Pin control device, pin insertion device, residual pin removal device, pin insertion method, and residual pin removal method

Abstract

The present application provides a pin control device, a pin insertion device, a residual pin removal device, a pin insertion method, and a residual pin removal method that can efficiently insert a pin into an insertion portion of a pin receiving member having an insertion portion for inserting a pin, and / or can remove a residual pin that exists without being inserted into the insertion portion. A pin control device 1 includes a support portion 2 that supports one or more pin receiving members M in a flat plate shape, the pin receiving members M having a plurality of insertion portions H, and a magnet portion 3 that generates a magnetic field. By relatively sliding at least either the support portion 2 or the magnet portion 3 relative to the other, the posture and position of at least a portion of a plurality of pins P placed on the pin receiving members M are changed.

Description

TECHNICAL FIELD

[0001] The present application relates to a pin control device capable of inserting a pin into an insertion portion and / or removing a residual pin remaining on the insertion portion by controlling a plurality of pins placed on a pin receiving member having an insertion portion with an insertion pin, a pin insertion device and a pin insertion method for inserting a pin into an insertion portion of a pin receiving member, and a residual pin removal device and a residual pin removal method for removing a residual pin remaining on the insertion portion. BACKGROUND

[0002] As prior art of the following Patent Document 1, there is disclosed a method for inserting a core member of a pin body as a pin from a first surface side of a wafer for a base substrate and arranging the core member of the pin body inside a through hole, while oscillating the wafer for a base substrate and oscillating in a circumferential direction.

[0003] However, in this method, since the pin body cannot be quickly and surely inserted into the through hole, there is disclosed in Patent Document 1 a method as follows. By relatively scanning a magnet arranged on the lower surface side of the first substrate and the first substrate, the pin body corresponding to the pin is moved together with the magnet while being attracted by the magnet, and when the pin body passes through the opening portion of the recess portion as an insertion portion, the core member of the pin body is inserted into the inside of the recess portion by being attracted by the magnet via the recess portion.

[0004] PRIOR ART DOCUMENT

[0005] PATENT DOCUMENT

[0006] Patent Document 1: Japanese Patent Laid-Open No. 2011-193289 SUMMARY

[0007] PROBLEMS TO BE SOLVED BY THE INVENTION

[0008] However, in the technology disclosed in Patent Document 1, the pin cannot be efficiently inserted into the insertion portion of the pin receiving member in the form of a flat plate provided with an insertion portion for transferring the pin. Or, after the pin is inserted into the insertion portion of the pin receiving member, the residual pin remaining on the pin receiving member without being inserted into the insertion portion cannot be efficiently removed.

[0009] Therefore, an object of the present application is to provide a pin control device that can efficiently insert a pin into an insertion portion of a pin receiving member having an insertion portion into which the pin is inserted and / or can remove a residual pin that exists without being inserted into the insertion portion. An object of the present application is to provide a pin insertion device and a pin insertion method that can efficiently insert a pin into an insertion portion provided in a flat plate-shaped pin receiving member. An object of the present application is to provide a residual pin removal device and a residual pin removal method that efficiently remove a pin that remains on a pin receiving member. Other objects are described in detail in embodiments of the present application.

[0010] Means for solving the problem

[0011] One aspect of the present application is a pin control device that includes a support portion that supports one or more pin receiving members that are flat plate-shaped and have a plurality of insertion portions, and a magnet portion that generates a magnetic field, and that changes the posture and position of at least a portion of a plurality of pins placed on the pin receiving members by relatively sliding at least either of the support portion and the magnet portion with respect to the other.

[0012] One aspect of the present application is a pin insertion device that includes a support portion that supports one or more pin receiving members that are flat plate-shaped and have a plurality of insertion portions, and a magnet portion that simultaneously generates a first direction magnetic field in a direction that intersects the pin receiving members and a second direction magnetic field in a direction that intersects the pin receiving members and is opposite to the first direction, and that changes the posture and position of at least a portion of a plurality of pins placed on the pin receiving members by relatively moving a boundary between a region in which the first direction magnetic field is generated and a region in which the second direction magnetic field is generated along the pin receiving members, and a portion of the plurality of pins is inserted into a corresponding insertion portion.

[0013] One aspect of the present application is a residual pin removal device that is disposed in proximity to a pin insertion device that includes a support portion that supports one or more pin receiving members that are flat plate-shaped and have a plurality of insertion portions, and that changes the posture and position of at least a portion of a plurality of pins placed on the pin receiving members by relatively moving a boundary between a region in which the first direction magnetic field is generated and a region in which the second direction magnetic field is generated along the pin receiving members, and a portion of the plurality of pins is inserted into a corresponding insertion portion. The residual pin removal device is provided in proximity to the pin insertion device in a manner that forms a substantially same plane as the pin receiving members. The residual pin removal device removes a residual pin that is not inserted into the insertion portion from the pin receiving members by sliding a magnet portion that generates a magnetic field from below the pin receiving members to below the plate portion or from above the pin receiving members to above the plate portion, moving the residual pin on the pin receiving members from the pin receiving members to the plate portion, and removing the residual pin from the pin receiving members.

[0014] One aspect of the present application is a pin insertion method in which, with respect to one or more pin receiving members that are flat plate-shaped and have a plurality of insertion portions, a magnet portion that generates a first direction magnetic field in a direction intersecting the pin receiving member and a magnet portion that generates a second direction magnetic field in a direction intersecting the pin receiving member and opposite to the first direction magnetic field are arranged; and by relatively moving the boundary between the region that generates the first direction magnetic field and the region that generates the second direction magnetic field along the pin receiving member, the posture of at least a portion of a plurality of pins placed on the pin receiving member is changed, and a portion of the plurality of pins is respectively inserted into the corresponding insertion portion.

[0015] One aspect of the present application is a residual pin removal method in which, by moving a magnet portion arranged above or below either of one or more pin receiving members that are flat plate-shaped, a residual pin that is not inserted into a plurality of insertion portions and is located on the pin receiving member is removed from the pin receiving member.

[0016] Effects of the Invention

[0017] According to the present application, pins can be efficiently inserted into insertion portions provided on a pin receiving member, and residual pins on the pin receiving member can be efficiently removed. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a diagram showing an overview of a pin control device of a first embodiment of the present application, the upper stage is a side view, and the lower stage is a plan view.

[0019] Figure 2 is a diagram showing an overview of a pin insertion device of a second embodiment of the present application.

[0020] Figure 3 is a diagram for explaining Figure 2 a pin insertion method of the pin insertion device shown in the drawing.

[0021] Figure 4A is a diagram showing magnetic field lines when a magnet portion is composed of a magnet including a first region and a second region, and the magnetization directions of the first region and the second region are opposite.

[0022] Figure 4B is a diagram showing magnetic field lines when a magnet portion is composed of a magnet including a first region and a second region, and the magnetization directions of the first region and the second region are the same.

[0023] Figure 4C is a diagram showing magnetic field lines when a magnet portion is composed of one magnet that is magnetized in one direction and in one direction.

[0024] Figure 5This is an explanatory diagram used to study the pin transfer probability.

[0025] Figure 6A This is a top view showing the first example of the configuration of the insertion part of the connector storage component and its dimensional relationship with the magnet part when viewed from above.

[0026] Figure 6B This is a top view showing the second example of the configuration of the insertion part of the connector storage component and its dimensional relationship with the magnet part when viewed from above.

[0027] Figure 7A This is a diagram schematically showing the configuration of the magnet portion in the pin insertion device according to the third embodiment of the present invention.

[0028] Figure 7B It is a display Figure 7A A diagram showing how an electromagnet is used.

[0029] Figure 7C It is Figure 7A The diagram shows the electromagnets in the magnet section arranged in a row or column.

[0030] Figure 7D It is a modal display Figure 7A A diagram showing the changes in the magnetic field of the magnet section.

[0031] Figure 8A This is a top view showing an outline of the pin insertion device according to the fourth embodiment of the present invention.

[0032] Figure 8B This is a partial cross-sectional view showing an outline of the pin insertion device according to the fourth embodiment of the present invention.

[0033] Figure 8C yes Figure 8B A magnified portion of the image.

[0034] Figure 8D yes Figure 8B The diagram shows a schematic representation of the magnet section.

[0035] Figure 9A This is a perspective view showing the pin insertion device according to the fifth embodiment of the present invention.

[0036] Figure 9B It is a display Figure 9A A diagram showing the main components of the pin insertion device.

[0037] Figure 10 This is a diagram showing the residual pin removal steps of the residual pin removal device according to the sixth embodiment of the present invention.

[0038] Figure 11is a graph showing the result of measuring the magnetic flux density of one magnet constituting the magnet section used.

[0039] Figure 12 is a graph for explaining the discrimination method of the polarity of the magnet section used.

[0040] Figure 13 is a graph showing the strength of the magnetic force of the divided section of the magnet section used.

[0041] Figure 14A is a graph showing the image of the pin receiving member after the transfer of the pin with respect to the transfer result when two magnets are connected to constitute the magnet section.

[0042] Figure 14B is a graph showing the image of the pin receiving member after the transfer of the pin with respect to the transfer result when one magnet is used to constitute the magnet section.

[0043] Figure 15 is an explanatory graph for explaining the pin insertion method used in the comparative example. DETAILED DESCRIPTION

[0044] Hereinafter, several embodiments of the present application will be explained in detail with reference to the drawings. The drawings show one preferred embodiment of the present application, and a part of the constitution of each embodiment can be changed, deleted, or added within the scope not departing from the gist of the present application. Alternatively, the explanation of one embodiment of the present application explained below can be applied to other embodiments.

[0045] [1st Embodiment]

[0046] The outline of the pin control device of the 1st embodiment of the present application will be explained with reference to Figure 1 the upper stage shows a side view, and the lower stage shows a plan view. The pin control device 1 is provided with a support section 2 supporting a plurality of pin receiving members M, and a magnet section 3 disposed below the support section 2 and generating a magnetic field. The pin receiving member M is a flat plate, and has a plurality of insertion sections H which are through or not through. As shown by the partial enlargement of one pin receiving member M by the bubble frame in plan view, the pin receiving member M is provided with a plurality of units U, and in each unit U, the insertion sections H are arranged in each of the X-axis direction and the Y-axis direction and formed into a rectangular ring. Such a rectangular ring can be called a transfer range area. The pin receiving member M can be provided with only one unit U, for example, as shown in Figure 8A the upper stage shows a side view, and the lower stage shows a plan view. The pin control device 1 is provided with a support section 2 supporting a plurality of pin receiving members M, and a magnet section 3 disposed below the support section 2 and generating a magnetic field. The pin receiving member M is a flat plate, and has a plurality of insertion sections H which are through or not through. As shown by the partial enlargement of one pin receiving member M by the bubble frame in plan view, the pin receiving member M is provided with a plurality of units U, and in each unit U, the insertion sections H are arranged in each of the X-axis direction and the Y-axis direction and formed into a rectangular ring. Such a rectangular ring can be called a transfer range area. The pin receiving member M can be provided with only one unit U, for example, as shown in Figure 1The pin receiving member M shown is circular in plan view, but can also be rectangular in plan view. The support portion 2 supports four pin receiving members M in the illustrated configuration, but the number is not limited to that shown and can be applied to at least one pin receiving member M.

[0047] The magnet portion 3 is disposed below the support portion 2 as shown, and is disposed in a moving mechanism 4 that can slide along the flat one or more pin receiving members M. The magnet portion 3 is configured to generate a magnetic field intersecting the upper surface of the pin receiving member M, preferably in a manner substantially orthogonal to the insertion portion H. For example, the magnet portion 3 can be composed of one permanent magnet, or can be composed of a plurality of permanent magnets as in the embodiment described later. Alternatively, it can be composed of a plurality of electromagnets as in the embodiment described later. Figure 1

[0048] In the configuration shown, the moving mechanism 4 is composed of an X-Y stage composed of a rail 4a extending in the X-axis direction and a rail 4b extending in the Y-axis direction. The magnet portion 3 can be moved in the X-axis direction and the Y-axis direction, or can be moved in the X-axis direction and the Y-axis direction simultaneously, so that the magnet portion 3 is moved obliquely with respect to the X-axis direction or the Y-axis direction in the XY plane, or is moved in a manner to trace a circular or elliptical arc. The moving mechanism 4 can be configured to be able to adjust the position of the magnet portion 3 with respect to the Z-axis direction of the pin receiving member M, or can be configured other than that. Figure 1 The pin control device 1 can change the posture and position of at least a portion of the plurality of pins P placed on the pin receiving member M by relatively sliding the magnet portion 3 with respect to the support portion 2, more specifically with respect to the pin receiving member M, and can insert the pins P into each of the insertion portions H of the pin receiving member M. The moving mechanism 4 is configured so that the magnet portion 3 can slide over the entire area below the support portion 2, and can slide over the entire area below the plate portion 5 described later, for example, the rails 4a, 4b have a specified length.

[0049] In the pin control device 1, the plate portion 5 is preferably disposed so as to be close to the pin receiving member M. The magnet portion 3 can be slid from below the pin receiving member M to below the plate portion 5 by the moving mechanism 4. By this, residual pins that are not inserted into the insertion portion H and exist on the pin receiving member M can be removed. By connecting the suction pipe 7 or other connection unit to the plate portion 5 by the suction device 6, the residual pins on the plate portion 5 can be removed completely by the suction device 6. By connecting the suction pipe 7 or other connection unit to the plate portion 5 instead of the support portion 2 to suction the residual pins, the influence on the pins P that have been inserted into the insertion portion H of the pin receiving member M is reduced as much as possible.

[0050]

[0051] ​​Here, the magnet portion 3 can also be configured to be slidable along the pin receiving member M above the support portion 2 and the plate portion 5, instead of being configured to be slidable along the pin receiving member M below the support portion 2 and the plate portion 5. In any configuration, it is not excluded that a magnetic field of a magnet other than the magnet portion 3 acts on the pin receiving member M. The plate portion 5 is preferably provided so as to form the same plane as the upper surface of the pin receiving member M. Here, "can form the same plane as the upper surface of the pin receiving member M" does not exclude a step difference between the upper surface of the pin receiving member M and the upper surface of the plate portion 5, as long as the pin P can at least move from the upper surface of the pin receiving member M to the upper surface of the plate portion 5. A side wall 8 is provided around the plate portion 5 and the support portion 2, and is configured so that the pin P does not fall from the plate portion 5 and the support portion 2 to the outside.

[0052] [2nd Embodiment]

[0053] As the 2nd embodiment of the present application, a pin insertion device applicable to pin insertion in the pin control device 1 of the 1st embodiment is described. Figure 2 The pin insertion device 10 of the 2nd embodiment shown is provided with a support portion 11 and a magnet portion 15. The support portion 11 supports one or a plurality of pin receiving members M in a flat plate shape, and the pin receiving member M has a plurality of insertion portions H. The support portion 11 is configured to surround a setting region 12 for setting the pin receiving member M in a rectangular shape or a circumferential shape such as a ring shape by a peripheral wall 13, and is configured to be open on the upper surface side of the support portion 11, so that the pin P can be put in (see FIG. 2). Figure 4A ).

[0054] The magnet portion 15 is configured to be slidable along the pin receiving member M below the pin receiving member M. The magnet portion 15 is configured to at least approach a 1st region 16 and a 2nd region 17, the 1st region 16 generates a magnetic field in a 1st direction intersecting the pin receiving member M, and the 2nd region 17 generates a magnetic field in a 2nd direction opposite to the 1st direction intersecting the pin receiving member M. In the 1st region 16 and the 2nd region 17, at least the magnetic fields are generated at the same time. The 1st region 16 is configured by a 1st magnet 16a generating a magnetic field in the 1st direction, and the 2nd region 17 is configured by a 2nd magnet 17a generating a magnetic field in the 2nd direction. The 1st region 16 and the 2nd region 17 are preferably magnetized in parallel along the depth direction of the insertion portion H (the insertion direction of the pin P) at the center and in the vicinity thereof, and the magnetization direction of the 1st region 16 is opposite to that of the 2nd region 17. In the 1st region 16 and the 2nd region 17, the magnetic field is generated in the direction intersecting the pin receiving member M. Figure 2In the case shown, the first region 16 of the magnet portion 15 is magnetized in the direction of the arrow shown by Ml, and the second region 17 of the magnet portion 15 is magnetized in the direction of the arrow shown by M2. The first region 16 and the second region 17 of the magnet portion 15 are juxtaposed at the boundary 18, and are close to or adjacent to each other depending on the case. A non-magnetic material can be provided between the first region 16 and the second region 17. This point is also the same in other embodiments.

[0055] The magnet portion 15 is movable in at least one direction (X-axis direction) by being disposed on, for example, an XY stage as the moving mechanism 19, and is movable not only in one direction but also, for example, in a direction inclined with respect to the X-axis direction or a direction inclined with respect to the Y-axis direction, that is, in an arbitrary direction without changing the distance from the Z-axis direction of the pin receiving member M. Alternatively, it can be disposed on a rotor in a manner of tracing a circular arc or an elliptical arc. Thus, the magnet portion 15 is slidable in parallel with the face of the pin receiving member M.

[0056] Figure 3 is a diagram for explaining Figure 2 the pin insertion method of the pin insertion apparatus 10 shown. The pin insertion method is to dispose one pin receiving member M on the setting region 12 of the support portion 11 in a not-shown STEP 0, and to drop a pin P (not shown in the drawing) into the pin receiving member M or into the opening on the upper surface side of the support portion 11. The number of pins P can be more than the number of insertion portions H of the pin receiving member M. Figure 3

[0057] Next, in STEP 1, the magnet portion 15 is disposed on the side opposite to the pin receiving member M with the support portion 11 interposed therebetween. In the case shown, the magnet portion 15 is disposed in a manner that the boundary 18 and the second region 17 of the magnet portion 15 do not coincide with the pin receiving member M in plan view. At this time, it is not excluded that the first region 16 of the magnet portion 15 does not coincide with the pin receiving member M. In this state, the magnet portion 15 is moved by the moving mechanism 19 (not shown. Refer to Figure 3 ) along the face of the pin receiving portion M and in a manner that the first region 16 and the second region 17 of the magnet portion 15 coincide with the pin receiving portion M in plan view. STEP 2 shows this state. Figure 2 In STEP 2, next, the magnet portion 15 is moved by the moving mechanism 19 along the face of the pin receiving member M and in a manner that the first region 16 and the boundary 18 of the magnet portion 15 do not coincide with the pin receiving member M in plan view. STEP 3 shows this state. At this time, it is not excluded that the second region 17 of the magnet portion 15 does not coincide with the pin receiving member M.

[0058]

[0059] ​​In STEP 3, the magnet portion 15 is moved by the moving mechanism 19 in a direction opposite to the surface of the pin receiving member M, and in a manner that the first region 16 and the second region 17 in the magnet portion 15 coincide with the pin receiving member M in a plan view. STEP 4 shows this state.

[0060] In STEP 4, then, the magnet portion 15 is moved by the moving support 19 in a direction opposite to the surface of the pin receiving member M, and in a manner that the boundary 18 and the second region 17 of the magnet portion 15 do not coincide with the pin receiving member M. STEP 1 shows this state. At this time, the first region 16 of the magnet portion 15 is not excluded from not coinciding with the pin receiving member M.

[0061] Thus, the operation from STEP 1 through STEP 4 to STEP 1 is repeated a predetermined number of times. By this, the pins P are inserted into the insertion portions H. The reason for this is described below.

[0062] Figure 4A is a view showing the magnetic lines of force when the magnet portion 15 is composed of a magnet including the first region 16 and the second region 17, and the magnetization directions of the first region 16 and the second region 17 are opposite. The same or corresponding components as those shown in Figure 2 and Figure 3 are given the same reference numerals and description thereof is omitted.

[0063] Since the magnetization Ml of the first region 16 and the magnetization M2 of the second region 17 are in the direction along the insertion portions H, the magnetic lines of force are formed from the first region 16 and the second region 17 toward the upper side. Since the magnetization directions of the first region 16 and the second region 17 are opposite in the vicinity of the boundary 18, the magnetic lines of force are bent from the vicinity of one side toward the vicinity of the other side in the vicinity of the boundary 18. Therefore, above the boundary 18, the pins P are parallel to the direction of the bent magnetic lines of force, and thus the pins P above the boundary 18 cross the up-and-down direction (depth direction) of the insertion portions H, and are parallel to the surface of the pin receiving member M. Thus, since the pins P are inclined above the boundary 18 in a direction different from the vertical direction, the pins P are easily inserted into the insertion portions H by the magnetic force.

[0064] In the second embodiment of the present application, by sliding the magnet portion 15 along the surface of the pin receiving member M, the bent portion of the magnetic lines of force slides due to the sliding of the boundary 18, and thus the pins P change the posture in each insertion portion H due to the influence of the magnetic field. Therefore, for example, the pins P at a certain position can change the posture in a standing state, a horizontal state, and a standing state. By this, the pins P are transferred to the insertion portions H of the pin receiving member M. By the sliding of the magnet portion 15, the pins P at a certain position are moved in the direction in which the magnet portion 15 slides.

[0065] In Figure 4AIn this case, although the magnet portion 15 is made to slide while the pin receiving member M and the support portion 11 are fixed, the pin receiving member M can be made to slide while the magnet portion 15 is fixed, or the support portion 11, the pin receiving member M, and the magnet portion 15 can be made to slide so that the boundary 18 of the magnet portion 15 relatively slides with respect to the pin receiving member M. In this way, the boundary 18 between the region in which the magnetic field of the first orientation is generated (the first region 16 in Figure 4A ) and the region in which the magnetic field of the second orientation is generated (the second region 17 in Figure 4A ) relatively moves along the surface of the pin receiving member M. As a result, the posture and position of at least a part of the plurality of pins P placed on the pin receiving member M change, and a part of the plurality of pins P are respectively inserted into the corresponding insertion portions H.

[0066] Figure 4B is a diagram showing the magnetic lines of force of the magnet portion 25 in the first comparative form, which is composed of a magnet including a first region 26 and a second region 27, and in which the magnetization orientations of the first region 26 and the second region 27 are the same. In the magnet portion 25, the first region 26 and the second region 27 are close to each other, and both the first region 26 and the second region 27 are in the direction of the insertion portion H, unlike the magnet portion 25, the direction and orientation of the magnetization Ml of the first region 26 in the magnet portion 25 are the same as the direction and orientation of the magnetization M2 of the second region 27. The first region 26 and the second region 27 in the magnet portion 25 are juxtaposed at the boundary 28. Figure 4A

[0067] In this form, as in the magnetic lines of force of the magnet portion 25 shown in the mode, on the pin receiving member M side of either of the first region 26 and the second region 27 across the boundary 28, the magnetic lines of force all cross the pin receiving member M, almost orthogonally. Therefore, if the influence of both ends of the magnet portion 25 is not considered, even if the magnet portion 25 is made to slide in parallel along the surface of the pin receiving member M, the pins P remain in the upright state in the orientation of the magnetic field. Therefore, even if the magnet portion 25 is made to slide, the posture of the pins P cannot be changed, but only shifted in the upright state, and the transfer efficiency of the pins P to the insertion portions is not improved.

[0068] Figure 4C is a diagram showing the magnetic lines of force of the magnet portion 35 when the magnet portion 35 is composed of one magnet magnetized in one direction and orientation. Since the magnetic lines of force emitted from the end portion of the magnet portion 35 return in a relatively small loop, a region in which the pins P are horizontal is generated. However, the magnetic flux density of the end portion of the magnet portion 35 and its vicinity is lower than the boundary and its vicinity shown in Figure 4A . Even if the magnet portion 35 is made to slide in parallel along the pin receiving member M, the posture changes end in the upright state (vertical state) and the horizontal state (horizontal state), and thus the insertion efficiency is poor. Therefore, it is not good.

[0069] Here, in Figure 2 and Figure 3 ​In the illustrated state, the magnet portion 15 is composed of a magnet (e.g., a permanent magnet) for the first region 16 and another magnet (e.g., a permanent magnet) for the second region 17, and the first magnet and the second magnet can be integrated by the attractive force of different poles.

[0070] On the contrary, in Figure 2 and Figure 3 the illustrated state, the magnet portion 15 can be composed of any one of the magnets for the first region 16 and the second region 17. Alternatively, the magnet portion 15 can be composed of three or more regions, and in this case, the magnetization of the two regions arranged in parallel or the adjacent regions can be reversed.

[0071] [Effectiveness of the horizontal posture of the pin]

[0072] Here, the effectiveness of the posture control of the pin is studied. The difference in the transfer efficiency of the pin between the state illustrated in Figure 4A and the state illustrated in Figure 4B is examined. Figure 5 is a diagram for studying the transfer probability of the pin. As illustrated in Figure 5 when a certain pin receiving member M is viewed from above, the insertion portions H are arranged at equal intervals in the vertical and horizontal directions. As illustrated in the enlarged view on the right side of Figure 5 when one insertion portion H is focused on, the period of the insertion portion H is set as p, the diameter of the insertion portion H is set as d, and the diameter of the pin P is set as e. As illustrated in Figure 4B in the case where the pin P is always upright, in order to transfer the pin P in one movement, the center (axis) of the pin P must be within a circle having a diameter of d-e with the center of the insertion portion H as the center. If it is considered that the pin P is randomly dropped within a square of one side p, the transfer probability Q1 is Q1 = π{(d-e) / 2}2 / p2 = π(d-e)2 / 4p2. As an example, when p = 0.4 mm, d = 0.2 mm, and e = 0.18 mm, Q1 = 0.196%.

[0073] On the other hand, as illustrated in Figure 4A in the case where the pin P in the horizontal posture passes through one row of the insertion portions H, as long as the center axis of the pin P passes through a width of d-e from the center of the hole, that is, is hooked in the hole, the probability is Q2 = (d-e) / p. If the numerical examples of the previous example are used, Q = 5.0%, which is 25 times as large as Q1.

[0074] Of course, in order to calculate the correct transfer probability, the trial number needs to be considered, but in Q1, the number of vibrations needs to be estimated, and in Q2, the number of passes of the magnet needs to be estimated. However, it is not considered that the number is 10 times different, and it is estimated that the probability difference of 25 times shows the advantage that the pin can become in the horizontal state.

[0075] [The relationship between the dimensions of the magnet part 15 in top view and the arrangement of the insertion part H]

[0076] Figure 6A This is a top view showing the first example of the relationship between the configuration of the insertion portion H of the lead-mounted storage member M and the dimensions of the magnet portion 15 when viewed from above. The magnet portion 15 is configured such that a first magnet 16a and a second magnet 17a can face each other with the lead-mounted storage member M. The first magnet 16a has the same dimensions and thickness as the second magnet 17a in both directions. One side of both the first magnet 16a and the second magnet has a length L when viewed from above. MAG On the other hand, when viewed from above, one side L M The insertion part H in the square-shaped connector storage component M is arranged in multiple columns along the X-axis and multiple rows along the Y-axis, forming a rectangular ring-like part when viewed from above. The length and width of the ring are the same when viewed from above, and one side of the area that serves as the transfer range of the ring is set as the length L. E Therefore, the top view dimension of the magnet part 15 is L. MAG ×2L MAG In the first example, the arrangement of the insertion part H and the top-view dimensional relationship between the lead-receiving member M and the magnet part 15 (first magnet 16a and second magnet 17a) satisfy L. E <L M <L MAG The relationship, in the verification example described later, is that L E ≒15mm, L M =30mm, L MAG =60mm.

[0077] like Figure 6A As shown, the lead storage member M is disposed in the mounting area 12 of the support portion 11, and the magnet portion 15 is slidably disposed below the support portion 11, that is, below the lead storage member M, along the lead storage member M. Above and near the boundary 18 between the first magnet 16a and the second magnet 17a in the magnet portion 15, the lead P is parallel to the lead storage member M (horizontal state and transverse state), and the parallel lead P extends to the left and right peripheral walls 13. In addition, the lead P is upright on the lead storage member M (vertical state and longitudinal state), and the upright lead P extends to the left and right peripheral walls 13. Figure 6A The vertical pin P is shown as a black circle, and the horizontal pin is shown as a thin rectangle, just like when the bubble is enlarged.

[0078] By reciprocating the magnet portion 15 in the arrangement direction (X-axis direction) of the first magnet 16a and the second magnet 17a, the boundary 18 of the first magnet 16a and the second magnet 17a reciprocates in the arrangement direction of the magnets. In the first example, since the upper side of the boundary 18 is not substantially orthogonal to the pin receiving member M and the magnetic field is bent, the posture state of the pin P on the upper side of the boundary 18 changes by the movement of the boundary 18, and the pin P is inserted into the insertion portion H.

[0079] Figure 6B is a plan view showing the second example of the relationship between the configuration state of the insertion portion H of the pin receiving member M and the size in plan view of the magnet portion 15. The configuration or positional relationship of the pin receiving member M, the support portion 11, and the magnet portion 15 is the same as that of Figure 6A Similarly, but unlike the first example, the configuration of the insertion portion H and the relationship between the pin receiving member M and the size in plan view of the magnet portion 15 (the first magnet 16a and the second magnet 17a) satisfy the relationship of L E < L M ≈ L MAG in the verification example described later, L E ≈ 15 mm, L M = 30 mm, and L MAG = 30 mm.

[0080] As shown in Figure 6B , above and near the boundary 18 of the first magnet 16a and the second magnet 17a in the magnet portion 15, only on the inside of the length L MAG of one side of the first magnet 16a and the second magnet 17a of the magnet portion 15, the pin P becomes a state parallel to the pin receiving member M (horizontal state or lateral state). On the edge in the direction (Y-axis direction) orthogonal to the sliding direction of the first magnet 16a and the second magnet 17a, the pin P moves in the direction of the bending of the magnetic field (refer to Figure 4A ). As explained in the demonstration example described later, in the second example, even if the pin P is placed in a manner that spreads over the entire setting region 12 of the support portion 11, the pin P moves to the inside of the magnet portion 15, and does not spread in the Y-axis direction of the magnet portion 15.

[0081] The magnet portion 15 reciprocates along the arrangement direction of the first magnet 16a and the second magnet 17a, and the boundary 18 of the first magnet 16a and the second magnet 17a reciprocates in the magnet arrangement direction. In the second example, the pin P is inserted into the insertion portion H by changing its posture due to the magnetic field generated at the edge in a direction orthogonal to the sliding direction of the first magnet 16a and the second magnet 17a. The dimension of the direction orthogonal to the arrangement direction of the magnets constituting the magnet portion 15 (the Y-axis direction) is determined by the relationship between one side of the pin receiving member M and one side of the area where the insertion portion H exists. Thus, the pin P can be precisely sealed inside the area where the insertion portion H exists, and the area where the pin P exists on the pin receiving member M can be limited.

[0082] It can be said that the size of the magnet part 15 in top view is related to the arrangement of the insertion part H, on one side L of the transfer range area where the insertion part H is arranged. E (mm) and the top view dimension L of magnet part 15 MAG The relationship (mm) satisfies L MAG -20≦L E ≦L MAG The relationship of -2 is valid. Example 2 can be applied not only to relationships such as... Figure 6B As shown, when the insertion part H in a lead-mounted storage component M is rectangular in top view, this can also be applied to situations where there are separately divided areas in a lead-mounted storage component M (described later). Figure 8A The unit U shown is present, and the insertion part H exists in a rectangular shape in each region when viewed from above in the X-axis and Y-axis directions. Here, L E The length of one side of the transfer range area that becomes the separately divided region.

[0083] [Sliding speed of the foot storage component M and the magnet part 15]

[0084] The relative sliding speed between the lead storage component M and the magnet part 15 may depend on the dimensions of the lead P and the magnet part 15. If the relative sliding speed is large, even if the magnetic field near the boundary 18 of the first magnet 16a and the second magnet 17a acts on the lead P, the change in the posture of the lead P may not follow. Therefore, the relative sliding speed between the lead storage component M and the magnet part 15 depends on the length and weight of the lead P, and the length L of one side of the first magnet 16a and the second magnet 17a of the magnet part 15. M The distance between the magnet part 15 and the foot storage member M is determined, and in particular, by the length L of one side of the first magnet 16a and the second magnet 17a of the magnet part 15. MAG Decide.

[0085] Specifically, the relative sliding speed of the pin receiving member M with respect to the magnet portion 15 is preferably 400 mm / sec or less, and more preferably 200 mm / sec or less. The reason for this is that if the sliding speed is greater than this, the pin P cannot be inserted into all of the insertion portions H. In the case where the length L of one side of the first magnet 16a and the second magnet 17a is 30 mm, the sliding speed can be 400 mm / sec or less, and in the case where the length L of one side of the first magnet 16a and the second magnet 17a is 60 mm, the sliding speed can be 200 mm / sec or less. MAG In the case where the length L of one side of the first magnet 16a and the second magnet 17a is 30 mm, the sliding speed can be 400 mm / sec or less, and in the case where the length L of one side of the first magnet 16a and the second magnet 17a is 60 mm, the sliding speed can be 200 mm / sec or less. M In the case where the length L of one side of the first magnet 16a and the second magnet 17a is 30 mm, the sliding speed can be 400 mm / sec or less, and in the case where the length L of one side of the first magnet 16a and the second magnet 17a is 60 mm, the sliding speed can be 200 mm / sec or less.

[0086] [3rd Embodiment]

[0087] As the 3rd embodiment of the present application, a pin insertion device applicable to the pin insertion in the pin control device 1 is described. Figure 7A is a diagram schematically showing the configuration of the magnet portion in the pin insertion device of the 3rd embodiment of the present application, Figure 7B is a diagram showing the use mode of one electromagnet in Figure 7A , and Figure 7C is a diagram showing the electromagnets in the magnet portion shown in Figure 7A taken in one row or one column, and Figure 7D is a diagram schematically showing the change in the magnetic field of the magnet portion shown in Figure 7A .

[0088] The pin insertion device of the 3rd embodiment of the present application is provided with a support portion 11 (refer to Figure 2 ) and a magnet portion 45, and the magnet portion 45 is configured to include a plurality of electromagnets 46 arranged in an array, as shown in Figure 7A . Each electromagnet 46 is configured as a solenoid by providing a winding 46b to a core 46a of a hollow core or a magnetic body. The winding 46b is connected to a circuit unit 47, and the direction and magnitude of the current flowing to the electromagnet 46 can be controlled by the circuit unit 47. Thus, as shown on the left and right in Figure 7B , the polarity of the electromagnet 46 can be reversed. The electromagnets 46 are arranged in an array, and as shown in Figure 7C , a plurality of electromagnets 46 are connected in series to constitute one row or one column of the magnet portion 45.

[0089] By controlling the direction and magnitude of the current flowing to the electromagnet 46 by the circuit unit 47, as shown in Figure 7D , the boundary 49 between the region 48a in which a magnetic field of a first direction is generated and the region 48b in which a magnetic field of a second direction is generated in the magnet portion 45 can be moved.

[0090] Thus, in the third embodiment, as in the second embodiment, the magnet portion 15 or the pin receiving member M is not moved, and the current flowing to the electromagnet 46 is controlled by the circuit unit 47, whereby the boundary 49 is reciprocated in the direction perpendicular to the boundary 49. As in the second embodiment, the boundary 49 between the region 48a in which the magnetic field of the first orientation is generated and the region 48b in which the magnetic field of the second orientation is generated can be moved along the surface of the pin receiving member M. Thus, the posture of at least a part of the plurality of pins P placed on the pin receiving member M is changed, and a part of the plurality of pins P is respectively inserted into the corresponding insertion portions H.

[0091] The configuration region and size of the electromagnet 46 in the magnet portion 45, the relative sliding speed of the pin receiving member M and the boundary 49, and the like are changed as needed in correspondence with the second embodiment.

[0092] The third embodiment of the present application can be applied not only to the pin insertion device in the pin control device 1 but also to the pin insertion device in the pin control device 1 in which the electromagnet is also disposed below the board portion 5, and the residual pin is removed by flowing the current when the residual pin is removed. At this time, the magnetization of the electromagnet 46 is removed by flowing the current of the orientation in which the reverse magnetization is given for a short time.

[0093] [Fourth Embodiment]

[0094] As the fourth embodiment of the present application, the pin insertion device applicable to the pin insertion in the pin control device 1 is described. Figure 8A is a plan view showing an outline of the pin insertion device of the fourth embodiment of the present application, Figure 8B is a part sectional view showing an outline of the pin insertion device of the fourth embodiment of the present application, Figure 8C is a part enlarged view of Figure 8B , Figure 8D is a mode diagram of the magnet portion shown in Figure 8B .

[0095] The pin insertion device 50 of the fourth embodiment has a support portion 51 and a magnet portion 55. The support portion 51 supports one pin receiving member M which is flat and has a plurality of insertion portions H.

[0096] The support portion 51 is configured to surround a setting region 52 for setting one flat substrate S and a guide member G which is one pin receiving member M by a peripheral wall 53 which is in a circular shape, and is configured to be open on the upper surface side of the support portion 51. The substrate S is placed on the support portion 51, and a circular ring spacer 54 following the peripheral wall 53 is disposed, for example, and the pin receiving member M is placed thereon, and the plurality of pins P are dropped into the pin receiving member M. Here, as in the second embodiment, the pin receiving member M is configured to be movable in the direction perpendicular to the boundary 49. Figure 8AAs shown, the guide member G, which is a pin receiving member M, supported by the support portion 51 has a plurality of insertion portions H. The substrate S is placed on the support portion 51 below the guide member G. The substrate S is a large-diameter semiconductor substrate of 12 inches or the like, and a plurality of basic units U constituting one chip are arranged in a matrix. In the basic unit, a bonding material A such as solder is provided on the surface in a prescribed pattern. The guide member G has through-holes as the insertion portions H in the prescribed pattern of the bonding material A, and the plurality of pins P placed on the guide member G are inserted into the insertion portions H.

[0097] The magnet portion 55 is slidably arranged along the pin receiving member M. In the illustrated mode, the magnet portion 55 is constituted by the first region 56, the second region 57, the third region 58, and the fourth region 59, which are continuously adjacent in this order, and the first region 56, the second region 57, the third region 58, and the fourth region 59 are magnetized in a manner intersecting (preferably, orthogonally) the pin receiving member M, that is, preferably, in parallel along the depth direction of the insertion portion H, and the magnetization of the first region 56 and the third region 58 and the magnetization of the second region 57 and the fourth region 59 are opposite. The first region 56 and the third region 58 of the magnet portion 55 are magnetized in the arrow direction shown by Ml, and the second region 57 and the fourth region 59 of the magnet portion 55 are magnetized in the arrow direction shown by M2. The first region 56 and the second region 57 of the magnet portion 55 are continuous at the boundary 60, the second region 57 and the third region 58 of the magnet portion 55 are continuous at the boundary 61, and the third region 58 and the fourth region 59 of the magnet portion 55 are continuous at the boundary 62. A non-magnetic material can be provided between the regions.

[0098] The magnet portion 55 is slidably arranged along the pin receiving member M. In the illustrated mode, the magnet portion 55 is constituted by the first region 56, the second region 57, the third region 58, and the fourth region 59, which are continuously adjacent in this order, and the first region 56, the second region 57, the third region 58, and the fourth region 59 are magnetized in a manner intersecting (preferably, orthogonally) the pin receiving member M, that is, preferably, in parallel along the depth direction of the insertion portion H, and the magnetization of the first region 56 and the third region 58 and the magnetization of the second region 57 and the fourth region 59 are opposite. The first region 56 and the third region 58 of the magnet portion 55 are magnetized in the arrow direction shown by Ml, and the second region 57 and the fourth region 59 of the magnet portion 55 are magnetized in the arrow direction shown by M2. The first region 56 and the second region 57 of the magnet portion 55 are continuous at the boundary 60, the second region 57 and the third region 58 of the magnet portion 55 are continuous at the boundary 61, and the third region 58 and the fourth region 59 of the magnet portion 55 are continuous at the boundary 62. A non-magnetic material can be provided between the regions.

[0099] Thus, by sliding the magnet portion 55 using the moving mechanism 63, as described in detail in each of the above embodiments, the pins P are inserted into the insertion portions H, and the pins P are erected on the bonding material A. Subsequently, the guide member G and the substrate S are taken out and directly placed in a furnace, and a weight not shown is placed on the guide member G as necessary and heated for a constant time. Thus, the substrate S and the pins P are bonded by the bonding material A.

[0100] In the first region 56, the second region 57, the third region 58, and the fourth region 59 of the magnet portion 55, the dimension in the direction orthogonal to the direction in which the first region 56 to the fourth region 59 are arranged is set to span a plurality of basic units U. The reason for this is that by reciprocating the magnet portion 55 in the arrangement direction of the regions using the moving mechanism 63, the pin P can be inserted into the insertion portion H of the guide member G located above the plurality of basic units U.

[0101] [5th Embodiment]

[0102] As the 5th embodiment of the present application, a pin insertion device applicable to pin insertion in the pin control device 1 is described. Figure 9A is a perspective view of the pin insertion device 70 of the 5th embodiment of the present application, Figure 9B is a view showing the essential parts of the pin insertion device 70. The pin insertion device 70 of the 5th embodiment is provided with a support portion 71, a magnet portion 72, and a moving mechanism 73.

[0103] The support portion 71 supports a pin-receiving member M in a flat plate shape, and the pin-receiving member M has a plurality of insertion portions H (not shown). The moving mechanism 73 is provided with a mechanism that moves the support portion 71 in a constant direction, and for example, as shown in Figure 9A , by tensioning and rotating the ring-shaped support portion 71 with the rotation shafts on both sides, the pin-receiving member M on the support portion 71 can be moved in a constant direction. The pin-receiving member M is placed on one end side of the support portion 71 to be moved in a constant direction, and is pushed out on the other end side. Figure 9A

[0104] ​The magnet portion 72 is provided between the upper side and the lower side of the support portion 71 in which the pin receiving member M is placed and moved. The magnet portion 72 is provided with the first magnet 72a, the second magnet 72b, the third magnet 72c, the fourth magnet 72d, the fifth magnet 72e, the sixth magnet 72f, the seventh magnet 72g, and the eighth magnet 72h in this order in the flow direction of the pin receiving member M. The first magnet 72a to the seventh magnet 72g each generate a magnetic field in a direction intersecting, preferably orthogonal, to the pin receiving member M, and the first magnet 72a, the third magnet 72c, the fifth magnet 72e, and the seventh magnet 72g are magnetized upward, and the second magnet 72b, the fourth magnet 72d, the sixth magnet 72f, and the eighth magnet 72h are magnetized downward. In this way, the magnets close to each other in the magnet portion 72 are magnetized in opposite directions. Here, the first boundary 74a between the first magnet 72a and the second magnet 72b, the second boundary 74b between the second magnet 72b and the third magnet 72c, the third boundary 74c between the third magnet 72c and the fourth magnet 72d, the fourth boundary 74d between the fourth magnet 72d and the fifth magnet 72e, the fifth boundary 74e between the fifth magnet 72e and the sixth magnet 72f, the sixth boundary 74f between the sixth magnet 72f and the seventh magnet 72g, and the seventh boundary 74g between the seventh magnet 72g and the eighth magnet 72h each face the pin receiving member M.

[0105] Above the support portion 71, a pair of guide plates 75a, 75b is provided on the side orthogonal to the moving direction of the pin receiving member M with a region in which the pin receiving member M is placed therebetween. Alternatively, above the support portion 71, at least above the pin receiving member M, a pin supply box 76 is provided. The pin P is fed from the pin supply box 76 toward the pin receiving member M. The guide plates 75a, 75b are configured so that the pin P does not fall off the pin receiving member M. Further, since the pin receiving member M is moved in the direction of the arrow by the moving mechanism 73, the pin supply box 76 can be configured so that the pin P is fed to the moving pin receiving member M. Alternatively, the pin supply box 76 can be inclined so that the pin P rolls on the pin receiving member M. Figure 9A

[0106] In the pin insertion device 70, one pin receiving member M is moved by the moving mechanism 73 toward the pin insertion target 80, and the pin P is fed from the pin supply box 76 to the pin receiving member M. The pin P is inserted into the pin insertion target 80 by the pin receiving member M. Figure 9B ​The arrow direction shown is the direction of travel. Along with this, a portion of the plurality of pins P placed on the pin receiving member M passes from the upright state to the horizontal state to the upright state before and after the first boundary 74a, and thus is inserted into the insertion portion H of the pin receiving member M. The remaining portion of the plurality of pins P fed from the pin supply cassette 76 and placed on the pin receiving member M is placed on the pin receiving member M above the magnet portion 72 and moved by the moving mechanism 73. Hereafter, likewise, a portion of the plurality of pins P placed on the pin receiving member M passes from the upright state to the horizontal state to the upright state before and after each of the boundaries from the second boundary 74b to the seventh boundary 74g, and thus is inserted into the insertion portion H of the pin receiving member M. Alternatively, the remaining portion of the plurality of pins P is placed on the pin receiving member M above the magnet portion 72 and moved by the moving mechanism 73.

[0107] In the fifth embodiment, since the magnet portion 15 is not reciprocated as in the second embodiment, there is an advantage that the operation time is shortened. In the second embodiment, since the magnet portion 15 is reciprocated and slides, when the operation time t is set to, for example, 5 seconds, in the fifth embodiment, the pin receiving member M takes the same 5 seconds, but during this time, 7 pin receiving members M are carried out. Therefore, the operation time can be shortened to about 0.7 seconds. Thus, with regard to the magnet portion 72, when a plurality of magnets are arranged in one direction so that the plurality of magnets generate a magnetic field in a direction intersecting, preferably orthogonal to, the pin receiving member M, in a state in which the magnetic fields of the approaching magnets are opposite to each other, the operation time is shortened in correspondence with the number of magnets of the magnet portion 72 (more correctly, in correspondence with the number of times the boundaries of the magnets pass each other).

[0108] The sliding speed of the pin receiving member M with respect to the magnet portion 72 is set as in the second embodiment.

[0109] [Sixth Embodiment]

[0110] As the sixth embodiment of the present application, a residual pin removal that can be applied to the residual pin removal in the pin control device 1 is described. Figure 10 is a diagram showing the residual pin removal step of the residual pin removal device 80 of the sixth embodiment of the present application.

[0111] According to the above-described embodiments, as shown in STEP 1-1, a large number of pins P are dropped on the pin receiving member M, and the magnet portion 82 is moved in opposition to the face of the pin receiving member M, and the pins P are inserted into the insertion portion H of the receiving member M. In the diagram, one pin receiving member M is supported by the support portion 81, but a plurality of pin receiving members M can be arranged in a row or a face.

[0112] Above the pin receiving member M, for example, the state in which the pins P are inserted into the insertion portions H is imaged by the camera 83, and the image data from the camera 83 is analyzed by the analysis unit 84 to calculate the pin transfer rate. When the predetermined percentage, for example, 100%, is not reached, the pin P is not inserted into which insertion portion H is analyzed from the image data, and the boundary 82a of the magnets in the magnet portion 82 that are close is moved below and near the insertion portion H into which the pin P is not inserted, and the magnet portion 82 is reciprocated by being slid in the arrangement direction of the close magnets. Thereby, the imaging by the camera 83, the analysis of the image data, and the calculation of the pin transfer rate are performed again, and it is determined whether the predetermined percentage is reached. When the predetermined percentage is not reached, the boundary 82a of the magnets in the magnet portion 82 that are close is moved below and near the insertion portion H into which the pin P is not inserted, and the magnet portion 82 is reciprocated by being slid in the arrangement direction of the close magnets again.

[0113] When it is confirmed that the pin transfer rate reaches the predetermined percentage, the pin receiving member M and the support portion 81 are moved so that the plate portion 85 is close, or are previously set in the state in which the plate portion 85 is close to the pin receiving member M as shown in STEP 1-2, and the magnet portion 82 is moved from below the pin receiving member M to below the plate portion 85 as shown in the first embodiment. Thereby, the remaining pin P1 remaining on the pin receiving member M is moved from the pin receiving member M to the plate portion 85.

[0114] The pin receiving member M is imaged by the camera 83, and it is confirmed by the analysis unit 84 whether the pin P1 remains on the pin receiving member M.

[0115] When the pin P1 remains on the pin receiving member M, as shown in STEP 1-3, another magnet portion 86 that generates a magnetic field weaker than that of the magnet portion 82 is arranged below the pin receiving member M, and the pin receiving member M is blown by the blower 87 to completely remove the remaining pin P1. As the another magnet portion 86, for example, by using a C-shaped magnet, a magnetic field in a direction determined only by the gap between Cs can be generated, and thus it is easy to control. Here, when the pin receiving member M is blown by the blower 87, the another magnet portion 86 can not be used but the magnet portion 82 can be used. The another magnet portion 86 or the magnet portion 82 makes the magnetic field act on the insertion portion H, and the pin P inserted into the insertion portion H does not fly out due to the blowing by the blower 87.

[0116] [Pin, Pin Receiving Member]

[0117] In this specification, a flat plate-shaped component having an insertion portion H for inserting pins is referred to as a "pin housing component" M. In one embodiment, a "substrate" can be used as a pin housing component; specifically, a "semiconductor substrate" having one or more electronic devices. In another embodiment, a "guide component" having multiple through holes can be used. In this case, the guide component is disposed separately from the semiconductor substrate on which one or more electronic devices are constructed, and multiple pins are mounted on the guide component and inserted into the through holes of the guide component, thus erecting the component on the semiconductor substrate. The pin housing component has through holes or non-through holes as multiple insertion portions in a specified pattern. Here, the substrate includes cases where it is cut and formed into a chip through subsequent steps such as molding a plastic film. Therefore, the substrate includes cases where multiple components are arranged in a basic unit constituting a chip. The pins inserted into the insertion portion have a micro size, which is envisioned to be between 1 μm and 1000 μm. The leads are preferably leads without flanges (flange-free leads) or without heads (headless leads), such as rods (cylindrical leads) in the shape of a cylinder, with a diameter of 1 μm to 1000 μm and a length of 1 μm to 1000 μm. Therefore, the mass of a single lead is extremely small, making it difficult for the lead to exert force externally solely by its own weight. The leads contain the material that acts on the magnet.

[0118] [Verification Example 1]

[0119] Provide verification examples related to the concept of this invention. For example... Figure 2 As shown, a flat lead storage member M is arranged in the setting area 12 within the support 11. Holes serving as insertion portions H are arranged in a rectangular shape, with 5 rows vertically and 5 rows horizontally, surrounding the central portion of the lead storage member M. Multiple leads P are inserted into the setting area 12 within the support 11. A magnet 15 is arranged on the lower side of the support 11 and slides parallel to the lead storage member M. The number of reciprocations is set to 5. The lead P is cylindrical with a diameter of 0.2 mm and a length of 0.4 mm. The lead storage member M is plate-shaped with a diameter of 29 mm × 29 mm × a thickness of 0.5 mm, and has 527 holes with a diameter of 0.205 mm serving as insertion portions H and a depth of 0.35 mm. Approximately 7000 leads P are inserted.

[0120] In the verification example 1, the magnet part 15 is made of two flat plates, each 30mm × 30mm × 5mm in size, and is coupled at both ends by the attraction of the magnets. Therefore, the magnet part has a flat plate shape of 60mm × 30mm × 5mm.

[0121] Figure 11is a graph showing the result of measuring the magnetic flux density using one magnet. The magnetic probe was used for the measurement. The position of the magnetic probe was changed every 2 mm, and the magnetic flux density was measured. One magnet 90 is shown by a dotted line. It is seen that the magnetic flux in the X direction is strong at each end of the X axis direction of the magnet 90, the magnetic flux in the Y direction is strong at each end of the Y axis direction of the magnet 90, and the magnetic flux in the Z direction is strong at portions other than the two ends of the X axis direction and the two ends of the Y axis direction of the magnet 90.

[0122] As to the polarity of the magnet, as shown in Figure 12 , either end of the bar magnet 100 was brought close, and the judgment was made as to which of the attractive force and the repulsive force was acting. The poles of the magnet portion formed by coupling two magnets in one set were confirmed as follows. The first region 16 and the second region 17 of the upper surface of the magnet portion 15 were each divided into 3 x 3, and one pole of the bar magnet was brought close to the divided portions, and the strength of the magnetic force of the divided portions was confirmed.

[0123] Figure 13 is a graph showing the strength of the magnetic force of the divided portions of the magnet used in a pattern. The magnetic force is the strongest in the divided portions on both sides of the boundary between the first region 16 and the second region 17, and the magnetic force is relatively strong in the divided portions on the opposite sides of the boundary between the first region 16 and the second region 17. The magnetic force is continuously strong in the middle portions of the sides intersecting the boundary between the first region 16 and the second region 17, and the magnetic force is the weakest in the central portions of the regions of the first region 16 and the second region 17. Further, the magnets constituting the first region 16 and the second region 17 are the same, and the magnetic force is substantially equal in the divided portions forming the periphery of the magnet, and the magnetic force is relatively low in the center of the magnet.

[0124] Figure 14A is a graph showing the image of the pin receiving member M after the transfer of the pins P, with respect to the transfer result when two magnets are joined to form the magnet portion 15. Figure 14B is a graph showing the image of the pin receiving member M after the transfer of the pins P, with respect to the transfer result when one magnet is used to form the magnet portion 15. As shown in Figure 14A , in the case where two magnets are joined to form the magnet portion 15, the pins P are transferred to all the insertion portions H, and the transfer is completed in about 5 seconds. On the other hand, as shown in Figure 14B , in the case where one magnet is used to form the magnet portion 15, the pins P are not transferred to all the insertion portions H. Figure 14B The circular portions shown by the dotted lines in

[0125] [Comparative Example]

[0126] Figure 15 is an explanatory view for explaining the comparative example. As shown in Figure 15The support 11 was made to swing and vibrate together with the magnet portion 35 around the θ axis. The magnet portion 35 was constituted by one magnet. In this case, it took about 15 seconds until the pins P were inserted into all the insertion portions H (not shown). The pins P and the pin receiving member M used were the same as described above.

[0127] According to the verification example 1, the magnet (magnet portion) in which the polarities of the magnets of the adjacent regions are different and in which two flat magnets are integrated, is made to slide in one direction, whereby the pins of a micro size can be inserted in a short time. Thus, as in the comparative example, it is not necessary to impart swing and vibration, and the transfer of the pins can be performed by a simple mechanism such as sliding of the magnet. Therefore, by making the magnet portion slide, it is also possible to cope with a large-size substrate such as 12 inches. It is not necessary to make the magnet portion large, and it is possible to reduce the cost of the equipment surface.

[0128] [Verification Example 2]

[0129] In the verification example 2, the pins P, the pin receiving member M, and the support 11 were used as in the verification example 1, or the magnet was used as in the same.

[0130] In the example 1, the support 11 was made to swing and vibrate together with the magnet portion 35 around the θ axis as in the above comparative example. The swing and vibration were performed for 5 seconds for one test, and this test was repeated 15 times. In each test, the number of holes into which the pins P were not inserted was counted. As a result, the test in which the pins were inserted into all the holes was not performed once. The number of holes into which the pins were not inserted was 2 to 17. The variation in the number of holes into which the pins were not inserted was also large.

[0131] In the example 2, the magnet portion 15 was arranged on the lower side of the support 11 and was made to reciprocate in parallel with the pin receiving member M as in the above verification example 1. As the magnet portion 15, one magnet of 30 mm x 30 mm x 5 mm was used. For one test, the reciprocation was performed 5 times for 5 seconds. This test was repeated 15 times. As a result, the test in which the pins were inserted into all the holes was performed 6 times, and in the test in which the pins were not inserted into the holes, the number of holes into which the pins were not inserted was 1 to 6.

[0132] It was found that in the example 2, the transfer rate was higher and the variation in the number of holes into which the pins were not inserted was smaller than in the example 1. Therefore, it was found that the sliding of the magnet was more effective than the swing and vibration.

[0133] [Verification Example 3]

[0134] In the verification example 3, the pins P, the pin receiving member M, and the support 11 were used as in the verification example 1, and in some examples, the parameters were changed and experiments were performed. One or a plurality of magnets constituting the magnet portion were used so as to generate the same or the same degree of magnetic field, respectively.

[0135] In Example 3, compared to Example 2, the magnet portion 15 is arranged on the lower side of the support portion 11, and reciprocally slides in parallel with the pin receiving member M. At this time, as the magnet portion 15, two 30 mm x 30 mm x 5 mm magnets are joined. At this time, the adjacent magnets are joined in a manner that generates a magnetic field in a direction crossing the pin receiving member M and generates a magnetic field in the opposite direction. For one test, 5 reciprocations were performed in 5 seconds. This test was repeated 15 times. As a result, in any test, the pin was inserted in all the holes.

[0136] In Example 4, compared to Example 2 and Example 3, as the magnet portion 15, three 30 mm x 30 mm x 5 mm magnets are joined. At this time, the adjacent magnets are joined in a manner that generates a magnetic field in a direction crossing the pin receiving member M and generates a magnetic field in the opposite direction. For one test, 5 reciprocations were performed in 5 seconds. This test was repeated 15 times. As a result, there were 3 tests in which the pin P was not inserted. The number of holes in which the pin P was not inserted was only 1 or 2.

[0137] From the results of Example 2 to Example 4, it is known that the transfer rate is higher when the magnet portion 15 is composed of two or three magnets than when it is composed of one magnet. In the test of Example 4, the number of reciprocations and the time were the same as in the test of Example 3, and the moving speed of the magnet portion 15 was 400 mm / sec in Example 3 and 600 mm / sec in Example 4, so the moving speed of the magnet portion 15 in Example 4 was faster. It is considered that the reason for this is that the posture of the pin P does not follow because the magnetic field changes faster at the boundary of the magnets.

[0138] [Verification Example 4]

[0139] In Example 5, in order to eliminate the influence of the moving speed of the magnet portion 15, in Example 4, 5 reciprocations were performed in 6.5 seconds for one test. At this time, the moving speed of the magnet portion 15 was 400 mm / sec. This test was repeated 15 times. As a result, in any test, the pin was inserted in all the holes. It was thus confirmed that the investigation of Verification Example 3 was correct.

[0140] Table 1 shows the results of each test from Example 1 to Example 5. In addition, Max is the maximum value of the success rate, Min is the minimum value of the success rate, Ave is the average value of the success rate, and S is the standard deviation of the success rate.

[0141] [Table 1]

[0142]

[0143] [Verification Example 5]

[0144] In the verification example 5, as in the verification example 1, the pin P, the pin receiving member M, the support portion 11, and the magnet portion 15 composed of one magnet were used. The size of one side of the magnet portion 15 in plan view was made different. Also, the magnets were selected so that the size of the magnetic field generated by the magnets was the same. The moving speed of the magnet portion 15 was constant at 400 mm / sec.

[0145] In the example 6, one magnet constituting the magnet portion 15 was set to 15 mm x 15 mm x 5 mm. The magnet portion 15 was made to reciprocate 5 times in 3 seconds at a moving speed of 400 mm / sec.

[0146] In the example 7, one magnet constituting the magnet portion 15 was set to 30 mm x 30 mm x 5 mm. The magnet portion 15 was made to reciprocate 5 times in 3.5 seconds at a moving speed of 400 mm / sec.

[0147] In the example 8, one magnet constituting the magnet portion 15 was set to 60 mm x 60 mm x 5 mm. The magnet portion 15 was made to reciprocate 5 times in 5 seconds at a moving speed of 400 mm / sec.

[0148] Table 2 shows the results of each test from the example 6 to the example 8. Also, Max is the maximum value of the success rate, Min is the minimum value of the success rate, Ave is the average value of the success rate, and S is the standard deviation of the success rate.

[0149] [Table 2]

[0150]

[0151] In the example 7 and the example 8, compared to the example 6, the number of tests in which the pin was not inserted into the hole was small, or the number of holes into which the pin was not inserted was also small.

[0152] [Verification example 6]

[0153] In the verification example 6, one magnet was set to the magnet of the example 7, that is, 30 mm x 30 mm x 5 mm, and experiments were performed with the magnets connected. Based on the results of the verification example 3, two adjacent magnets were connected so that the magnetic field was generated in the direction intersecting the pin receiving member M, but the magnetic field was also generated in the reverse direction.

[0154] In the example 9, the magnet portion 15 was made to reciprocate 5 times in 3 seconds at a moving speed of 600 mm / sec.

[0155] In the example 10, the magnet portion 15 was made to reciprocate 5 times in 5 seconds at a moving speed of 400 mm / sec.

[0156] In Example 11, the magnet portion 15 was moved at a speed of 200 mm / sec for 10 seconds, and the movement was repeated 5 times.

[0157] The results of each test from Example 9 to Example 11 are shown in Table 3. In addition, Max is the maximum value of the success rate, Min is the minimum value of the success rate, Ave is the average value of the success rate, and S is the standard deviation of the success rate.

[0158] [Table 3]

[0159]

[0160] In Example 14, compared to Example 12 and Example 13, the pin was inserted into all of the holes in any of the tests.

[0161] [Verification Example 7]

[0162] In Verification Example 7, one magnet was set to the size of the magnet of Example 8, that is, 60 mm x 60 mm x 5 mm, and experiments were performed by connecting the magnets. Based on the results of Verification Example 3, two adjacent magnets were connected in a manner that generates a magnetic field in a direction intersecting the pin receiving member M, but also generates a magnetic field in the opposite direction.

[0163] In Example 12, the magnet portion 15 was moved at a speed of 600 mm / sec for 6 seconds, and the movement was repeated 5 times.

[0164] In Example 13, the magnet portion 15 was moved at a speed of 400 mm / sec for 8 seconds, and the movement was repeated 5 times.

[0165] In Example 14, the magnet portion 15 was moved at a speed of 200 mm / sec for 16 seconds, and the movement was repeated 5 times.

[0166] The results of each test from Example 12 to Example 14 are shown in Table 4. In addition, Max is the maximum value of the success rate, Min is the minimum value of the success rate, Ave is the average value of the success rate, and S is the standard deviation of the success rate.

[0167] [Table 4]

[0168]

[0169] In Example 14, compared to Example 12 and Example 13, the pin was inserted into all of the holes in any of the tests.

[0170] From the results of Verification Example 6 and Verification Example 7, it was found that by setting the moving speed of the magnet portion 15 according to the size of the magnet, the pin can be inserted into all of the holes.

[0171] [Verification Example 8]

[0172] In the verification example 8, the distance between the pin receiving member M and the magnet portion 15 was changed to 1 mm, 3.5 mm, 4.5 mm, 5.5 mm, 6.5 mm, and 7.5 mm under the conditions of the example 10, and the same experiment was performed. When the distance was 1 mm and 3.5 mm, the pins were inserted in all the holes in all the 15 tests. When the distance was changed to 4.5 mm, 5.5 mm, and 6.5 mm, the pins were not inserted in 1 to 4 holes, or the number of such holes increased, and the standard deviation of such holes became 0.000786, 0.0022528, and 0.002484. It was considered that this was because it was difficult to insert the pins in all the holes due to the influence of the magnetic field of the magnet portion 15, particularly the curved magnetic field at the boundary of the two magnets. When the distance was 7.5 mm, there were holes in which the pins were not inserted in all the 15 tests, and the number of such holes also increased to 1 to 14. Therefore, it was necessary to appropriately maintain the distance between the pin receiving member M and the magnet portion 15.

[0173] [Verification Example 9]

[0174] The verification example 9 was different from the above-described verification examples in that the magnet portion was arranged in a planar manner in both the X-axis direction and the Y-axis direction. It was composed of a total of 16 magnets in which one magnet of 30 mm x 30 mm x 5 mm was arranged in the X-axis direction by 4 and in the Y-axis direction by 4. Further, the magnet portion 15 was configured such that any of the magnets generated a magnetic field in a direction orthogonal to the pin receiving member M, and the magnetic fields of the adjacent magnets in the X-axis direction and the Y-axis direction were directed in opposite directions.

[0175] The pin receiving member M was composed of a total of 9 substrates in a planar shape of 29 mm square in plan view and 0.5 mm in thickness arranged in the X-axis direction by 3 and in the Y-axis direction by 3. Each of the substrates had holes in a ring shape in 6 columns in the X-axis direction and 6 rows in the Y-axis direction. The hole diameter was 0.205 mm, the depth of the hole was 0.35 mm, and the number of the holes was 505.

[0176] The magnet portion was arranged in parallel to the face of the pin receiving member M, and about 7000 pins P were dropped on the pin receiving member M so as to slide along the face of the pin receiving member M. The sliding speed was set to 400 mm / sec, and the sliding was performed for 6 seconds.

[0177] As a result, it was confirmed that the pins were inserted in all the holes. Thus, it was demonstrated that it was more effective to configure the magnet portion using a plurality of magnets generating a magnetic field in a direction orthogonal to the pin receiving member M, and arranging the plurality of magnets in a planar manner not only in one direction but also in a direction orthogonal thereto, in such a manner that the magnetic fields of the adjacent magnets are directed in opposite directions.

[0178] [Verification Example 10]

[0179] As Figure 1As shown, the plate portion 5 is arranged so as to approach the support portion 2 of the support pin receiving member M, and the plate portion 5 and the pin receiving member M form substantially the same plane, and the magnet portion 3 is moved from below the pin receiving member M to below the plate portion 5. In this way, the remaining pins present on the pin receiving member M are moved from the pin receiving member M to the plate portion 5, and can be completely removed from the pin receiving member M.

[0180] In the embodiments of the present application, the magnet portions 15, 55, etc. can be arranged not only in a case where the regions where magnetic fields are generated in opposite directions are arranged in one direction, but also in a case where, for example, a second region is provided around the first region in plan view, and a third region is provided around the second region as occasion demands. In this case, the second region is in the shape of a ring such as a circular ring or a square ring in plan view.

[0181] Explanation of Reference Numerals

[0182] 1: Pin control device

[0183] 2: Support portion

[0184] 3: Magnet portion

[0185] 4: Moving mechanism

[0186] 5: Plate portion

[0187] 6: Suction device

[0188] 7: Suction pipe

[0189] 8: Side wall

[0190] 10, 50: Pin insertion device

[0191] 11, 51: Support portion

[0192] 12, 52: Arrangement region

[0193] 13, 53: Peripheral wall

[0194] 15, 55: Magnet portion

[0195] 16, 56: First region

[0196] 16a: First magnet

[0197] 17, 57: Second region

[0198] 17a: Second magnet

[0199] 18, 60, 61, 62: Boundary

[0200] 19, 63: Moving mechanism

[0201] 45: Magnet portion

[0202] 46: electromagnet

[0203] 47: circuit unit

[0204] 48a: region for generating magnetic field in first direction

[0205] 48b: region for generating magnetic field in second direction

[0206] 49: boundary

[0207] 54: spacer

[0208] 58: third region

[0209] 59: fourth region

[0210] 70: pin insertion device

[0211] 71: support portion

[0212] 72: magnet portion

[0213] 72a: first magnet

[0214] 72b: second magnet

[0215] 72c: third magnet

[0216] 72d: fourth magnet

[0217] 72e: fifth magnet

[0218] 72f: sixth magnet

[0219] 72g: seventh magnet

[0220] 72h: eighth magnet

[0221] 73: moving mechanism

[0222] 74a: first boundary

[0223] 74b: second boundary

[0224] 74c: third boundary

[0225] 74d: fourth boundary

[0226] 74e: fifth boundary

[0227] 74f: sixth boundary

[0228] 74g: seventh boundary

[0229] 75a, 75b: guide plate

[0230] 76: pin supply case

[0231] 80: Residual pin removing device

[0232] 81: Support portion

[0233] 82: Magnet portion

[0234] 83: Camera

[0235] 84: Analysis unit

[0236] 82a: Boundary of the approaching magnet

[0237] 85: Plate portion

[0238] 86: Additional magnet portion

[0239] 87: Blower

[0240] G: Guide member

[0241] H: Insertion portion

[0242] M: Pin receiving member

[0243] P: Pin

[0244] S: Substrate

Claims

1. A pin control device comprising: a support portion that supports one or more pin receiving members in a flat plate shape, the pin receiving member having a plurality of insertion portions; and a magnet portion that generates a magnetic field; and by relatively sliding at least either of the support portion and the magnet portion with respect to the other, a posture and a position of at least a part of a plurality of pins placed on the pin receiving member are changed, a plate portion is disposed so as to approach to form substantially the same face as the pin receiving member; and by sliding the magnet portion from below the pin receiving member to below the plate portion or from above the pin receiving member along above the plate portion, a residual pin that is not inserted into the insertion portion and is located on the pin receiving member is removed from the pin receiving member; the magnet portion is configured to generate at least simultaneously a first direction magnetic field in a direction intersecting the pin receiving member and a second direction magnetic field in a direction intersecting the pin receiving member and reverse to the first direction; by relatively moving a boundary between a region where the first direction magnetic field is generated and a region where the second direction magnetic field is generated along the pin receiving member, the posture and the position of at least a part of the plurality of pins placed on the pin receiving member are changed, whereby a part of the plurality of pins are respectively inserted into the corresponding insertion portion.

2. A pin insertion device comprising: a support portion that supports one or more pin receiving members in a flat plate shape, the pin receiving member having a plurality of insertion portions; and a magnet portion that generates at least simultaneously a first direction magnetic field in a direction intersecting the pin receiving member and a second direction magnetic field in a direction intersecting the pin receiving member and reverse to the first direction; and by relatively moving a boundary between a region where the first direction magnetic field is generated and a region where the second direction magnetic field is generated along the pin receiving member, the posture and the position of at least a part of a plurality of pins placed on the pin receiving member are changed, whereby a part of the plurality of pins are respectively inserted into the corresponding insertion portion, the magnet portion is configured to include a first magnet that generates the first direction magnetic field and a second magnet that generates the second direction magnetic field, the first magnet and the second magnet are arranged in opposition to the pin receiving member; and the magnet portion relatively moves the boundary along the pin receiving member by moving at least either of the pin receiving member along an arrangement direction of the first magnet and the second magnet.

3. A pin insertion device comprising: a support portion that supports one or more pin receiving members in a flat plate shape, the pin receiving member having a plurality of insertion portions; and a magnet portion that generates at least simultaneously a first direction magnetic field in a direction intersecting the pin receiving member and a second direction magnetic field in a direction intersecting the pin receiving member and reverse to the first direction; and By relatively moving the boundary between the region where the magnetic field of the first direction is generated and the region where the magnetic field of the second direction is generated along the pin receiving member, the posture of at least a part of the plurality of pins placed on the pin receiving member is changed, and thus a part of the plurality of pins is respectively inserted into the corresponding insertion portions, The magnet portion is configured to include a plurality of electromagnets arranged in an array; and the pin insertion device further has: a circuit unit that controls the direction of current flowing through the plurality of electromagnets; The circuit unit controls the current flowing through the plurality of electromagnets in such a manner that the boundary between the region where the magnetic field of the first direction is generated and the region where the magnetic field of the second direction is generated in the magnet portion is moved.

4. A pin insertion method, in which a magnet portion is arranged with respect to one or a plurality of pin receiving members each having a plurality of insertion portions and being flat, the magnet portion generating a magnetic field of a first direction in a direction intersecting the pin receiving member and generating a magnetic field of a second direction opposite to the first direction in a direction intersecting the pin receiving member; and By relatively moving the boundary between the region where the magnetic field of the first direction is generated and the region where the magnetic field of the second direction is generated along the pin receiving member, the posture of at least a part of the plurality of pins placed on the pin receiving member is changed, and thus a part of the plurality of pins is respectively inserted into the corresponding insertion portions, The magnet portion includes a first magnet generating a magnetic field of the first direction and a second magnet generating a magnetic field of the second direction, and is configured such that the first magnet and the second magnet are arranged in opposition to the pin receiving member; and The magnet portion relatively moves the boundary along the pin receiving member by moving at least any one of the pin receiving members in the arrangement direction of the first magnet and the second magnet.

5. A pin insertion method, in which a magnet portion is arranged with respect to one or a plurality of pin receiving members each having a plurality of insertion portions and being flat, the magnet portion generating a magnetic field of a first direction in a direction intersecting the pin receiving member and generating a magnetic field of a second direction opposite to the first direction in a direction intersecting the pin receiving member; and By relatively moving the boundary between the region where the magnetic field of the first direction is generated and the region where the magnetic field of the second direction is generated along the pin receiving member, the posture of at least a part of the plurality of pins placed on the pin receiving member is changed, and thus a part of the plurality of pins is respectively inserted into the corresponding insertion portions, The magnet portion is configured to include a plurality of electromagnets arranged in an array; and The circuit unit controls the current flowing through the plurality of electromagnets in such a manner that the boundary between the region where the magnetic field of the first direction is generated and the region where the magnetic field of the second direction is generated in the magnet portion is moved.

6. The pin insertion method according to claim 4 or 5, wherein the boundary between the region where the magnetic field of the first direction is generated and the region where the magnetic field of the second direction is generated in the magnet portion is moved with respect to a part of the pin receiving member where none of the pins is inserted among the plurality of insertion portions.

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