Pogo Pin Pickup System and method

Abstract

The present invention relates to a pogo pin pickup system and method, wherein the position of a pogo pin (P) is recognized through a vision camera unit (110), and a control unit (200) controls a driving unit (130) by selecting a suitable pickup motion among a vertical downward motion, a horizontal scan motion, and a lateral sweeping motion according to the state of the pogo pin, and verifies the gripping state in real time in a non-contact manner using a flow sensor (150). Through this, a high gripping success rate can be secured while minimizing mechanical stress applied to the pogo pin, and the position change of the pogo pin caused by equipment vibration can be effectively prevented by processing a three-way cross pattern on the basket (310) of the feeder unit (300) and applying an independent frame (500) structure.

Description

Technology Field

[0001] The present invention relates to a pogo pin pickup system and method, and more specifically, to a pogo pin pickup system and method that recognizes the position of an object using a vision camera unit, controls a driving unit so that a control unit selectively performs a motion suitable for the state of the object among a plurality of pickup motions, and verifies the gripping state in real time through a flow sensor. Background Technology

[0003] Generally, in semiconductor or electronic component assembly processes, it is essential to precisely pick up micro-components, such as pogo pins, and transfer and secure them at designated locations. Since these micro-components have a diameter of less than a few millimeters and a length of only a few millimeters, there is a risk of deformation or scratching when gripped using mechanical grippers.

[0004] Conventional pickup devices utilizing vacuum suction methods typically supported only a single motion of vertically descending and suctioning from directly above the pogo pin. However, when pins were irregularly arranged within the feeder basket or when their positions fluctuated slightly due to vibrations during equipment operation, a single vertical downward motion alone presented a problem in achieving precise gripping.

[0005] Furthermore, conventional pickup devices had the problem of requiring the use of physical contact sensors to verify gripping success or undergoing a separate inspection process after gripping. This increased the overall process time and posed a risk of component damage due to physical contact.

[0006] In particular, when the pattern processing on the bottom surface of the feeder basket is insufficient, the pin moves due to vibration during equipment operation, causing a discrepancy between the vision recognition coordinates and the actual position, and there was a problem where vibrations from the main frame were transmitted to the feeder unit, impairing the positional stability of the pin.

[0007] Therefore, there is a need to develop technology that can adaptively select a pickup motion based on the state of the pogo pin and verify the gripping state in real time through non-contact sensing. Prior art literature

[0009] U.S. Patent Publication No. 4799854 (Date of Registration: January 24, 1989) The problem to be solved

[0010] The present invention aims to solve the problems of the aforementioned prior art and to provide a pogo pin pickup system and method capable of selectively performing a suitable pickup motion among a vertical downward motion, a horizontal scanning motion, and a lateral sweeping motion depending on the state of the pogo pin.

[0011] In addition, another objective of the present invention is to provide a pogo pin pickup system and method capable of minimizing mechanical stress applied to the pogo pin and ensuring gripping reliability by verifying the gripping state in real time in a non-contact manner using a flow sensor.

[0012] In addition, another objective of the present invention is to provide a pogo pin pickup system that prevents the flow of pogo pins by processing a three-way cross pattern on the basket of the feeder unit, and blocks the transmission of equipment vibrations by installing the feeder unit on an independent frame separated from the main frame. means of solving the problem

[0014] In order to solve the above problem,

[0015] According to one aspect of the present invention, a pogo pin pickup system is provided comprising: a vision camera unit (110) for acquiring an image of a pogo pin (P); a picker unit (120) having an adsorption nozzle (121) in which negative pressure is formed; a driving unit (130) for moving the picker unit (120); a vacuum generator (140) for providing vacuum pressure to the adsorption nozzle (121); a flow sensor (150) for measuring a vacuum flow rate inside the picker unit (120); and a control unit (200) for calculating a pickup position coordinate of the pogo pin (P) based on image data acquired from the vision camera unit (110), controlling the driving unit (130) and the vacuum generator (140) so that the picker unit (120) grips the pogo pin (P) while maintaining a preset separation distance from the pogo pin (P) based on the pickup position coordinate, and determining a gripping state based on flow rate data measured by the flow sensor (150).

[0017] The control unit (200) can control the movement trajectory of the drive unit (130) by selecting one of a plurality of pickup motions according to the state of the pogo pin (P) or user input, and the plurality of pickup motions may include a vertical downward motion, a horizontal scan motion, and a lateral sweeping motion.

[0019] According to another aspect of the present invention, a pogo pin pickup method is provided, comprising: a step of acquiring an image of a pogo pin (P) through a vision camera unit (110); a step in which a control unit (200) calculates the pickup position coordinates of the pogo pin (P) based on the acquired image data; a step in which the control unit (200) controls a driving unit (130) according to a selected pickup motion to move a picker unit (120) equipped with an adsorption nozzle (121) to the pickup position coordinates while maintaining a preset separation distance from the pogo pin (P); a step in which a vacuum generator (140) provides vacuum pressure to the adsorption nozzle (121) to adsorb the pogo pin (P) in a non-contact state; and a step in which the control unit (200) determines whether the picking is successful based on vacuum flow rate data measured by a flow sensor (150) while raising the picker unit (120).

[0021] These means of solution will become more apparent from the following detailed description of the invention based on the attached drawings.

[0023] Prior to this, terms and words used in this specification and claims should not be interpreted in their ordinary and dictionary meanings, but should be interpreted in a meaning and concept consistent with the technical spirit of the invention, based on the principle that the inventor can appropriately define the concept of the terms to best describe his invention. Effects of the invention

[0025] According to the present invention, three types of hybrid motions—vertical descent, horizontal scanning, and lateral sweeping—can be selectively applied depending on the state of the pogo pin, thereby enabling adaptive gripping of pogo pins in various arrangement states.

[0026] In addition, non-contact gripping verification through vacuum flow analysis minimizes mechanical stress applied to the pogo pin, thereby preventing deformation and scratching of sensitive parts.

[0027] In addition, by controlling the gap of 20 to 100 µm at the end of the Z-axis, it is possible to prevent device damage while ensuring a high gripping success rate, and through the automatic retry function in case of gripping failure, equipment downtime can be minimized and UPH (Unit Per Hour) can be maximized.

[0028] Furthermore, by processing the three-way cross pattern on the bottom surface of the basket and applying an independent frame structure, positional changes of the pogo pins caused by equipment vibration can be effectively prevented. Brief explanation of the drawing

[0030] FIG. 1 is an overall system block diagram of a pogo pin pickup system according to an embodiment of the present invention. FIG. 2 is a conceptual diagram of the operation of Motion 1 (vertical downward motion) according to an embodiment of the present invention. FIG. 3 is a conceptual diagram of the operation of Motion 2 (horizontal scan motion) according to an embodiment of the present invention. FIG. 4 is a conceptual diagram of the operation of Motion 3 (lateral sweeping motion) according to an embodiment of the present invention. FIG. 5 is an overall control flow diagram of a pogo pin pickup method according to an embodiment of the present invention. FIG. 6 is a comparative diagram of pattern processing of the bottom surface of a basket according to an embodiment of the present invention. FIG. 7 is a conceptual diagram of the separation structure of a main frame and an independent frame according to an embodiment of the present invention. Specific details for implementing the invention

[0031] The unique aspects and specific technical features of the present invention will become more apparent from the following specific details and embodiments associated with the accompanying drawings. It should be noted that in assigning reference numerals to the components of each drawing in this specification, the same components are given the same reference numeral whenever possible, even if they are shown in different drawings. Furthermore, in describing an embodiment of the present invention, if it is determined that a detailed description of related known components or functions could obscure the essence of the invention, such detailed description is omitted.

[0032] In addition, terms such as first, second, A, B, (a), (b), etc., may be used when describing the components of the present invention. These terms are intended merely to distinguish the components from other components, and the essence, order, or sequence of the components is not limited by such terms. Where it is stated that a component is "connected," "combined," or "connected" to another component, it should be understood that while the component may be directly connected or connected to the other component, another component may also be "connected," "combined," or "connected" between each component.

[0034] Hereinafter, an embodiment of the present invention will be described in detail with reference to the attached drawings as follows.

[0036] Referring to FIG. 1, a pogo pin pickup system according to one embodiment of the present invention includes a vision camera unit (110), a picker unit (120), a driving unit (130), a vacuum generator (140), a flow sensor (150), and a control unit (200).

[0037] The vision camera unit (110) acquires an image of a pogo pin (P) loaded in a basket (310) of a feeder unit (300) and transmits it to a control unit (200).

[0038] The picker unit (120) is equipped with an adsorption nozzle (121) in which negative pressure is formed inside, and adsorbs and grips the pogo pin (P) by vacuum pressure provided from the vacuum generator (140).

[0039] The driving unit (130) moves the picker unit (120) in the X-axis, Y-axis, and Z-axis directions according to the control signal of the control unit (200).

[0040] The vacuum generator (140) includes an ejector and a valve, and provides vacuum pressure to the suction nozzle (121) of the picker unit (120) under the control of the control unit (200) to physically adsorb the pogo pin (P).

[0041] The flow sensor (150) measures the vacuum flow rate inside the picker unit (120) in real time and feeds the flow rate data to the control unit (200).

[0042] The control unit (200) analyzes image data received from the vision camera unit (110) to calculate the precise position coordinates of the pogo pin (P), selects one of a plurality of pickup motions (motion 1, motion 2, motion 3) according to the state of the pogo pin (P) or user input to control the movement trajectory of the drive unit (130), and analyzes the rate of change of flow rate data received from the flow sensor (150) to determine the success or failure of gripping.

[0043] In this embodiment, the pogo pin (P) is described as an example of a pogo pin, but is not limited thereto and can be universally applied to micro-components having various diameters and shapes.

[0044] The core technical features of the present invention are as follows. First, as a precision control range, the picker unit (120) performs operations while maintaining a fine gap of 50 to 100 μm on the pogo pin (P). Second, as a selective motion, three types of correction motions—vertical descent, forward (horizontal scan), and side (lateral sweeping)—are selectively performed depending on the state of the pogo pin (P). Third, as a real-time verification, non-contact gripping reliability is ensured through vacuum flow analysis by the flow sensor (150).

[0046] Referring to FIG. 2, Motion 1 is a shortest path gripping mechanism through alignment of the top of the vision coordinates, in which the picker unit (120) is moved to the top of the pickup position coordinates and then descends vertically to grip the pogo pin (P).

[0047] First, the control unit (200) calculates the coordinates of the pogo pin (P) based on the image data acquired by the vision camera unit (110). The control unit (200) controls the driving unit (130) to move the center axis of the picker unit (120) to the position directly above the corresponding coordinates and aligns them, and synchronizes the center axis deviation of the picker unit (120) and the pogo pin (P) within a preset allowable error range.

[0048] Afterward, when an axis alignment completion signal is generated, the control unit (200) controls the Z-axis of the drive unit (130) to lower the picker unit (120) toward the top flange (P1) of the pogo pin (P). At this time, deceleration control is performed until a lowering end point is reached, maintaining a distance of 20 to 100 μm from the pickup position of the top flange (P1).

[0049] Subsequently, when the vacuum generator (140) reaches the downward end point while in a constantly operating state, it remains in a stopped state for a specified time (Delay) to form sufficient negative pressure inside the suction nozzle (121) of the picker unit (120). This is a process that induces the fluid pneumatic signal to reach a stable suction force (vacuum saturation).

[0050] Afterward, after the waiting time ends, the control unit (200) controls the drive unit (130) to vertically raise the picker unit (120) and observes the rate of change of the internal flow rate in real time through the flow sensor (150). If the flow rate is maintained at a state below a set threshold, the gripping is confirmed as successful and proceeds to the next process (transfer and assembly).

[0052] Referring to FIG. 3, Motion 2 is an offset entry and relay gripping mechanism for overcoming front-to-rear position deviation, and is a motion that descends to a virtual entry point spaced rearward from the pickup position coordinates and then grips while moving horizontally in the direction of the pogo pin (P).

[0053] First, when precision gripping is required depending on the type and condition of the pogo pin (P), the control unit (200) creates a virtual entry point at a point 2 to 3 mm behind the recognized pickup position coordinates. The control unit (200) controls the drive unit (130) to move and lower the picker unit (120) to the corresponding offset point to prevent direct collision with the pogo pin (P).

[0054] Afterward, when the set Z-axis working height is maintained after the lowering operation is completed, the control unit (200) controls the drive unit (130) to horizontally advance the picker unit (120) to the pickup position coordinates and activates the vacuum generator (140). The suction nozzle (121) sweeps across the upper surface of the pickup position of the pogo pin (P) as if scanning, thereby linearly expanding the gripping area.

[0055] Afterward, once the horizontal movement of the picker unit (120) is completed, the control unit (200) controls the drive unit (130) to vertically raise the picker unit (120), and checks the flow rate data of the flow sensor (150) in real time during the raising section. It checks whether the state in which the flow rate drops below a set threshold is maintained to finally confirm the gripping reliability.

[0056] Subsequently, when the flow rate data reaches a threshold value and the failure is confirmed, the control unit (200) stops checking the flow sensor (150) and proceeds to the next process. If the change in flow rate is insignificant, it is determined to be a failure and a retry is performed.

[0058] Referring to FIG. 4, Motion 3 is a non-contact suction mechanism through forced correction of left-right position deviation, which is a motion of grasping while moving laterally (sweeping) in the opposite direction after descending to a point eccentric to the left or right from the pickup position coordinates.

[0059] First, when precise gripping and gripping stability are required depending on the type and condition of the pogo pin (P), the control unit (200) sets a point 1 to 2 mm to the left (or right) from the center of the pickup position as the entry point. The control unit (200) controls the drive unit (130) to move the picker unit (120) to the corresponding eccentric position, and then proceeds with precise descent to the set distance.

[0060] Afterward, when the vacuum generator (140) is activated after the lowering operation is completed, the control unit (200) controls the drive unit (130) to perform a horizontal movement (sweeping) of 1 to 2 mm in the opposite direction of the entry point. The suction nozzle (121) is controlled to cross the upper surface of the pickup position of the pogo pin (more specifically, corresponding to the top flange (P1)) and forcibly correct the lateral position error.

[0061] Afterward, once the horizontal sweeping movement of the picker unit (120) is finished, the flow rate data of the flow sensor (150) is checked in real time. The flow rate data is analyzed during the ascent of the picker unit (120) to check whether the pogo pin (more specifically, corresponding to the top flange (P1)) is gripped.

[0062] Afterward, when the gripping is confirmed, the control unit (200) stops checking the flow sensor (150) and proceeds to the next process. Through non-contact sensing, mechanical stress applied to the pogo pin (P) is minimized to ensure gripping reliability.

[0064] Referring to FIG. 5, the overall control flow of the pogo pin pickup method according to the present invention is as follows.

[0065] First, an image of the pogo pin (P) is acquired through the vision camera unit (110), and the control unit (200) analyzes the acquired image data to calculate the pickup position coordinates of the pogo pin (P).

[0066] Next, the control unit (200) selects one of a plurality of pickup motions (motion 1: vertical descent, motion 2: horizontal scan, motion 3: lateral sweeping) according to the state of the pogo pin (P) or user settings. According to the selected motion, the control unit (200) controls the drive unit (130) to move the picker unit (120) to the pickup position of the pogo pin (P).

[0067] Next, the vacuum generator (140) is operated to provide vacuum pressure to the adsorption nozzle (121), and the flow sensor (150) measures the vacuum flow rate and feeds the flow rate data back to the control unit (200).

[0068] At this time, if the flow rate drops below a set threshold (Flow < threshold), the control unit (200) determines that the gripping is successful and proceeds to the next process (transfer and assembly). On the other hand, if the flow rate does not drop to the threshold (Flow > threshold), it determines that the gripping has failed and performs a retry or generates an alarm.

[0070] Referring to FIG. 6, a pattern is processed on the bottom surface of the basket (310) of the feeder unit (300) according to one embodiment of the present invention to prevent the flow of the pogo pin (P).

[0071] Conventionally, a two-way cross pattern was processed on the bottom surface of the basket (310), but there was a problem where the pogo pin (P) moved along the gaps in the pattern due to vibrations generated during equipment operation. In the present invention, this is improved by applying a three-way cross pattern. The three-way pattern adds a horizontal direction to the existing two diagonal directions, and the number of intersection points of the pattern increases, effectively blocking the movement path of the pogo pin (P).

[0072] As an example of pattern processing dimensions, the pitch of the pattern may be 1.300 mm, the inner spacing of the pattern may be 1.058 mm, the pattern depth may be 0.242 mm, the pattern width may be 0.400 mm, and the diameter (Ø) of the circular part of the pattern may be 1.100 mm. However, the above dimensions may be appropriately changed depending on the size and shape of the pogo pin.

[0074] Referring to FIG. 7, in one embodiment of the present invention, the main frame (400) on which the vision camera unit (110), picker unit (120), and driving unit (130) are installed, and the independent frame (500) on which the feeder unit (300) is installed are structurally separated.

[0075] When the equipment is operated, vibration is generated in the main frame (400) due to the high-speed operation of the drive unit (130). When this vibration is transmitted to the feeder unit (300), the position of the pogo pin (P) inside the basket (310) changes slightly, causing the deviation between the vision recognition coordinates and the actual position to increase. To prevent this, the feeder unit (300) is installed on an independent frame (500) that is physically separated from the main frame (400) to block the transmission of vibration.

[0076] The independent frame (500) is independently supported on the floor surface by having a separate leveling foot, and is designed so that there is no rigid connection between it and the main frame (400). This significantly improves the positional stability of the pogo pin (P) within the basket (310) of the feeder unit (300), thereby improving the accuracy of vision recognition and the success rate of grasping.

[0078] Although the present invention has been described in detail through an exemplary embodiment, this is intended to specifically explain the invention, and the pogo pin pickup system and method according to the present invention are not limited thereto. Furthermore, terms such as "include," "compose," or "have," as described above, mean that the corresponding component may be inherent unless specifically stated otherwise; thus, they should be interpreted as allowing for the inclusion of additional components rather than excluding other components. All terms, including technical or scientific terms, unless otherwise defined, have the same meaning as generally understood by those skilled in the art to which the present invention pertains.

[0079] Furthermore, the foregoing description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and variations within the scope of the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are intended to explain, not limit, the technical concept of the present invention, and the scope of the technical concept of the present invention is not limited by such embodiments. The scope of protection of the present invention shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present invention. Explanation of the symbols

[0081] 110: Vision Camera Unit 120: Picker Unit 121: Suction Nozzle 130: Drive Unit 140: Vacuum Generator 150: Flow Sensor 200: Control Unit 300: Feeder Unit 310: Basket 400: Main Frame 500: Independent Frame P: Pogo Pin P1: Top Flange

Claims

Claim 1 A vision camera unit for acquiring an image of a pogo pin; a picker unit provided with an adsorption nozzle in which negative pressure is formed; a driving unit for moving the picker unit; a vacuum generator for providing vacuum pressure to the adsorption nozzle; a flow sensor for measuring the vacuum flow rate inside the picker unit; and a control unit for calculating pickup position coordinates for picking up the pogo pin based on image data acquired from the vision camera unit, controlling the driving unit and the vacuum generator so that the picker unit grips the pogo pin while maintaining a preset separation distance from the pogo pin at the pickup position coordinates, and determining the gripping state based on flow rate data measured by the flow sensor. A pogo pin pickup system comprising: a control unit that controls the movement trajectory of a drive unit by selecting one of a plurality of pickup motions according to the state of the pogo pin or user input, wherein the plurality of pickup motions include a vertical descent motion that moves to the upper end of the pickup position coordinates, a horizontal scan motion that moves to a virtual entry point spaced rearward from the pickup position coordinates and then moves horizontally forward toward the pickup position coordinates, and a lateral sweeping motion that moves to a point eccentrically to the left or right from the pickup position coordinates and then moves horizontally in the opposite direction of the eccentric point relative to the pickup position coordinates, wherein when the vertical descent motion is selected, the control unit aligns the center axis of the picker unit to the upper end of the pickup position coordinates and then vertically descends it toward the pogo pin, stops the drive unit at a descending end point maintaining a distance of 20 µm to 100 µm from the pogo pin, and then stays there for a predetermined waiting time to control the vacuum pressure inside the adsorption nozzle to become saturated. Claim 2 delete Claim 3 delete Claim 4 A pogo pin pickup system according to claim 1, wherein the control unit, when the horizontal scan motion is selected, sets a point spaced rearward by a first predetermined distance from the pickup position coordinates as a virtual entry point, lowers the picker unit to the virtual entry point, and controls the picker unit to move horizontally forward toward the pickup position coordinates while the vacuum generator is in operation. Claim 5 A pogo pin pickup system according to claim 1, wherein the control unit, when the lateral sweeping motion is selected, sets a point eccentrically offset to the left or right from the pickup position coordinates as an entry point, lowers the picker unit to the entry point, and controls the picker unit to move horizontally in the opposite direction of the entry point relative to the pickup position coordinates while the vacuum generator is in operation. Claim 6 A pogo pin pickup system according to claim 1, wherein the control unit raises the picker unit after the stroke of the picker unit for gripping the pogo pin is completed, and determines that the gripping is successful if the vacuum flow rate obtained from the flow sensor is maintained at a state below a preset threshold during the section where the picker unit is raised. Claim 7 A pogo pin pickup system according to claim 1, further comprising a feeder unit having a basket on which the pogo pins are loaded, wherein a three-way cross pattern is processed and formed on the inner bottom surface of the basket to prevent the flow of the pogo pins. Claim 8 A pogo pin pickup system according to claim 7, further comprising a main frame on which the vision camera unit, the picker unit, and the drive unit are installed; wherein the feeder unit is installed on an independent frame structurally separated from the main frame to prevent the transmission of vibrations of the main frame. Claim 9 A step of acquiring an image of a pogo pin through a vision camera unit; a step in which a control unit calculates pickup position coordinates for picking up the pogo pin based on the acquired image data; a step in which the control unit controls a driving unit according to a selected pickup motion to move a picker unit equipped with an adsorption nozzle to the pickup position coordinates while maintaining a preset separation distance from the pogo pin; a step in which a vacuum generator provides vacuum pressure to the adsorption nozzle to adsorb the pogo pin in a non-contact state; The method includes a step in which the control unit determines whether gripping is successful based on vacuum flow rate data measured by a flow sensor while raising the picker unit; and the step of moving the picker unit includes a step of selecting one of a plurality of pickup motions according to the state of the pogo pin or user input, wherein the plurality of pickup motions include a vertical descent motion moving to the upper side of the pickup position coordinates, a horizontal scan motion moving to a virtual entry point spaced rearward from the pickup position coordinates and then moving horizontally forward toward the pickup position coordinates, and a lateral sweeping motion moving to a point eccentrically to the left or right from the pickup position coordinates and then moving horizontally in the opposite direction of the eccentric point relative to the pickup position coordinates, wherein if the selected pickup motion is the vertical descent motion, the central axis of the picker unit is aligned to the upper side of the pickup position coordinates and then vertically lowered toward the pogo pin, and then stopped at a descent end point maintaining the distance of 20 µm to 100 µm from the pogo pin, and then remained there for a predetermined waiting time to control the vacuum pressure inside the adsorption nozzle to saturate. Pogo pin pickup method. Claim 10 delete Claim 11 A pogo pin pickup method according to claim 9, wherein the step of determining whether the gripping is successful comprises: a step of observing in real time the rate of change of vacuum flow rate obtained from the flow sensor in the section where the picker unit rises; and a step of determining the gripping success and proceeding to the next process if the vacuum flow rate drops below a preset threshold and is maintained, and determining the gripping failure and performing a retry or generating an alarm if the drop in the vacuum flow rate does not reach the threshold.

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