WO2015025024A2 - Ausrichteinrichtung und handhabungsvorrichtung - Google Patents
Ausrichteinrichtung und handhabungsvorrichtung Download PDFInfo
- Publication number
- WO2015025024A2 WO2015025024A2 PCT/EP2014/067867 EP2014067867W WO2015025024A2 WO 2015025024 A2 WO2015025024 A2 WO 2015025024A2 EP 2014067867 W EP2014067867 W EP 2014067867W WO 2015025024 A2 WO2015025024 A2 WO 2015025024A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- handling
- receiving
- interface unit
- unit
- handling device
- Prior art date
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Classifications
-
- 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
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
- G01R31/2851—Testing of integrated circuits [IC]
- G01R31/2893—Handling, conveying or loading, e.g. belts, boats, vacuum fingers
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- 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
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
- G01R31/2851—Testing of integrated circuits [IC]
- G01R31/2855—Environmental, reliability or burn-in testing
- G01R31/286—External aspects, e.g. related to chambers, contacting devices or handlers
- G01R31/2865—Holding devices, e.g. chucks; Handlers or transport devices
- G01R31/2867—Handlers or transport devices, e.g. loaders, carriers, trays
-
- 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
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
- G01R31/2851—Testing of integrated circuits [IC]
- G01R31/2886—Features relating to contacting the IC under test, e.g. probe heads; chucks
-
- 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
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
- G01R31/2851—Testing of integrated circuits [IC]
- G01R31/2886—Features relating to contacting the IC under test, e.g. probe heads; chucks
- G01R31/2889—Interfaces, e.g. between probe and tester
Definitions
- the present invention relates to an alignment device and a handling device.
- Test systems for testing semiconductor devices typically include a tester and a handler or tester. or wafers (to be tested with Prober), to check their functionality.
- a test system (test cell) has an interface unit (board), which is usually formed from an adapter plate, which is arranged in a stiffening frame.
- the adapter plate has a plurality of contact elements, which are arranged specifically for a type of semiconductor element, with which the semiconductor elements to be tested are contacted.
- the interface unit is arranged in the region of the interface between the test unit and the feeder.
- the contact elements are each arranged in a specific pattern for the semiconductor elements to be tested in order to be able to contact the contact points of the semiconductor elements correctly.
- the interface unit is detachably fastened either to the test unit or to the feed device, so that the interface unit can be exchanged in order to be able to test different semiconductor components.
- test unit In the art interface units are known in different designs.
- the interface units are also referred to as load boards or probe cards.
- the feeder comprises elements with which the semiconductor elements to be tested are successively supplied to a test unit.
- test unit test head, test head
- feeder handle, prober machine, wafer probing machine, wafer prober
- Both types of test devices can be used to accommodate an interface unit For positioning of interface units are attached to test devices
- JP 9 159 730 A discloses a test device for testing semiconductor devices, in which a power board is coupled to a test head in such a way that it can be pulled out laterally from the test head in a manner similar to a drawer.
- the power board has pilot holes through which guide pins of the test head extend to position them. By pulling out sideways, the power board can be easily replaced.
- EP 1 495 339 B1 or US 2003/019 4821 A1 discloses a further test device for testing semiconductor components, in which a sub-assembly carrying an interface unit is pivotably attached to the test system. Due to the pivotable arrangement of the subassembly, the interface unit can be easily removed from the test system and replaced. Preferably, a telescopic extraction device is provided on the sub-assembly, with which the interface unit can be pulled out of the region of the test system.
- PCT / EP2013 / 059151 discloses a module for exchanging an approximately planar interface unit in a test system for testing semiconductor devices. The module comprises a base element, a holder and guide elements.
- the guide elements are designed such that the interface unit can be moved by a rectilinear, translational movement from an end position to an intermediate position and from the intermediate position into a removal position, which is arranged outside the test system.
- the mechanism comprises a lever mechanism which is controlled by a link which is movably mounted transversely to the rectilinear translational movement of the holder.
- Such devices are also known from US 6,107,813, US 5,528,158, US 5,471,148 and US 4,721,198.
- Interface unit changing systems are thus generally known as an integrated solution in test equipment. With these systems, the interface units are semi-automatically driven out of the test facilities to replace them. These are moved out by opening flaps or doors from the test facility. Here, the sensitive interface units must be manually removed from one or even two users from the drawer mechanisms and inserted into the drawer mechanisms.
- Test systems in general are e.g. in JP 9159730 A, EP 1 495 339 B1, DE 102 05 1 15 B4 and DE 197 52 229 A1.
- devices are known from the prior art in order to position a test device (tester, handler, prober) with respect to a further test device. Such devices are referred to as manipulators or handling devices.
- DE 40 07 01 1 C2 discloses a handling device having a vertically arranged guide column in a housing in a rectangular shape with laterally arranged slot and Sp Son humidity J for installation on the floor.
- a height-adjustable mounted adjusting device is provided in the form of a guide carriage with a trailer which is pivotable about a vertical axis, in a horizontal plane freely pivotable and axially movable and both the height and the horizontal settings can be fixed by clamping.
- a test head holder is provided.
- the boom has a torque support, which is clampably connected to the guide column such that a vertical fine adjustment by an additional gear transmission and a hand crank takes place.
- DE 35 24 348 C2 discloses a device for positioning test heads.
- This comprises a test head receptacle, which is connected in a height-adjustable manner via an articulated connection with a pedestal column erected on spreading supports, so that the test head receptacle is movable in one plane.
- the test head receptacle is pivotable about a horizontal tilting axis at the free end of a pair from symmetrical to a through the central axis of the pedestal extending plane arranged Gelenkarmcruen arranged.
- DE 101 32 489 B4 discloses a handling device, in particular for positioning a test head on a test device.
- This comprises a holder for a test head and a column, are arranged on the associated with the holder positioning means in the vertical direction adjustable.
- the positioning means comprise at least a pair of spaced-apart articulated arms, which are hinged about a vertical axis pivotally at its one end to the bracket.
- the Gelenkar- me are articulated at their other ends in each case on a carriage movable in the horizontal direction, wherein the carriages are arranged independently of one another on the column movable.
- connection device For connecting an interface unit or the stiffening frame in which the interface unit is arranged and a test device, a connecting device with locking pins and corresponding locking units is often provided.
- This connection device is also referred to as a docking device and serves, on the one hand, for the exact alignment of the interface unit with respect to the test device and, on the other hand, for the mechanical fixing of the interface unit to the test device.
- the alignment of the interface unit must therefore be such that locking pins can be inserted into corresponding locking units.
- the contact surfaces of an interface unit and a test device must be arranged at a small distance from one another and aligned in parallel, so that all locking pins of the docking device can engage in the corresponding recesses.
- care must be taken that the sensitive, slightly protruding at the interface unit contact elements are not damaged. This makes tedious the connection of interface unit and test equipment.
- an interface unit In the drawer mechanisms known in the art, an interface unit must be manually, i. be inserted by a user in the mechanism. This always leads to damage to the contact elements.
- interface units have a relatively high weight of up to 100 kg and are extremely sensitive to handling due to their contact elements (usually spring contact pins).
- the interface units are expensive because they are manufactured individually. They have to be replaced regularly in order to be able to test different types of test items with a test system. So far, the replacement of an interface unit in a test system was such that initially a test device, such as a test head, had to be removed together with the interface unit. For this purpose, the test device was swung away either in the vertical direction upwards or completely laterally in such a way that the interface unit can be exchanged. The fact that the interface units are getting bigger, they can usually not be inserted or changed by a user alone, but it is two people necessary. When inserting the interface unit manually, there is a risk that it will not be correctly positioned and thus damaged.
- an alignment device for positionally accurate coupling of a handling device for exchanging an interface unit is provided on a further device for receiving at least one interface unit.
- the alignment device is designed according to the plug-socket principle. It comprises at least one plug-type centering element which has a fitting section, and a socket element designed in accordance with the centering element for receiving the centering element.
- the alignment device is designed such that when the centering element is arranged in the socket element, a positionally accurate coupling of the handling device is secured to a further device for receiving at least one interface unit, and the centering element on one of the two devices and the socket element is fixed to the other device accordingly ,
- the alignment device makes it possible to dock a handling device for exchanging an interface unit on a further device for receiving at least one interface unit.
- the handling device and thus an interface unit located therein are aligned with respect to a test device and the handling device is fixed or locked to the test device, so that an exact positioning of an interface unit and its replacement can be performed.
- the handling device provided with an alignment device, it is possible to position an interface unit with respect to a test device and supply it safely and reliably and remove it therefrom.
- a means for docking a handling device on a test device or on a device for receiving at least one interface unit.
- a handling device accommodating the interface unit and a test device can be interconnected and aligned with each other in the space such that after docking, the locking pins of an interface unit to the corresponding recesses of a test device, both in their position and in their linear alignment or direction precise, exact position and are preferably arranged almost free of play with each other.
- test device users who have test systems without changing systems (drawer, hinge mechanisms) can retrofit their existing devices, i. provided with the alignment device.
- alignment devices can be retrofitted at a low cost to allow accurate positioning of the interface unit with respect to the test device.
- the fitting portion may be formed as a cone-shaped or cylindrical portion.
- the alignment device can have two centering elements and two bushing elements.
- a tension element can be provided which allows a contraction of the centering element and the sleeve element.
- a centering element and a bushing element can be brought into engagement with one another with positional precision and without play.
- the tension element can be designed in such a way that, by turning the tension element, a latching lug of the tension element is guided along a latching recess running obliquely to the longitudinal direction of the centering element and preferably arranging the centering element completely in the bushing element in an end position.
- the handling device comprises a chassis, a handling unit which is displaceably arranged on the chassis, at least in the vertical Z-direction, wherein the handling unit has a linearly extendable and retractable receiving device for receiving the interface unit.
- the handling unit has an alignment device for positionally accurate coupling of the handling unit to a further device for receiving at least one interface unit.
- the receiving device for receiving the interface unit preferably has gripping elements which can engage in corresponding recesses or undercuts on the interface unit so as to fix the interface unit to the receiving device.
- the receiving device can be formed by, for example, four screws, which are screwed into the interface unit.
- a test device such as e.g. a tester, a Prober, a handler or a recording device, such as a replacement table or a shelf for receiving one or more interface units understood.
- the handling device With the handling device according to the invention, only a test device of a test system has to be moved a small distance vertically upwards. The handling device is then first passed to the test device by means of the alignment device. tion and then allows an exact positioning and removal and insertion of an interface unit in a simple manner.
- the handling device according to the invention for exchanging an interface unit makes it possible to exchange interface units in a positionally exact manner and offers a variable and system-independent solution for exchanging, transporting and, in particular, for the secure, positionally accurate insertion and removal of an interface unit into and out of a test device.
- the handling device for exchanging an interface unit can be coupled and / or docked with positional accuracy and without play on a further device for picking up at least one interface unit.
- the handling device it is thus possible to bring an interface unit close to a device for receiving an interface unit, for example to a test device, in order to ensure precise and precise docking of the handling device to the test device, in order to reliably and precisely determine an interface unit with respect to a test device to position and remove or insert them.
- the handling device By means of the handling device according to the invention, a precise and smooth operation of the handling unit with drawer mechanism in the room is possible. In addition, it is ensured with the handling device that there is no damage during transport to the interface unit accommodated therein.
- the linear retractable and extendable receiving device may have a locking device, so that it can be locked in certain positions.
- the handling device is extremely compact and can be optimally used in the field of test systems, which are generally used in clean rooms.
- the movements of the interface unit performed with the handling device are extremely easy to carry out and exactly reproducible.
- the handling unit of the handling device can be docked by means of the alignment device positionally accurate and backlash to another device and connected to this.
- the handling device may have a lifting mechanism for raising and lowering the horizontally extendable and retractable receiving device in the Z direction, which is preferably lowered or raised by a predetermined height, so that in a final position, a predetermined position for receiving or lowering takes.
- the predetermined position denotes a position in which the receiving device with respect to.
- the interface unit is positioned, in particular at a very small distance, that this is not burdened by the weight of the receiving device or damaged by contact with the receiving device.
- the lifting mechanism can be actuated by a pivoting lever such that a method of the receiving device takes place by a preset stroke. This almost eliminates damage to the interface unit by the user since the stroke is predetermined. In this way, the contact surfaces of the interface unit are protected from damage, since the receiving device is not contacted with the interface unit by improper use of the receiving device.
- a displacement device for raising and lowering the handling unit in the Z direction is provided in order to perform a height presetting of the handling unit with respect to a device for receiving an interface unit, in which the centering element can be inserted into the socket element.
- the displacement device is thus a default setting of the handling device to various devices for receiving an interface unit.
- the handling unit may be connected to the chassis via a hinge mechanism that allows relative movement of the handling unit in a horizontal plane, the hinge mechanism preferably having torsion springs. These hold the handling unit with respect to the chassis in an initial position.
- the hinge mechanism By the hinge mechanism, a relative movement of the handling unit in a horizontal plane is possible. Due to the relative movement in the horizontal plane position accurate play-free docking is facilitated by means of the alignment, since a smaller offset of the chassis to the socket element and centering in the horizontal plane is compensated, so that the handling unit is positioned exactly.
- the handling unit may be resiliently mounted with respect to the chassis in the Z direction to compensate for a height offset between the receiving device and the interface unit.
- the receiving device may have a receiving unit for fixing the interface unit, which may be connected to the receiving device via rubber elements. This also causes position inaccuracies are compensated.
- an interface unit can be fixed to the receiving device for receiving the interface unit on the underside.
- the interface unit can also be fixed on the upper side of the receiving device.
- the frame and the associated receiving device in the drawer mechanism can be rotatably mounted about a horizontal axis. As a result, a rotation of the receiving device by 180 ° is possible. This rotated position is referred to as a service position because a worker can easily check the operability of an interface unit located in the receiver.
- the articulated mechanism and / or the resilient mounting and / or the rotatable mounting and / or the horizontally extending and retractable receiving device and / or the displacement device and / or the lifting mechanism may comprise a locking device with which the corresponding degrees of freedom blocking bar are.
- the drawer mechanism In a driving position, the drawer mechanism can be completely retracted and locked with the corresponding locking device, so that an interface unit with the handling device is movable.
- the lifting device can be provided for raising and lowering the handling unit in the Z direction. This is designed in such a way that in a transfer position and in a service position a movement in the Z direction is only possible if the drawer mechanism is fully extended into these positions and thus a corresponding locking device is unlocked.
- FIG. 1 shows a handling device with alignment device in a perspective view
- FIG. 2 shows the handling device from FIG. 1 with alignment device in a further perspective view
- FIG. 3 shows the handling device from FIG. 1 with alignment device in a further perspective view
- FIG. 4 shows the handling device from FIG. 1 with alignment device in a further perspective view, FIG.
- FIG. 5 shows the handling device from FIG. 1 with alignment device in a further perspective view
- FIG. 6 shows the handling device from FIG. 1 with alignment device in a further perspective view
- FIG. 7 shows a detailed view of a rotatable mounting of a frame of the handling device
- FIG. 8 in a service position with alignment device in a top view from above, FIG.
- FIG. 10 shows the handling device from FIG. 1 in a driving position with alignment device in a plan view from above, FIG.
- FIG. 13 shows the alignment device in the coupled state in a plan view
- 14 shows the handling device from FIG. 1 in a docking position in the raised state
- FIG. 15 shows the handling device from FIG. 1 in a docking position in the lowered state
- FIG. 16 a test device with a handling device coupled thereto and an alignment device in a perspective view
- FIG. 17 the alignment device from FIG. 16 in a detailed view
- FIG. 17 the alignment device from FIG. 16 in a detailed view
- FIG. 18 shows an exchange table with a handling device coupled thereto and an alignment device in a perspective view
- FIG. 19 shows the alignment device from FIG. 18 in a detailed view
- FIG. 21 shows the replacement table from FIG. 18 with female elements in a top view
- FIGS. 22 to 30 are schematic illustrations of a method of accommodating an interface unit arranged on an exchange table by means of the handling apparatus;
- FIGS. 31 to 40 are schematic illustrations of a method of transferring an interface unit arranged on the handling apparatus to a prober;
- FIG. 42 shows the blocking device according to the invention schematically in a further perspective view in the unlocked state
- FIG. 43 shows the blocking device according to the invention schematically in a further perspective view in the unlocked state
- FIG. 44 shows the blocking device according to the invention schematically in a further perspective view in the locked state
- FIG. 45 shows a locking mechanism of a locking device in an exploded view
- Fig. 46 shows a locking pin of the locking device in an exploded view
- Fig. 47 shows a further embodiment of the handling device according to the invention with alignment device in a perspective view
- FIG. 48 shows a section of the alignment device from FIG. 47 in detail
- FIG. 49 shows the handling device from FIG. 47 in a perspective view in a state coupled to a prober
- FIG. 50 shows the alignment device from FIG. 49 in a detail view
- FIG. 51 shows a further exemplary embodiment of an alignment device in a perspective view
- FIG. 52 shows the alignment device from FIG. 51 in a longitudinal section
- FIG. 53 shows a securing mechanism in a perspective lateral view
- FIG. 53 shows a securing mechanism in a perspective lateral view
- FIG. 54 shows the securing mechanism of FIG. 53 in a perspective view from above
- FIG. 55 shows a pivot mechanism with securing mechanism in a perspective view.
- a handling device 1 is designed to receive an interface unit (FIGS. 1 to 10).
- the handling device 1 comprises a chassis 2 for moving the handling device 1. On the chassis 2 a displaceable in the vertical Z direction handling unit 3 is arranged.
- the handling unit 3 has a receiving device 4 which can be extended and retracted in a horizontal direction in a horizontal direction in order to receive an interface unit.
- An alignment device 6 for positionally accurate coupling of the handling unit 3 to a further device for receiving at least one interface unit is provided on the handling unit 3.
- the chassis 2 will be described in more detail.
- the chassis 2 comprises an approximately U-shaped frame 7. On the frame 7, a rotatable roller 8 is attached to the free legs. Opposite the rotatable rollers 8, two further rollers 9 are provided on the base leg. These rollers 9 can be blocked by means of a braking device 10.
- the braking device 10 comprises two compression springs provided Tellereuropa ße which are lowered via a lever mechanism on the ground. As a result, the handling device is positionally positionable, so that the exchange of an interface unit can be done.
- Each leg of the U-shaped frame 7 is provided with a handrail 12. On the handrail 12, the handling device 1 can be moved by a user.
- a column unit 11 extending in the vertical direction is formed on the base leg of the U-shaped frame 7.
- the handling unit 3 On the column unit 1 1, the handling unit 3 is arranged displaceably in the vertical Z-direction. The displacement in the Z direction takes place by means of a displacement device 13.
- crank element 14 is provided on one of the two handrails 12.
- a scale is preferably attached to the crank element 14 in order to facilitate the correct height presetting of the handling unit with respect to a device for receiving an interface unit.
- crank element 14 is operatively connected to the displacement device 13 such that a rotation of the crank element 14 causes a displacement of the handling unit 3 by means of the displacement device 13.
- the displacement device 13 comprises a toothed wheel in order to transmit the rotational movement of the crank element 14 to a worm drive for moving in the Z direction.
- the displacement device 13 has a plate-shaped connecting element 15. On the plate-shaped connecting element, a screw-like locking device 16 is provided, by means of which the displacement device 13 can be blocked in the Z direction.
- the handling unit 3 will be described in more detail below.
- the plate-shaped connecting element 15 is connected via two respective lever arms of a hinge mechanism 17 with an externa ßeren frame unit 18 of the handling unit 3 such that the handling unit 3 in the horizontal plane can perform a relative movement.
- the externa ßere frame unit 18 is coupled via a lifting mechanism 19 with an inner Hubrahmentician 20.
- the lifting mechanism 19 has a pivoting lever 21 for actuating. By means of the lifting mechanism 19, the lifting frame unit 20 can be raised and lowered over a predetermined path in the vertical Z direction.
- the lifting mechanism 19 is designed such that the lifting and lowering of the lifting frame unit 20 takes place via a lifting link.
- the pivot lever 21 is connected to a pivot shaft.
- the pivot shaft is rotatably supported in the outer frame unit 18.
- the pivot shaft is connected via feather keys with two Hubkulissenettin.
- a curved path is formed in each case.
- an elongated guiding recess extending in the Z direction is formed.
- journaled bearings e.g. Deep groove ball bearings, fixed, which are received in the cam tracks of Hubkulissenimplantation and extend through the cam tracks so that they are guided in the guide recess.
- This displacement causes lifting or lowering of the lifting frame unit 20 in the Z direction.
- the stroke H in the Z direction is between 50 mm and 200 mm, or between 100 mm and 150 mm and preferably 127 mm.
- an interface unit can be inserted into or removed from a test device.
- a predetermined stroke is variably adjustable, so that the handling device is adaptable to different test systems.
- This stroke is preferably carried out at a rotational movement of the pivot lever by 90 °.
- a crank element or an electrical traversing device may be provided instead of the pivoting lever 21, a crank element or an electrical traversing device may be provided.
- the pivoting lever 21 may be provided with a locking device for fixing, which has at least two locking adjustments. A lowered position and a raised position.
- the receiving device 4 which can be extended and retracted in the horizontal direction is provided on the upper end of the lifting frame unit 20 in the vertical direction Z.
- the receiving device 4 which can be extended and retracted in the horizontal direction can be telescopic
- the drawer mechanism 4 comprises two retractable and extendable guide rails 22.
- An extension length of the drawer mechanism 4 is variably adjustable, so that the handling device 1 can be adapted to different systems.
- a frame 23 is fixed.
- the linear extension and retractable receiving device 4 may also be designed as a linear displacement device.
- the linear displacement device comprises, for example, a rack and a guide device with a rail or rollers.
- the linear extendable and retractable receiving device 4 is designed to be as stiff and compact as possible to meet the requirements in clean rooms but also because docking elements often limit the space at the test facilities. A high rigidity is required to allow a positionally accurate arrangement of the interface unit.
- the frame 23 is connected via rubber elements 24 with the guide rails 22.
- the receiving unit 5 is arranged, which is coupled via a rotatable mounting 25 with the frame 23 ( Figure 7).
- the rotatable support 25 allows rotation of the receiving unit about a horizontal axis in order to check an interface unit.
- the rotatable mounting 25 can be blocked by means of a locking device 26.
- the receiving unit 5 for receiving the interface unit preferably has gripping elements (not shown), which can engage in corresponding recesses or undercuts on the interface unit, so as to fix the interface unit to the receiving unit 5.
- the receiving unit 5 may, for example, have four screws which are screwed into the interface unit.
- the gripping elements together with a special adapter can also be retrofitted to a known handling device, as disclosed, for example, in DE 101 32 489 B4, so that interface units can be fed to and removed from a test device by means of such a device.
- the control of the gripping device can, for example, be effected in that the special adapter for connecting the gripping elements to the device is connected to a control device of the same in such a way that the gripping elements can be actuated by this control device.
- the retrofitting of the gripping elements is preferably carried out in connection with the retrofitting of the alignment device on such a device.
- the alignment device 6 will be described in more detail below.
- the alignment device 6 is provided for the positionally accurate coupling of a handling device for exchanging an interface unit to a further device for receiving at least one interface unit (FIGS. 11 to 13).
- the alignment device 6 is designed according to the plug-socket principle and has at least one plug-type centering element 27. At the centering a fitting portion 28 is formed.
- the fitting portion 28 is preferably formed as a cone-shaped portion. Also a cylindrical training or any other form that allows an exact positioning is possible.
- the alignment device 6 comprises a bushing element 32 designed to receive the centering element 27, corresponding to the centering element 27. If the centering element 27 is arranged in the bushing element 32, a positionally accurate coupling of the handling device 1 to another device for picking up at least one interface unit is ensured.
- the centering element 27 comprises a locking lever 29, which is integrally formed on the centering, a cylindrical bearing portion 30 and a conical portion 28. Furthermore, in the region of the conical portion 26 radially, two equally spaced apart, locking lugs or locking pins 38 are formed.
- the provision of two Verrieglungszapfen 38 ensures a uniform tensile force. However, only one or more locking pins 38 may be provided.
- the locking lever 29 can also be decoupled from the centering element and the socket element arranged at another suitable position of the handling device, provided that it causes a complete insertion of the centering element 27 in the socket member 32.
- a cylindrical portion 43 is preferably provided with three radially equidistantly spaced feed rollers 44.
- a ball element or another suitable insertion aid can be provided.
- the storage section 30 is received rotatably mounted in a corresponding, fixed to the outer frame unit 18, storage bushing 31 about its longitudinal direction.
- a guide member 39 is fixed with a guide arm 40 and a guide roller 41.
- the guide arm 40 extends approximately in the horizontal direction and supports the positioning of the centering element 27 with respect.
- a socket member 32 in the horizontal plane. This is done by the guide roller 41 when docking along a horizontal portion of a device for receiving at least one interface unit rolls.
- the centering element can be aligned in the Z direction with respect to the socket element and thus facilitates the insertion of the centering element 32 into the socket element.
- This orientation is additionally supported by the resilient mounting of the handling unit 3.
- the guide member 39 forms a stop, which prevents incorrect positioning of the centering element 27 with respect to the sleeve member 32 damage to one of the two parts.
- a vertical surface that transitions over a surface of a predetermined radius into a horizontal surface may be provided (FIG. 16, FIG. 17). These surfaces have, in conjunction with the guide arm 40, the effect that in the case of too low an arrangement of the centering in the horizontal direction, the guide roller abuts the vertical surface before a centering element 27 penetrates into a corresponding female member.
- the guide roller 41 slides over the surface with a predetermined radius on the horizontal surface. In this way, the centering element 27 is in the Z direction bezgl.
- the corresponding socket member 32 optimally aligned.
- the bush elements comprise a fastening section 33 and a cone-shaped centering section 34 for receiving the conical section 28 of the centering element 27.
- the centering portion 34 is formed sleeve-shaped and has in its outer wall two approximately L-shaped locking and AnziehaufEnglishung 35 or recesses on.
- the locking and tightening recesses 35 comprise an insertion section 36 and two locking and tightening sections 37 formed as an undercut in the locking and tightening recess 35.
- the centering element 27 For receiving the cylindrical portion 43, with the three radially equidistantly spaced-apart insertion rollers 44 of the centering, the Ein 1500buch- se on a corresponding receiving portion.
- the insertion rollers 44 prevent a cutting removal of material during the merging of centering element 27 and sleeve member 32, so that the alignment device 6 is suitable for use in clean rooms.
- the centering element 27 By actuation of the centering element 27 by means of the locking lever 29, the centering element is rotated about its longitudinal axis, whereby the locking pins 38 and the latching noses can be arranged in the locking and tightening sections 37. In this case, the locking pins 38 slid along the insertion and then by the rotation of the locking lever 29 in the locking and tightening sections 37. In this way, the centering element 27 is fully drawn into the socket member 32 and fixed.
- the articulated mechanism and / or the resilient mounting and / or the rotatable mounting and / or the horizontally extending and retractable receiving device and / or the displacement device and / or the lifting mechanism have a locking device with which the corresponding degrees of freedom can be blocked.
- the operation of the alignment device 6 for positionally accurate coupling of a handling device 1 for exchanging an interface unit to a further device for receiving at least one interface unit and the handling device 1 for exchanging an interface unit will be described in more detail below.
- the mode of operation is described by way of example with reference to the removal of an interface unit from a test device 42. It is provided that the interface unit is removed from the top of the test device 42 (FIG. 14, FIG. 15).
- handling device 1 also a removal of an interface unit from below possible. Furthermore, it is also possible with the handling device to deposit an interface unit on an exchange table or to pick it up from there (FIG. 18 to FIG. 21).
- the height of the handling unit 3 is preset in the Z direction by actuating the crank 14. In this way, a height adjustment of the centering elements 27 with respect to the bushing elements 32 is performed.
- the handling device 1 is pushed up to a test device 42.
- the pushing is carried out in such a way that the centering elements 27 of the handling device 1 are inserted into the bushing elements 32 arranged on a test device 42.
- the guide roller 41 of the guide arm rolls during docking first along a horizontal portion of a device for receiving at least one interface unit.
- the centering element 27 is aligned in the Z direction with respect to the bushing element 32 and thus facilitates the insertion of the centering element 27 into the bushing element 32.
- the locking levers 29 When the centering element 27 is fully inserted into the socket member, the locking levers 29 are rotated about their longitudinal axis by 45 °. By operating a locking lever 29, the corresponding locking pin 38 engages in the locking and tightening portion 37, so that the centering element is fully used and fixed in the socket member 32. In this way, the handling device 1 is connected to a test device 42 with exact position, both as regards the distance to the test device 42 and the height of the handling unit 3.
- drawer mechanism 4 is extended in a feed position and locked in the extended state by means of the corresponding locking device ( Figure 14).
- the pivot lever 21 is actuated to lower the extendable drawer mechanism 4 in such a way that the receiving unit 5 is slightly spaced from the interface unit ( Figure 15).
- An actuation of the pivot lever 21 is only possible when the drawer mechanism 4 and the linear retractable and retractable receiving device is fully extended and locked in its predetermined length.
- the receiving unit 5 or the frame 23 of the drawer mechanism 4 is connected to the interface unit via the gripping device.
- the stroke realized by means of the pivoting lever allows a positionally accurate arrangement or removal when arranging or removing an interface unit in or out of a test device and thus facilitates handling for the user since damage to the interface unit is precluded by the predetermined stroke.
- the drawer mechanism is moved into a transport position and locked again (FIG. 10). It is also possible to move the drawer mechanism in the direction of the handrail into a service position (FIG. 8). In the service position, the frame 23 can be pivoted through 180 °, so that the contact elements which are arranged on the underside of the interface unit can be checked by a user, for example by means of a magnifying glass or a microscope.
- the recording of an interface unit arranged on the replacement table 43 by means of the handling device 1 will be described in more detail below (FIGS. 22 to 30). First, the handling device 1 is moved up to the replacement table 43.
- the lifting mechanism 19 is meanwhile secured by means of a locking device 70 such that no height adjustment in the Z-direction is possible (step 50, FIG.
- the locking device 70 will be described later in more detail.
- At the exchange table 43 there is disposed a bushing member 32 into which the corresponding centering member 27 of the handling device is inserted and locked therein (step 51, Fig. 23).
- the horizontally extending and retractable receiving device or the drawer mechanism 4 is fully extended to the transfer position (step 52, Fig. 24).
- steps 50 to 51 no height adjustment in the Z direction is possible.
- the locking device 70 is unlocked.
- the handling unit 3 is lowered in the Z direction by operating the crank 14.
- a fixing device (not shown) disposed on the drawer mechanism 4 grips the interface unit (step 53, Fig. 25).
- drawer mechanism 4 including the interface unit is raised (step 54, Fig. 26).
- the drawer mechanism 4 When the drawer mechanism 4 has reached an upper end position, the drawer mechanism is returned to the driving position (step 55, Fig. 27).
- the height adjustment device 19 is blocked in the Z direction by means of the locking device (step 56, Fig. 28).
- the centering member 27 is unlocked from the sleeve member 32 (step 57, Fig. 29). Then, the handling device 1 with the interface unit disposed thereon can be surely and reliably moved (step 58, Fig. 30).
- the handling device 1 with interface unit is moved up to the tester (step 60, FIG.
- the centering element 27 of the handling device 1 is arranged in a corresponding socket element 32 of the prober (step 61, FIG.
- the centering element is locked in the socket element accordingly.
- step 62 when the bushing element has been locked in the centering element accordingly, the receiving device 4 is fully extended. A height adjustment in the Z-direction is not possible because the corresponding mechanism is blocked by means of the locking device (step 62, Fig. 33).
- the fixing device is unlocked in such a way that the interface unit is released (step 64, Fig. 35).
- step 65 height adjustment or lifting in the Z direction of the fully extended receiving device takes place again (step 65, FIG.
- step 66 Fig. 37).
- the height adjustment device in the Z direction is blocked in such a way that it can no longer be moved (step 67, FIG.
- the centering element 27 is unlocked so that it can be Hundgeszigen from the socket member 32 (step 68, Fig. 39). Subsequently, the handling device 1 is released again and can be moved freely away from the prober (step 69, Fig. 40).
- the lifting device for raising and lowering the handling unit in the Z direction is designed such that in a transfer position ( Figure 9) and in a service position ( Figure 8) a movement in the Z direction is only possible if the drawer mechanism completely into one of both end positions is extended or retracted so that the locking device is unlocked.
- this locking device 70 will be described in detail (FIGS. 41 to 46).
- the locking device 70 comprises a locking mechanism 71 and an actuating mechanism 72.
- a part of the locking mechanism 71 is arranged on a displaceable in the Z-direction, connected to the column unit 1 1 part of the lifting frame unit 20.
- This part of the locking mechanism 71 comprises a base member 73 with two rocker arms 74 articulated thereon.
- an actuating roller 75 is disposed on each rocker arm 74.
- a locking pin 76 extending in the horizontal direction is displaceably guided in a bushing 77.
- the locking pin 76 is coupled to a locking body 90.
- the locking pin 76 is acted upon by a spring 78 which holds it in an unlocked state.
- the locking pin 76 is actuated via the locking body 90 both from the rocker arms 74 as well as directly.
- two oblique actuating surfaces 105 lying in the vertical plane are formed on the locking body 90, which are inclined relative to the base element 73.
- a corresponding receiving element 79 of the locking mechanism 71 is arranged at a stationary, connected to the chassis 2 part of the lifting frame unit 20, a corresponding receiving element 79 of the locking mechanism 71 is arranged.
- the receiving element 79 has a corresponding sleeve 80 for receiving the locking pin 76.
- the operating mechanism 72 includes two linear guides 81, 82 forming a mechanical AND member. This means only when both linear guides 81, 82 release the locking mechanism of the locking pin 76 by the spring force out of engagement brought with the sleeve 80. Only then is it possible to shift the recording device, which can be extended and retracted linearly in the horizontal direction, in the Z direction.
- the first linear guide 81 has at an end located in the region of the receiving unit 5 an oblique actuating surface 83 on which the arranged on the rocker arms 74 actuating rollers 85 slide along.
- the second linear guide 82 is an elongated pivot lever 82 having a roller 86, 87 at both ends.
- the roller 86 which is located in the region of the receiving unit 5 releases or blocks the blocking pin via the actuating surfaces formed on the blocking body.
- the other end of the roller 87 cooperates with a triangular actuator 88 such that the pivot lever is tilted about a pivot point 89, corresponding to the position of the drawer mechanism.
- the mechanical locking means 70 for locking the lifting mechanism comprising the actuating mechanism and the locking mechanism, the actuating mechanism having two actuating members operatively connected to the locking mechanism such that unlocking of the locking mechanism only possible if both actuators release the locking mechanism.
- FIG. 47 to 55 A further exemplary embodiment of a handling device 1 according to the invention is described below (FIGS. 47 to 55). Unless otherwise described, this handling device 1 has the same features as the above-described handling device.
- the receiving unit 5 of the handling device 1 is preferably designed to receive a test head 91 in order to place it on or with respect to a tester 92. According to this embodiment, the receiving unit 5 for receiving the test head 91 with the remaining handling device 1 via a pivot mechanism
- the pivot mechanism 93 includes a pivot shaft
- the pivoting mechanism allows a lateral pivotal movement of the receiving unit about a vertical axis of rotation by at least 90 °.
- bushing elements 32 are likewise arranged one above the other on the side of the prober 92 in the vertical direction.
- the alignment device 6 comprises an actuating pin 95, which is guided in a corresponding bushing 96 on the alignment device 6 and is actuated via an eccentric groove 104 such that exerted by a 90 ° rotation of the locking lever depending on the direction of rotation train or pressure on the actuating pin 95 becomes (Fig. 51, 52).
- the eccentric groove 104 is formed on the jacket wall of the alignment device 6.
- the actuating pin 95 is coupled via corresponding tension / compression Bowden cables (not shown) with a locking pin mechanism 97 arranged in the region of the pivot shaft 94.
- the securing mechanism 97 comprises a rotary plate 98 which has a pivot point 99 (FIGS. 53 to 55). On the rotary plate 98 are the train / Druckbowdenzug (not shown) and a locking pin 100 is attached.
- the locking pin 100 is configured to lock the pivot shaft 94.
- a locking groove 101 extending in the vertical direction is formed on the pivot shaft 94.
- the handling device 1 together with the test head 91 is arranged laterally next to the prober 92.
- the centering elements 27 of the handling device 1 are inserted into the corresponding socket elements 32 of the Probers 92 and connected by 90 ° rotation of the locking lever 29 with this.
- the actuating pin 95 is actuated such that the connected to the actuating pin via at least one train / Druckbowdenzug turntable 98 rotates about the pivot point 99 and the locking pin 100 au engagement with the locking groove 101 brings.
- a lateral pivoting out of the receiving unit 5 and a test head 91 arranged thereon is possible.
- the locking pin mechanism 97 may be formed such that by means of a mechanical AND operation a disengagement would take place of the locking pin 101 from the locking groove 101 only if both centering 27 are completely disposed in the socket members 32 and locked by 90 ° rotation of the locking lever 29 correctly are.
- a further securing mechanism 102 is provided (FIG. 52).
- the securing mechanism 102 comprises, in particular, a securing pin 103 which is displaceably and spring-loaded within the alignment device 6 in such a way that rotation of the locking lever is only possible if the securing pin is pushed back by a corresponding actuating pin (not shown) arranged in the socket element 32 in that a rotation of the locking lever is possible. If the securing pin 103 is not turned back by a corresponding securing pin arranged in the socket element 32, no rotation of the locking lever 29 and thus no engagement of the securing pin 101 out of the locking groove 101 are possible.
- a handling device for exchanging a tester, wherein an alignment device 6 comprises two centering elements 27 which are arranged laterally next to the handling device 1 in the vertical direction and a pivoting mechanism 93 is provided for laterally pivoting out a receiving unit 6 is and a locking pin mechanism is provided which is lockable via the centering elements 27, wherein the centering elements 27 are in operative connection with the locking mechanism such that pivoting of the pivot mechanism 93 is only possible if the centering elements 27 inserted and locked in corresponding socket elements 32 of the Probers are.
- the handling device not only a positionally accurate arrangement of the handling device with respect to a further device, in particular a Prober is possible, but it is also an extremely secure mechanism provided which allows lateral swinging out of the receiving unit 6 only when the handling device 1 fixed to the Prober 92 is connected.
- Reference symbol handling device 73 basic element
- Receiving unit 79 receiving element
- Alignment device 80 sleeve
- Locking device 102 Locking mechanism Centering element 103 Locking pin Cone-shaped section 105 Operating surface
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- Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Testing Of Individual Semiconductor Devices (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
- Making Paper Articles (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201480057763.8A CN105659101B (zh) | 2013-08-21 | 2014-08-21 | 对准设备与操作设备 |
US14/913,001 US10416230B2 (en) | 2013-08-21 | 2014-08-21 | Aligning device and handling device |
DE112014003832.6T DE112014003832A5 (de) | 2013-08-21 | 2014-08-21 | Ausrichteinrichtung und Handhabungsvorrichtung |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013109055.9A DE102013109055A1 (de) | 2013-08-21 | 2013-08-21 | Ausrichteinrichtung und Handhabungsvorrichtung |
DE102013109055.9 | 2013-08-21 |
Publications (2)
Publication Number | Publication Date |
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WO2015025024A2 true WO2015025024A2 (de) | 2015-02-26 |
WO2015025024A3 WO2015025024A3 (de) | 2015-04-16 |
Family
ID=51390121
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2014/067867 WO2015025024A2 (de) | 2013-08-21 | 2014-08-21 | Ausrichteinrichtung und handhabungsvorrichtung |
Country Status (4)
Country | Link |
---|---|
US (1) | US10416230B2 (de) |
CN (1) | CN105659101B (de) |
DE (2) | DE102013109055A1 (de) |
WO (1) | WO2015025024A2 (de) |
Cited By (2)
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DE102020104641A1 (de) | 2020-02-21 | 2021-08-26 | Turbodynamics Gmbh | Träger für eine Schnittstelleneinheit, Speichervorrichtung und Dispositionssystem zum automatischen Verwalten von Schnittstelleneinheiten |
DE102021114564A1 (de) | 2021-06-07 | 2022-12-08 | Turbodynamics Gmbh | Docking-Vorrichtung und Verfahren zum Koppeln zweiter Vorrichtungen für Schnittstelleneinheiten, Dispositionssystem und Docking-Element |
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TWI817781B (zh) * | 2015-12-28 | 2023-10-01 | 美商色拉頓系統公司 | 系統與觀察及測試受測試器件(DUTs)陣列之複數個探針模組之定位方法 |
KR20200122469A (ko) * | 2019-04-18 | 2020-10-28 | (주)테크윙 | 전자부품 테스트용 핸들러의 인서트 및 테스트트레이 |
CN112461556B (zh) * | 2020-10-27 | 2022-09-27 | 东风汽车底盘系统有限公司 | 一种用于侧向压弯导向臂的载荷试验工装 |
CN114487838B (zh) * | 2022-01-17 | 2022-10-14 | 清研精准(北京)汽车科技有限公司 | 一种电池包测试用自动对插装置 |
DE102023130896A1 (de) | 2022-11-08 | 2024-05-08 | Turbodynamics Gmbh | Handhabungsvorrichtung zum Transportieren von Schnittstelleneinheiten für eine Testvorrichtung zum Testen von Halbleitern |
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-
2013
- 2013-08-21 DE DE102013109055.9A patent/DE102013109055A1/de not_active Withdrawn
-
2014
- 2014-08-21 WO PCT/EP2014/067867 patent/WO2015025024A2/de active Application Filing
- 2014-08-21 DE DE112014003832.6T patent/DE112014003832A5/de active Pending
- 2014-08-21 US US14/913,001 patent/US10416230B2/en active Active
- 2014-08-21 CN CN201480057763.8A patent/CN105659101B/zh active Active
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102020104641A1 (de) | 2020-02-21 | 2021-08-26 | Turbodynamics Gmbh | Träger für eine Schnittstelleneinheit, Speichervorrichtung und Dispositionssystem zum automatischen Verwalten von Schnittstelleneinheiten |
US11493554B2 (en) | 2020-02-21 | 2022-11-08 | Turbodynamics Gmbh | Storage unit and disposition system for storing interface units |
DE102021114564A1 (de) | 2021-06-07 | 2022-12-08 | Turbodynamics Gmbh | Docking-Vorrichtung und Verfahren zum Koppeln zweiter Vorrichtungen für Schnittstelleneinheiten, Dispositionssystem und Docking-Element |
Also Published As
Publication number | Publication date |
---|---|
WO2015025024A3 (de) | 2015-04-16 |
DE102013109055A1 (de) | 2015-02-26 |
DE112014003832A5 (de) | 2016-05-12 |
US20160202311A1 (en) | 2016-07-14 |
CN105659101A (zh) | 2016-06-08 |
US10416230B2 (en) | 2019-09-17 |
CN105659101B (zh) | 2019-08-06 |
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