WO2018032656A1

WO2018032656A1 - High-speed component pickup-and-place device

Info

Publication number: WO2018032656A1
Application number: PCT/CN2016/108473
Authority: WO
Inventors: 肖智轶
Original assignee: 华天科技（昆山）电子有限公司
Priority date: 2016-08-17
Filing date: 2016-12-04
Publication date: 2018-02-22
Also published as: CN106115260A

Abstract

A high-speed component pickup-and-place device comprises a rotatable transfer assembly (1), a plurality of pickup-and-place assemblies (2), a first carrying stage (3) located in a component pickup area, a second carrying stage (5) located in a component placing area, and a first and a second moving mechanism (4, 6) for driving and positioning the first and second carrying stages (3, 5) in a horizontal plane. The rotatable transfer assembly (1) can periodically rotate the pickup-and-place assembly (2) thereon to reach the component pickup area and the component placing area. At least one of the rotatable transfer assembly (1) and the pickup-and-place assembly (2) can be moved up and down, so that the pickup-and-place assembly (2) reaches a preset pick-up point (31) on the first carrying stage (3) and a preset placement point (51) on the second carrying stage (5), to pick up a component (7) and place the component (7) in turn. The first and the second carrying stages (3, 5) are driven by the first and second moving mechanisms (4, 6), so as to adjust the to-be-picked-up component (7) and a to-be-placed position to be in a lowered position of the pickup-and-place assembly (2). According to the high-speed component pickup-and-place device, the multiple pickup-and-place assemblies (2) are uniformly arranged on the rotatable transfer assembly (1), so that the component (7) can be continuously picked up and placed at a high speed and the pickup-and-place accuracy and efficiency can be greatly improved.

Description

Device high speed pick and place device

Technical field

The invention relates to a device pick-and-place device, in particular to a device high-speed pick-and-place device for improving the pick-and-place speed and accuracy of the device.

Background technique

The pick and place device is a product handling device that picks up a product from one location and places the product in another location. In the field of semiconductor packaging, a pick-and-place device such as a mechanical arm in a pick and place (called a picker) is used to place a wafer (die, or chip) into a material. Disk (tray disk) or another wafer carrier. For example, the patent CN102983094A, the main process of the robot arm pick-and-place is that the robot arm takes out a device at a predetermined position, then swings the arm to the tray or wafer position, lowers the device, and then swings the arm back to the predetermined position, thus repeating the action. . However, for 8-inch wafers and even 12-inch wafers, the size is large, and the distance between the pick-and-place of the device causes the robot arm to be lengthened to complete a pick-and-place operation. The pick-and-place of one device is mainly spent on the arm. During the swing back and forth, the efficiency is reduced, and the errors in picking and placing are also increased.

In order to deal with this problem, many complicated mechanisms have been proposed, such as the US patent US20080000756A1, which is equipped with multiple mechanical arms for simultaneous pick and place, due to the robot The arm can only move horizontally and vertically along the fixed track, so the robot arm needs to be able to expand or retract to achieve mutual obstacles. Although the device relatively increases the efficiency of picking and placing, the mechanical arm is complicated in movement, and the pick and place speed is still Has a greater impact.

Summary of the invention

In order to solve the above technical problem, the present invention provides a high-speed pick-and-place device for a device, which utilizes a plurality of pick-and-place components uniformly disposed on the rotary transfer assembly to complete the high-speed pick-and-place of the device, thereby greatly improving the pick-and-place efficiency and Pick and place accuracy.

The technical solution of the present invention is implemented as follows:

A high-speed pick-and-place device for a device, comprising a rotary transfer assembly, a plurality of pick-and-place assemblies evenly spaced on the rotary transfer assembly, a first stage located in the pick-up area of the device, and the first stage being driven a first moving mechanism moving and positioned in a horizontal plane, a second stage located in the device placement area, and a second moving mechanism driving the second stage to move and position in a horizontal plane; the rotary transfer assembly is periodically rotatable Transferting the pick-and-place assembly thereon to the device pick-up area and the device placement area; at least one of the rotary transfer assembly and the pick-and-place assembly can be moved up and down, so that the pick-and-place assembly reaches a preset on the first stage a pick-up point and a preset placement point on the second stage; a plurality of the pick-and-place assemblies are sequentially picked up at the pick-up point by the rotary transport assembly, and the devices are placed in sequence at the placement point; the first stage is The first moving mechanism can drive the device to be picked up on the first stage to move to the picking point, and the second stage can drive the second stage to be placed under the second moving mechanism. Position to the placement point.

Further, the rotary conveying component is a conveyor belt conveyor or chain A strip conveying mechanism or a rotary conveyor or a rotary conveying mechanism.

Further, the transmission distance of the rotary conveying assembly can be adjusted according to the distance between the pickup point and the placement point.

Further, when the pick-and-place assembly is movable up and down, the rotary transport assembly includes a rotating body and a plurality of vertical brake assemblies uniformly disposed on the rotating body, and the vertical brake assembly drives the pick-and-place assembly to move up and down .

Further, the vertical brake assembly simultaneously drives at least two pick and place assemblies to move up and down.

Further, the first stage and the second stage carry a wafer or a cartridge or a tape or carrier.

Further, a central control system for controlling actuation of the rotary transfer assembly, the pick and place assembly, the first moving mechanism, and the second moving mechanism is further included.

Further, a mechanical arm is further included, and the robot arm can pick up the device on the pick and place assembly and place it on a substrate.

The invention provides a high-speed pick-and-place device for a device, which decomposes the action of picking up and pulling a traditional mechanical arm, and is completed by different components. Specifically, the pick-and-place action is divided into two parts, and the pick-and-place assembly performs picking. The action is performed by the rotary transfer component, and the pick and place component performs the placement action. At the same time, the device to be picked is placed on the first stage, and the picked up device is placed on the second stage. The first stage and the second stage cooperate with precise movement to move the picking point and the placement point to the pick-and-place assembly. The position of the drop. Multiple settings on the rotary transfer unit Put the components, pick them up in turn, and place them in order after reaching the placement point. The rotary transport assembly can employ a conveyor belt transport mechanism that rotates in a vertical plane, a conveyor belt transport mechanism that rotates in a horizontal plane, or a turntable transport mechanism that rotates in a horizontal plane. Thus, with the rotation of the rotary transport assembly, the devices can be successively picked up at the pick-up point, the device is placed in the transfer point to sequentially place the device, and the first stage and the second stage are controlled to move horizontally, and the device to be picked up and to be placed can be placed. The position of the device is moved to the picking point and the placing point, respectively, so that the picking and placing operations are almost synchronized. Therefore, the present invention can significantly shorten the picking and placing period and greatly improve the picking and placing efficiency. The conveyor belt of the conveyor belt conveying mechanism can realize continuous transportation at a long distance, fully satisfying the distance between the pick-and-place of the device, solving the lengthening of the robot arm, and completing a pick-and-place operation. The time is mainly spent in the process of swinging the arm back and forth, and the efficiency is lowered. The problem is that the movement of the pick-and-place assembly only moves up and down, the stage is moved in the horizontal direction, the movement is simple, the overall running speed and the pick-and-place precision are improved, the mechanical arm movement is complicated, and the pick-and-place speed is large. The problem of impact. More preferably, the transmission distance of the conveyor belt conveying mechanism can be adjusted according to the distance between the picking point and the placement point, and the application is more flexible, and the pick-and-place efficiency and the pick-and-place precision are further improved.

DRAWINGS

1a is a schematic view showing a rotating operation of a high-speed pick-and-place device of a device in a vertical plane according to an embodiment of the present invention;

1b is a schematic view showing the operation of the side of the conveyor belt in which the pick-and-place assembly of the high-speed pick-and-place device of the device is vertically hung in a vertical plane according to the embodiment of the present invention;

1c is a schematic view of a vertical brake assembly simultaneously driving a plurality of pick-and-place assemblies according to an embodiment of the present invention;

2 is a schematic view showing the operation of the high-speed pick and place device of the device according to the second embodiment of the present invention;

3 is a schematic diagram showing the relative state of each pick-and-place assembly in the operation of the high-speed pick-and-place device of the device according to the second embodiment of the present invention;

4 is a schematic view showing the operation of a flip chip of a high-speed pick-and-place device of a device according to Embodiment 2 of the present invention;

5 is a schematic view showing the operation of a high-speed pick-and-place device for a device according to a third embodiment of the present invention

In conjunction with the drawings, the following is explained:

1-rotary conveyor assembly, 11-belt, 12-vertical brake assembly, 13-turntable, 14-drive mechanism, 2-push-and-drop assembly, 3-first stage, 31-pick point, 4-first moving mechanism , 5 - second stage, 51 - placement point, 6 - second moving mechanism, 7 - device, 8 - mechanical arm, 81 - pick and place, 9 - substrate.

detailed description

In order to make the present invention more understandable, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. For convenience of explanation, the components of the structure of the embodiment diagram are not scaled according to the normal scale, and thus do not represent the actual relative sizes of the structures in the embodiment.

Example 1

Referring to FIG. 1a, a side view of a high-speed pick-and-place device of the present invention includes a rotary transfer assembly 1 and a plurality of pick-and-place assemblies 2 evenly spaced on the rotary transfer assembly. One of the picking areas a first stage 3, a first moving mechanism 4 that drives the first stage to move and position in a horizontal plane, a second stage 5 located in the device placement area, and a second stage that drives the second stage to move and position in a horizontal plane The second moving mechanism 6.

As a preferred embodiment, a conveyor belt transport mechanism is used herein as a rotary conveyor assembly. The conveyor conveying mechanism comprises a support frame, a conveyor belt 11 mounted on the support frame, and a power source (such as a drive motor) for driving the conveyor belt to periodically rotate on the support frame, and the drive motor can pass through the reducer and the transmission gear set (drive gear and passive) The gears, etc., etc. realize the function of driving the belt to rotate periodically, which is a common technique of the conveyor belt conveying mechanism, and will not be described herein. The transmission mode of the conveyor belt conveying mechanism is not limited to the transmission gear set, as long as it can drive the belt to rotate and stop. As a preferred embodiment, the conveyor belt is arranged to rotate periodically in a vertical plane and above the pick-up area and the placement area, ie above the first stage and the second stage, a plurality of pick-and-place assemblies 2 are evenly arranged On the surface of the conveyor belt, the power source rotates and stops the conveyor belt in a vertical plane by the rotation of the drive transmission gear set, so that the conveying device 7 reaches above the pickup point 31 on the first stage and on the second stage. Place the point 51 above. After the pick-and-place assembly reaches above the pick-up point of the first stage and above the placement point on the second stage, the downstream pick-up and placement device is required. This function can be used with at least one of the rotary transfer assembly and the pick-and-place assembly. Movement is achieved such that the pick and place assembly reaches the position of the pick-up point 31 on the first stage and the position of the set point 51 on the second stage. As a preferred embodiment, each pick-and-place assembly 2 can pass a vertical brake The assembly 12 drives the pick and place assembly up and down through the vertical brake assembly to reach the target area (pick point or placement point) to pick up and place the device. Vertical brake assembly Linear cylinders, linear electric cylinders, linear modules, etc. can be used. For example, a linear cylinder is used. The cylinder body is fixedly connected with the transmission belt through the mounting seat. The power output shaft of the cylinder is fixedly connected with the pick-and-place assembly through the adapter seat, and the telescopic movement of the cylinder can be Drive the pick and place assembly to move up and down.

A plurality of pick-and-place assemblies are sequentially driven by the rotary transport assembly to pick up the device 7 at the pick-up point, and the device 7 is placed in sequence at the placement point; as a preferred embodiment, the pick-and-place function of the pick-and-place assembly can be passed through the vacuum nozzle In other embodiments, the pick-and-place assembly can also be realized by an adsorption workpiece such as a suction cup, a suction pad, a magnet, or the like, and other components having a pick-and-place function, such as a clamping component such as a jaw or a chuck, or a glued component. Components, etc.

The first stage is driven by the first moving mechanism to move the device to be picked up on the first stage to a picking point, and the second stage is driven by the second moving mechanism The device at the placement point on the two stages is removed. In this way, the first stage 3 of the pickup area carries the device 7 to be picked up, the second stage 5 carries the device to be placed, and the first stage and the second stage cooperate with the pick-and-place assembly to smoothly take the device out, two The movement and positioning in the horizontal plane are realized by the first and second moving mechanisms, respectively. Thus, during the picking up/placement of the last pick and place assembly and the picking up/placement of the next pick and place assembly, the first and second moving mechanisms respectively adjust the position to be picked up and the position to be placed in the lowering position of the pick and place assembly (pick point/placement) Point), to achieve continuous pick and place of the device. For example, the first stage carries a diced wafer or cartridge, and the second stage carries another wafer, or a substrate/carrier, or a cartridge, or a braid. For example, a diced wafer is placed on the first stage, and another carrier wafer is placed on the second stage, and the device is mounted on the wafer through the high-speed pick-and-place device. Reorganization.

The first and second moving mechanisms may be implemented by a two-axis linear module, such as an X-axis linear module and a Y-axis linear module, and the X-axis linear module realizes the movement of the picking point/placement point in the left and right direction, Y The linear module realizes the movement of the picking point/placement point in the front and rear direction. However, it is not limited to such a two-axis linear module, and can be implemented by other methods such as cylinder or electric cylinder pushing.

In summary, the working principle of the high-speed pick-and-place device of the device in this embodiment is as follows:

The belt of the belt conveying mechanism rotates to drive a plurality of vertical brake assemblies and a plurality of pick-and-place assemblies to rotate at the same time. When the first pick-and-place assembly reaches the pick-up point, the rotary transfer assembly stops rotating, and the vertical brake assembly drives the corresponding take-up The assembly falls vertically, picks up the device, and then rises, the rotary transfer assembly continues to rotate, and when the next pick and place assembly reaches the pick-up point, the rotary transfer assembly stops here, repeating the picking action. Similarly, when the pick-and-place assembly of the first picked-up device reaches the placement point, the rotary transfer assembly stops rotating, the vertical brake assembly drives its corresponding pick-and-place assembly to fall vertically, places the device, and then rises, the rotary transfer assembly continues to rotate. When the next pick-and-place assembly reaches the placement point, the rotary transfer assembly stops here, repeating the above-mentioned placement action. In the specific implementation, the picking point and the placing point can be adjusted to make the picking and placing synchronous. While being picked up and placed, the first stage of the pickup area is horizontally moved by the driving of the first moving mechanism, the device to be picked up is sequentially moved to the pickup point, and the second stage of the placement area is driven by the second moving mechanism. Move horizontally to move the position of the device to be placed to the placement point. Thus, with the rotation of the conveyor belt, the devices can be successively picked up at the pickup point, and the devices are placed in the placement point, and the first stage and the second stage are placed. The horizontal movement moves the position of the device to be picked up and the position of the device to be placed to the picking point and the placing point respectively, and the picking and placing actions are synchronized, which significantly shortens the picking and placing period and greatly improves the picking and placing efficiency. Here, the conveyor belt of the conveyor belt conveying mechanism can realize continuous transportation at a long distance, fully satisfying the distance between the pick-and-place of the device, solving the lengthening of the robot arm, and completing a pick-and-place operation, and the time is mainly spent in the process of swinging the arm back and forth. The efficiency will be reduced; and the movement of the pick-and-place assembly is only moving up and down, the stage is moved in the horizontal direction, the movement is simple, the overall running speed and the pick-and-place precision are improved, and the mechanical arm movement is complicated, and the pick-and-place operation is solved. The problem of speed has a greater impact. More preferably, the transmission distance of the conveyor belt conveying mechanism can be adjusted according to the distance between the picking point and the placement point, and the application is more flexible, and the pick-and-place efficiency and the pick-and-place precision are further improved.

In other embodiments, the conveyor belt is configured to rotate in a vertical plane and the pick and place assembly remains vertically hung on one side of the conveyor belt, see Figure 1b.

In other embodiments, the conveyor belt is configured to periodically rotate in a horizontal plane and above the pick-up zone and the placement zone, i.e., above the first stage and the second stage, and a plurality of pick-and-place assemblies are evenly disposed on the sides of the conveyor belt.

In other embodiments, the up and down movement of the conveyor belt as a whole may also be controlled to specify that the pick and place assembly reaches the target area (pick point or placement point) to pick and place the device.

In other embodiments, there may be at least two pick and place assemblies that simultaneously drop pick up and/or place multiple devices to increase pick and/or placement speed; or at least two pick and place assemblies may be simultaneously driven by a vertical brake assembly Moving, see Figure 1c, when the vertical brake assembly is lowered, picking up/placeting multiple devices at the same time, Increase picking and/or placement speed.

In other embodiments, the conveyor belt may be replaced by a conveyor chain, that is, the rotary conveyor assembly adopts a chain conveyor mechanism, and the chain conveyor mechanism is prior art, and details are not described herein.

The rotary transfer assembly, the vertical brake assembly, the pick and place assembly, and the first and second moving mechanisms are controlled to operate or stop by a central control system. Central control systems such as computer systems, embedded systems, etc., are not shown.

Example 2

2 is a side view of another embodiment of the high-speed pick-and-place device of the present invention, which differs from Embodiment 1 in that the conveying direction of the conveyor belt is clockwise, and the picking area is opposite to the placing area (FIG. 1a). Figure 1b, Figure 2) The transport path of the device carried by the transmission mode is greater than the counterclockwise direction. Different transmission methods can be selected depending on whether other processes or test stops are required during the pick-and-place period of one device.

As shown in FIG. 3, it is a schematic diagram of the relative state of each pick-and-place assembly in the operation of the high-speed pick-and-place device of the device according to the second embodiment of the present invention. This embodiment takes a vertical brake assembly corresponding to a pick-and-place assembly as an example. At time t1, a pick-and-place assembly moves to the top of the pick-up area to be picked up, and the conveyor stops; at time t2, the vertical brake assembly corresponding to the pick-and-place assembly moves the pick-and-place assembly down to the device and sucks the device; t3 takes a The vertical brake assembly corresponding to the assembly moves the pick-and-place assembly up to the initial height; the power source drives the conveyor belt to move clockwise, and at time t4, the pick-and-place assembly moves to the top of the pick-up area to be picked up, the conveyor stops, and the device is picked up. Pick and place assembly to move to Above the position to be placed, the conveyor belt stops; at time t5, the b pick-and-place assembly and the r pick-and-place assembly are moved down through the respective vertical brake assemblies, the b pick-and-place assembly picks up the next device, and the r pick-and-place assembly releases the loaded device; t6 The time b pick-and-place assembly and the r pick-and-place assembly are raised to the initial height by the respective vertical brake assemblies, and the conveyor belt continues to move clockwise by the driving device, repeating the action from t4 to t6.

In this embodiment, a robot arm 8 can be attached, as shown in FIG. For example, the device in the pick-up area is a wafer-level package back-cut chip, that is, the chip solder ball is arranged face up in the pick-up area, and the pick-and-place assembly picks up the solder ball surface of the chip, which is transported by the conveyor belt, and an additional mechanical arm end is provided with a pick-and-place part. 81, such as a nozzle or a suction cup, the robot arm 8 draws a chip and directly places it on another substrate such as the PCB board 9, which can realize flip chip soldering of the chip to avoid chip flipping action.

Example 3

5 is a side view of still another embodiment of the high-speed pick-and-place device of the present invention, which differs from Embodiment 1 in that a rotary-type transport mechanism that rotates in a horizontal direction is used as a rotary transport assembly, and the rotary transport mechanism includes The turntable 13 and the drive mechanism 14 for driving the turntable are rotated, so that the plurality of pick-and-place assemblies 2 can be evenly disposed on the lower surface or the side of the turntable. The drive mechanism drives the turntable to rotate and stop in a horizontal plane so that the transfer device reaches the pick-up point and the placement point. Similarly, each pick and place assembly can be moved up and down by a vertical brake assembly to pick up and place the device at the target area (pick point or placement point).

In other embodiments, the up and down movement of the turntable as a whole can also be controlled to specify that the pick and place assembly reaches the target area (pick point or placement point) to pick and place the device.

In other embodiments, the carousel conveying mechanism can be deformed into a rotating rod conveying mechanism, that is, including a rotating body and a plurality of rotating rods evenly arranged on the rotating body, and the vertical brake assembly and the pick-and-place assembly are mounted on the rotating rod . The pick and place assembly is driven up and down by the vertical brake assembly.

The above embodiments are described in detail with reference to the accompanying drawings. It will be apparent to those skilled in the art that various modifications and changes may be made to the embodiments described above without departing from the spirit of the invention.

Claims

A high-speed pick-and-place device for a device, comprising: a rotary transfer assembly (1), a plurality of pick-and-place assemblies (2) evenly spaced on the rotary transfer assembly, and a first load located in the pick-up area of the device a table (3), a first moving mechanism (4) for driving the first stage to move and position in a horizontal plane, a second stage (5) located at the device placement area, and driving the second stage in a horizontal plane a second moving mechanism (6) that moves and positions; the rotary transfer assembly can periodically rotate the pick and place assembly thereon to reach the device pick-up area and the device placement area; the rotary transfer assembly and the pick-and-place assembly At least one of them can be moved up and down, so that the pick-and-place assembly reaches a preset pick-up point (31) on the first stage and a preset placement point (51) on the second stage; and the pick-and-place assemblies are rotating Driven by the transport assembly, the pick-up device (7) is sequentially picked up at the pick-up point, and the device is placed in turn at the placement point; the first stage can drive the device to be picked up on the first stage under the driving of the first moving mechanism Moving to a picking point, the second stage is at the second moving machine Driving, can be moved to the second stage of an placement device placement point position.
The high-speed pick-and-place device for a device according to claim 1, wherein the rotary transfer unit is a conveyor belt transport mechanism or a chain conveyor mechanism or a rotary disc transport mechanism or a rotary rod transport mechanism.
The high-speed pick-and-place device for a device according to claim 1, wherein the transmission distance of the rotary transfer unit is adjustable according to a distance between the pick-up point and the placement point.
The device high speed pick and place device according to claim 1, characterized in that When the pick-and-place assembly is movable up and down, the rotary transport assembly includes a rotating body and a plurality of vertical brake assemblies (12) evenly disposed on the rotating body, and the pick-and-place assembly is driven by the vertical brake assembly move up and down.
The device high speed pick and place apparatus according to claim 4, wherein said vertical brake assembly simultaneously drives at least two pick and place assemblies to move up and down.
The high speed pick and place device of claim 1 wherein said first stage and said second stage carry a wafer or cartridge or tape or carrier.
A high-speed pick-and-place device for a device according to claim 1, further comprising: controlling said rotary transfer assembly, said pick-and-place assembly, said first moving mechanism, said second moving mechanism to actuate Central control system.
A high-speed pick-and-place device for a device according to claim 1, further comprising a mechanical arm (8) capable of picking up the device on the pick-and-place assembly and placing it on a substrate (9) on.