Material transfer device and method

Abstract

The invention relates to a material transfer device and a material transfer method, and provides a technology capable of sensing warpage when a lead frame is transferred according to a magazine slot of a sorting device and adjusting the transfer mode and speed of the lead frame according to the shape and degree of the warpage so as to carry out response. The material transfer device includes: a magazine provided with a plurality of slots for storing lead frames; a push rod unit which pushes and takes out the lead frame stored in the slot of the magazine; side end sensing sensors for sensing end portions of both sides of the lead frame in the width direction; a central sensing sensor sensing a central portion of the lead frame; and a control unit that determines the form and degree of warpage of the lead frame by calculating the height deviation between the center portion and the end portions on both sides of the lead frame on the basis of the measured values of the side end sensing sensors and the center sensing sensor.

Description

Technical Field

[0001] The present invention relates to a material transfer device and method, and more particularly, to a technology capable of sensing warpage when transferring a lead frame according to a cassette slot of a sorting device and adjusting the transfer method and speed of the lead frame according to the form and degree of warpage to cope with it. Background Art

[0002] A cutting and sorting (Saw & Sorter) device is a device that receives a strip, separates the packages on the strip into individual ones, performs a vision inspection, and then classifies the packages. When the received strip undergoes casting and reflow processes, it is deformed due to thermal stress. Due to this deformation, various problems occur due to improper placement in the inlet rail unit of the received strip.

[0003] Figure 1 An example of the warpage of the lead frame on the cassette is shown.

[0004] As can be confirmed in the above Figure 1 , due to the strip warpage (deformation occurring in the strip) that bends upward, it is introduced into the inlet rail in a state narrower than the width of the inlet rail, resulting in improper placement and falling downward.

[0005] Of course, it is also possible for the strip warpage to bend in the opposite direction, i.e., downward. The shape with the middle protruding upward is called "smile", and conversely, the shape with the middle protruding downward is called "crying".

[0006] Various techniques for sensing the warpage of such a lead frame have been proposed.

[0007] As a prior art, a technique for sensing warpage and adjusting the interval of the inlet rail has been proposed. It is necessary to change the corresponding degree according to the warpage degree. However, when only adjusting the interval of the inlet rail uniformly for the occurrence of warpage, a proper response cannot be achieved, resulting in a problem of falling during transfer. Summary of the Invention

[0008] The present invention is proposed to solve the problems of the above-mentioned prior art, and aims to provide a solution for sensing warpage when transferring a lead frame according to a cassette slot of a sorting device and adjusting the transfer method and speed of the lead frame according to the form and degree of warpage to cope with it.

[0009] In particular, the aim is to solve the problem that when the lead frame is transferred uniformly without considering the warping form and degree of the lead frame, the lead frame is damaged or dropped.

[0010] The object of the present invention is not limited to the foregoing situation, and other objects and advantages of the present invention not mentioned can be understood through the following description.

[0011] An embodiment of a material transfer device according to the present invention for solving the above problems includes: a cassette provided with a plurality of slots for storing lead frames; a pusher unit for pushing out the lead frames stored in the slots of the cassette; side-end sensing sensors for sensing the end portions on both sides in the width direction of the lead frame; a central sensing sensor for sensing the central portion of the lead frame; and a control unit for calculating the height deviation between the central portion and the end portions on both sides of the lead frame based on the measurement values of the side-end sensing sensors and the central sensing sensor, thereby determining the form and degree of warpage of the lead frame.

[0012] As an example, the pusher unit may include: left and right outer pushers corresponding to the end portions on both sides in the width direction of the lead frame; and a central pusher corresponding to the central portion in the width direction of the lead frame. The side-end sensing sensors are arranged on the left and right outer pushers to sense positions corresponding to the insertion grooves on both sides of the slots provided in the cassette, and the central sensing sensor is arranged on the central pusher to sense a position corresponding to the central portion of the lead frame.

[0013] As an example, the side-end sensing sensors may be arranged on the sides of the left and right outer pushers, and the central sensing sensor may be arranged on the side of the central pusher.

[0014] Furthermore, the material transfer device may further include: a variable track including a pair of tracks for supporting both sides in the width direction of the lead frame taken out by the pusher unit; a track interval adjusting unit for adjusting the interval between the pair of tracks of the variable track; and a clamp for clamping the lead frame placed on the variable track.

[0015] As an example, the side-end sensing sensors may be arranged on the pair of tracks of the variable track to sense positions corresponding to the end portions on both sides in the width direction of the lead frame, and the central sensing sensor may be arranged above or below the central portion of the pair of tracks of the variable track to sense a position corresponding to the central portion of the lead frame.

[0016] As an example, it can be that the side-end sensing sensor is disposed above the pair of tracks of the variable track to sense positions corresponding to both end portions on the width direction sides of the lead frame, and the central sensing sensor is disposed below the central portion of the pair of tracks of the variable track to sense a position corresponding to the central portion of the lead frame.

[0017] As an example, it can be that the pusher unit includes: left and right outer pushers corresponding to both end portions on the width direction sides of the lead frame; left and right pusher driving members for horizontally and vertically moving the left and right outer pushers; a central pusher corresponding to the central portion on the width direction of the lead frame; and a central pusher driving member for horizontally and vertically moving the central pusher, and the control unit controls the left and right pusher driving members and the central pusher driving member according to the warping shape and degree of the lead frame to adjust the lifting height and horizontal position of the left and right outer pushers and the central pusher.

[0018] Furthermore, it can be that the control unit controls the track interval adjustment unit according to the warping shape and degree of the lead frame to adjust the pair of track intervals of the variable track.

[0019] As an example, it can be that the pair of tracks of the variable track includes an insertion-type track into which a part of the end on the width direction of the lead frame is inserted and a placement-type track that places the lower end of the end on the width direction of the lead frame and is open at the upper part, and the control unit selects the insertion-type track and the placement-type track according to the warping shape and degree of the lead frame to adjust the variable track.

[0020] Furthermore, it can be that the control unit adjusts the moving speed of the jig according to the warping shape and degree of the lead frame.

[0021] Furthermore, the material transfer device further includes: a picker for picking up the lead frame; a support member for supporting the lead frame so that the picker can pick up the lead frame; and a support lifting member for lifting and lowering the support member.

[0022] As an example, it can be that the control unit controls the support lifting member according to the warping shape and degree of the lead frame to adjust the lifting degree of the support member.

[0023] As an example, it can be that the side-end sensing sensor senses both end portions on the two sides of the slot of the cassette, the central sensing sensor senses the central portion of the slot of the cassette, and the control unit determines the storage state of the lead frame on the slot of the cassette based on the measurement values of the side-end sensing sensor and the central sensing sensor.

[0024] As an example, it may be that the side-end sensing sensor is disposed on the left and right outer push rods to sense the two end portions on both sides of the slot of the cartridge, and the central sensing sensor is disposed on the central push rod to sense the central portion of the slot of the cartridge. The control unit controls the left and right push rod driving members and the central push rod driving member to move the left and right outer push rods and the central push rod according to the height of the slot of the cartridge, and determines the storage state of the lead frame on the slot of the cartridge based on the measurement values of the side-end sensing sensor and the central sensing sensor.

[0025] Alternatively, it may be that an embodiment of the material transfer method according to the present invention includes: a lead frame sensing step of sensing both end portions and a central portion in the width direction of a lead frame stored in a slot of a cartridge through a side-end sensing sensor and a central sensing sensor; and a warpage determination step of the control unit calculating a height deviation between the central portion and both end portions of the lead frame based on the measurement values of the side-end sensing sensor and the central sensing sensor, thereby determining the form and degree of warpage of the lead frame.

[0026] Preferably, it may further include: a transferability determination step of the control unit comparing the form and degree of warpage with a transfer allowable range to determine transferability, the control unit providing guiding information for a lead frame determined to be non-transferable, and performing the lead frame sensing step to the transferability determination step for lead frames stored in slots other than the slot storing the non-transferable lead frame in the cartridge.

[0027] As an example, it may further include: a push rod height adjustment step of the control unit controlling the left and right push rod driving members and the central push rod driving member according to the form and degree of warpage of the lead frame to adjust the lifting height of the left and right outer push rods and the central push rod; and a lead frame removal step of horizontally moving the left and right outer push rods and the central push rod to push out and remove the lead frame stored in the slot of the cartridge.

[0028] As an example, it may further include: a track interval adjustment step of the control unit controlling a track interval adjustment unit to adjust the track pair interval of a variable track according to the form and degree of warpage of the lead frame.

[0029] As an example, it may further include: a jig transfer step of a jig gripping and transferring the removed lead frame, and the control unit adjusting the moving speed of the jig according to the form and degree of warpage of the lead frame.

[0030] According to an embodiment of a preferred material transfer device of the present invention, it may include: a cassette provided with a plurality of slots for storing lead frames; a pusher unit including: left and right outer pushers corresponding to both end portions in the width direction of the lead frame to push out the lead frame stored in the slots of the cassette; left and right pusher driving members for lifting or horizontally moving the left and right outer pushers; a central pusher corresponding to the central portion in the width direction of the lead frame; and a central pusher driving member for lifting or horizontally moving the central pusher; side-end sensing sensors disposed on the left and right outer pushers to sense positions corresponding to both insertion slots of the slots provided in the cassette or both end portions of the lead frame; a central sensing sensor disposed on the central pusher to sense a position corresponding to the central portion of the lead frame; a variable track supporting both sides in the width direction of the lead frame taken out by the pusher unit, and including a pair of tracks including an insertion-type track into which a part of the end in the width direction of the lead frame is inserted and a placement-type track that places the lower end of the end in the width direction of the lead frame and is open at the upper part; a track interval adjusting unit for adjusting the interval between the pair of tracks of the variable track; a clamp for clamping the lead frame placed on the variable track; a picker for picking up the lead frame; a support member for supporting the lead frame so that the picker can pick up the lead frame; a support lifting member for lifting and lowering the support member; and a control unit for calculating the height deviation between the central portion and both end portions of the lead frame based on the measurement values of the side-end sensing sensors and the central sensing sensor to determine the form and degree of warpage of the lead frame, and controlling the left and right pusher driving members and the central pusher driving member according to the form and degree of warpage of the lead frame to adjust the lifting height and horizontal position of the left and right outer pushers and the central pusher, and controlling the track interval adjusting unit to adjust the interval between the pair of tracks of the variable track, and selecting the insertion-type track and the placement-type track to adjust the variable track, and adjusting the moving speed of the clamp, and controlling the support lifting member to adjust the lifting degree of the support member.

[0031] According to this present invention, when transferring a lead frame according to the slots of a sorting device's cassette, warpage can be sensed and the transfer method and speed of the lead frame can be adjusted according to the form and degree of warpage to cope with it.

[0032] In particular, by grasping the form and degree of warpage of the lead frame and matching it to make the pusher work, the lead frame can be stably taken out from the slots of the cassette.

[0033] In addition, by adjusting and changing the interval between the pair of tracks and the track form of the variable track according to the form and degree of warpage of the lead frame, the phenomena of breakage and jamming of the lead frame can be eliminated.

[0034] Furthermore, by adjusting the moving speed of the jig according to the warping shape and degree of the lead frame, the dropping of the lead frame can be prevented.

[0035] Furthermore, the lead frame is lifted up by the support unit according to the warping shape and degree of the lead frame, so that the picking by the picker can be stably supported.

[0036] In addition, each slot of the magazine is scanned to grasp the storage state, warping shape and degree of the stored lead frame and provide guiding information therefor, so that problems that may occur when transferring the lead frame can be grasped in advance and solved.

[0037] The effects of the present invention are not limited to the effects mentioned above, and those with ordinary knowledge in the technical field to which the present invention pertains can clearly understand other effects not mentioned from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 An example of the warping of the lead frame occurring on the magazine is shown.

[0039] Figure 2 An embodiment of the material transfer device according to the present invention is shown.

[0040] Figure 3 And Figure 4 An embodiment of sensing the warping of the lead frame by a warping sensor in the material transfer device according to the present invention is shown.

[0041] Figure 5 An embodiment of scanning the lead frame stored in the magazine in the material transfer device according to the present invention is shown.

[0042] Figure 6 And Figure 7 Another embodiment of the material transfer device according to the present invention is shown.

[0043] Figure 8 And Figure 9 An embodiment of taking out the lead frame stored in the magazine by the push rod unit in the material transfer device according to the present invention is shown.

[0044] Figures 10 to 12 An embodiment of the variable track in the material transfer device according to the present invention is shown.

[0045] Figure 13 An embodiment of the jig and the support member in the material transfer device according to the present invention is shown.

[0046] Figure 14An embodiment of determining the storage state of a lead frame stored in a cassette in a material transfer device according to the present invention is shown.

[0047] Figure 15 A flowchart of an embodiment of a material transfer method according to the present invention is shown.

[0048] (Description of reference numerals)

[0049] 100, 100a, 100b: Material transfer device

[0050] 110: Cassette

[0051] 130: Pusher

[0052] 150: Pusher driving member

[0053] 160: Warpage sensing sensor

[0054] 170: Variable track

[0055] 180: Fixture

[0056] 190: Support unit

[0057] 200: Control unit

[0058] 300: Pickup Detailed description of the preferred embodiment

[0059] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited or restricted to these embodiments.

[0060] In order to illustrate the present invention, the advantages in the operation of the present invention, and the objects achieved by the embodiments of the present invention, hereinafter, preferred embodiments of the present invention will be illustrated and observed with reference thereto.

[0061] First, the terms used in the present application are only used to illustrate specific embodiments and are not used to limit the present invention. In the case where there is no clear definition in the context, singular expressions may also include plural expressions. In addition, in the present application, terms such as "including" or "having" should be understood as designating the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and do not preclude the existence or additional possibility of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0062] When explaining the present invention, when it is determined that a specific description of a related well-known structure or function may confuse the gist of the present invention, the description thereof is omitted.

[0063] The present invention provides a technology that can sense warpage when transferring a lead frame according to the cartridge slots of a sorting device, and adjust the transfer method and speed of the lead frame according to the form and degree of warpage to cope with it.

[0064] Figure 2 Fig. 4 shows an embodiment of a material transfer device according to the present invention.

[0065] The material transfer device 100 may include a cartridge 110, a pusher unit, a warpage sensing sensor, a variable track 170, a jig 180, a control unit 200, etc.

[0066] The cartridge 110 may have a storage space 111 for storing the lead frame S inside, and slots 115 for supporting both end portions of the lead frame S on the inner side wall.

[0067] A plurality of slots 115 may be provided in the cartridge 110, and the lead frame S may be inserted and stored in a multi-layer structure.

[0068] The pusher unit may push out the lead frame S stored in the cartridge 110.

[0069] The pusher unit may include a pusher 130, a pusher support 140, a pusher driving member 150, etc.

[0070] As an example, the pusher 130 may include left and right outer pushers 131, 135 corresponding to both end portions in the width direction of the lead frame S, and a central pusher 133 corresponding to the central portion in the width direction of the lead frame S.

[0071] The pusher support 140 may include left and right outer pusher supports 141, 145 connected to the left and right outer pushers 131, 135 to support the horizontal and vertical movement of the left and right outer pushers 131, 135, and a central pusher support 143 connected to the central pusher 133 to support the horizontal and vertical movement of the central pusher 133.

[0072] The pusher driving member 150 may include a linear motor or the like to move the pusher 130 in the horizontal and vertical directions.

[0073] The pusher driving member 150 may include left and right pusher driving members 151, 155 that move the left and right outer pusher supports 141, 145 to move the left and right outer pushers 131, 135 horizontally and vertically, and a central pusher driving member 153 that moves the central pusher support 143 to move the central pusher 133 horizontally and vertically.

[0074] The variable rail 170 may include rail pairs 171 and 175, and support both sides in the width direction of the lead frame S taken out by the pusher unit. The variable rail 170 can adjust the interval between the rail pairs 171 and 175.

[0075] The jig 180 can hold and transfer the lead frame S through the jig driving member 185. The jig driving member 185 can adjust the moving speed of the jig 180.

[0076] The warpage sensing sensor 160 can sense the positions corresponding to the left and right end portions of the lead frame S and the position corresponding to the central portion of the lead frame S. Alternatively, the warpage sensing sensor 160 can also sense the positions of the two insertion grooves on both sides of the slot 115 provided in the magazine 110. The sensing method of the warpage sensing sensor 160 can apply various methods according to the situation. For example, various sensing members such as optical sensors, ultrasonic sensors, cameras, etc. can be applied to sense the position.

[0077] Refer to and observe an embodiment in Figure 3 and Figure 4 the material transfer device according to the present invention shown in which the warpage of the lead frame is sensed by the warpage sensing sensor.

[0078] Side end sensing sensors 161 and 165 can be arranged on the left and right outer pushers 131 and 135 to sense the left and right end portions L and R in the width direction of the lead frame or the positions of the two insertion grooves on both sides of the slot 115 of the magazine 110.

[0079] In addition, a central sensing sensor 163 can be arranged on the central pusher 133 to sense the central portion C in the width direction of the lead frame or the position of the central portion of the slot 115 of the magazine 110.

[0080] As an example, the side end sensing sensors 161 and 165 can be arranged on either the left or right side surfaces of the left and right outer pushers 131 and 135, and the central sensing sensor 163 can be arranged on either the left or right side surfaces of the central pusher 133.

[0081] The control unit 200 can calculate the height deviation between the central portion and the side ends of the lead frame based on the measurement values of the side end sensing sensors 161 and 165 and the central sensing sensor 163 to judge the form and degree of the warpage of the lead frame.

[0082] As described Figure 4 in (a) above, by sensing the left and right end portions L and R and the central portion C in the width direction of the lead frame S through the side end sensing sensors 161 and 165 and the central sensing sensor 163, the control unit 200 can judge the state of the lead frame S.

[0083] As described Figure 4In (b) thereof, if it is determined based on the results sensed by the side-end sensing sensors 161 and 165 and the central sensing sensor 163 that there is a height deviation such that the central portion C is higher than the two side end portions L and R by a degree H1, it can be determined that warping in the shape of a smile has occurred in the lead frame S. Additionally, the degree of warping can be determined based on the height deviation H1.

[0084] As described above Figure 4 In (c) thereof, if it is determined based on the results sensed by the side-end sensing sensors 161 and 165 and the central sensing sensor 163 that there is a height deviation such that the central portion C is lower than the two side end portions L and R by a degree H2, it can be determined that warping in the shape of a crying has occurred in the lead frame S. Additionally, the degree of warping can be determined based on the height deviation H2.

[0085] The control unit 200 can control each structure such as the pusher unit, the variable rail 170 (refer to Figure 2 ), the jig 180 (refer to Figure 2 ) based on the determination results regarding the warping shape and degree.

[0086] Furthermore, the warping sensing sensor 160 can scan each slot 115 of the magazine 110 from top to bottom or from bottom to top to comprehensively determine the state of the stored lead frames.

[0087] In this regard, Figure 5 An embodiment of scanning the lead frames stored in the magazine in the material transfer device according to the present invention is shown.

[0088] The control unit 200 (refer to Figure 2 ) can move the warping sensing sensor 160 (refer to Figure 2 ) to a position corresponding to each slot 115 of the magazine 110 to grasp the state of the lead frame S stored in each slot 115.

[0089] For example, as in the previously observed embodiment, when the warping sensing sensor 160 is disposed on the pusher 130 (refer to Figure 2 ), the pusher 130 can be moved sequentially from the uppermost slot to the lowermost slot of the magazine 110, and as shown in (a) of Figure 5 , the two side end portions L and R of the lead frame S in the width direction of each slot can be sensed by the side-end sensing sensors 161 and 165 (refer to Figure 2 ), and the central portion C of the lead frame S in the width direction of each slot can be sensed by the central sensing sensor 163 (refer to Figure 2 ).

[0090] Through this, as described above Figure 5As in (b) of , the control unit 200 can determine whether the lead frames stored in the respective slots of the cassette 110 are in a normal form, whether warping has occurred, whether the warping is in a smile form or a crying form, the degree of warping, etc.

[0091] The arrangement position of the warping sensor 160 can be changed in various ways. In this regard, Figure 6 and Figure 7 shows another embodiment of the material transfer device according to the present invention.

[0092] When describing this embodiment, for parts that overlap with the previously described embodiment, the description thereof will be omitted or briefly described.

[0093] In the Figure 6 embodiment of the material transfer device 100a, it may be that an upper support frame 162 and a lower support frame 164 are arranged above and below the space for taking out the lead frame S from the cassette 110 to the variable rail 170, and the warping sensors 160a are arranged on the upper support frame 162 and the lower support frame 164.

[0094] On the upper support frame 162 above the rail pairs 171, 175 of the variable rail 170, side end sensors 161a, 165a may be arranged corresponding to the end portions on both sides in the width direction of the lead frame S, so as to sense the end portions on both sides in the width direction of the lead frame S.

[0095] On the lower support frame 164 below the rail pairs 171, 175 of the variable rail 170, a central sensor 163a may be arranged corresponding to the central portion in the width direction of the lead frame S, so as to sense the central portion in the width direction of the lead frame S.

[0096] It may also be that the Figure 6 embodiment is deformed, with the central sensor 163a arranged on the upper support frame 162 and the side end sensors 161a, 165a arranged on the lower support frame 164.

[0097] The side end sensors 161a, 165a can measure the distances to the end portions on both sides in the width direction of the lead frame S taken out from the cassette 110, and the central sensor 163a can measure the distance to the central portion in the width direction of the lead frame S taken out from the cassette 110.

[0098] Based on the measured values of the distances to the end portions on both sides in the width direction and the central portion of the lead frame S, the warping form and degree of the lead frame S can be grasped.

[0099] In the Figure 7In an embodiment of the material transfer device 100b, a lower support frame 164 may be arranged below the space for taking out the lead frame S from the material box 110 to the variable track 170, and a warping sensing sensor 160b may be arranged between the track pair 171, 175 of the variable track 170 and the lower support frame 164.

[0100] The side end sensing sensors 161 b and 165 b may be disposed on the track pairs 171 and 175 of the variable track 170 corresponding to the end portions on both sides of the lead frame S in the width direction, thereby sensing the end portions on both sides of the lead frame S in the width direction.

[0101] The central sensing sensor 163 b may be disposed on the lower support frame 164 corresponding to the central portion of the lead frame S in the width direction, so as to sense the central portion of the lead frame S in the width direction.

[0102] Alternatively, the Figure 7 A variation of the embodiment is to configure an upper support frame, and to configure a central sensing sensor 163b on the upper support frame.

[0103] By means of the material transfer device according to the present invention, the lead frame stored in the material box can be transferred in accordance with the warping shape and degree thereof. Figure 8 as well as Figure 9 An embodiment in which a push rod unit in the material transfer device according to the present invention takes out a lead frame stored in a magazine is shown.

[0104] In the Figure 8 When a lead frame S1 in a normal state, a lead frame S2 with a warping shape of a smile, and a lead frame S3 with a warping shape of a cry are stored in the slot 115 of the material box 110, the push rod unit can take out the lead frames according to the warping shape and degree of each lead frame.

[0105] As stated Figure 9 As shown in (a), when the lead frame S1 judged to be in a normal state is taken out, the control unit 200 (refer to Figure 2 ) can make the left and right push rod driving components 151, 155 and the central push rod driving component 153 work so that the left and right outer push rods 131, 135 and the central push rod 133 rise to the height of the end parts and the center part on both sides of the width direction of the lead frame and move in the horizontal direction, thereby taking out the lead frame S1 in a normal state.

[0106] As stated Figure 9As shown in (b) thereof, when taking out the warped lead frame S2 determined to be in a smiling (Smile) form, the control unit 200 can operate the left and right pusher driving members 151 and 155 to raise the left and right outer pushers 131 and 135 by a height difference H11 between the end portions on both sides in the width direction of the lead frame and the slot 115, and operate the central pusher driving member 153 to raise the central pusher 133 by a higher height difference H12 between the central portion in the width direction of the lead frame and the slot 115. At this time, the central pusher 133 can be raised higher than the left and right outer pushers 131 and 135 by a height deviation H12 - H11 between the end portions on both sides and the central portion in the width direction of the lead frame.

[0107] The left and right outer pushers 131 and 135 and the central pusher 133 can be lifted and moved in the horizontal direction corresponding to the warping form and degree of the smiling (Smile) form of the lead frame S2, so as to take out the lead frame S2 in the smiling (Smile) form.

[0108] As described above Figure 9 As shown in (c) thereof, when taking out the warped lead frame S3 determined to be in a crying (Crying) form, the control unit 200 can operate the left and right pusher driving members 151 and 155 to raise the left and right outer pushers 131 and 135 by a lower height difference H21 between the end portions on both sides in the width direction of the lead frame and the slot 115, and operate the central pusher driving member 153 to raise the central pusher 133 by an even lower height difference H22 between the central portion in the width direction of the lead frame and the slot 115. At this time, the central pusher 133 can be raised lower than the left and right outer pushers 131 and 135 by a height deviation H22 - H21 between the end portions on both sides and the central portion in the width direction of the lead frame.

[0109] The left and right outer pushers 131 and 135 and the central pusher 133 can be lifted and moved in the horizontal direction corresponding to the warping form and degree of the lead frame S3, so as to take out the lead frame S3 in the crying (Crying) form.

[0110] Furthermore, the material transfer device according to the present invention can selectively apply the track pair spacing and track pair form of the variable track according to the warping form and degree of the lead frame. In this regard, Figures 10 to 12 An embodiment of the variable track in the material transfer device according to the present invention is shown.

[0111] It is possible that the variable orbit 170 includes a pair of orbits 171 and 175 for the left and right orbits, and the control unit 200 adjusts the separation distance W between the pair of orbits 171 and 175 through the orbit interval adjustment unit 400. As an example, an orbit support unit (not shown) for supporting the pair of orbits 171 and 175 may be provided, and the pair of orbits 171 and 175 are moved on the orbit support unit to adjust the separation distance W between the pair of orbits 171 and 175.

[0112] As Figure 11 shown in (a) of, the pair of orbits 171 and 175 of the variable orbit 170 may include an insertion type pair of orbits 171a and 175a provided with insertion grooves into which a part of the end in the width direction of the lead frame is inserted, and as described above Figure 11 shown in (b) of, the placement type pair of orbits 171b and 175b that place the lower end of the end in the width direction of the lead frame and are open at the upper part.

[0113] The control unit 200 may selectively apply the insertion type pair of orbits 171a and 175a and the placement type pair of orbits 171b and 175b according to the warping form and degree of the lead frame.

[0114] For example, as described above Figure 12 in (a) of, the insertion type pair of orbits 171a and 175a may be such that the end portions on both sides of the lead frame S are inserted into the insertion grooves of the insertion type pair of orbits 171a and 175a for support, so that the lead frame S can be stably supported.

[0115] However, as described above Figure 12 in (b) of, when the lead frame S warps above a certain level, if the end portions on both sides of the lead frame S are inserted into the insertion grooves of the insertion type pair of orbits 171a and 175a, due to the jamming phenomenon, the jig cannot hold the lead frame S and move smoothly.

[0116] Therefore, when the lead frame S warps above a certain level, as described above Figure 12 in (c) of, by applying the placement type pair of orbits 171b and 175b and placing the lead frame S on the placement type pair of orbits 171b and 175b, smooth transfer of the lead frame S can be achieved.

[0117] Figure 13 An embodiment of the jig and the support member in the material transfer device according to the present invention is shown. The Figure 13 (a) of shows an example of observing a part of the material transfer device from above, and the Figure 13 (b) of shows an example of observing a part of the material transfer device from the front.

[0118] The jig 180 holds and transfers the lead frame S placed on the variable track 170. However, when the lead frame S warps more than a certain level, the jig 180 may not be able to stably hold the lead frame S.

[0119] In a state where the jig 180 does not stably hold the lead frame S, if the jig 180 is moved at a high speed, the lead frame S may detach from the jig 180 and fall.

[0120] Therefore, the control unit 200 (refer to Figure 2 ) can prevent the lead frame S from falling by adjusting the moving speed of the jig 180 based on the warping form and degree of the lead frame S.

[0121] When the warping degree of the lead frame exceeds the set value, the control unit 200 can control the jig driving member 185 according to this to make the moving speed of the jig 180 lower. As an example, the control unit 200 can preset the moving speed of the jig 180 according to the warping degree and control the moving speed of the jig 180 based on this.

[0122] The picker 300 picks up the lead frame S transferred by the jig 180 and transfers it. In order to support the picking work of the picker 300, a support unit 190 can be configured.

[0123] The support unit 190 can include a support member 191 that pushes the lead frame S in the direction of the picker 300 and a support lifting member 193 that raises and lowers the support member 191, etc.

[0124] The control unit 200 controls the support lifting member 193 according to the warping form and degree of the lead frame S to raise and lower the support member 191, thereby pushing the lead frame S in the direction of the picker 300, so that the picker 300 can more stably adsorb the lead frame S.

[0125] Furthermore, it is possible to determine the state of each lead frame stored in each slot 115 (refer to Figure 2 ) of the magazine 110 by the warping sensor 160 (refer to Figure 2 ) and provide lead frame information according to this. In this regard, Figure 14 An embodiment showing the determination of the storage state of the lead frame stored in the magazine in the material transfer device according to the present invention is shown.

[0126] As described in the previous embodiment, it can be that the side end sensing sensor senses the side ends of the slots of the magazine 110, and the central sensing sensor senses the central part of the slots of the magazine 110.

[0127] In addition, the control unit can determine the storage state of the lead frames stored in the respective slots of the cassette 110 based on the measurement values of the side-end sensing sensors and the central sensing sensors.

[0128] For example, as described Figure 14 shown, various lead frame storage states such as state E1 where two lead frames are inserted and stored in one slot, state E2 where a warped lead frame is stored, state E3 where the slot without a stored lead frame is empty, state E4 where the stored lead frame straddles two slots, etc. can be determined.

[0129] In addition, the control unit can determine whether the lead frame can be transferred based on the storage state, warping form, and degree of the lead frames stored in the respective slots of the cassette 110, and can also provide guiding information therefor.

[0130] In addition, in the present invention, a material transfer method performed by the material transfer device according to the present invention described above is proposed. Hereinafter, the material transfer method according to the present invention will be observed.

[0131] Figure 15 A flowchart showing an embodiment of the material transfer method according to the present invention is shown. Since the material transfer method according to the present invention is implemented by the material transfer device according to the present invention, the embodiment of the material transfer device will be referred to together.

[0132] The respective slots of the cassette 110 (refer to Figure 2 ) can be scanned from top to bottom by the warpage sensing sensor 160 (refer to Figure 2 ). It can be that, as described in the previous embodiment, the side-end sensing sensors and the central sensing sensors of the warpage sensing sensor 160 sense both side ends and the central portion (S110) in the width direction of the lead frame, and based on this, the storage state, warping form, and degree of the lead frames stored in the respective slots are determined (S120).

[0133] For example, the control unit 200 (refer to Figure 2 ) can calculate the height deviation between the central portion and the side ends of the lead frame based on the measurement values of the side-end sensing sensors and the central sensing sensors, thereby determining the form and degree of warping of the lead frame.

[0134] The control unit 200 can determine whether the corresponding lead frame can be transferred based on the storage state, warping form, and degree of the lead frames stored in the respective slots of the cassette 110 (S130). As an example, the control unit 200 can compare the warping form and information of the corresponding lead frame with the transfer allowable range to determine whether transfer is possible.

[0135] For example, when two lead frames are stored in one slot or one lead frame is stored across two slots, it can be determined that transfer is not possible. In addition, when warping occurs in the lead frame at a level exceeding a set reference value, it can also be determined that transfer is not possible.

[0136] When it is determined that a specific lead frame cannot be transferred, the control unit 200 can provide guidance information regarding this (S140). More specifically, it can provide guidance information on which lead frame in which slot of a certain cassette has a certain problem.

[0137] The control unit 200 can repeatedly determine whether a lead frame can be transferred for each slot of the cassette 110.

[0138] The control unit 200 can adjust the lifting height of the pusher of the pusher unit based on the storage state, warping form, and information of the corresponding lead frame (S210).

[0139] For example, it can be that the control unit 200 controls the left and right pusher drive members and the central pusher drive member according to the warping form and degree determined for the corresponding lead frame, thereby adjusting the lifting height of the left and right outer pushers and the central pusher and horizontally moving the left and right outer pushers and the central pusher, so as to push out and remove the corresponding lead frame stored in the slot of the cassette.

[0140] In addition, the control unit 200 can control the track interval adjustment unit 400 according to the form and degree of warping of the lead frame, thereby adjusting the interval between the track pairs 171, 175 ( Figure 2 reference) of the variable track 170 ( Figure 2 reference) (S220).

[0141] The pusher unit pushes out and removes the corresponding lead frame from the slot of the cassette (S230), so that in a state where the corresponding lead frame is placed on the track pairs 171, 175 of the variable track 170, the corresponding lead frame is clamped by the clamp 180 (refer to Figure 2 ) (S240).

[0142] The control unit 200 can control the clamp drive member 185 (refer to Figure 2 ) according to the form and degree of warping of the lead frame in a state where the clamp 180 clamps the corresponding lead frame, thereby adjusting the moving speed of the clamp 180 (S250).

[0143] The picker 300 (refer to Figure 13 ) can adsorb and pick up the lead frame clamped by the clamp 180. At this time, the control unit 200 can push up the lead frame through the support unit 190 (refer to Figure 13 ) based on the warping form and degree of the lead frame, so as to support the adsorption of the picker 300.

[0144] As an example, the control unit 200 can control the support lifting member 193 (refer to Figure 13 ) according to the shape and degree of warpage of the lead frame to adjust the lifting of the support member 191 (refer to Figure 13 ), so that the lead frame can be pushed upward in the direction of the picker 300, and thus the picker 300 can be supported to adsorb the lead frame more stably.

[0145] With the support of the support unit 190, the picker 300 can stably adsorb and pick up the lead frame (S270).

[0146] According to the present invention described above, when the lead frame is transferred according to the cassette slot of the sorting device, warpage can be sensed, and the transfer method and speed of the lead frame can be adjusted according to the shape and degree of warpage to cope with it.

[0147] The above description is only an example of illustrating the technical concept of the present invention. Those with ordinary knowledge in the technical field to which the present invention belongs can make various modifications and deformations without exceeding the essential characteristics of the present invention. Therefore, the embodiments described in the present invention are used to illustrate the technical concept of the present invention rather than to limit the technical concept of the present invention. The technical concept of the present invention is not limited to these embodiments. The protection scope of the present invention should be interpreted by the appended claims, and all technical concepts within the equivalent scope thereof should be interpreted as being included in the scope of the claims of the present invention.

Claims

1. A material transfer device, characterized in that: include: A material box is provided with a plurality of slots for storing lead frames; A push rod unit pushes and takes out the lead frame stored in the slot of the material box; A side end sensing sensor for sensing the end portions on both sides of the lead frame in the width direction; a central sensing sensor for sensing a central portion of the lead frame; as well as The control unit calculates a height deviation between a center portion and both side end portions of the lead frame based on the measurement values ​​of the side end sensing sensor and the center sensing sensor, thereby determining a form and degree of warping of the lead frame.

2. The material transfer device according to claim 1, characterized in that: The push rod unit comprises: Left and right outer push rods corresponding to the end portions on both sides of the lead frame in the width direction; and A central push rod corresponding to the central portion of the lead frame in the width direction, The side end sensing sensors are arranged on the left and right outer push rods to sense positions corresponding to the insertion slots on both sides of the slot provided in the material box. The central sensing sensor is disposed on the central push rod to sense a position corresponding to a central portion of the lead frame.

3. The material transfer device according to claim 2, characterized in that: The side end sensing sensor is arranged on the side of the left and right outer push rods. The central sensing sensor is arranged on the side surface of the central push rod.

4. The material transfer device according to claim 1, characterized in that: The material transfer device further comprises: A variable track, comprising a track pair for supporting both sides in the width direction of the lead frame taken out by the push rod unit; A track spacing adjustment unit, which adjusts the track pair spacing of the variable track; and A clamp is used to clamp the lead frame placed on the variable track.

5. The material transfer device according to claim 4, characterized in that: The side end sensing sensor is arranged on the track pair of the variable track to sense positions corresponding to the end portions on both sides in the width direction of the lead frame. The center sensing sensor is disposed above or below a center portion of the track pair of the variable track to sense a position corresponding to the center portion of the lead frame.

6. The material transfer device according to claim 4, characterized in that: The side end sensing sensor is arranged above the track pair of the variable track to sense positions corresponding to the end portions on both sides of the lead frame in the width direction. The center sensing sensor is disposed below a center portion of the pair of rails of the variable rail to sense a position corresponding to a center portion of the lead frame.

7. The material transfer device according to claim 1, characterized in that: The push rod unit comprises: Left and right outer push rods corresponding to the end portions on both sides of the lead frame in the width direction; Left and right push rod driving components enable the left and right outer push rods to move horizontally and vertically; a central push rod corresponding to the central portion of the lead frame in the width direction; and The central push rod driving member causes the central push rod to move horizontally and vertically. The control unit controls the left and right push rod driving components and the central push rod driving component to adjust the lifting height and horizontal position of the left and right outer push rods and the central push rod according to the shape and degree of the warping of the lead frame.

8. The material transfer device according to claim 4, characterized in that: The control unit controls the rail interval adjustment unit to adjust the rail pair interval of the variable rail according to the form and degree of warping of the lead frame.

9. The material transfer device according to claim 4, characterized in that: The rail pair of the variable rail includes an insertion type rail inserted into a portion of the end in the width direction of the lead frame and a placement type rail placed at the lower end of the end in the width direction of the lead frame and having an open upper portion. The control unit selects the insertion type rail and the placement type rail to adjust the variable rail according to the shape and degree of warping of the lead frame.

10. The material transfer device according to claim 4, characterized in that: The control unit adjusts a moving speed of the jig according to a shape and degree of warping of the lead frame.

11. The material transfer device according to claim 4, characterized in that: The material transfer device further comprises: A picker, picking up the lead frame; a supporting member that supports the lead frame so that the pickup picks up the lead frame; and The supporting lifting member lifts and lowers the supporting member.

12. The material transfer device according to claim 11, characterized in that: The control unit controls the support lifting member to adjust the lifting degree of the support component according to the shape and degree of the warping of the lead frame.

13. The material transfer device according to claim 1, characterized in that: The side end sensing sensor senses the end portions of both sides of the slot of the material box, The central sensing sensor senses the central portion of the slot of the material box. The control unit determines a storage state of the lead frame on the slot of the magazine based on measurement values ​​of the side end sensing sensor and the center sensing sensor.

14. The material transfer device according to claim 7, characterized in that: The side end sensing sensors are arranged on the left and right outer push rods to sense the end portions of both sides of the slot of the material box. The central sensing sensor is disposed on the central push rod to sense the central portion of the slot of the material box. The control unit controls the left and right push rod driving components and the central push rod driving components to move the left and right outer push rods and the central push rod according to the slot height of the material box, and determines the storage status of the lead frame on the slot of the material box based on the measurement values ​​of the side end sensing sensor and the central sensing sensor.

15. A material transfer method, characterized in that: include: A lead frame sensing step, sensing the end portions and the center portion of the lead frame stored in the slot of the material box in the width direction by using a side end sensing sensor and a center sensing sensor; as well as In the warping judgment step, the control unit calculates a height deviation between a central portion and both side end portions of the lead frame based on the measurement values ​​of the side end sensing sensor and the central sensing sensor, thereby judging the form and degree of the warping of the lead frame.

16. The material transfer method according to claim 15, characterized in that: The material transfer method further comprises: In the transfer permission judgment step, the control unit compares the shape and degree of the warping with the transfer allowable range to judge whether the transfer is possible. The control unit provides guidance information for the lead frame determined to be untransferable, and executes the lead frame sensing step to the transfer determination step for the lead frames stored in slots other than the slot storing the lead frame that cannot be transferred in the magazine.

17. The material transfer method according to claim 15, characterized in that: The material transfer method further comprises: a push rod height adjustment step, wherein the control unit controls the left and right push rod driving components and the central push rod driving component to adjust the lifting heights of the left and right outer push rods and the central push rod according to the shape and degree of the warping of the lead frame; and The lead frame taking-out step is to move the left and right outer push rods and the central push rod horizontally to push and take out the lead frame stored in the slot of the material box.

18. The material transfer method according to claim 15, characterized in that: The material transfer method further comprises: In the track interval adjustment step, the control unit controls the track interval adjustment unit to adjust the track pair interval of the variable track according to the shape and degree of the warping of the lead frame.

19. The material transfer method according to claim 17, characterized in that: The material transfer method further comprises: In the jig transfer step, the jig clamps and transfers the taken-out lead frame, and the control unit adjusts the moving speed of the jig according to the shape and degree of warping of the lead frame.

20. A material transfer device, characterized in that: include: A material box is provided with a plurality of slots for storing lead frames; The push rod unit includes: left and right outer push rods corresponding to the end portions of the lead frame on both sides in the width direction, so as to push and take out the lead frame stored in the slot of the material box; left and right push rod driving components, so that the left and right outer push rods are lifted or moved horizontally; a central push rod corresponding to the central portion of the lead frame in the width direction; and a central push rod driving component, so that the central push rod is lifted or moved horizontally; Side end sensing sensors are arranged on the left and right outer push rods to sense positions corresponding to the insertion grooves on both sides of the slot provided in the material box or the end portions on both sides of the lead frame; A central sensing sensor, disposed on the central push rod and sensing a position corresponding to the central portion of the lead frame; a variable rail supporting both sides of the lead frame taken out by the push rod unit in the width direction and including a rail pair of an insertion type rail inserted into a portion of the end in the width direction of the lead frame and a placement type rail placed at the lower end of the end in the width direction of the lead frame and open at the top; A track spacing adjustment unit, for adjusting the track pair spacing of the variable track; A clamp, clamping the lead frame placed on the variable track; A picker, picking up the lead frame; A supporting member, supporting the lead frame so that the pickup device picks up the lead frame; A supporting lifting member is provided to lift and lower the supporting member; and The control unit determines the shape and degree of the warping of the lead frame by calculating the height deviation between the central part and the two side end parts of the lead frame based on the measurement values ​​of the side end sensing sensor and the central sensing sensor, and controls the left and right push rod driving components and the central push rod driving component to adjust the lifting height and horizontal position of the left and right outer push rods and the central push rod according to the shape and degree of the warping of the lead frame, and controls the track spacing adjustment unit to adjust the track pair spacing of the variable track, and selects the insertion type track and the placement type track to adjust the variable track, and adjusts the moving speed of the clamp, and controls the support lifting component to adjust the lifting degree of the support component.

Images