WO2013069857A1

WO2013069857A1 - Automatic capillary exchange system

Info

Publication number: WO2013069857A1
Application number: PCT/KR2012/003190
Authority: WO
Inventors: 최영규
Original assignee: 주식회사 일원
Priority date: 2011-11-10
Filing date: 2012-04-25
Publication date: 2013-05-16
Also published as: KR101352586B1; KR20130051866A

Abstract

Disclosed is an automatic capillary exchange system, comprising: a clamping loader which is provided on a base and has a loader clamping portion for clamping a capillary at a front end thereof; a capillary supply and collection unit which supplies or collects the capillary to or from a clamping loader side and has a grip portion for selectively gripping the capillary; an x-axis transfer unit for transferring the capillary supply and collection unit in the direction of the x-axis; a y-axis transfer unit for transferring the capillary supply and collection unit in the direction of the y-axis; a z-axis transfer unit for transferring the capillary supply and collection unit in the direction of the z-axis; a capillary stopping unit which prevents the capillary from being excessively raised towards an upper end of the clamping portion when a new capillary is supplied to the clamping portion by the capillary supply and collection unit; an unclamping unit which can load or unload the capillary by selectively locking or unlocking the clamping portion; a capillary holding unit for holding the capillary to be supplied to or collected from the clamping loader; and a control unit for controlling the capillary supply and collection unit and the unclamping unit.

Description

Capillary Auto Replacement System

The present invention relates to an automatic capillary replacement system capable of automatically replacing the capillary.

The wire bond process is one of the processes to manufacture the semiconductor package. The wire bond process connects the semiconductor chip and the substrate with a gold wire to allow electrical signals to flow. It is the process of making a semiconductor have electrical characteristics.

Capillary used in the wire bond process is a tool used to directly bond the gold wire and create a wire loop. For example, the sewing machine used to make clothes is a capillary that acts like a needle, and a gold wire corresponds to a thread.

The capillary is a consumable item, which has a limit on the amount of use and needs to be replaced according to the limit of the amount of use. Looking at the conventional capillary replacement process, after entering the limit value of the capillary usage in the wire bond equipment, the wire bond equipment generates an alarm to call the worker when the limit value of the usage is reached. The operator then resets the capillary usage in the warned wire bond equipment, removes the captive screw that secures the capillary and installs the new capillary, ie replacing the conventional capillary is the manual This process was included a considerable part.

In actual semiconductor packaging process, because of the nature of the wire bond process, the wire bond equipment is often hundreds of units, there is a problem that a lot of effort is required because the capillaries of the various equipment must be replaced during the wire bonding process. In addition, since the process of removing and reinstalling the captive fixing screws for fixing the capillary takes a lot of time, there was a loss of time and money in the capillary replacement process.

The present invention has been made in view of the above, and an object thereof is to provide an improved capillary automatic replacement system for automating the installation and release of capillary through an automatic process.

Capillary automatic replacement system of the present invention for achieving the above object, the clamping loader is installed on the base, having a loader clamping portion for clamping the capillary at the tip; A capillary supply and recovery unit for supplying or recovering a capillary to the clamping loader side, the capillary supplying and recovering unit having a grip for selectively gripping the capillary; An x-axis transfer unit for transferring the capillary supply and recovery unit in the x-axis direction; A y-axis transfer unit for transferring the capillary supply and recovery unit in the y-axis direction; A z-axis transfer unit for transferring the capillary supply and recovery unit in a z-axis direction; A capillary stopper unit which prevents the capillary from rising to an upper end of the clamping portion when a new capillary is supplied to the clamping portion by the capillary supply and recovery unit; A clamping release unit for selectively locking or releasing the clamping portion to allow the capillary to be mounted or detached; A capillary mounting unit on which the capillary supplied or recovered to the clamping loader is mounted; And a control unit controlling the capillary supply and recovery unit and the clamping release unit.

Here, the control unit, by driving the x-axis, y-axis and z-axis transfer unit to move the capillary supply and recovery unit below the loader clamping portion of the clamping loader while rotating the clamping release unit to clamp the loader After controlling the expansion, the z-axis feed unit is driven to insert the capillary into the loader clamping portion, and then the clamping release unit is rotated in the opposite direction to control the loader clamping portion to be reduced so that the capillary is supported. Thereafter, the grip unit is extended and controlled, and then the z-axis transfer unit is controlled to move the grip portion downward, and then the gripper is controlled to be gripped again, and then the x-axis transfer unit is controlled to move the capillary upward. It is preferable to pressurize.

The control unit may control the capillary to limit upward movement of the z-axis transfer unit when the capillary stopper unit is no longer moved upward.

In addition, the capillary mounting unit, Stepping motor; It is preferable that the stepping motor is rotated at a predetermined rotational angle, the mounting rotating plate is formed with a mounting hole in which the capillary is inserted and mounted.

In addition, the station is provided with the capillary supply and recovery unit, x-axis transfer unit, y-axis transfer unit, z-axis transfer unit, capillary stopping unit, clamping release unit and capillary mounting unit; And an adjusting unit for adjusting the station to be rotated at a rotation angle θ having the x-axis, the y-axis, the z-axis movement, and the y-axis as the rotation axis.

In addition, the adjustment unit, the stationary plate fixed to the station; A θ rotating plate rotatably installed on the fixing plate; A y-axis plate adjustable in the y-axis direction to the θ rotating plate; And an x-axis plate adjustable in the x-axis direction on the y-axis plate.

According to the automatic capillary replacement system of the present invention, the capillary stopping unit can be controlled to maintain the position of the capillary before or after the replacement, so that the capillary is inserted or less than the clamping portion By inserting, it is possible to solve the problem that the defect rate increases due to the characteristics of the semiconductor to be precisely processed.

In addition, the position in the clamping portion of the capillary can be maintained more precisely, and thus the semiconductor can be precisely processed.

In addition, the adjustment unit can be used to finely adjust the station to the x-axis, the y-axis, and the z-axis using the adjustment unit according to the position and state of the clamping loader, which is fixed and impossible to adjust. It is possible to precisely control the filler supply and recovery unit.

1 is a block diagram showing a capillary automatic replacement system according to an embodiment of the present invention.

Figure 2a is a perspective view showing an automatic capillary replacement system according to an embodiment of the present invention.

2B and 2C are diagrams for explaining the operation of the capillary supply and recovery unit shown in FIG. 2A.

3 is a view for explaining an operation state by the clamping release unit in the clamping portion of the clamping loader shown in FIG.

4A is a perspective view showing the main portion of FIG.

4B is a schematic front view for explaining the clamping release unit shown in FIG. 2A.

Figure 5a is a view showing a state in which the capillary supply and recovery unit is moved toward the clamping portion to separate the capillary.

5B and 5C are schematic views for explaining a capillary release operation of the clamping release unit.

6 to 13 are views for explaining the operation of replacing the capillary using the capillary automatic replacement system of the present invention.

Hereinafter, an automatic capillary replacement system according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 to 13, the capillary automatic replacement system according to an embodiment of the present invention includes a loader clamping part 21 installed on the base 10 and clamping the capillary 11 at its tip. Clamping loader 20, capillary supply and recovery unit 110, x-axis transfer unit 120, y-axis transfer unit 130, z-axis transfer unit 140, capillary mounting unit 150 And a clamping release unit 160, a capillary stopping unit 170, and a controller 180.

The base 10 is provided with a loader mounting portion 12 in which the clamping loader 20 is detachably supported. The clamping loader 20 is mounted to the loader mounting part 12, and the clamping loader 20 is provided with a clamping part 21 for clamping the outer side of the capillary 11 at its front end. As shown in FIG. 3, the clamping part 21 is in the form of a tong, and the capillary 11 is compressed while being restored by elastic force after being inserted into the capillary 11, thereby clamping the capillary 11. And a release pin coupling portion 21b formed in communication with the remounting portion 21a and the capillary mounting portion 21a and having a predetermined space. After the release pin 161 having the non-circular cross-sectional structure of the clamping release unit 160 is inserted into the release pin coupling portion 21b and rotates about 90 degrees, the capillary is released by the release pin 161. The capillary 11 in the clamping state may be released while the remounting unit 21a is forcibly opened. Therefore, the used capillary 11 can be separated from the clamping part 21, and a new capillary can be inserted into the opened capillary mounting part 21a.

2A to 2C, the capillary supply and recovery unit 110 may grip operations of the grip member 112 and the grip member 112 that are movably installed on the y-axis transfer unit 130. And a grip driving unit 114 for controlling. The grip member 112 is provided with a pair, and a grip portion 112a for selectively gripping or releasing the capillary 11 during operation is formed at the lower end thereof. The grip member 112 is controlled by the grip driving unit 114, the grip operation and the release operation. The grip driving unit 114 includes a pair of chuck members 114a connected to the grip member 112 and a driving source 114b for reciprocating driving the chuck members 114a. The grip member 112 is connected to the pair of chuck members 114a and rotates with respect to the pivot center 115 so that the grip operation and the release operation are performed. Since the driving source 114b may be various examples such as a hydraulic cylinder and a motor including a lead screw, detailed description thereof will be omitted. In addition, the present invention is not limited by the configuration of the capillary supply and recovery unit 110 of the above configuration, it should be understood that various embodiments are possible.

The y-axis transfer unit 130 is installed on the z-axis transfer unit 140 to reciprocate in the y-axis direction while supporting the capillary supply and recovery unit 110. Specifically, the y-axis transfer unit 130 includes a y-axis transfer block 131, a y-axis drive unit 133 and a guide unit 135. The y-axis feed block 131 supports the capillary supply and recovery unit 110 and is reciprocally slid in the y-axis direction by the y-axis driver 133. The y-axis drive unit 133 may include a hydraulic cylinder, a linear motor, and the like, and various examples are possible. The guide unit 135 is provided with a pair, and is installed to support the transfer in the y-axis direction of the y-axis transfer block 131 with respect to the z-axis transfer unit 140.

The y-axis transfer unit 130 is supported by the z-axis transfer unit 140 is reciprocated in the z-axis direction. The z-axis transfer unit 130 includes a z-axis transfer block 141 and a z-axis drive unit 143. The y-axis transfer unit 130 is supported on the z-axis transfer block 141, and the z-axis transfer block 141 is z-axis direction relative to the x-axis transfer unit 120 by the z-axis drive unit 143. It is installed to reciprocate in the vertical direction. The z-axis driving unit 143 includes a plurality of linear motors, and the z-axis feed block 141 can be moved up and down in the z-axis direction by driving the linear motor. Here, the z-axis driving unit 143 is naturally applicable to a variety of known driving means in addition to the linear motor.

The x-axis conveying unit 120 includes an x-axis conveying block 121, an x-axis driving unit 123, and an x-axis guide unit 125. The x-axis transport block 121 is installed to be reciprocated in the x-axis direction in the station 210 to be described later installed in the base 10, the movement in the x-axis direction is guided by the guide portion 125 . The x-axis drive unit 123 includes a drive motor, and the drive gear (not shown) installed on the axis of the drive motor and the x-axis rack gear (not shown) installed in the x-axis direction in the station 210 in the As a result, the x-axis transfer block 121 may be reciprocated to the x-axis when the driving motor is driven. That is, the drive motor of the x-axis drive unit 123 is installed in the x-axis transfer block 121, the x-axis rack gear is installed in the station 210, the x-axis transfer block 121 when driving the drive motor. It can be reciprocated in the x-axis direction. Here, it should be understood that the x-axis driving unit 123 may be various examples including a hydraulic cylinder, a linear motor, and the like.

The capillary mounting unit 150 is rotated at a predetermined rotational angle by a mounting drive source 151 fixed to the station 210 and the mounting drive source 151, the capillary 11 is inserted and mounted And a mounting rotating plate 153 in which the mounting holes 153a are formed. The mounting drive source 151 preferably includes a stepping motor capable of precise driving at a predetermined angle. The mounting rotating plate 153 is connected to the mounting drive source 151, that is, the rotating shaft of the stepping motor, and a mounting hole 153a is formed at a predetermined interval in the circumferential direction so that the capillary 11 is inserted and mounted.

The clamping release unit 160 separates the capillary 11 from the clamping unit 21 of the clamping loader 20 and clamps the clamping unit 21 so that a new capillary 12 can be mounted. To release it. The clamping release unit 160 includes a release pin 161, a lifting member 162 for supporting the release pin 161, a lifting drive part 163 for lifting the lifting member 162, and the release pin ( A horizontal driving unit 165 which is movable in the y-axis direction while supporting the pin driver 164, the pin driver 164, and the lift driver 163 for rotating the 161 is provided.

Referring to Figure 3, the release pin 161 is formed in a non-circular cross-sectional shape, it is rotatably installed at the end of the elevating member 161. The release pin 161 is fitted into the release pin coupling portion 21a adjacent to the clamping portion 21 of the clamping loader 20. When the release pin 161 is rotated about 90 degrees in the fitted state, the non-circular release pin coupling portion 21b ), The clamping unit 21 may be loosened.

The lifting member 162 is lifted in the state in which the release pin 161 is moved to the lower portion of the release pin coupling portion 21b of the clamping loader 20 to be fitted to the release pin coupling portion 21a, and to be separated when descending. In order to be able to be installed by the elevating drive unit 163 to move up and down.

The elevating driver 163 includes an elevating guider 163a for guiding the elevating movement of the elevating member 162, and an elevating driving source 163c for vertically moving the elevating member 162 along the elevating guider 163a. The lifting drive source 163c includes a linear motor 163b installed in the horizontal drive unit 165. Therefore, the elevating member 162 may be moved up and down by driving the linear motor 163b.

The pin driver 164 is rotated on the elevating member 162 so that the drive motor 164a, the drive gear 164b connected to the drive shaft of the pin drive motor 164a, and the gear connected to the drive gear 164b are rotated. A driven gear 164c which is installed as possible, a gear train 164d which is converted into a rotational force and a rotational direction of the drive gear 164b and transmitted to the driven gear 164c, a driven gear 164c and the driven gear 164c. ) And a rotating plate 164e which is rotated coaxially with the rotating plate, and a link member 165f connecting the rotating plate 164e and the release pin 161. The driven gear 164c is rotated by receiving power from the drive gear 164b through the gear train 164d, and the rotating shaft 164g is connected to the rotating plate 164e to rotate integrally, thereby interlocking. One end of the link member 165e is connected to the center of rotation of the release pin 161, and the other end of the link member 165e is connected to an eccentric position away from the center of rotation of the rotating plate 164d which is rotated together with the driven gear 164c. The joint 164h is provided between both ends. By the link member 165e of this configuration, the driven gear 164c rotates the release pin 161 provided at the end of the elevating member 162 at a predetermined angle, preferably at an angle of 90 degrees, when the driven gear rotates. It is possible to control, so that the release operation of the clamping portion 21 of the clamping loader 20 by the release pin 161 can be made automatically.

It is coupled to the movable block 165a and the movable block 165a which are installed at the station 210 so as to support the horizontal driving unit 165 to move up and down and move up and down in the y-axis direction. A motor support block 165b moving together and supporting the drive motor 164a, and a horizontal drive unit 165c for reciprocating the movable block 165a and the motor support block 165b in the y-axis direction. The horizontal driver 165c may include a linear motor installed in the station 210 to drive the movable block 165a and the motor support block 165b to reciprocate in the y-axis direction. Of course, the horizontal drive unit 165c may be various examples, such as a hydraulic cylinder, a motor driving unit including a lead screw, in addition to the linear motor, and thus, detailed description thereof will be omitted.

The capillary stopping unit 170 supports the stopper member 171 and the stopper member 171 positioned above the capillary 11 of the clamping part 21 and supports the capillary mounting unit 150. It is provided with a unit body 173 coupled to. Specifically, the unit body 173 is coupled to the outside (motor housing) of the mounting drive unit 151 of the capillary mounting unit 150 is fixed in position, the stopper member 171 is installed at the lower end. The stopper member 171 is maintained at a predetermined height of the upper portion of the clamping portion 21, and when the new capillary is mounted on the clamping portion 21, the capillary 11 rises upwards. It is to prevent it from becoming. Of course, the unit body 173 may be installed to be fixed to other parts than the outside of the mounting drive unit 151.

The controller 180 independently of the capillary supply and recovery unit 110, the clamping release unit 160, the x-axis transfer unit 120, the y-axis transfer unit 130, and the z-axis transfer unit 140, respectively Drive control.

In more detail, the controller 180 drives the x-axis, y-axis, and z-

axis transfer units

120, 130, 140 to drive the capillary supply and recovery unit 110 to the clamping loader 20. As shown in FIG. 11A, the clamping release unit 160 is rotated while the lower portion of the loader clamping portion 21 is rotated, thereby controlling the clamping portion 21 to be expanded by rotating the release pin 161. Thereafter, the controller 180 drives the z-axis transfer unit 140 to insert the capillary 11 into the loader clamping portion 21 and then rotates the clamping release unit 160 in the opposite direction. After the loader clamping unit 21 is controlled to be reduced so that the capillary 11 is supported (state of FIG. 11B), the grip unit 112a is expanded and then controlled to control the z-axis transfer unit 140. After the grip part 112a is moved downward, the clamping release unit 160 is controlled to grip the capillary 11 again, and then the z-axis feed unit 160 is controlled to control the capillary 11. Pressurized upwards (see FIG. 11C).

At this time, when the capillary 11 is pressed upward, the upper end of the capillary 11 is interfered by the capillary stopping unit 170, thereby preventing the excessive rise, and at a precise height The filler 11 can be mounted to the loader clamping part 21. That is, the controller 180 controls to limit the upward movement of the z-axis transfer unit 160 when the capillary 11 is no longer moved upward by the capillary stopping unit 170. To stop it. When the replacement and mounting of the capillary 11 is completed, the controller 180 controls the capillary release unit 160 again so that the capillary 11 is clamped to the clamping unit 21 as shown in FIG. 11D. Then, the grip part 112a is released and separated from the capillary 11.

In addition, the capillary automatic replacement system of the present invention, referring to Figures 14 to 16, the capillary supply and recovery unit 110, x-axis transfer unit 120, y-axis transfer unit 130, It further comprises a station 210, the adjustment unit 220, the z-axis transfer unit 140, the capillary stopping unit 170, the clamping release unit 160 and the capillary mounting unit 150 is installed can do.

The station 210 is installed and supported by a plurality of devices, the precise posture and position of the station 210 can be precisely controlled by the adjustment unit 220. The adjusting unit 220 adjusts the station to be rotated at a rotation angle θ having the x-axis, the y-axis, the z-axis movement, and the y-axis as the rotation axis.

The adjustment unit 220 is a fixed plate 221 fixed to the station 210, θ rotating plate 223 is rotatably installed on the fixing plate 221, y axis direction to the θ rotating plate 223 And a y-axis plate 225 that can be adjusted, and an x-axis plate 227 that can be adjusted in the x-axis direction. The adjustment of each of the

plates

221, 223, 225, 227 can be adjusted by adjusting a plurality of adjustment screws, etc. installed between the plates, in addition to the various means of adjustment is possible, the adjustment method can be easily understood from known techniques Can be.

By using the adjustment unit 220 of the above configuration, the station 2210 can be finely adjusted to the x-axis, the y-axis, and the z-axis according to the position and the state of the clamping loader 10 that is conventionally used or not adjustable. As well as being able to rotate the y-axis as the rotation axis, the capillary supply and recovery unit 110 can supply or recover the capillary 11 to the correct position.

Hereinafter will be described in detail the effect of the capillary automatic replacement system according to an embodiment of the present invention having the above configuration.

First, as shown in FIG. 4A, the controller 180 drives the y-axis and z-

axis transfer units

130 and 140 to move the grip portion 112a toward the clamping portion 21, and then again as shown in FIG. 5A. Likewise, the grip unit 112a is moved on the x-axis to control the clamping of the capillary 11.

And the controller 180 controls the driving of the clamping release unit 160, as shown in Figure 6, coupled to the release pin 161 to the loader clamping unit 21, as described above with reference to Figure 5b, The cranking part 21 is expanded by rotating the release pin 161 at an angle of 90 degrees. In this state, the grip portion 112a is moved in the z-axis direction and the x-axis direction, respectively, as shown in FIG. 7 while the grip portion 112a is gripped, and then moved in the y-axis direction, as shown in FIG. 8. (11) is mounted on the rotating plate 153 of the capillary mounting unit 150.

Then, after rotating the rotating plate 153 so that the new capillary 11 is positioned at the grip position of the grip portion 112a, the grip portion 112a is operated to operate the new capillary 11 as shown in FIG. Is separated from the rotating plate (153).

Then, the grip portion 112a is moved again as shown in FIG. 10, and then the grip portion 112a is first moved upward in the z-axis direction as shown in FIG. 11A to attach the capillary 11 to the clamping portion 21. .

Then, the controller 180 drives the clamping release unit 160 to rotate the release pin 161 as shown in FIG. 11B so that the capillary 11 is constrained to the clamping portion 21.

Then, the controller 180 releases the grip portion 112a which has gripped the capillary 11 and lowers the capillary 11 in the z-axis direction as shown by the virtual line of FIG. 11C. Control to grip Then, while the capillary 11 is released from the clamping portion 21 by rotating the release pin 161 again to the release position, the grip portion 112a is raised in the z-axis direction as shown by the solid line.

Then, the capillary 11 is mounted to the clamping portion 21 by a desired height. At this time, since the mounting height of the upper end of the capillary 11 is limited by the capillary stopping unit 170, the capillary 11 can be prevented from being mounted in an excessively raised state. That is, by operating the grip portion 112a in two steps as described above, the capillary 11 is mounted on the clamping portion 21, so that the capillary 11 is too low to the clamping portion 21. In addition to preventing the mounting unstable at a height, it is also possible to control to be mounted in the best state by preventing the mounting in an excessively elevated state.

On the other hand, after the capillary 11 is stably mounted in two steps as described above, as shown in FIG. 11D, the capillary 11 is rotated by an angle of 90 degrees to the clamping unit 21. The li 11 is constrained and the grip portion 112a is lowered to release the grip and detach from the capillary 11.

Then, as shown in FIGS. 12 and 13, the controller 180 drives the clamping release unit 160 to lower the z-axis so that the release pin 161 is separated from the clamping portion 21, and then y Restore the initial position by moving in the axial direction. In addition, the controller 180 controls the x-axis transfer unit 120 and the y-axis transfer unit 130 to return to the initial position, thereby automatically replacing the capillary 11.

As described above, according to the capillary automatic replacement system of the present invention, the capillary can be unstablely fixed to the clamping part by attaching the capillary sequentially to the clamping part in two steps. In addition, when the capillary is mounted in two steps, the capillary 11 is excessively raised by having a configuration in which the capillary stopping unit 170 is installed on the upper portion of the clamping unit 21. Can be prevented.

In addition, unlike the prior art by being able to automatically replace the capillary 11, it is possible to reduce the time accordingly to reduce the cost and increase the productivity of the semiconductor.

While the invention has been shown and described in connection with preferred embodiments for illustrating the principles of the invention, the invention is not limited to the construction and operation as shown and described. Rather, those skilled in the art will appreciate that many modifications and variations of the present invention are possible without departing from the spirit and scope of the appended claims.

[Description of the code]

11..Capillary 20..Clamping Loader

21. Clamping unit 110. Capillary supply and recovery unit

120..x-axis transfer unit 130..y-axis transfer unit

140..z-axis transfer unit 150..capillary mounting unit

160..Clamping release unit 170..Capillary stopping unit

180..Control

Claims

A clamping loader installed on the base and having a loader clamping portion for clamping the capillary at the tip;

A capillary supply and recovery unit for supplying or recovering a capillary to the clamping loader side, the capillary supplying and recovering unit having a grip for selectively gripping the capillary;

An x-axis transfer unit for transferring the capillary supply and recovery unit in the x-axis direction;

A y-axis transfer unit for transferring the capillary supply and recovery unit in the y-axis direction;

A z-axis transfer unit for transferring the capillary supply and recovery unit in a z-axis direction;

A capillary stopper unit which prevents the capillary from rising to an upper end of the clamping portion when a new capillary is supplied to the clamping portion by the capillary supply and recovery unit;

A clamping release unit for selectively locking or releasing the clamping portion to allow the capillary to be mounted or detached;

A capillary mounting unit on which the capillary supplied or recovered to the clamping loader is mounted; And

And a control unit for controlling the capillary supply and recovery unit and the clamping release unit.
The method of claim 1, wherein the control unit,

After driving the x-axis, y-axis and z-axis transfer unit to move the capillary supply and recovery unit to the lower portion of the loader clamping portion of the clamping loader while controlling the expansion of the loader clamping portion by rotating the clamping release unit After the capillary is inserted into and supplied to the loader clamping part by driving the z-axis transport unit, the clamping release unit is rotated in the opposite direction to control the loader clamping part to be reduced so that the capillary is supported, and then the grip part is expanded. After controlling to control the z-axis transfer unit to move the grip downwards and to control the capillary again, and then to control the x-axis transfer unit to press the capillary upwards Capillary automatic replacement system.
The method of claim 1 or 2, wherein the control unit,

When the capillary is no longer moved upward by the capillary stopping unit, the capillary automatic replacement system, characterized in that the control to limit the upward movement of the z-axis transfer unit.
According to claim 3, The capillary mounting unit,

Stepping motors;

The capillary automatic replacement system, comprising: a mounting rotating plate is rotated by a stepping motor at a predetermined rotation angle, the mounting hole is formed is inserted into the capillary is mounted.
The method according to claim 1 or 2,

A station in which the capillary supply and recovery unit, the x-axis transfer unit, the y-axis transfer unit, the z-axis transfer unit, the capillary stopping unit, the clamping release unit, and the capillary mounting unit are installed; And

And an adjustment unit for adjusting the station to be rotated at a rotation angle θ having the x-axis, y-axis, z-axis movement, and y-axis as the rotation axis.
The method of claim 6, wherein the adjustment unit,

A fixed plate fixed to the station;

A θ rotating plate rotatably installed on the fixing plate;

A y-axis plate adjustable in the y-axis direction to the θ rotating plate; And

Capillary automatic replacement system comprising a; x-axis plate adjustable in the x-axis direction on the y-axis plate.