. The startup delay of the device is related to the low operating rate.

The present invention provides an electronic component transport apparatus and a tape cassette unit, and an object of the present invention is to solve the above problems and to prevent the electronic component from being reversed simply and more reliably when the electronic component is stored in the transport belt.

The present invention relates to an electronic component transport apparatus characterized in that it is an electronic component transport apparatus that performs engineering processing while transporting electronic components. The electronic component transport apparatus includes the transport path of the electronic component, a holding device that holds the electronic component and intermittently moves along the transport path, and a transport belt having a pocket (the pocket is stored in the pocket Holding the electronic component held by the device and disposing the holding device in the transport path a stop position detecting device, a tape position detecting device that detects the position of the bag portion, and an offset detecting device that detects a positional deviation of the transport belt based on a detection result of the tape position detecting device and The correction device for correcting the positional offset is corrected.

The offset detecting device may also detect a positional deviation when the holding device moves to a position above the transport belt and a position of the pocket portion.

The correction device may move the transport belt in the short side direction and the long side direction according to the positional deviation.

The correction device may also have a sprocket and a drive device, the sprocket transporting the conveyor belt, and the drive device causes the sprocket to rotate only by an amount corresponding to the positional offset.

The correction device may have a sprocket and a micrometer, the sprocket carries the conveyor belt, and the micrometer moves the sprocket toward the short side of the conveyor belt.

The correction device may change the posture of the electronic component with respect to the holding device by shifting only the same distance in the opposite direction of the positional shift.

The tape position detecting device includes a tape capturing device that images the image of the tape, and a tape image processing device that detects a position on the image of the predetermined portion of the tape. The offset detecting device may detect the positional offset based on the position detected by the image processing device.

The predetermined place of the conveyor belt may also be the bottom of the bag portion.

The image processing device includes a display device that superimposes the image and the frame graphic and changes the frame graphic according to a user input. Change device for position, size and shape. The position on the image of the predetermined place may be detected based on the position of the frame pattern after the change of the changing device.

The offset detecting device includes a lifting device that forms an indentation of the holding device at a predetermined place of the conveyor belt (the indentation is lowered by the holding device until it is pressed against the conveyor belt) And an indentation imaging device that captures the indentation image and an indentation image processing device that detects the position of the indentation on the image. The positional deviation may also be detected based on the position of the indentation as the predetermined position.

The conveyor belt forms a joint region between the two pocket portions, and the indentation may be formed in the joint region.

The indentation image processing apparatus includes a display device that superimposes the image and the frame pattern, and a changing device that changes the position, size, and shape of the frame pattern according to an input from a user. The position on the image of the indentation may be detected based on the position of the frame pattern after the change of the changing device.

Further, the present invention is a tape cassette unit comprising: a transport belt having a pocket portion (the pocket portion housing the electronic component and disposed at a point on a transport path for transporting the electronic component), and detecting the a position detecting device at the position of the bag portion, an offset detecting device for detecting a positional deviation of the transport belt based on a result of the detection of the tape position detecting device, and correcting the offset according to the positional deviation Correction device for positional offset.

The offset detecting device can also compare the position when the holding device moves over the transport belt (the holding device holds the electronic component and along The position of the pocket portion is detected by the movement of the transport path and the positional deviation is detected.

The correction device may move the transport belt in the short side direction and the long side direction according to the positional deviation.

The correction device may also have a sprocket and a drive device, the sprocket transporting the conveyor belt, and the drive device causes the sprocket to rotate only by an amount corresponding to the positional offset.

The correction device may have a sprocket and a micrometer, the sprocket carries the conveyor belt, and the micrometer moves the sprocket toward the short side of the conveyor belt.

The position detecting device includes a belt imaging device that images the image of the conveyor belt, and a video processing device that detects the position of the image on a predetermined place of the conveyor belt. The offset detecting device may detect the positional offset based on the position detected by the image processing device.

The predetermined place of the conveyor belt may also be the bottom of the bag portion.

The image processing device includes a display device that superimposes the image and the frame image, and a device that changes the position, size, and shape of the frame pattern according to an input from a user. The position on the image of the predetermined place may be detected based on the position of the frame pattern after the change of the changing device.

The offset detecting device includes a lifting device that forms an indentation of the holding device at a predetermined place of the conveyor belt (the indentation is lowered by the holding device until it is pressed against the conveyor belt) And an indentation imaging device that captures the indentation image and an indentation image processing device that detects the position of the indentation on the image. The bit can also be detected based on the position of the indentation Set the offset.

The conveyor belt forms a joint region between the two pocket portions, and the indentation may be formed in the joint region.

The indentation image processing apparatus includes a display device that superimposes the image and the frame pattern, and a changing device that changes the position, size, and shape of the frame pattern according to an input from a user. The position on the image of the indentation may be detected based on the position of the frame pattern after the change of the changing device.

According to the present invention, since the positional deviation of the bag portion can be easily detected and corrected when the transport belt is provided, it is possible to more reliably prevent the electronic component from being reversed and to increase the operating rate of the device.

Hereinafter, an embodiment of the electronic component conveying apparatus and the tape unit of the present invention will be described in detail with reference to the drawings.

(1) First Embodiment [A. Electronic parts transport device]

Fig. 1 is a schematic plan view showing an electronic component conveying apparatus according to a first embodiment. Fig. 2 is a schematic side view showing the electronic component conveying device of the first embodiment;

The embodiment shown in FIG. 1 and FIG. 2 is an apparatus for using the electronic component conveying apparatus 1 of the present invention as a post-engineering apparatus. Thereafter, the engineering processing apparatus performs various types of engineering processing while performing the entire transport of the electronic component D. Therefore, the electronic component conveying apparatus 1 includes an engineering processing mechanism that performs various processes on the electronic component D, and a transport mechanism that sequentially transports the electronic component D among various engineering processing mechanisms.

The electronic component D is a component used in an electronic product, which contains a semiconductor component. As the semiconductor element, a transistor or an integrated circuit or a resistor or a condenser can be exemplified. As engineering treatment, there are mainly post-engineering of various assembly projects such as dicing, mounting, bonding, and sealing, including marking, visual inspection, and test conduct. , sort or sort or package or a combination of these. The electronic component conveying device 1 of the present embodiment performs at least packaging processing.

The transport mechanism is configured to include a turntable 21. The center of the turntable 21 is supported by a drive shaft of a direct drive motor 22 disposed below it. The turntable 21 is intermittently rotated at an appropriate angle with the driving of the direct drive motor 22.

In the outer peripheral portion of the turntable 21, a plurality of holding devices 3 that hold the electronic component D are arranged at equal intervals along the outer circumference of the turntable 21. The arrangement interval of the holding device 3 and the rotation angle of one pitch of the turntable 21 are equal. The outer circumference of the turntable 21 is a transport path of the electronic component D. That is, the electronic component D is carried along the outer circumference of the turntable 21. The holding device 3 holds the electronic component D and rotates the turntable 21, thereby transporting the electronic component D in a row along the outer circumferential direction.

In the present embodiment, the holding device 3 is an adsorption nozzle 31 that sucks the electronic component D and disengages the electronic component D. The inside of the tube of the adsorption nozzle 31 communicates with the air pressure circuit of the vacuum generating device not shown in the drawing, and the adsorption nozzle 31 adsorbs the electronic component D by the generation of the negative pressure, and the electronic component D is detached by vacuum destruction.

The adsorption nozzle 31 is supported by the support portion 32 disposed on the outer peripheral portion of the turntable 21, and the lower end of the adsorption nozzle 31 is supported so as to protrude below the turntable 21, and the protruding end serves to adsorb the electronic component D and dissipate the electronic component D. Part 31a. The support portion 32 supports the adsorption nozzle 31 with the adsorption nozzle 31 slidable, and the adsorption nozzle 31 can be raised and lowered with respect to the turntable 21. The lifting direction is a vertical direction in a case where the extending direction of the turntable 21 is assumed to be a horizontal plane.

A drive unit 33 having a lever 34 is disposed at each stop position P of the adsorption nozzle 31. Specifically, the drive unit 33 is a motor and the joystick 34 is moved up and down. The lower end of the operating lever 34 is disposed so as to face the compressed portion 31b provided at the upper end of the adsorption nozzle 31, and is in contact with the compressed portion 31b of the adsorption nozzle 31 in response to the driving of the driving portion 33, and is pressed by the pressing force. The nozzle 31 is depressed downward.

As shown in Fig. 1, as the engineering processing means, in the order of the rotation direction of the turntable 21, in other words, from the order of the front stage of the conveyance path, for example, a parts feeder 41, a marking unit 42, and an appearance inspection are used. The unit 43, the test contact unit 44, the sorting unit 45, the posture discriminating unit 49, the posture correcting unit 46, the taping unit 47, and the defective product discharging unit 48 are arranged in this order.

These engineering processing mechanisms are disposed so as to surround the turntable 21 and are equally spaced in the outer circumferential direction. The arrangement interval is equal to the rotation angle of one pitch of the turntable 21 or an integral multiple thereof. The arrangement position of the engineering processing mechanism coincides with the stop position P of the holding device 3. Any one of the transport processing mechanisms is disposed in the stop position P. Further, if the number of stop positions P is ≧ the transport processing mechanism 4 The number may be different, and there may be a stop device P in which the transport processing mechanism is not disposed.

The component supply unit 41 is a device that supplies the electronic component D to the electronic component conveying device 1. The component supply unit 41 combines a circular vibrating component supply device and a linear supply vibration supply device, and continues to transport a plurality of electronic components D in a row until the end of the transport path immediately below the outer peripheral end of the turntable 21 . The printing unit 42 has a lens for laser irradiation facing the electronic component D, and irradiates the electronic component D with a laser to perform printing.

The visual inspection unit 43 has a camera, and photographs the electronic component D, and checks the presence or absence of the electrode shape, surface defects, flaws, contamination, foreign matter, and the like of the electronic component D from the image. The test contact unit 44 has a metal plate such as a plate of copper or the like, or a metal contact such as a pin, and the voltage and current of the electronic component D are measured by means of a lead wire that contacts the electronic component D, a current flowing, or a voltage applied thereto. Electrical characteristics such as resistance or frequency.

The sorting unit 45 classifies the electronic component D into a defective product and a good product based on the electrical characteristics and the result of the visual inspection, and classifies and photographs the electronic component D according to the level of the electronic component D. The posture discriminating unit 49 has a camera and determines the position and posture of the electronic component D. The posture of the electronic component D to be determined includes the direction and the holding position of the adsorption nozzle 31. The posture correcting unit 46 performs positioning of the holding position in accordance with the posture determined by the posture determining unit 49 in accordance with the direction of the electronic component D.

As will be described later, the tape unit 47 accommodates the electronic component D determined to be good. The defective product discharge unit 48 discharges the electronic component D that is not wrapped in the package from the electronic component inspection device 1.

The electronic component transporting apparatus 1 has a transport control unit (not shown), and sends out electrons by the direct drive motor 22, the drive unit 33 that moves the adsorption nozzle 31 up and down, the vacuum generator, and various engineering processing mechanisms 41 to 49. Signals control the timing of the actions of these mechanisms. In other words, the transport control unit has a read-only memory (ROM), a central processing unit (CPU), and a driver (DRIVER) that store the control program, and outputs the operation in each of the drive mechanisms in accordance with the control program through the human-machine interface. signal.

The electronic component transport apparatus 1 controlled by the transport control unit starts the processing of the electronic component D as follows. After the start of the process, the turntable 21 repeats the rotation of the predetermined angle and the stop of the predetermined time. Each of the adsorption nozzles 31 is intermittently rotated by the turntable 21, and sequentially moves to the respective stop positions P on the outer circumference of the turntable 21. When each of the adsorption nozzles 31 moves to the stop position P, the operation of the drive unit 33 and the operating lever 34 descends toward the stage of the engineering processing mechanisms 41 to 49, and the electronic component D is detached by vacuum destruction. If the engineering processing units 41 to 49 receive the electronic component D, the electronic component D is processed. After the processing of the electronic component D is completed, the adsorption nozzle 31 is again lowered toward the stage to hold the electronic component D. Further, depending on the contents of the engineering processing units 41 to 49, there is also a device that does not perform the operations of lowering, detaching, re-holding, and raising of the adsorption nozzle 31.

By the operation of the electronic component transporting apparatus 1 described above, the electronic component D is supplied from the component supply device 41 to the transport path in the first cycle, and the subsequent cycles are sequentially supplied to the printing unit 42, the visual inspection unit 43, and the test contact. Unit 44 and sorting unit 45 perform various projects.

Then, it is corrected by the posture discriminating unit 49 and the posture correcting unit 46. After the posture of the electronic component D, the electronic component D is supplied to the tape unit 47, and the electronic component D is packaged on the conveyance tape. The defective electronic component D that has not been packaged is supplied to the defective product discharge unit 48 and discharged from the electronic component conveying device 1.

[B. Tape unit]

The tape unit 47 having the electronic component conveying device 1 will be described in detail below. Figure 3 is a plan view of the tape unit. 4 is a schematic side view of the tape unit.

As shown in FIGS. 3 and 4, the tape unit 47 is provided with a transport belt 471. The transport belt 471 is a packaging material that houses the electronic component D and has a belt shape. In the transport belt 471, a concave pocket portion 471a (pocket) is formed by embossing or the like at a predetermined distance in the longitudinal direction. This pocket portion 471a is a storage region of the electronic component D. The area between the pocket portions 471a is referred to as a connection region 471b. The bottom portion 471d of the pocket portion 471a is provided with a hole portion 471e that penetrates the bottom portion 471d and supplies a negative pressure, and the hole portion 471e can fix the position of the stored electronic component D.

The tape unit 47 intermittently conveys the conveyance belt 471, and sequentially moves the pocket portion 471a to a point on the conveyance path, that is, sequentially moves to the stop position P of the holding device 3. As the moving device of the transport belt 471, the tape unit 47 has two sprockets 472 and a drive motor 473.

The sprocket 472 has a cylindrical reel shape in which the needle protrudes in the circumferential direction, and is rotatable through the central shaft. The two sprockets 472 are arranged at a distance and parallel to the direction of the shaft. Each of the sprockets 472 is mechanically coupled by each of the drive motors 473 and the shaft, and is driven by the drive motor 473. Force and rotate. As the drive motor 473, for example, a stepping motor or the like which can achieve a slight rotation angle can be exemplified.

The transport belt 471 is provided with a perforation (not shown) spaced apart at a predetermined distance from any of the long sides, and is mounted on the sprocket 472, and the needle of the sprocket 472 is hooked to the hole. The transport belt 471 is transported between the sprockets 472. The bag portion 471a of the transport belt 471 is transported so as to stop at the stop position P in order. That is, the pocket portion 471a is offset so as to stop at the stop position P, and the primary conveyance distance of the conveyance belt 471 is equal to the distance between the pocket portions 471a.

Further, the tape unit 47 has a camera 474 on the transport path of the transport belt 471. The camera 474 is a photographic apparatus having a photographic element such as a complementary MOS device or a charge coupled device (CCD), and photographs a spot on the transport path of the transport belt 471. The arrangement position of this camera 474 is at a later stage of the stop position P, for example, an upper position where the pocket portion 471a can be photographed in the traveling direction of the transport belt 471.

[C. With position correction device]

The position correction can be performed in the short-side direction and the long-side direction of the transport belt 471. For example, in the adjustment work when the transport belt 471 is replaced, the transport belt 471 is removed from the position by the positional deviation of the detected transport belt 471. Move in the direction of the move. The position correcting mechanism in the longitudinal direction of the transport belt 471 is a sprocket 472 and a drive motor 473. The sprocket 472 is rotated by a predetermined angle by the drive motor 473 to compensate the position of the transport belt 471 in the longitudinal direction.

Position correction mechanism in the width direction to include a screw adjuster (screw The adjuster 475 and the compression spring 476 are formed. The screw adjuster 475 is a screw mechanism having a micrometer head that is disposed to abut one side of the sprocket 472. The micrometer head converts the rotation angle of the screw into the displacement amount of the screw position and reflects the displacement amount to the scale. The compression spring 476 is fixed in abutment against the side of the opposite side of the sprocket 472 and imparts an energizing force in the direction of the screw adjuster 475.

The screw adjuster 475 resists the pressing force of the compression spring 476 by adjusting the protruding length of the screw tip, and the sprocket 472 slides relative to the shaft to move in the short side direction. If the protruding length of the screw adjuster 475 is reduced, that is, if the tip end of the screw adjuster 475 is moved from the direction separating from the edge of the sprocket 472, the sprocket 472 is turned in the opposite direction by the pressing force of the compression spring 476. Move.

[D. Control department]

The control unit 477 controls the positional shift of the transport belt 471 and the above-described belt position correcting device based on the photographing result of the camera 474. The configuration of the control unit 477 includes, for example, an arithmetic processing device that performs processing in accordance with the program and controls each mechanism, a main memory device that memorizes the calculation result of the program or the arithmetic processing device, and an external memory device that stores the program, and actually implements each mechanism. Operating drive (DRIVER) and display for displaying images. The control unit 477 may be provided separately by the tape unit 47 or may be included in the conveyance control unit of the electronic component conveying device 1.

FIG. 5 is a block diagram showing the configuration of the control unit 477. First, the operation and purpose of the control unit 477 will be briefly described. The control unit 477 grasps the positional relationship between the pocket portion 471a and the holding device 3 in the stop position P, respectively, to detect the bag. The positional shift G (see FIG. 7) of the portion 471a and the holding device 3 causes the belt position correcting device to operate to eliminate the positional deviation G depending on the detection result.

Here, the position of the pocket portion 471a and the holding device 3 in the stop position P may not be confirmed due to physical obstruction. At this time, in the position confirmation of the pocket portion 471a, in a state where the pocket portion 471a exists in the stop position P, the transport belt 471 is moved only by the distance from the stop position P to the photographing position of the camera 474, and the camera 474 is paired. The pocket portion 471a moved to the photographing position is photographed, and the position is confirmed.

In the position confirmation of the holding device 3, the holding device 3 forms an indentation 478 (see FIG. 9), which will be described later, on the transport belt 471, and moves the indentation 478 in the same manner as the movement distance when the pocket portion 471a is in position. The distance is taken by the camera 474. Since the indentation 478 is indicated at the position of the holding device 3 in the stop position P.

When the indentation 478 is moved from the stop position P by the same distance as the movement distance when the pocket portion 471a is in the position confirmation position, the positional offset G of the pocket portion 471a and the indentation 478 in the image upper coordinate system is shifted. The pocket portion 471a in the stop position P and the positional offset G of the holding device 3 can be regarded as the same. Therefore, the position of the pocket portion 471a and the holding device 3 in the stop position P can be aligned by the positional deviation G detected by the image and by the operation of the belt position correction device.

The control unit 477 of the present embodiment includes the transport belt control unit 477a, the elevation control unit 477b, the camera control unit 477c, the video processing unit 477d, and the offset detection for the detection of the positional shift G and the correction of the positional shift. The unit 477e, the display unit 477f, the correction control unit 477g, and the input device 477h.

The conveyance belt control unit 477a drives the belt portion 471a of the conveyance belt 471 and the connection region 471b at the respective stop positions P by driving the drive motor 473 that rotates the sprocket 472. Then, the conveyance belt control unit 477a moves the conveyance belt 471 by a predetermined distance. This moving distance and the stop position P are the same as the distance from the photographing point of the camera 474. That is, the pocket portion 471a and the joint region 471b at the stop position P are moved to the respective photographing points.

The elevation control unit 477b drives the drive unit 33 for the formation of the indentation 478, and lowers the adsorption nozzle 31 toward the conveyance belt 471. The lowered position is the joint region 471b of the transport belt 471. That is, the conveyance belt control unit 477a moves the connection region 471b to the stop position P before the elevation control unit 477b performs control. The amount of drop is a distance at which the tip end of the adsorption nozzle 31 is pressed at a predetermined pressure until it can be pressed against the joint region 471b. The predetermined pressure is a pressure at which the indentation 478 is formed in the joint region 471b.

The camera control unit 477c causes the pocket portion 471a or the indentation 478 to take an image at the camera 474. The bag portion 471a and the indentation 478 are held in the positional relationship in the stop position P by the conveyance belt control portion 477a, and the pocket portion 471a and the indentation 478 are positioned at the respective photographing points. The image processing unit 477d analyzes the image data of the photographing point acquired by the camera 474 to confirm the position of each of the bottom portion 471d and the indentation 478 of the pocket portion 471a. Specifically, the image processing unit 477d detects the regions of the bottom portion 471d and the indentation 478 by the binarization processing, the normalization processing, and the contour abstraction processing, and calculates the centroid coordinates of each of the bottom portion 471d and the indentation 478.

The offset detecting portion 477e detects the positional shift G of the bottom portion 471d of the pocket portion 471a and the position of the indentation 478. In other words, the indentation 478 The position is the position at which the adsorption nozzle 31 moves to the stop position P. That is, when the conveyance belt 471 is set with a good precision, if the pocket portion 471a is correctly moved to the stop position P, there is no positional shift G of the bottom portion 471d and the indentation 478. In the position comparison processing of the bottom portion 471d and the indentation 478, the positional shift G is calculated by using the X direction and the Y direction of the center of gravity of the respective bottom portion 471d and the indentation 478. Further, for the sake of simplicity of calculation, the camera 474 is arranged such that the X direction of the image corresponds to the short side direction of the transport belt 471, and the Y direction of the image corresponds to the longitudinal direction of the transport belt 471.

The display unit 477f is a screen, and the detection result of the offset detecting unit 477e, that is, the position shift G is displayed in the X direction and the Y direction. The input device 477h is an input interface of a user and is used to switch the operation mode of the electronic component transport device 1. The operation mode includes at least a position correction mode for performing position shift detection and positional offset correction. As the input device 477h, a button, a touch panel, a mouse, or the like can be exemplified. When the input device 477h is configured by a touch panel display, the input device 477h can be shared with the display portion 477f.

The correction control unit 477g drives the drive motor 473 that rotates the sprocket 472 to move the transport belt 471 in the opposite direction by only the distance of the positional shift G in the Y direction, and even if the transport belt 471 moves only the transport belt 471 in the reverse direction. The position in the long-side direction is offset by the distance of G. In the case of the short side direction of the transport belt 471, the user adjusts the screw adjuster 475 while referring to the positional shift G in the X direction of the display portion 477f. The transport belt 471 is moved.

[E. Position correction action]

The position correcting operation of the transport belt 471 will be described with reference to Figs. 6 to 10 . Fig. 6 is a flow chart showing a position correction operation. Fig. 7 is a schematic view showing a state in which the transport belt 471 is mounted. FIG. 8 is a schematic view showing an image of the transport belt 471. FIG. 9 is a schematic view showing an indentation image 478 of the adsorption nozzle 31. FIG. 10 is a schematic view showing the movement of the transport belt 471.

First, the user attaches the transport belt 471 to the strap unit 47 (step S01). The transport belt 471 is attached such that the pocket portion 471a is located at the stop position P. As shown in Fig. 7, the position P1 of the bag portion when the transport belt 471 is attached varies depending on the lot and the positioning error at the time of mounting, and the position of the holding device 3 which is different from the normal position and the stop position P (clamp position) P2) A case where the positional shift G (?X, ΔY) is generated.

At this time, after the transport belt 471 is attached, the user selects the position correction mode using the input device 477h (step S02). When the position correction mode is selected, the conveyance belt control unit 477a causes the conveyance belt 471 to move only the distance from the stop position P to the photographing point of the camera 474 (step S03).

When the transport belt 471 is moved, the camera control unit 477c images the taken image Tp by the camera 474 (step S04). At this time, as shown in FIG. 8, the pocket portion 471a existing at the stop position P should be moved to the photographing point, and the bottom portion 471d of the pocket portion 471a is projected to the belt image Tp.

Next, the conveyance belt control unit 477a moves the conveyance belt 471 by only half the distance between the pocket portions 471a (step S05). At this time, the joint region 471b should exist at the stop position P. Move the joint area 471b to the stop position P Thereafter, the elevation control unit 477b lowers the adsorption nozzle 31 to form an indentation 478 in the connection region 471b (step S06).

After the indentation 478 is formed, the conveyance belt control unit 477a moves the conveyance belt 471 only by a distance from the stop position P to the photographing point of the camera 474 (step S07).

When the transport belt 471 is moved, the camera control unit 477c images the indentation image Mp by the camera 474 (step S08). At this time, as shown in FIG. 9, the connection region 471b existing at the stop position P should be moved to the imaging point, and the indentation 478 formed in the connection region 471b is projected onto the indentation image Mp.

The image processing unit 477d detects the bottom portion 471d and the indentation 478 of the bag portion 471a from the tape image Tp and the indentation image Mp, and confirms the bag portion position P1 and the jig position P2 (step S09). Specifically, the image Tp and the indentation image Mp are separated from other regions by binarization processing or normalization processing and contour abstraction processing, and the bottom portion 471d and the indentation 478 region are calculated. Center of gravity coordinates.

After detecting the pocket portion position P1 and the gripper position P2 on the image, the offset detecting portion 477e calculates the positional shift G by comparing the pocket portion position P1 and the gripping position P2 (step S10). Specifically, the center of gravity of the image area of the bottom portion 471d and the center of gravity of the image area of the indentation 478 are differentiated to the X coordinate and the Y coordinate each time.

When the positional shift G is calculated, the display unit 477f shifts the display position G according to each of the short side direction and the long side direction (step S11). The short side direction is the difference result of the X coordinate, and the long side direction is the differential result of the Y coordinate.

Then, the correction control unit 477g acquires the positional shift G in the Y-axis direction, In the opposite direction of the position shift G, the transport belt 471 is moved only in the longitudinal direction by the same distance as the position shift G. In the X-axis direction, the user adjusts the screw adjuster 475 so that the sprocket 472 moves only the portion corresponding to the positional shift G in the reverse direction of the positional shift G displayed in the X-axis direction of the display portion 477f (step S13).

[F. Effect]

As described above, the electronic component conveying apparatus 1 and the wrapping unit 47 of the present embodiment detect the position of the pocket portion 471a, and compare the position of the pocket portion 471a with the indentation 478 formed on the conveying belt 471 by the suction nozzle 31. The position is shifted by the detected position offset G, and the transport belt 471 is moved in the short side direction and the long side direction based on the position shift G.

In order to indicate the position when the adsorption nozzle 31 is moved to the stop position P, the indentation 478 can reduce the inversion frequency of the electronic component D by the positional deviation of the position of the pocket portion 471a and the position of the indentation 478, so that the electronic component conveying device can be lowered. The operating rate of 1 is increased. Further, since the comparison target for forming the indentation 478 and making it the positional shift G does not require high-precision adjustment of the photographing point of the camera 474, this method can reduce the adjustment time before the start of the electronic component transporting apparatus 1, and the lifting operation rate.

In the present embodiment, the position of the bottom portion 471d of the pocket portion 471a is regarded as the detection condition. The bottom portion 471d of the pocket portion 471a is the most uniform fixed shape of the transport belt 471. That is, in order to clearly photograph the respective portions of the transport belt 471, if the shape of each portion is fixed, the position where the position is detected is not limited to the bottom portion 471d of the pocket portion 471a. For example, the upper edge of the pocket portion 471a or the hole portion opened at the bottom portion 471d of the pocket portion 471a may be used. 471e is used as a place to check out.

Further, in the present embodiment, the indentation 478 is formed on the joint region 471b connected between the pocket portions 471a. Since the hole portion 471e does not exist on the joint region 471b. Therefore, the position at which the indentation 478 is formed is not necessarily limited to the joint region 471b, and the indentation 478 may be formed at the bottom portion 471d of the pocket portion 471a. When a part of the hole portion 471e is repeated by the indentation 478, and only a part of the indentation 478 can be confirmed on the image, it is also possible to push the position of the indentation 478 by the trajectory of a part thereof.

(2) Second embodiment

The image processing unit 477d may not detect the pocket portion 471a or the indentation 478 depending on the material and color of the transport belt 471, the depth of the pocket portion 471a, or the installation environment of the device. The second embodiment is effective for the case where the pocket portion 471a or the indentation 478 cannot be detected by image processing.

(a) of FIG. 11 and (b) of FIG. 11 are display screens showing the detection of the manual operation position. In the second embodiment, the display portion 477f overlaps and displays the frame pattern F on the indentation image Mp. The frame graphic F is circular or rectangular. The display portion 477f can change the shape of the frame pattern F by displaying a circular image Ia(Icon) and a rectangular image Ib.

As shown in (a) of FIG. 11 and (b) of FIG. 11, the position and size of the frame pattern F can be changed using the input device 477h. Specifically, the display portion 477f can change the display position of the frame pattern F by the drag operation of a point in the frame pattern F. Further, the display portion 477f can change the size of the frame pattern F by the drag operation of the outer edge of the frame pattern F.

A trigger button Ic for position detection is displayed on the display screen. Press this After the button Ic, the image processing unit 477d detects the position of the frame pattern F, and processes the result of the detection as the pocket position P1 or the grip position P2.

As described above, the electronic component conveying apparatus 1 and the tape cassette unit 47 of the second embodiment have the display unit 477f that superimposes the image captured by the camera 474 and the frame pattern F, and changes the frame pattern F according to the user's input. The position, size and shape of the input device 477h. The image processing unit 477d detects the position of the indentation 478 or the pocket portion 471a (that is, the grip position P2 or the pocket portion position P1) by the position of the frame pattern F. By doing so, even if the indentation 478 or the pocket portion 471a cannot be detected, the positional shift G can be corrected similarly if it is visually viewable.

(3) Third embodiment

Next, the electronic component conveying apparatus 1 of the third embodiment will be described with reference to Figs. 12 to 14 . FIG. 12 is a schematic side view showing the posture correcting unit 46. FIG. 13 is a schematic diagram showing correction performed by the correction control unit 477g. Fig. 14 is a flow chart showing the correction operation of the positional shift.

In the first embodiment, the positional shift G can be eliminated by the movement of the transport belt 471. However, the electronic component transport apparatus 1 of the third embodiment is positionally biased by the posture correcting unit 46 disposed in the front stage of the wrapping unit 47. Move G correction. That is, the posture correcting unit 46 performs positioning of the additional positional shift G in addition to the direction adjustment of the electronic component D.

[A. Composition

Therefore, as shown in FIG. 12, in the third embodiment, the posture correcting means 46 has the X-axis moving mechanism 461 of the turntable 21 in the X-axis direction (which is the tangential direction of the transport path) and the Y-axis direction of the turntable 21 (which is Method of transporting the route Y-axis moving mechanism 462 in the line direction). Further, the posture correcting unit 46 has a θ-direction moving mechanism 463 that moves the adsorption stage 465 by θ degrees with respect to the Y-axis by moving the adsorption stage pedestal 465.

Each edge of the electronic component D of the posture correcting unit 46 rotates the electronic component D in the θ direction so as to follow the X-axis direction and the Y-axis direction. Further, the posture correcting means 46 moves the electronic component D in the X-axis direction and the Y-axis direction so that the center of the electronic component D is shifted from the tip end of the adsorption nozzle 31 positioned above the adsorption stage 464 by only the sliding position.

In this embodiment, the correction control unit 477g first records the positional shift G of the gripper position P2 and the pocket position P1 as a compensation value before the electronic component transport apparatus 1 processes the electronic component D.

Then, as shown in FIG. 13, when the electronic component transport apparatus 1 processes the electronic component D, the correction control unit 477g shifts the posture shift A of the adsorption nozzle 31 and the electronic component D at the position G which is stored in advance, in order to make The electronic component D moves only the value of this addition result in the X-axis, Y-axis, and θ-axis directions, and drives the X-axis moving mechanism 461, the Y-axis moving mechanism 462, and the θ-direction moving mechanism 463. Further, the posture shift A of the adsorption nozzle 31 and the electronic component D can be detected by the posture determination unit 49 having the camera.

[B. action]

The correction operation of the positional shift of the posture correcting means 46 will be described with reference to Fig. 14 . Further, after the position shift amount calculation processing of steps S01 to S10 of the first embodiment before the operation of the flowchart is completed, the position shift amount is first stored as a compensation value.

The position offset G is regarded as the state of the compensation value memory and the electronic component is moved When the electronic device D is stopped by the posture determining unit 49 (step S21), the posture determining unit 49 photographs the electronic component D using the camera (S22). When the posture determination unit 49 captures the electronic component D, the posture determination unit 49 analyzes the image, and calculates the posture shift A in the X, Y, and θ directions of the adsorption nozzle 31 and the electronic component D (step S23).

Next, by rotating the turntable 21 clockwise by one pitch, the electronic component D is positioned above the adsorption stage 464 of the posture correcting unit 46, and then the adsorption nozzle 31 is lowered to place the electronic component D on The top of the adsorption stage 464 is adsorbed (step S24).

The correction control unit 477g first calculates a new positional shift in the X, Y, and θ directions by adding the position offset G stored in advance and the posture offset A calculated in step S23 (step S25). Then, the correction control unit 477g drives the X-axis moving mechanism 461, the Y-axis moving mechanism 462, and the θ-direction moving mechanism 463 to move the adsorption stage 464 in the direction in which the calculated positional deviation is eliminated (step S26).

After the positional shift correction is completed, the adsorption nozzle 31 holds the electronic component D (step S27). At this time, the adsorption nozzle 31 is displaced from the center of the electronic component D by only the same amount of distance from the positional deviation G in the opposite direction to hold the electronic component D. Therefore, the positional accuracy of the electronic component D and the pocket portion 471a is uniform, and the inversion of the electronic component D can be reduced.

(4) Other embodiments

The embodiments of the present invention are described above, but are not intended to limit the scope of the invention. This novel embodiment may be embodied in a variety of other forms without departing from the invention. The scope of the subject matter can be omitted, replaced, and changed. Further, the embodiment or the modifications thereof are included in the scope or spirit of the invention, and also include the invention described in the claims and the equivalent scope thereof.

For example, in the present embodiment, a turntable 21 in which various types of engineering processing mechanisms 41 to 49 are disposed is exemplified, and as the transport mechanism, the turntable 21 can be transported by linear means, or a plurality of turntables 21 can be used to form one transport path. Further, as the holding means 3, the adsorption nozzle 31 for adsorbing or detaching the electronic component D by the generation and destruction of the vacuum may be electrostatically adsorbed, a Bernoulli chuck or mechanically clamped. The chucking mechanism of the electronic component D replaces the adsorption nozzle 31. Further, the various types of engineering processing mechanisms 41 to 49 are not limited to the types mentioned above, and various engineering processing mechanisms may be replaced, or the order of arrangement thereof may be changed as appropriate.

Further, when the accuracy of the positional relationship between the camera 474 and the stop position P is extremely fixed, in order to confirm the position of the indentation 478 in advance, when the main memory device advances the storage adsorption nozzle 31 to the stop position P of the tape cassette unit 47, The formation processing of the indentation 478 can be simplified by arranging the position of the camera 474 on the extension line from the position of the memory to the longitudinal direction of the transport belt 471.

1‧‧‧Electronic parts conveying device

21‧‧‧ turntable

22‧‧‧Direct drive motor

3‧‧‧ Keeping device

31‧‧‧Adsorption nozzle

32‧‧‧Support

33‧‧‧ Drive Department

34‧‧‧Joystick

41‧‧‧Part supply unit

42‧‧‧Printing unit

43‧‧‧ appearance inspection unit

44‧‧‧Test contact unit

45‧‧‧ sorting unit

46‧‧‧Pose Correction Unit

461‧‧‧X-axis moving mechanism

462‧‧‧Y-axis moving mechanism

463‧‧‧θ direction moving mechanism

464‧‧‧Adsorption platform

465‧‧‧Adsorption platform pedestal

47‧‧‧Packing unit

471‧‧‧Transportation belt

471a‧‧‧ Bag Department

471b‧‧‧Linked area

471d‧‧‧ bottom

471e‧‧‧ points

472‧‧‧Sprocket

473‧‧‧Drive motor

474‧‧‧ camera

475‧‧‧screw adjuster

476‧‧‧Compressed spring

477‧‧‧Control Department

477a‧‧‧Transport Belt Control Department

477b‧‧‧ Lift Control Department

477c‧‧‧ Camera Control Department

477d‧‧‧Image Processing Department

477e‧‧‧Offset Detection Department

477f‧‧‧Display Department

477g‧‧‧Revision Control Department

477h‧‧‧ input device

478‧‧‧Indentation

48‧‧‧Don't Discharge Unit

49‧‧‧ posture discriminating unit

D‧‧‧Electronic parts

F‧‧‧Frame graphics

G‧‧‧ positional offset

P‧‧‧ stop position

P1‧‧‧ bag position

P2‧‧‧Clamp position

Tp‧‧‧ with image

Mp‧‧‧Indentation image

Fig. 1 is a schematic plan view showing an electronic component conveying apparatus according to a first embodiment.

Fig. 2 is a schematic side view showing the electronic component conveying device of the first embodiment;

Fig. 3 is a schematic plan view showing the tape unit of the first embodiment.

Fig. 4 is a schematic side view showing the tape unit of the first embodiment;

Fig. 5 is a block diagram showing the configuration of a control unit of the first embodiment.

Fig. 6 is a flow chart showing the position correcting operation of the first embodiment.

Fig. 7 is a schematic view showing a state in which the conveyor belt is mounted.

Figure 8 is a schematic view of the image of the conveyor belt.

Figure 9 is a schematic view of an image of an indentation of an adsorption nozzle.

Figure 10 is a schematic illustration of the movement of the conveyor belt.

(a) of FIG. 11 and (b) of FIG. 11 are display screens of the manual operation position detection of the electronic component conveying apparatus of the second embodiment.

Fig. 12 is a schematic side view of the posture correcting unit.

Fig. 13 is a schematic diagram showing correction by the correction control unit of the third embodiment.

Fig. 14 is a flow chart showing the position correcting operation of the third embodiment.

31‧‧‧Adsorption nozzle

33‧‧‧ Drive Department

34‧‧‧Joystick

471‧‧‧Transportation belt

472‧‧‧Sprocket

473‧‧‧Drive motor

474‧‧‧ camera

477‧‧‧Control Department

Claims (19)

An electronic component transporting apparatus for performing an engineering process while transporting an electronic component, comprising: a transport path of the electronic component; and a holding device that holds the electronic component and intermittently along the transport path Moving; the transport belt has a pocket portion that is disposed at a stop position of the holding device in the transport path, and houses the electronic component held by the holding device; a belt position detecting device Detecting a position of the pocket portion; offset detecting means, detecting a positional shift of the transport belt based on a detection result of the belt position detecting means; and correcting means according to the positional shift And correcting the positional offset; and the offset detecting device comprises: lifting device, which is formed at a predetermined place of the conveyor belt by lowering the holding device until pressure is applied to the conveyor belt An indentation of the holding device; an indentation imaging device that captures an image of the indentation; and an indentation image processing device that detects a position on the image of the indentation; It means the position of the position of the indentation of the bag portion, and comparing the position of the holding position when the bag portion side to the transport means for moving the belt, and the positional deviation detection. The electronic component transporting apparatus according to claim 1, wherein the correcting device moves the transport belt in a short side direction and a long side direction according to the positional shift. The electronic component conveying apparatus according to claim 2, wherein the correction device includes: a sprocket for conveying the conveying belt; and a driving device that causes the sprocket to rotate only corresponding to the positional offset The amount. The electronic component conveying apparatus according to claim 2, wherein the correction device includes: a sprocket for conveying the conveying belt; and a micrometer that causes the sprocket to go to a short side of the conveying belt Move in direction. The electronic component conveying apparatus according to claim 1, wherein the correction means changes the electronic component relative to the holding means by shifting only the same distance in a direction opposite to the positional deviation Pose. The electronic component conveying apparatus according to claim 1, wherein the tape position detecting device includes: a belt capturing device that captures an image of the conveyor belt; and a belt image processing device that detects the conveyor belt The position on the image of the predetermined place, the offset detecting means detects the positional deviation based on the position detected by the image processing apparatus. The electronic parts transporting device as described in claim 6 The predetermined place of the conveyor belt is the bottom of the bag portion. The electronic component transporting device according to claim 6, wherein the image processing device includes: a display device that superimposes the image and the frame graphic; and a changing device that changes the user according to an input of the user The position, size, and shape of the frame pattern are detected based on the position of the frame pattern changed by the changing device, and the position on the image of the predetermined place is detected. The electronic component conveying apparatus according to claim 1, wherein the conveying belt forms a joint region connecting the two pocket portions, and the indentation is formed in the joint region. The electronic component conveying apparatus according to claim 1, wherein the indentation image processing apparatus includes: a display device that superimposes the image and the frame pattern; and a changing device that changes the user according to an input by the user The position, size, and shape of the frame pattern are detected based on the position of the frame pattern changed by the changing device, and the position on the image of the indentation is detected. A tape unit comprising: a transport belt having a pocket portion disposed at a point on a transport path for transporting electronic components; and accommodating the electronic component; and a position detecting device for detecting a position of the pocket portion; an offset detecting device, based on the detection result of the belt position detecting device And detecting a positional deviation of the conveyor belt; and modifying means for correcting the positional offset according to the positional offset; and the offset detecting means comprises: lifting means, by lowering the holding means until Pressing the transport belt to form an indentation of the holding device at a predetermined place of the transport belt; an indentation photographing device capturing an image of the indentation; and an indentation image processing device detecting the a position on the image of the indentation; the offset detecting means compares the retention of the electronic component and the movement along the transport path according to the position of the pocket and the position of the indentation The position of the device is moved to a position above the conveyor belt and the position of the pocket portion, and the positional deviation is detected. The tape unit according to claim 11, wherein the correction device moves the transport belt in a short side direction and a long side direction according to the positional deviation. The tape unit of claim 12, wherein the correction device has: a sprocket for transporting the conveyor belt; and a driving device that causes the sprocket to rotate only corresponding to the positional offset the amount. The tape unit of claim 12, wherein the correction device has: a sprocket for transporting the conveyor belt; and a micrometer that causes the sprocket to face the short side of the conveyor belt mobile. The tape unit according to claim 11, wherein the tape position detecting device comprises: a belt photographing device that captures an image of the transport belt; and an image processing device that detects the transport belt The position of the image on the predetermined place, the offset detecting means detects the positional deviation based on the position detected by the image processing apparatus. The tape unit of claim 15, wherein the predetermined position of the conveyor belt is the bottom of the bag portion. The tape processing unit of claim 15, wherein the image processing device includes: a display device that superimposes the image and the frame graphic; and a changing device that changes the frame according to a user input The position, size, and shape of the graphic are detected based on the position of the frame pattern changed by the changing device, and the position on the image of the predetermined place is detected. The tape unit according to claim 11, wherein the conveyor belt forms a joint region connecting the two pocket portions; and the indentation is formed in the joint region. The tape unit according to claim 11, wherein the indentation image processing device has: a display device that superimposes the image and the frame pattern; and a changing device that changes the user according to an input of the user The position, size, and shape of the frame pattern are detected on the image on the image of the indentation based on the position of the frame pattern changed by the changing device.