WO2012107956A1 - 電子部品搬送装置及びテーピングユニット - Google Patents

電子部品搬送装置及びテーピングユニット Download PDF

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Publication number
WO2012107956A1
WO2012107956A1 PCT/JP2011/000716 JP2011000716W WO2012107956A1 WO 2012107956 A1 WO2012107956 A1 WO 2012107956A1 JP 2011000716 W JP2011000716 W JP 2011000716W WO 2012107956 A1 WO2012107956 A1 WO 2012107956A1
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WO
WIPO (PCT)
Prior art keywords
electronic component
carrier tape
detecting
image
tape
Prior art date
Application number
PCT/JP2011/000716
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
白石一成
的場隆行
Original Assignee
上野精機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上野精機株式会社 filed Critical 上野精機株式会社
Priority to PCT/JP2011/000716 priority Critical patent/WO2012107956A1/ja
Priority to JP2012556654A priority patent/JP5674060B2/ja
Priority to CN201180066763.0A priority patent/CN103339031B/zh
Priority to TW101103881A priority patent/TWI525732B/zh
Publication of WO2012107956A1 publication Critical patent/WO2012107956A1/ja
Priority to HK13113419.1A priority patent/HK1185850A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B15/00—Attaching articles to cards, sheets, strings, webs, or other carriers
    • B65B15/04—Attaching a series of articles, e.g. small electrical components, to a continuous web
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/01—Subjecting similar articles in turn to test, e.g. "go/no-go" tests in mass production; Testing objects at points as they pass through a testing station
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/02—Feeding of components
    • H05K13/021—Loading or unloading of containers

Definitions

  • the present invention relates to an electronic component transport apparatus that performs process processing while transporting an electronic component and stores the electronic component on a carrier tape, and a taping unit on which the carrier tape is set.
  • Electronic components such as semiconductor elements are separated into individual pieces through various assembly processes such as dicing, mounting, bonding, and sealing, and then subjected to post-processes such as various inspections and packed in carrier tapes, container tubes, and the like. Shipped.
  • post-processes include a marking process, an appearance inspection, an electrical property inspection, a lead molding process, a classification of electronic components, or a combination of these processes.
  • the post-process including the packing process is mainly performed by an electronic component transport apparatus that transports the electronic component to the process processing mechanism.
  • the electronic component transport apparatus includes a transport mechanism that aligns and transports electronic components and various process processing mechanisms on the transport path.
  • a transport mechanism As the transport mechanism, a turntable transport system, a linear transport system, or the like is generally used, and electronic components are sequentially supplied to various process processing mechanisms arranged on the transport path.
  • the transport mechanism has holding means constituted by vacuum suction, electrostatic suction, Bernoulli chuck, or mechanical chuck mechanism, holds electronic components by the holding means, and sequentially transports the electronic components to the process processing mechanism. To go.
  • a taping unit is installed in the subsequent stage of the transport path.
  • the taping unit includes a carrier tape in which pockets are arranged in the longitudinal direction, and a sprocket that intermittently conveys the carrier tape so as to match the positional relationship between the stop position of the holding means and the pocket.
  • the holding means moved to the stop position is positioned above the pocket of the carrier tape, and the electronic component is detached from the pocket.
  • the electronic component transport device After storage in the pocket, the presence or absence of the electronic component is confirmed.
  • the falling of the electronic component means that the electronic component is not stored in the correct orientation and position by being caught on the inner wall surface of the pocket. This fall is discriminated by visual observation by the operator or by a camera provided at the rear stage in the feeding direction of the carrier tape.
  • the electronic component transport device When the roll occurs, the electronic component transport device is temporarily stopped, and the operator manually replaces it with a non-defective product or performs automatic excision by mechanical punching (for example, see Patent Document 1). .
  • the conventional electronic component transport apparatus includes a posture correction unit and a posture determination unit that correct the posture of the electronic component on the upstream side of the transport path with respect to the taping unit (see, for example, Patent Document 2).
  • the orientation correction unit and orientation determination unit detect the orientation of the electronic component with a camera, hold the electronic component in the center, and align the orientation of the electronic component in advance so that the orientation of the electronic component is aligned with the pocket of the carrier tape. Are aligned.
  • ⁇ Falling due to the posture of the electronic component relative to the holding means can be prevented by correcting the holding posture of the electronic component.
  • the posture correction unit and the posture determination unit are provided, the electronic components have not been completely prevented from falling. This is because the misalignment of the carrier tape may be a cause of falling in addition to the holding posture of the electronic component.
  • the carrier tape may have different pocket positions for each lot.
  • positioning errors occur when the carrier tape is installed in the taping unit.
  • adjustment using a jig is conceivable.
  • the user needs to visually check the pocket position and the adjustment work reflecting the visual result. A start-up delay occurs, leading to a reduction in operating rate.
  • the present invention has been proposed in order to solve the above-described problems.
  • An electronic component transport apparatus and a taping unit that can easily and more reliably prevent an electronic component from falling when stored in a carrier tape.
  • the purpose is to provide.
  • An electronic component transport device is an electronic component transport device that performs process processing while transporting an electronic component, and is intermittent along the transport path while holding the transport path of the electronic component and the electronic component.
  • a holding means that moves, a carrier tape that is disposed at a stop position of the holding means in the transport path and has a pocket that accommodates the electronic component held by the holding means, and a tape position detection that detects the position of the pocket
  • a deviation detecting means for detecting a positional deviation of the carrier tape based on a detection result by the tape position detecting means, and a correcting means for correcting the positional deviation.
  • the deviation detecting means may detect a positional deviation by comparing the position when the holding means moves above the carrier tape with the position of the pocket.
  • the correcting means may move the carrier tape in the width direction and the longitudinal direction based on the positional deviation.
  • the correction unit may include a sprocket that conveys the carrier tape, and a drive unit that rotates the sprocket by an amount corresponding to the positional deviation.
  • the correction means may include a sprocket that conveys the carrier tape, and a micrometer that moves the sprocket in the width direction of the carrier tape.
  • the correction unit may change the posture of the electronic component with respect to the holding unit so as to be shifted by the same amount in a direction opposite to the positional deviation.
  • the tape position detecting means includes a tape imaging means for taking an image of the carrier tape, and a tape image processing means for detecting a position on the image of a predetermined location of the carrier tape, the deviation detecting means, The positional deviation may be detected based on the position detected by the tape image processing means.
  • the predetermined location of the carrier tape may be the bottom surface of the pocket. *
  • the tape image processing means includes display means for displaying the image and the frame graphic in an overlapping manner, and changing means for changing the position, size, and shape of the frame graphic based on a user input,
  • the position on the image of the predetermined location may be detected based on the position of the frame figure after the change by the changing means.
  • the deviation detecting means lowers the holding means until it presses against the carrier tape to form an indentation of the holding means at a predetermined location on the carrier tape, and an impression imaging means for taking an image of the indentation And an indentation image processing means for detecting a position of the indentation on the image, and the positional deviation may be detected based on the position of the indentation as the predetermined position.
  • the carrier tape may be formed with a region connecting the two pockets, and the indentation may be formed in the connecting region.
  • the indentation image processing means includes display means for displaying the image and the frame graphic in an overlapping manner, and changing means for changing the position, size, and shape of the frame graphic based on a user input,
  • the position of the indentation on the image may be detected based on the position of the frame figure after the change by the changing means.
  • the taping unit according to the present invention is arranged at one point of a transport path through which the electronic component is transported, and has a carrier tape having a pocket for storing the electronic component, and a tape position detecting means for detecting the position of the pocket.
  • a deviation detecting means for detecting a positional deviation of the carrier tape based on a detection result by the tape position detecting means, and a correcting means for correcting the positional deviation based on the positional deviation.
  • the deviation detecting means detects a positional deviation by comparing the position when the holding means that holds the electronic component and moves along the transport path moves above the carrier tape with the position of the pocket. You may do it. *
  • the correcting means may move the carrier tape in the width direction and the longitudinal direction based on the positional deviation.
  • the correction unit may include a sprocket that conveys the carrier tape, and a drive unit that rotates the sprocket by an amount corresponding to the positional deviation.
  • the correction means may include a sprocket that conveys the carrier tape, and a micrometer that moves the sprocket in the width direction of the carrier tape.
  • the position detection means includes a tape imaging means for taking an image of the carrier tape, and a tape image processing means for detecting a position on the image of a predetermined location of the carrier tape, and the deviation detection means includes the The positional deviation may be detected based on the position detected by the tape image processing means.
  • the predetermined location of the carrier tape may be the bottom surface of the pocket. *
  • the tape image processing means includes display means for displaying the image and the frame graphic in an overlapping manner, and changing means for changing the position, size, and shape of the frame graphic based on a user input,
  • the position on the image of the predetermined location may be detected based on the position of the frame figure after the change by the changing means.
  • the deviation detecting means lowers the holding means until it presses against the carrier tape to form an indentation of the holding means at a predetermined location on the carrier tape, and an impression imaging means for taking an image of the indentation And an indentation image processing means for detecting a position of the indentation on the image, and the positional deviation may be detected based on the position of the indentation.
  • the carrier tape may be formed with a region connecting the two pockets, and the indentation may be formed in the connecting region.
  • the indentation image processing means includes display means for displaying the image and the frame graphic in an overlapping manner, and changing means for changing the position, size, and shape of the frame graphic based on a user input,
  • the position of the indentation on the image may be detected based on the position of the frame figure after the change by the changing means.
  • the present invention it is possible to easily detect and easily correct the pocket misalignment when the carrier tape is installed, so that it is possible to more reliably prevent the electronic components from falling and to improve the operating rate of the apparatus. it can.
  • FIG. 1 is a plan view illustrating a schematic configuration of the electronic component transport device according to the first embodiment.
  • FIG. 2 is a side view illustrating a schematic configuration of the electronic component transport device according to the first embodiment.
  • the embodiment shown in FIGS. 1 and 2 uses the electronic component transport apparatus 1 of the present invention as a post-process processing apparatus that performs various process processes while aligning and transporting the electronic component D. Therefore, the electronic component transport apparatus 1 includes various process processing mechanisms for the electronic component D and a transport mechanism that sequentially transports the electronic component D to the various process processing mechanisms.
  • the electronic component D is a component used for an electrical product, and includes a semiconductor element.
  • semiconductor elements include transistors, integrated circuits, resistors, capacitors, and the like.
  • Process processing is mainly a post-process after each assembly process such as dicing, mounting, bonding, and sealing, and includes marking, visual inspection, test contact, sorting, sorting, or a combination thereof. It is.
  • the electronic component transport apparatus 1 according to the present embodiment performs at least a packing process.
  • the transport mechanism includes a turntable 21.
  • the center of the turntable 21 is supported by a drive shaft of a direct drive motor 22 disposed below.
  • the turntable 21 rotates intermittently at a predetermined angle as the direct drive motor 22 is driven.
  • a plurality of holding means 3 for holding the electronic component D are attached to the outer periphery of the turntable 21 at regular intervals along the outer periphery of the turntable 21.
  • the arrangement interval of the holding means 3 is equal to the rotation angle of one pitch of the turntable 21.
  • the outer periphery of the turntable 21 is a conveyance path for the electronic component D. That is, the electronic component D is conveyed along the outer periphery of the turntable 21.
  • the holding means 3 is a suction nozzle 31 that sucks and detaches the electronic component D.
  • the inside of the pipe of the suction nozzle 31 communicates with a pneumatic circuit of a vacuum generator (not shown).
  • the suction nozzle 31 sucks the electronic component D by generating a negative pressure and releases the electronic component D by vacuum break.
  • the suction nozzle 31 is supported by a support portion 32 attached to the outer peripheral portion of the turntable 21 so that the lower end protrudes from the lower surface of the turntable 21, and the protruding end sucks and detaches the electronic component D. It becomes the adsorption
  • the support portion 32 supports the suction nozzle 31 so as to be slidable, and the suction nozzle 31 can be moved up and down with respect to the turntable 21.
  • the ascending / descending direction is a vertical direction when the spreading direction of the turntable 21 is assumed to be a horizontal plane.
  • a drive unit 33 including an operation rod 34 is disposed.
  • the drive unit 33 is specifically a motor and moves the operation rod 34 up and down.
  • the operation rod 34 is disposed with its lower end opposed to the pressed portion 31 b provided at the upper end of the suction nozzle 31, and comes into contact with the pressed portion 31 b of the suction nozzle 31 in accordance with the drive of the drive unit 33. Pressure is applied to push down the suction nozzle 31 downward.
  • a parts feeder 41, a marking unit 42, an appearance inspection unit 43, and a test contact unit are arranged in the rotation direction of the turntable 21, in other words, in order from the previous stage of the transport path.
  • a sorting / sorting unit 45, an attitude determination unit 49, an attitude correction unit 46, a taping unit 47, and a defective product discharge unit 48 are arranged.
  • process processing mechanisms surround the turntable 21 and are arranged at equal intervals in the outer circumferential direction.
  • the arrangement interval is the same as or equal to an integral multiple of the rotation angle of one pitch of the turntable 21.
  • the arrangement position of the process processing mechanism coincides with the stop position P of the holding means 3.
  • the stop position P one of the transport processing mechanisms is arranged. If the number of stop positions P is equal to or greater than the number of transport processing mechanisms 4, these numbers do not have to be the same, and there may be a stop position P at which the transport processing mechanism is not disposed.
  • the parts feeder 41 is a device that supplies the electronic component D to the electronic component transport apparatus 1.
  • This parts feeder 41 combines a circular vibration parts feeder and a linear supply vibration feeder, and arranges and continuously conveys a large number of electronic components D to the end of the conveyance path immediately below the outer peripheral edge of the turntable 21.
  • the marking unit 42 has a lens for laser irradiation facing the electronic component D, and performs marking by irradiating the electronic component D with laser.
  • the appearance inspection unit 43 has a camera, takes an image of the electronic component D, and inspects the presence or absence of an electrode shape, surface defects, scratches, dirt, foreign matter, and the like of the electronic component D from the image.
  • the test contact unit 44 has a contact made of a metal such as a beryllium copper plate or a pin. The contact is brought into contact with the lead of the electronic component D, and a current is passed or a voltage is applied to the electronic component. Measure and inspect electrical characteristics such as voltage, current, resistance, or frequency of D.
  • the classification / sorting unit 45 classifies the electronic component D into a defective product and a non-defective product according to the electrical characteristics and the result of the appearance inspection, and classifies and shoots according to the level.
  • the posture determination unit 49 includes a camera and determines the posture of the electronic component D.
  • the posture of the electronic component D to be determined includes the orientation and the holding position by the suction nozzle 31.
  • the posture correction unit 46 aligns the electronic component D and positions the holding position according to the posture determined by the posture determination unit 49.
  • the taping unit 47 stores the electronic component D determined to be non-defective.
  • the defective product discharge unit 48 discharges the electronic component D that has not been taped and packed from the electronic component inspection apparatus 1.
  • Such an electronic component transport apparatus 1 includes a transport control unit (not shown), and sends electrical signals to the direct drive motor 22, the drive unit 33 that raises and lowers the suction nozzle 31, the vacuum generator, and various process processing mechanisms 41 to 49. These operation timings are controlled by sending them out. That is, the conveyance control unit includes a ROM, a CPU, and a driver that store a control program, and outputs an operation signal at each timing to each drive mechanism through an interface according to the control program.
  • the electronic component transport apparatus 1 starts processing the electronic component D as described below under the control of the transport control unit.
  • the turntable 21 repeats rotation at a predetermined angle and stop for a predetermined time.
  • Each suction nozzle 31 sequentially moves to each stop position P on the outer periphery of the turntable 21 by intermittent rotation of the turntable 21.
  • each suction nozzle 31 is moved to the stop position P, it is lowered toward the stage of the process processing mechanisms 41 to 49 by the operation of the drive unit 33 and the operation rod 34, and the electronic component D is detached by vacuum break.
  • the process processing mechanisms 41 to 49 process the electronic component D.
  • the suction nozzle 31 descends again toward the stage and holds the electronic component D.
  • the suction nozzle 31 descends again toward the stage and holds the electronic component D.
  • the suction nozzle 31 descends again toward the stage and holds the electronic component D.
  • the electronic component D is supplied to the conveying path from the parts feeder 41 in the first cycle, and in each subsequent cycle, the marking unit 42, the appearance inspection unit 43, and the test are sequentially performed. It is supplied to the contact unit 44 and the sorting / sorting unit 45 to perform various processes.
  • the electronic component D is supplied to the taping unit 47 and packed in a carrier tape.
  • the electronic component D that has not been packed due to a defect is supplied to the defective product discharge unit 48 and discharged from the electronic component transport apparatus 1.
  • FIG. 3 is a top view showing a schematic configuration of the taping unit.
  • FIG. 4 is a side view showing a schematic configuration of the taping unit.
  • a carrier tape 471 is set in the taping unit 47.
  • the carrier tape 471 is a packaging material that houses the electronic component D, and has a band shape.
  • a concave pocket 471a is formed on the carrier tape 471 by embossing or the like at a predetermined distance in the longitudinal direction.
  • the pocket 471a is a storage area for the electronic component D.
  • a region between the pockets 471a is referred to as a connecting region 471b.
  • the bottom surface 471d of the pocket 471a is provided with a hole 471e through which a negative pressure is supplied so as to fix the position of the accommodated electronic component D.
  • the taping unit 47 intermittently conveys the carrier tape 471 to sequentially move the pocket 471a to one point on the conveyance path, that is, the stop position P of the holding means 3.
  • the taping unit 47 has two sprockets 472 and a drive motor 473.
  • the sprocket 472 has a cylindrical roll shape with pins protruding along the circumferential direction, and is rotatable via a central axis.
  • the two sprockets 472 are spaced apart by a fixed distance and are parallel in the axial direction.
  • Each sprocket 472 is mechanically connected to each drive motor 473 by a shaft, and rotates by receiving the drive force of the drive motor 473.
  • Examples of the drive motor 473 include a stepping motor that can achieve a minute rotation angle.
  • the carrier tape 471 has perforations (not shown) that are spaced apart from each other by a predetermined distance toward one of the long sides, and is installed on the sprocket 472 so that the perforations are hooked on the pins of the sprocket 472, whereby the sprocket 472. Sent between.
  • the carrier tape 471 is fed so that the pockets 471a are sequentially stopped at the stop position P. That is, the pocket 471a is offset so as to stop at the stop position P, and the conveyance distance of the carrier tape 471 once is equal to the distance between the pockets 471a.
  • the taping unit 47 includes a camera 474 on the conveyance path of the carrier tape 471.
  • the camera 474 is an image pickup unit having an image pickup device such as a CMOS or a CCD, and takes an image of a point on the transport path of the carrier tape 471.
  • the arrangement position of the camera 474 is a stage after the stop position P, and is an upper position where the carrier pocket 471a in the traveling direction of the carrier tape 471 can be imaged, for example.
  • the position of the carrier tape 471 can be corrected in the width direction and the longitudinal direction, and the position deviation of the carrier tape 471 is detected by detecting the position deviation of the carrier tape 471 during the adjustment work when replacing the carrier tape 471.
  • Moved in the direction of The longitudinal position correction mechanism of the carrier tape 471 is a sprocket 472 and a drive motor 473.
  • the longitudinal position of the carrier tape 471 is offset by driving the drive motor 473 and rotating the sprocket 472 by a predetermined angle.
  • the position correction mechanism in the width direction includes a screw adjuster 475 and a compression spring 476.
  • the screw adjuster 475 is a screw mechanism having a micrometer head, and is provided so that the screw tip comes into contact with one side surface of the sprocket 472.
  • the micrometer head converts the rotation angle of the screw into a displacement amount of the screw position and reflects the displacement amount on the scale.
  • the compression spring 476 is fixed so as to abut on the opposite side surface of the sprocket 472 and applies a biasing force in the direction of the screw adjuster 475.
  • the screw adjuster 475 pushes and moves in the width direction by sliding the sprocket 472 against the shaft against the pressing force of the compression spring 476 by increasing the protruding length of the screw tip by adjusting the screw.
  • the protrusion length of the screw adjuster 475 is reduced, that is, when the tip of the screw adjuster 475 is moved away from the end face of the sprocket 472, the sprocket 472 moves in the opposite direction by the pressing force of the compression spring 476.
  • the control unit 477 performs control of the positional deviation of the carrier tape 471 and the above-described tape position correcting means based on the photographing result by the camera 474.
  • the control unit 477 includes, for example, an arithmetic processing device that executes processing according to a program and controls each mechanism, a main storage device that stores a program and an arithmetic processing result of the arithmetic processing device, an external storage device that stores a program, and each mechanism A driver that actually operates the computer and a monitor that displays a screen are included.
  • the control unit 477 may be provided independently by the taping unit 47 or may be included in the configuration of the transport control unit of the electronic component transport apparatus 1.
  • FIG. 5 is a block diagram illustrating a configuration of the control unit 477.
  • the control unit 477 grasps the positional relationship between the pocket 471a and the holding unit 3 at the stop position P, and the positional deviation G ( 7), and the tape position correcting means is operated so as to eliminate the positional deviation G according to the detection result.
  • the positions of the pocket 471a and the holding means 3 at the stop position P may not be confirmed due to a physical failure. Therefore, in specifying the position of the pocket 471a, the carrier tape 471 has been moved by a distance corresponding to the stop position P and the shooting position of the camera 474 in the state where the pocket 471a exists at the stop position P, and has moved to the shooting position. The pocket 471a is photographed with the camera 474, and the position is specified.
  • an indentation 478 (see FIG. 9) to be described later is formed on the carrier tape 471 by the holding means 3, and moved by the same amount as the moving distance for checking the position of the pocket 471a, Take a picture with the camera 474. This is because the indentation 478 indicates the position of the holding means 3 at the stop position P.
  • the positional deviation G between the pocket 471a and the indentation 478 in the coordinate system on the image is the same as the positional deviation G between the pocket 471a and the holding means 3 at the stop position P. I can see. Therefore, by operating the tape position correcting means according to the position deviation G detected on the image, the pocket 471a and the holding means 3 can be aligned at the stop position P.
  • control unit 477 of this embodiment includes a tape feed control unit 477a, an elevation control unit 477b, a camera control unit 477c, an image processing unit 477d, and a deviation detection unit. 477e, a display unit 477f, a correction control unit 477g, and an input device 477h.
  • the tape feed controller 477a drives the drive motor 473 that rotates the sprocket 472, thereby positioning the pocket 471a and the connecting region 471b of the carrier tape 471 at the stop position P, respectively. Then, the tape feed control unit 477a moves the carrier tape 471 by a predetermined distance. This moving distance is equal to the distance from the stop position P to the shooting point of the camera 474. That is, the pocket 471a and the connection area 471b at the stop position P are respectively moved to the photographing point.
  • the lift control unit 477b drives the drive unit 33 to lower the suction nozzle 31 toward the carrier tape 471 in order to form the indentation 478.
  • the lowered position is the connecting region 471b of the carrier tape 471. That is, the tape feed control unit 477a moves the joining region 471b to the stop position P before the control by the elevation control unit 477b.
  • the descending amount is until the tip of the suction nozzle 31 is pressed against the connecting region 471b with a predetermined pressure.
  • the predetermined pressure is such that an indentation 478 is formed in the connection region 471b.
  • the camera control unit 477c causes the camera 474 to photograph the pocket 471a and the impression 478.
  • the tape feed controller 477a positions the pocket 471a and the impression 478 while maintaining the positional relationship at the stop position P.
  • the image processing unit 477d analyzes the image data of the photographing point acquired by the camera 474, and specifies the positions of the bottom surface 471d and the impression 478 of the pocket 471a. Specifically, the image processing unit 477d detects the regions of the bottom surface 471d and the impression 478 through binarization processing, normalization processing, contour extraction processing, and the like, and calculates the barycentric coordinates thereof.
  • the displacement detection unit 477e detects the positional displacement G by comparing the position of the bottom surface 471d of the pocket 471a and the position of the indentation 478.
  • the position of the indentation 478 is a position when the suction nozzle 31 moves to the stop position P. That is, if the carrier tape 471 is set with high accuracy and the pocket 471a is accurately moved to the stop position P, there is no positional deviation G between the bottom surface 471d and the indentation 478.
  • the positional deviation G is calculated by subtracting the X direction and the Y direction of the barycentric coordinates indicating the positions of the bottom surface 471d and the indentation 478, respectively.
  • the camera 474 is arranged so that the X direction on the image corresponds to the width direction of the carrier tape 471 and the Y direction on the image corresponds to the longitudinal direction of the carrier tape 471.
  • the display unit 477f is a monitor, and displays the detection result of the shift detection unit 477e, that is, the position shift G in the X direction and the Y direction.
  • the input device 477h is a user input interface and is used to switch the operation mode of the electronic component transport device 1. As the operation mode, a position correction mode for performing at least position shift detection and position shift correction is prepared. Examples of the input device 477h include a button, a touch panel, a mouse, and the like. When the input device 477h is configured by a touch panel display, it can be shared with the display unit 477f.
  • the correction control unit 477g drives the drive motor 473 that rotates the sprocket 472 to move the carrier tape 471 in the reverse direction by a distance corresponding to the positional deviation G in the Y direction, that is, the positional deviation G in the longitudinal direction of the carrier tape 471. Move. The width direction of the carrier tape 471 is moved by the user adjusting the screw adjuster 475 while referring to the positional deviation G in the X direction of the display unit 477f.
  • FIG. 6 is a flowchart showing the position correction operation.
  • FIG. 7 is a schematic diagram showing a state where the carrier tape 471 is set.
  • FIG. 8 is a schematic diagram showing an image of the carrier tape 471.
  • FIG. 9 is a schematic diagram illustrating an image of an impression of the suction nozzle.
  • FIG. 10 is a schematic diagram showing the movement of the carrier tape.
  • the carrier tape 471 is set on the taping unit 47 by the user (step S01).
  • the carrier tape 471 is set so that the pocket 471a is positioned at the stop position P.
  • the pocket position P1 when the carrier tape 471 is set differs from the normal position due to the difference in lots or positioning error during setting, and the position of the holding means 3 at the stop position P (chuck position P2). ) And positional deviation G ( ⁇ X, ⁇ Y) may occur.
  • the user selects the position correction mode using the input device 477h (step S02).
  • the tape feed controller 477a moves the carrier tape 471 from the stop position P by a distance corresponding to the shooting point of the camera 474 (step S03).
  • the camera control unit 477c causes the camera 474 to capture the tape image Tp (step S04).
  • the pocket 471a existing at the stop position P should have moved to the shooting point, and as shown in FIG. 8, the bottom surface 471d of the pocket 471a is projected onto the tape image Tp.
  • the tape feed controller 477a moves the carrier tape 471 by half the distance between the pockets 471a (step S05).
  • the connection region 471b should exist at the stop position P.
  • the lifting control unit 477b lowers the suction nozzle 31 to form an indentation 478 in the connection region 471b (step S06).
  • the tape feed controller 477a moves the carrier tape 471 from the stop position P by a distance corresponding to the shooting point of the camera 474 (step S07).
  • the camera control unit 477c causes the camera 474 to capture the indentation image Mp (step S08).
  • the joint area 471b existing at the stop position P should have moved to the photographing point, and as shown in FIG. 9, the impression 478 formed in the joint area 471b is projected onto the impression image Mp. Yes.
  • the image processing unit 477d detects the bottom surface 471d and the impression 478 of the pocket 471a from the tape image Tp and the impression image Mp, and specifies the pocket position P1 and the chuck position P2 (step S09). Specifically, the tape image Tp and the impression image Mp are subjected to binarization processing, normalization processing, contour extraction processing, and the like to distinguish the bottom surface 471d and the impression 478 region from other regions, and the bottom surface 471d and the impression 478 region. The barycentric coordinates of are calculated.
  • the deviation detection unit 477e calculates the position deviation G by comparing the pocket position P1 and the chuck position P2 (step S10). Specifically, the barycentric coordinates of the image area of the bottom surface 471d and the barycentric coordinates of the image area of the impression 478 are differentiated for each X coordinate and Y coordinate.
  • the display unit 477f displays the positional deviation G in each of the width direction and the longitudinal direction (step S11).
  • the width direction is the X coordinate difference result
  • the longitudinal direction is the Y coordinate difference result.
  • the correction control unit 477g acquires the positional deviation G in the Y-axis direction, and moves the carrier tape 471 in the longitudinal direction by a distance corresponding to the positional deviation G in the reverse direction of the positional deviation G (step S12). .
  • the screw adjuster 475 is adjusted by the user, and the sprocket 472 is moved by an amount corresponding to the position shift G in the direction opposite to the position shift G in the X-axis direction displayed on the display unit 477f (step S13).
  • the electronic component transport apparatus 1 and the taping unit 47 detect the position of the pocket 471a, and the position of the pocket 471a and the position of the impression 478 formed on the carrier tape 471 by the suction nozzle 31. And the positional deviation G is detected, and based on the positional deviation G, the carrier tape 471 is moved in the width direction and the longitudinal direction.
  • the indentation 478 indicates the position when the suction nozzle 31 moves to the stop position P, the displacement frequency between the position of the pocket 471a and the position of the indentation 478 is eliminated.
  • the operating rate of the electronic component transport apparatus 1 can be improved. Further, by forming the indentation 478 and making it a comparison object for the positional deviation G, it is not necessary to adjust the shooting point of the camera 474 with high accuracy, and the adjustment time before starting the electronic component transport apparatus 1 is accordingly increased. The operating rate is improved.
  • the reason why the position of the bottom surface 471d of the pocket 471a is detected in the present embodiment is that the bottom surface 471d of the pocket 471a is the clearest and the shape of the carrier tape 471 is determined. That is, as long as each part of the carrier tape 471 can be clearly photographed and has a fixed shape, the position detection position need not be limited to the bottom surface 471d of the pocket 471a.
  • the upper edge of the pocket 471a or the hole 471e opening in the bottom surface 471d of the pocket 471a can be used as the detection location.
  • the indentation 478 is formed in the connecting region 471b that connects the pockets 471a. This is because the hole 471e does not exist in the connection region 471b. Therefore, the position where the indentation 478 is formed need not be limited to the connection region 471b, but can be formed on the bottom surface 471d of the pocket 471a. When the indentation 478 partially overlaps the hole 471e so that only a part of the indentation 478 can be confirmed on the image, the position of the indentation 478 may be estimated from the partial locus.
  • the pocket 471a and the impression 478 may not be detected by the image processing unit 477d.
  • the second embodiment is effective when the pocket 471a and the indentation 478 cannot be detected by image processing.
  • FIG. 11 is a display screen showing manual position detection.
  • the display unit 477f displays the frame graphic F so as to overlap the indentation image Mp.
  • the frame figure F is a circle or a rectangle.
  • the display unit 477f displays a circular icon Ia and a rectangular icon Ib, and the shape of the frame figure F can be changed.
  • the position and size of the frame figure F can be changed by using the input device 477h.
  • the display unit 477 f changes the display position of the frame graphic F in response to a drag operation of one point in the frame graphic F. Further, the display unit 477f changes the size of the frame graphic F in accordance with the drag operation of the edge of the frame graphic F.
  • a button Ic serving as a position detection trigger is displayed on the display screen.
  • the image processing unit 477d detects the position of the frame figure F and treats the detection result as the pocket position P1 or the chuck position P2.
  • the display unit 477f that displays the image captured by the camera 474 and the frame graphic F in an overlapping manner, and the frame based on the user input.
  • the image processing unit 477d is provided with an input device 477h for changing the position, size, and shape of the figure F, and the image processing unit 477d has positions of the indentation 478 and the pocket 471a, that is, the chuck position P2 and the pocket position P1. It was made to detect. As a result, even if the indentation 478 and the pocket 471a cannot be detected, the positional deviation G can be corrected if it can be visually observed.
  • FIG. 12 is a side view showing the posture correction unit 46.
  • FIG. 13 is a schematic diagram showing correction by the correction control unit 477g.
  • FIG. 14 is a flowchart showing the positional deviation correction operation.
  • the positional deviation G is eliminated by the movement of the carrier tape 471, but the electronic component transport apparatus 1 according to the third embodiment is positioned by the posture correction unit 46 disposed in the front stage of the taping unit 47.
  • the deviation G is corrected. That is, the posture correction unit 46 performs positioning in consideration of the positional deviation G in addition to the direction adjustment of the electronic component D.
  • the posture correction unit 46 is configured to convey the X-axis moving mechanism 461 in the X-axis direction that is the tangential direction of the conveyance path of the turntable 21 and the conveyance of the turntable 21. And a Y-axis moving mechanism 462 in the Y-axis direction that is the radial direction of the road. Further, a ⁇ -direction moving mechanism 463 that rotates the suction stage 464 by ⁇ degrees with respect to the Y axis by moving the suction stage base 465 is provided.
  • the posture correction unit 46 rotates the electronic component D in the ⁇ direction so that each edge of the electronic component D is along the X-axis direction and the Y-axis direction. Further, the posture correction unit 46 moves the electronic component D in the X-axis direction and the Y-direction so that the center of the electronic component D is shifted by a positional deviation G from the tip of the suction nozzle 31 positioned above the suction stage 464.
  • the correction control unit 477g stores a positional deviation G between the chuck position P2 and the pocket position P1 as an offset value before the electronic component transport apparatus 1 processes the electronic component D.
  • the correction control unit 477 g changes the posture deviation A between the suction nozzle 31 and the electronic component D to the previously stored positional deviation G when the electronic component transport apparatus 1 processes the electronic component D.
  • the X-axis moving mechanism 461, the Y-axis moving mechanism 462, and the ⁇ -axis moving mechanism 463 are driven so that the electronic component D is moved in the X-axis, Y-axis, and ⁇ -axis directions by the value of the addition result. .
  • the posture deviation A between the suction nozzle 31 and the electronic component D is detected by a posture determination unit 49 including a camera.
  • the posture determination unit 49 is a camera.
  • the electronic component D is photographed (step S22).
  • the image is analyzed to calculate an attitude deviation A in the XY ⁇ direction between the suction nozzle 31 and the electronic component D (step S23).
  • step S24 when the electronic component D is positioned above the suction stage 464 of the posture correction unit 46 by further rotating the turntable 21 forward by one pitch, the electronic component D is placed on the suction stage 464 by lowering the suction nozzle 31. D is placed (step S24).
  • the correction control unit 477g calculates a new position shift in the XY ⁇ direction by adding the position shift G stored in advance and the posture shift 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 ⁇ -direction moving mechanism 463 to move the suction stage 464 in a direction that eliminates the calculated positional deviation (Step S26). .
  • the suction nozzle 31 holds the electronic component D (step S27). At this time, the suction nozzle 31 holds the electronic component D at a position shifted from the center of the electronic component D by the same amount in the opposite direction to the positional deviation G. Therefore, the positions of the electronic component D and the pocket 471a coincide with each other with high accuracy, and the falling of the electronic component D can be reduced.
  • the transport mechanism may be a linear transport system, or a plurality of turns.
  • the table 21 may constitute one transport path.
  • the holding means 3 instead of the suction nozzle 31 for sucking and releasing the electronic component by generating and breaking a vacuum, an electrostatic chucking method, a Bernoulli chuck method, or a chuck mechanism for mechanically holding the electronic component D is arranged. May be.
  • the various process processing mechanisms 41 to 49 are not limited to the types described above, and can be replaced with various process processing mechanisms, and the arrangement order can be changed as appropriate.
  • the position of the indentation 478 is determined in advance, so that when the suction nozzle 31 reaches the stop position P of the taping unit 47, By storing the position in the main storage device or arranging the origin position of the camera 474 on the extended line from the position in the longitudinal direction of the carrier tape 471, the formation process of the impression 478 can be omitted.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Supply And Installment Of Electrical Components (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)
PCT/JP2011/000716 2011-02-09 2011-02-09 電子部品搬送装置及びテーピングユニット WO2012107956A1 (ja)

Priority Applications (5)

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PCT/JP2011/000716 WO2012107956A1 (ja) 2011-02-09 2011-02-09 電子部品搬送装置及びテーピングユニット
JP2012556654A JP5674060B2 (ja) 2011-02-09 2011-02-09 電子部品搬送装置及びテーピングユニット
CN201180066763.0A CN103339031B (zh) 2011-02-09 2011-02-09 电子零件搬送装置及包带单元
TW101103881A TWI525732B (zh) 2011-02-09 2012-02-07 電子零件搬送裝置及包帶單元
HK13113419.1A HK1185850A1 (zh) 2011-02-09 2013-12-02 電子零件搬送裝置及包帶單元

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JP5544461B1 (ja) * 2013-01-15 2014-07-09 上野精機株式会社 姿勢補正装置、電子部品搬送装置、及び電子部品移載装置
TWI494576B (zh) * 2013-12-03 2015-08-01 Tohoku Seiki Ind Co Ltd IC processor
WO2015151276A1 (ja) * 2014-04-04 2015-10-08 上野精機株式会社 収容ユニット及び電子部品搬送装置
JP2017210342A (ja) * 2016-05-26 2017-11-30 Tdk株式会社 電子部品の搬送方法、検査方法および製造方法
TWI644837B (zh) * 2017-11-14 2018-12-21 陳子忠 Parallel method for packaging electronic components and coating adhesive on carrier tape and mechanism thereof
JP2019182494A (ja) * 2018-04-11 2019-10-24 ワイエイシイガーター株式会社 テープ送り装置
JP2021031106A (ja) * 2019-08-23 2021-03-01 太陽誘電株式会社 テーピング装置およびテーピング方法

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JP5835825B1 (ja) * 2014-11-19 2015-12-24 上野精機株式会社 キャリアテープ走行装置及び電子部品搬送装置
DE112017007613T5 (de) 2017-06-06 2020-06-10 Yamaha Hatsudoki Kabushiki Kaisha Bauteilmontagevorrichtung
CN111891792B (zh) * 2020-08-25 2022-05-13 重庆鼎佳绝缘材料有限公司 泡棉用异步贴片机

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WO2014087485A1 (ja) * 2012-12-04 2014-06-12 上野精機株式会社 電子部品搬送装置及びテーピングユニット
JP5544461B1 (ja) * 2013-01-15 2014-07-09 上野精機株式会社 姿勢補正装置、電子部品搬送装置、及び電子部品移載装置
WO2014112041A1 (ja) * 2013-01-15 2014-07-24 上野精機株式会社 姿勢補正装置、電子部品搬送装置、及び電子部品移載装置
TWI494576B (zh) * 2013-12-03 2015-08-01 Tohoku Seiki Ind Co Ltd IC processor
JP5936215B2 (ja) * 2014-04-04 2016-06-22 上野精機株式会社 収容ユニット及び電子部品搬送装置
WO2015151896A1 (ja) * 2014-04-04 2015-10-08 上野精機株式会社 収容ユニット及び電子部品搬送装置
WO2015151276A1 (ja) * 2014-04-04 2015-10-08 上野精機株式会社 収容ユニット及び電子部品搬送装置
JP2017210342A (ja) * 2016-05-26 2017-11-30 Tdk株式会社 電子部品の搬送方法、検査方法および製造方法
TWI644837B (zh) * 2017-11-14 2018-12-21 陳子忠 Parallel method for packaging electronic components and coating adhesive on carrier tape and mechanism thereof
JP2019182494A (ja) * 2018-04-11 2019-10-24 ワイエイシイガーター株式会社 テープ送り装置
JP7016761B2 (ja) 2018-04-11 2022-02-07 ワイエイシイガーター株式会社 テープ送り装置
JP2021031106A (ja) * 2019-08-23 2021-03-01 太陽誘電株式会社 テーピング装置およびテーピング方法
JP7359594B2 (ja) 2019-08-23 2023-10-11 太陽誘電株式会社 テーピング装置およびテーピング方法

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TW201246425A (en) 2012-11-16
TWI525732B (zh) 2016-03-11

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