Workpiece transfer device and workpiece transfer method
The workpiece transfer device addresses the issue of large movement ranges by rotating the tray 360°/n when 1/n of storage sections are filled, reducing device size and costs while maintaining efficient alignment and storage efficiency.
Patent Information
- Application Number
- JP2024030451
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2024-02-29
- Publication Date
- 2025-09-10
- Estimated Expiration
- 2044-02-29
AI Technical Summary
Conventional workpiece transfer devices require a large range of movement for the holding member and tray to align with storage sections, leading to increased device size and costs.
A workpiece transfer device that includes a tray with storage sections, a suction nozzle, nozzle driving means, counting means, rotating means, and tray transport means, which rotates the tray 360°/n when 1/n of the storage sections are filled, allowing the suction nozzle to align with the remaining sections for efficient workpiece accommodation.
Narrowing the movement range of the holding member and tray, reducing device size and costs while ensuring efficient workpiece alignment and storage without orientation change.
Smart Images
Figure 2025132707000001_ABST
Abstract
Description
[Technical Field]
[0001] The present disclosure relates to a workpiece transfer device and a workpiece transfer method. [Background technology]
[0002] A workpiece transfer device is known that transfers workpieces such as chips so that they are accommodated in each of a plurality of accommodation sections provided on a tray. The tray accommodating the plurality of workpieces is transported to a next process such as a bonding process. [Prior art documents] [Patent documents]
[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-277612 Summary of the Invention [Problem to be solved by the invention]
[0004] When transferring a workpiece to a storage section provided on a tray, the holding member that holds the workpiece is aligned with the storage section. By aligning the workpiece, the workpiece can be properly stored in the storage section. The larger the tray, the wider the range over which the holding member and tray must be moved for this alignment. In order to ensure space for the holding member and tray to move, the workpiece transfer device becomes larger. This increases the cost related to the workpiece transfer device. The present disclosure aims to narrow the range over which the holding member and tray must be moved to align the holding member that holds the workpiece with the storage section of the tray. [Means for solving the problem]
[0005] The workpiece transfer device of the present disclosure is a tray having a plurality of storage sections for storing the workpieces; a suction nozzle that is driven to suck and hold the workpiece and accommodate the workpiece in the accommodating section where the workpiece is not accommodated; a nozzle driving means for driving the suction nozzle when the tray is positioned at the workpiece accommodation position; a counting means for counting the number of the works accommodated in the accommodation section; a rotating means for rotating the tray about an axis in a direction not parallel to the horizontal direction; a tray transport means for transporting the tray, When the number counted by the counting means reaches 1 / n of the total number of the storage units for a predetermined number n, the rotating means rotates the tray 360° / n; When the number counted by the counting means reaches the total number of the storage sections, the tray transporting means transports the tray from the work storage position and transports another tray to the work storage position, and the number counted by the counting means is reset. [Effects of the Invention]
[0006] According to the present disclosure, the range of movement of the holding member and the tray for aligning the holding member that holds the workpiece with the storage portion of the tray can be narrowed. [Brief explanation of the drawings]
[0007] [Figure 1] FIG. 1 is a top view schematically showing a work transfer device according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is an enlarged perspective view of a suction nozzle serving as a holding member for holding a workpiece. [Figure 3] FIG. 3 is a top view of the tray. [Figure 4] FIG. 4 is a side view of a part of the work transfer device. [Figure 5] FIG. 5 is a side view of a portion of the work transfer device. [Figure 6] FIG. 6 is a diagram for explaining a process of transferring a workpiece to a tray by a workpiece transfer device. [Figure 7] FIG. 7 is a diagram for explaining a process of transferring a workpiece to a tray by a workpiece transfer device. DETAILED DESCRIPTION OF THE INVENTION
[0008] In the drawings accompanying this specification, the scale and aspect ratios have been appropriately changed and exaggerated from those of the actual objects for the sake of ease of illustration and understanding. Components shown in some drawings may be omitted in other drawings.
[0009] In this specification, terms such as "parallel," "orthogonal," and "identical," which specify shapes and geometric conditions and their degrees, as well as values of lengths and angles, are not limited to their strict meanings but are interpreted to include a range of degrees within which similar functions can be expected.
[0010] To clarify the relationship between directions between drawings, the X, Y, and Z directions are indicated as common directions in some drawings using arrows with common symbols. In the following examples, the X and Y directions are parallel to the horizontal direction, and the Z direction is parallel to the vertical direction. The X, Y, and Z directions are perpendicular to each other. An arrow pointing toward the viewer in a direction perpendicular to the surface of the drawing is indicated by a symbol with a dot in a circle, as shown in Figure 1, for example. An arrow pointing toward the viewer in a direction perpendicular to the surface of the drawing is indicated by a symbol with an x in a circle, as shown in Figure 4, for example.
[0011] In this specification, when multiple upper limit value candidates and multiple lower limit value candidates are listed for a parameter, the parameter may be a numerical range that combines any one upper limit value candidate and any one lower limit value candidate.
[0012] An embodiment of the present disclosure relates to the following [1] to [7]. [1] a tray having a plurality of storage sections for storing the workpieces; a suction nozzle that is driven to suck and hold the workpiece and accommodate the workpiece in the accommodating section where the workpiece is not accommodated; a nozzle driving means for driving the suction nozzle when the tray is positioned at the workpiece accommodation position; a counting means for counting the number of the works accommodated in the accommodation section; a rotating means for rotating the tray about an axis in a direction not parallel to the horizontal direction; a tray transport means for transporting the tray, When the number counted by the counting means reaches 1 / n of the total number of the storage units for a predetermined number n, the rotating means rotates the tray 360° / n; When the number counted by the counting means reaches the total number of storage sections, the tray transporting means transports the tray from the work storage position and transports another tray to the work storage position, and the number counted by the counting means is reset. [2] The workpiece transfer device according to [1], wherein n is 2. [3] the tray has a mark indicating the orientation of the tray; The workpiece transfer device according to [1] or [2], further comprising a detection means for detecting the mark. [4] The workpiece transfer device according to any one of [1] to [3], wherein the nozzle driving means stops driving the suction nozzle while the rotating means rotates the tray. [5] A work transfer device according to any one of [1] to [4], further comprising a confirmation means for confirming that the work does not protrude from the storage section in the tray. [6] a step of transporting the tray to a workpiece accommodation position by a tray transport means; a step of suctioning and holding the workpiece with a suction nozzle; a step of driving the suction nozzle by a nozzle driving means to accommodate the workpiece held by the suction nozzle in an accommodation portion of the tray in which the workpiece is not accommodated; a step of counting the number of the works accommodated in the accommodation section by a counting means; a step of rotating the tray 360° / n around an axis in a direction not parallel to the horizontal direction when the number counted by the counting means reaches 1 / n of the total number of the storage sections for a predetermined number n; a step in which, when the number counted by the counting means reaches the total number of the accommodation sections, the tray transport means transports the tray from the work accommodation position and transports another tray to the work accommodation position; and resetting the number counted by the counting means. [7] The workpiece transfer method described in [6] further includes a step of confirming by a confirmation means that the workpiece does not protrude from the storage section.
[0013] An embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 is a top view schematically showing a work transfer device 10 according to an embodiment of the present disclosure. The work transfer device 10 transfers a work 5 so that the work 5 is accommodated in an accommodating section 21 of a tray 20, which will be described later.
[0014] The workpiece 5 may be, for example, an electronic component. As a more specific example, the workpiece 5 may be a diced semiconductor chip. The shape of the workpiece 5 may be a rectangular parallelepiped. The workpiece 5 may have a rotationally symmetric shape when viewed from above. For example, the workpiece 5 may be rectangular or square when viewed from above.
[0015] 1, the work transfer device 10 has a work supply unit 11, a suction nozzle 12, a nozzle driving means 13, a counting means 14, a tray stand 15, a tray transporting means 17, a detecting means 18, a tray 20, and a confirming means 30. As shown in Fig. 4, which will be described later, the work transfer device 10 further has a rotating means 16.
[0016] The work supply unit 11 supplies the workpieces 5 to the suction nozzle 12. The work supply unit 11 may be, for example, a linear feeder that supplies the workpieces 5 lined up in a row from a parts feeder (not shown). The work supply unit 11 may also vibrate to transport and supply the workpieces 5. The work supply unit 11 may also supply the workpieces 5 one by one.
[0017] The suction nozzle 12 is a holding member that holds the workpiece 5 by suction. The suction nozzle 12 holds the workpieces 5 supplied by the workpiece supply unit 11 one by one. The workpiece transfer device 10 may have multiple suction nozzles 12. In the example shown in FIG. 1, the workpiece transfer device 10 has eight suction nozzles 12. The suction nozzles 12 are driven to accommodate the workpiece 5 in the storage section 21 of the tray 20 that does not accommodate the workpiece 5. The suction nozzles 12 are movable in the Z direction. FIG. 2 shows an enlarged view of the portion where the suction nozzle 12 holds the workpiece 5. As shown in FIG. 2, the suction nozzle 12 moves downward in the Z direction when driven and sucks and holds the workpiece 5. The suction nozzle 12 moves upward in the Z direction while holding the workpiece 5. The movement of the suction nozzle 12 allows the workpiece 5 to be transported. When driven, the suction nozzle 12 releases suction on the workpiece 5 above the storage section 21 of the tray 20 that does not accommodate the workpiece 5, thereby releasing the workpiece 5.
[0018] The nozzle driving means 13 drives the suction nozzle 12 when the tray 20 is positioned at the workpiece storage position P2. The nozzle driving means 13 is circular in top view. The suction nozzle 12 is provided along the outer periphery of the nozzle driving means 13. The nozzle driving means 13 moves the suction nozzle 12 by rotating. By driving the suction nozzle 12, the nozzle driving means 13 moves the suction nozzle 12 holding the workpiece 5 above the storage section 21 of the tray 20 where no workpiece 5 is stored, and releases the workpiece 5. By moving the suction nozzle 12, the nozzle driving means 13 may align the suction nozzle 12 with a position where the suction nozzle 12 will store the workpiece in the storage section 21. By driving the suction nozzle 12, the nozzle driving means 13 moves the suction nozzle 12 which has released the workpiece 5 to a position where the workpiece 5 will be supplied by the workpiece supply section 11, and holds the workpiece 5.
[0019] The counting means 14 counts the number of workpieces 5 accommodated in the accommodation section 21. The counting means 14 may be included in an electronic computer. In the example shown in FIG. 1, the counting means 14 is connected to the nozzle driving means 13. The counting means 14 may count the number of workpieces 5 that the nozzle driving means 13 has released onto the suction nozzle 12 by receiving this number from the nozzle driving means 13. The counting means 14 may also count this number by observing the tray 20 with an imaging device or the like (not shown). When the number counted by the counting means 14 reaches the total number of workpieces in the accommodation section 21, the number counted by the counting means 14 is reset.
[0020] The tray 20 is placed on the tray table 15. The upper surface of the tray table 15 in the Z direction is flat. The dimensions of the upper surface of the tray table 15 in the Z direction are larger than the dimensions of the tray 20 when viewed from above. The tray table 15 may have a fixing means for fixing the tray 20. When the tray table 15 is rotated or transported, the tray 20 placed on the tray table 15 is also rotated or transported. The tray table 15 is transported to the tray set position P1, the work storage position P2, and the confirmation position P3.
[0021] The tray 20 has a plurality of storage sections 21 that store the workpieces 5. The tray 20 is placed on the tray stand 15 and is rotated and transported together with the tray stand 15. The tray 20 may have any shape. In the illustrated example, the tray 20 is disk-shaped. FIG. 3 is an enlarged top view of the tray 20. As shown in FIG. 3, a plurality of storage sections 21 are arranged in one direction and another direction non-parallel to the one direction. The storage sections 21 are arranged two-dimensionally. The storage sections 21 are recesses formed in the surface of the tray 20. The storage sections 21 have a shape and dimensions corresponding to the workpieces 5 so that the workpieces 5 can be properly stored. The storage sections 21 have a depth that allows the workpieces 5 to be stored without protruding. The number of storage sections 21 may be a multiple of a predetermined number n. The number n is a natural number greater than or equal to 2. The number n may be less than or equal to 6. The number n may be 2 or 4.
[0022] As shown in FIG. 3, the tray 20 may further have a mark 23. The tray 20 may have multiple marks 23. The multiple marks 23 may be different from one another. The mark 23 indicates the orientation of the tray 20. More specifically, the mark 23 indicates which portion of the tray 20 is divided into n portions. In the example shown in FIG. 3, the first mark 23A indicates the first portion 20A when the tray 20 is divided into two portions, and the second mark 23B indicates the second portion 20B when the tray 20 is divided into two portions. The first portion 20A and the second portion 20B are different portions of the tray 20. The first portion 20A and the second portion 20B may have the same shape. By detecting the mark 23, it is possible to determine which portion of the tray 20 is facing the suction nozzle 12. The mark 23 may be, for example, a two-dimensional barcode.
[0023] The rotation means 16 rotates the tray table 15 in a direction non-parallel to the horizontal direction, for example, around an axis in the Z direction. When the tray table 15 rotates, the tray 20 placed on the tray table 15 also rotates. Therefore, the rotation means 16 rotates the tray 20 around an axis non-parallel to the horizontal direction. Figure 4 is a side view of the work transfer device 10 observed from the Y direction when the tray table 15 and the tray 20 are positioned at the work accommodation position P2. As shown in Figure 4, the rotation means 16 is located between the tray table 15 and the tray transport means 17 in the Z direction.
[0024] The rotation means 16 rotates the tray 20 by a predetermined angle at a predetermined timing. Specifically, for a predetermined number n, when the number counted by the counting means 14 reaches 1 / n of the total number of storage sections 21, the rotation means 16 rotates the tray 20 by 360° / n. For example, when n is 2, when the number counted by the counting means 14 reaches 1 / 2 of the total number of storage sections 21, the rotation means 16 rotates the tray 20 by 180°.
[0025] The tray conveying means 17 conveys the tray table 15 in the X direction and the Y direction. As the tray table 15 is conveyed, the tray 20 placed on the tray table 15 is also conveyed. Therefore, the tray conveying means 17 conveys the tray 20. The tray conveying means 17 conveys the tray 20 from the tray set position P1 to the workpiece accommodation position P2 and from the workpiece accommodation position P2 to the confirmation position P3. The tray conveying means 17 includes an X-direction tray conveying means 17X and a Y-direction tray conveying means 17Y. In the example shown in FIG. 4, the X-direction tray conveying means 17X is provided above the Y-direction tray conveying means 17Y. The X-direction tray conveying means 17X conveys the tray table 15, the rotation means 16, and the tray 20 in the X direction. The Y-direction tray conveying means 17Y conveys the tray table 15, the rotation means 16, the tray 20, and the X-direction tray conveying means 17X in the Y direction. The tray transport means 17 may transport the tray 20 in the X direction and the Y direction, so that the suction nozzle 12 may be positioned in the accommodation section 21 at a position where the workpiece is accommodated.
[0026] When a tray 20 is placed on the tray stand 15 at the tray set position P1, the tray conveying means 17 conveys the tray stand 15 and the tray 20 from the tray set position P1 to the workpiece storage position P2. When workpieces 5 are stored in the storage sections 21 of the tray 20 at the workpiece storage position P2, in other words, when the number counted by the counting means 14 reaches the total number in the storage sections 21, the tray conveying means 17 conveys the tray 20 from the workpiece storage position P2 to the confirmation position P3. When the tray 20 is removed from the tray stand 15 at the confirmation position P3, the tray conveying means 17 conveys the tray stand 15 on which the tray 20 is not placed from the confirmation position P3 to the tray set position P1. The tray conveying means 17 conveys another tray 20 in which no workpieces 5 are stored in the storage sections 21 at the tray set position P1 from the tray set position P1 to the workpiece storage position P2.
[0027] The detection means 18 detects the mark 23 on the tray 20. The detection means 18 is located, for example, above the tray 20 in the Z direction at the workpiece storage position P2 so that the mark 23 can be observed at the workpiece storage position P2. The orientation of the tray 20 is detected by the detection of the mark 23 by the detection means 18. By detecting the mark 23 by the detection means 18, it is possible to determine which part of the tray 20 is facing closer to the suction nozzle 12. The detection means 18 may be, for example, a combination of an imaging device that captures an image of the mark 23 and a determination unit that determines the orientation of the tray 20 based on the image captured by the imaging device.
[0028] The confirmation means 30 confirms that the workpiece 5 in the tray 20 does not protrude from the storage section 21. The confirmation means 30 confirms whether the workpiece 5 protrudes from the storage section 21, for example, by irradiating the tray 20 with a laser. FIG. 5 is a side view of the work transfer device 10 observed from the X direction when the tray stand 15 and tray 20 are positioned at the confirmation position P3. As shown in FIG. 5, the confirmation means 30 includes a laser irradiation unit 31, a sensor unit 32, and a determination unit 33. The laser irradiation unit 31 irradiates a laser onto the storage section 21 in which the workpiece 5 in the tray 20 is stored. The sensor unit 32 detects the laser emitted from the laser irradiation unit 31 and reflected by the workpiece 5 stored in the storage section 21 of the tray 20. The determination unit 33 is connected to the sensor unit 32 and receives data of the laser detected by the sensor unit 32. The determination unit 33 determines whether the workpiece 5 protrudes from the storage section 21 based on the data sent from the sensor unit 32. The confirmation means 30 may simultaneously confirm whether a plurality of workpieces 5 are floating out of the storage section 21. The confirmation means 30 is not limited to the example shown in the figure, and may be, for example, a combination of an imaging device and a determination section.
[0029] An example of a workpiece transfer method using the workpiece transfer device 10 will be described.
[0030] The tray stand 15 on which no tray 20 is placed is transported to the tray set position P1. The tray 20 on which no workpiece 5 is placed in the storage section 21 is placed on the tray stand 15. The tray 20 may be placed on the tray stand 15 by, for example, being held by suction by a tray placement means (not shown).
[0031] The tray stand 15 and the tray 20 placed on the tray stand 15 are transported from the tray set position P1 to the workpiece storage position P2 by the tray transport means 17. The tray transport means 17 transports the tray stand 15 and the tray 20 at the workpiece storage position P2 and aligns the storage section 21 of the tray 20 so that the workpiece 5 is stored in the storage section 21 from the suction nozzle 12. The detection means 18 detects the orientation of the tray 20 by the mark 23 on the tray 20. For example, it detects that the tray 20 is aligned so that the workpiece 5 is stored in the storage section 21 of the first part 20A of the tray 20.
[0032] The workpiece 5 is supplied by the workpiece supply unit 11 to a position where the suction nozzle 12 can hold it. The suction nozzle 12 is driven by the nozzle driving means 13. Driven by the nozzle driving means 13, the suction nozzle 12 that is not holding the workpiece 5 moves in the Z direction and approaches the workpiece 5. The suction nozzle 12 sucks and holds the workpiece 5. The nozzle driving means 13 rotates, and moves the suction nozzle 12 holding the workpiece 5 above the storage section 21 of the tray 20 where no workpiece 5 is stored. The nozzle driving means 13 causes the suction nozzle 12 to release the workpiece 5 above the storage section 21. The released workpiece 5 is stored in the storage section 21.
[0033] The tray conveying means 17 is driven to align the storage section 21 of the tray 20, and the nozzle driving means 13 is driven to store the workpiece 5 in the storage section 21, which is repeated. The workpieces 5 are stored in order in the storage section 21 at a certain location on the tray 20. For example, the storage section 21 is aligned so that the workpieces 5 are stored in order in the storage section 21 of the first part 20A of the tray 20, and the workpieces 5 held by the suction nozzle 12 are stored in the aligned storage section 21.
[0034] The number of workpieces 5 accommodated in the accommodation section 21 is counted by the counting means 14. The counting means 14 counts the number of workpieces 5 accommodated in the accommodation section 21 based on, for example, the number of workpieces 5 that the nozzle driving means 13 causes the suction nozzle 12 to release.
[0035] When the number counted by the counting means 14 reaches 1 / n of the total number of storage sections 21, workpieces 5 are sequentially stored in 1 / n of the total number of storage sections 21. In the example shown in FIG. 6, n is 2. Workpieces 5 are stored in all storage sections 21 in the first portion 20A of the tray 20. When the number counted by the counting means 14 reaches 1 / n of the total number of storage sections 21, the rotation means 16 rotates the tray base 15 and tray 20 360° / n around an axis not parallel to the horizontal. In the example shown in FIG. 7, the tray 20 shown in FIG. 6 is rotated 180°. The first portion 20A of the tray 20, in which workpieces 5 are stored in the storage sections 21, moves away from the suction nozzle 12. The second portion 20B of the tray 20, in which no workpieces 5 are stored in the storage sections 21, moves closer to the suction nozzle 12. The detection means 18 detects the orientation of the tray 20 using the mark 23, confirming that the tray 20 has been properly rotated. While the rotating means 16 is rotating the tray 20, the nozzle driving means 13 stops driving the suction nozzle 12.
[0036] After rotating the tray 20, the tray conveying means 17 is driven to align the storage section 21 of the tray 20, and the nozzle driving means 13 is driven to store the workpiece 5 in the storage section 21, which is repeated again. The workpieces 5 are stored sequentially in storage sections 21 at different locations on the tray 20. For example, the storage sections 21 are aligned so that the workpieces 5 are stored sequentially in the storage sections 21 of the second part 20B of the tray 20, and the workpieces 5 held by the suction nozzles 12 are stored in the aligned storage sections 21. If the workpieces 5 have n-fold rotational symmetry in top view, the workpieces 5 can be stored in the storage sections 21 without changing the orientation of the workpieces 5 even after the tray 20 is rotated 360° / n.
[0037] Until the number counted by the counting means 14 reaches the total number of storage sections 21, where m is a natural number smaller than the number n, the rotation means 16 repeatedly rotates the tray base 15 and tray 20 360° / n around an axis in a direction non-parallel to the horizontal. After rotating the tray 20, the tray conveying means 17 is driven to align the tray 20 with the storage section 21, and the nozzle driving means 13 is driven to place the workpieces 5 in the storage sections 21, repeating this process (n-1) times until the number counted by the counting means 14 reaches the total number of storage sections 21. Workpieces 5 are placed in all of the storage sections 21. When the number counted by the counting means 14 reaches the total number of storage sections 21, the tray conveying means 17 transports the tray base 15 and tray 20 from the work storage position P2 to the confirmation position P3. When the number counted by the counting means 14 reaches the total number of the containers 21, the number counted by the counting means 14 is reset.
[0038] At the confirmation position P3, the confirmation means 30 confirms that the workpiece 5 is not floating out of the storage section 21. An example of a specific method for this process will be described. The laser irradiation unit 31 irradiates a laser onto the storage section 21 in which the workpiece 5 is stored. The laser is reflected by the workpiece 5. A workpiece 5 floating out of the storage section 21 is tilted in the storage section 21, as shown in FIG. 5, compared to a workpiece 5 properly stored in the storage section 21. The direction of the laser reflected by the workpiece 5 floating out of the storage section 21 is different from the direction of the laser reflected by a workpiece 5 properly stored in the storage section 21. The laser reflected by the workpiece 5 is detected by the sensor unit 32. Based on the laser data detected by the sensor unit 32, the determination unit 33 determines whether the workpiece 5 is floating out of the storage section 21. If a workpiece 5 is determined to be floating out of the storage section 21, the tray 20 may be shaken by the tray conveying means 17 to properly store the workpiece 5 in the storage section 21.
[0039] The tray 20, after it has been confirmed at the confirmation position P3 that the workpieces 5 are not protruding from the storage section 21, is removed from the tray stand 15. The tray 20 may be removed from the tray stand 15 by being held by suction with a tray removal means (not shown), for example.
[0040] A tray table 15 on which no tray 20 is placed is transported to the tray set position P1. Another tray 20 on which no workpieces 5 are placed in the storage section 21 is placed on the tray table 15. By repeating the above steps, a tray 20 on which a workpiece has been transferred so that it can be stored in the storage section 21 is created.
[0041] In a work transfer device, when a workpiece is transferred to a storage section provided on a tray, the holding member that holds the workpiece is aligned with the storage section. The holding member and the tray are moved for alignment. In conventional work transfer devices, the larger the tray, the wider the range over which the holding member and the tray must be moved for alignment. The work transfer device becomes larger in order to ensure space for the holding members and the tray to move and space for installing mechanisms for movement. As the work transfer device becomes larger, the costs for transportation, installation, etc. increase. There is a demand for narrowing the range over which the holding member and the tray must be moved to align the holding member that holds the workpiece with the storage section.
[0042] In the work transfer device 10 of this embodiment, when the number counted by the counting means 14 reaches 1 / n of the total number of storage sections 21 for a predetermined number n, the rotation means 16 rotates the tray 20 360° / n. When 1 / n of the total number of storage sections 21 contain workpieces 5, the tray 20 rotates 360° / n. By rotating the tray 20, storage sections 21 that do not contain workpieces 5 can be moved closer to the suction nozzle 12. Even if the range of movement of the suction nozzle 12, which is a holding member for the workpieces 5, and the tray stand 15 on which the tray 20 is placed, is not expanded to the entire tray 20, specifically, even if it is 1 / n of the entire tray 20, it is possible to accommodate workpieces 5 in all of the storage sections 21 of the tray 20. This narrows the range of movement of the suction nozzle 12 and the tray 20 for aligning the suction nozzle 12, which is a holding member for holding the workpieces 5, with the storage sections 21 of the tray 20. In the example shown in Figure 1, the range in the Y direction for moving the tray 20 is approximately half that of a conventional work transfer device, so the length along the Y direction of the Y direction tray transfer means 17Y of the tray transfer means 17 is approximately half that of a conventional work transfer device.
[0043] As the number n increases, the range in which the suction nozzle 12 and the tray 20 can be moved to align the suction nozzle 12, which is a holding member that holds the workpiece 5, with the storage section 21 of the tray 20 can be narrowed. However, as the number n increases, the number of times the tray 20 must be rotated increases. While the tray 20 is rotating, it is difficult for the suction nozzle 12 to store the workpiece 5 in the storage section 21. As the number of times the tray 20 is rotated increases, the time required to store the workpiece 5 in the storage section 21 increases. The efficiency of transferring the workpiece 5 to the storage section 21 decreases. The smaller the number n, the less likely the efficiency of transferring the workpiece 5 to the storage section 21 to decrease. It is preferable that the number n be in an appropriate range. Specifically, it is preferable that the number n be 2 or 4, and especially 2.
[0044] Since the workpiece 5 has an n-fold symmetric shape, the workpiece 5 can be accommodated in the accommodation section 21 without changing the orientation of the workpiece 5. When the number n is 2, even if the workpiece 5 has a rectangular shape in top view, the workpiece 5 can be accommodated in the accommodation section 21 without changing the orientation of the workpiece 5.
[0045] While the tray 20 is rotating, it is difficult for the suction nozzle 12 to accommodate the workpiece 5 in the accommodation section 21. If the suction nozzle 12 is driven while the tray 20 is rotating, the workpiece 5 may fall to an unintended position without being accommodated by the suction nozzle 12 in the accommodation section 21. A workpiece 5 that falls to an unintended position may cause an unintended malfunction in the work transfer device 10. To avoid such malfunctions, it is preferable that the nozzle driving means 13 stop driving the suction nozzle 12 while the rotation means 16 is rotating the tray 20.
[0046] The workpiece transfer device 10 has a detection means 18 that detects a mark 23 that indicates the orientation of the tray 20. By detecting the mark 23 on the tray 20, the orientation of the tray 20 can be recognized. The tray 20 can be rotated to confirm that the orientation of the tray 20 has changed. The workpiece 5 may be accommodated in the accommodation section 21 while changing the orientation of the workpiece 5 to match the orientation of the tray 20.
[0047] The work transfer device 10 has a confirmation means 30 that confirms that the work 5 does not protrude from the storage section 21 in the tray 20. By using the confirmation means 30 to confirm that the work 5 does not protrude from the storage section 21, the tray 20 that stores the work 5 in the storage section 21 can be appropriately processed in a subsequent process such as a bonding process.
[0048] The aspects of the present disclosure are not limited to the above-described embodiments, but include various modifications that may be conceived by those skilled in the art, and the effects of the present disclosure are not limited to the contents of the above-described embodiments. Various additions, modifications, and partial deletions are possible within the scope of the conceptual idea and intent of each disclosure derived from the contents defined in the claims and their equivalents. [Explanation of symbols]
[0049] 5 Work 10 Work transfer device 11 Work supply section 12 Suction nozzle 13 Nozzle driving means 14 Counting methods 15 Tray stand 16 Rotation means 17 Tray transport means 17X X-direction tray transport means 17Y Y-direction tray transport means 18 Detection Methods 20 trays 21 Storage unit 23 marks 30 Verification Methods 31 Laser irradiation unit 32 Sensor section 33 Judgment section P1 Tray set position P2 Workpiece storage position P3 Check position
Claims
1. a tray having a plurality of storage sections for storing the workpieces; a suction nozzle that is driven to suck and hold the workpiece and accommodate the workpiece in the accommodating section where the workpiece is not accommodated; a nozzle driving means for driving the suction nozzle when the tray is positioned at the workpiece accommodation position; a counting means for counting the number of the works accommodated in the accommodation section; a rotating means for rotating the tray about an axis in a direction not parallel to the horizontal direction; a tray transport means for transporting the tray, When the number counted by the counting means reaches 1 / n of the total number of the storage sections for a predetermined number n, the rotating means rotates the tray 360° / n; When the number counted by the counting means reaches the total number of storage sections, the tray transporting means transports the tray from the work storage position and transports another tray to the work storage position, and the number counted by the counting means is reset.
2. 2. The workpiece transfer device according to claim 1, wherein n is 2.
3. the tray has a mark indicating the orientation of the tray; 2. The workpiece transfer device according to claim 1, further comprising a detection means for detecting the mark.
4. 2. The workpiece transfer device according to claim 1, wherein said nozzle driving means stops driving said suction nozzle while said rotating means rotates said tray.
5. 2. The workpiece transfer device according to claim 1, further comprising a confirmation means for confirming that the workpiece does not protrude from the storage portion in the tray.
6. a step of transporting the tray to a workpiece accommodation position by a tray transport means; a step of suctioning and holding the workpiece with a suction nozzle; a step of driving the suction nozzle by a nozzle driving means to accommodate the workpiece held by the suction nozzle in an accommodation portion of the tray in which the workpiece is not accommodated; a step of counting the number of the works accommodated in the accommodation section by a counting means; a step of rotating the tray 360° / n around an axis in a direction not parallel to the horizontal direction when the number counted by the counting means reaches 1 / n of the total number of the storage sections for a predetermined number n; a step in which, when the number counted by the counting means reaches the total number of the accommodation sections, the tray transport means transports the tray from the work accommodation position and transports another tray to the work accommodation position; and resetting the number counted by the counting means.
7. 7. The workpiece transfer method according to claim 6, further comprising the step of confirming by a confirmation means that the workpiece does not protrude from the storage portion.
Citation Information
Patent Citations
Chip carrying apparatus
JP2008277612A