Electronic component pickup device system

Abstract

This allows for easy removal of electronic components from an adhesive sheet without damaging or scratching the sheet. [Solution] The electronic component pickup device system 10A comprises a holder 20 that attracts and holds a workpiece W, and a control unit 60. The control unit 60 brings the holder 20 close to the workpiece W on the adhesive sheet 8, rotates the holder 20 slightly by a predetermined rotation angle to peel the workpiece W from the adhesive sheet 8, and then rotates the holder 20 away from the adhesive sheet 8.

Description

Technical Field

[0001] The present disclosure relates to a pickup device system for electronic components that removes electronic components from an adhesive sheet.

Background Art

[0002] For electronic components such as semiconductor elements, various processings such as appearance inspection, electrical characteristic inspection, and marking processing are performed, and after being classified according to the inspection results, the electronic components are stored in a carrier tape or the like and shipped.

[0003] In this case, a large number of electronic components are arranged side by side and adhered to an adhesive sheet in advance and held. After the electronic components on the adhesive sheet are taken out one by one by a pickup device system, appearance inspection, electrical characteristic inspection, and marking processing are performed on the electronic components.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in a conventional pickup device system, when removing an electronic component from an adhesive sheet, at the same time, the electronic component is pushed up or pressed by a push-up pin or a pressing portion from the back surface of the adhesive sheet. For this reason, the adhesive sheet may be damaged or broken.

[0006] The present disclosure has been made in consideration of such points, and an object thereof is to provide a pickup device system for electronic components that can easily remove an electronic component on an adhesive sheet without damaging or breaking the adhesive sheet. [Means for solving the problem]

[0007] A first aspect of the present disclosure is an electronic component pickup device system for removing an electronic component from an adhesive sheet that holds the electronic component in adhesive manner, comprising: a pickup device body including a rotating shaft arranged parallel to the adhesive sheet; a plurality of rotating legs provided radially on the pickup device body; a holder attached to the tip of each rotating leg for adsorbing and holding the electronic component; a rotating shaft drive unit for intermittently rotating the rotating shaft; a holder drive unit for moving the holder attached to the rotating legs toward and away from the adhesive sheet; and a control unit, wherein the holder has a pressing portion that presses the side surface on the upstream side in the rotational direction of the electronic component; the control unit controls the rotating shaft drive unit to stop the rotating shaft, then controls the holder drive unit to bring the holder closer to the adhesive sheet, rotate the rotating shaft by a predetermined rotational angle, presses the side surface on the upstream side in the rotational direction of the electronic component on the adhesive sheet with the pressing portion of the holder to peel the electronic component away from the adhesive sheet, and then adsorbs the electronic component with the holder.

[0008] A second aspect of the present disclosure is an electronic component pickup device system in which, in the first aspect, the control unit peels the electronic component from the adhesive sheet with the pressing portion of the holder and then holds the electronic component with the holder, and then controls the holder drive unit to separate the holder from the adhesive sheet and rotate the rotation shaft.

[0009] A third aspect of the present disclosure is an electronic component pickup device system, in which, in the first and second aspects, the holder has a holder body and a pair of projections provided on the holder body and arranged in the rotational direction, the projection on the upstream side in the rotational direction functions as the pressing part.

[0010] A fourth aspect of the present disclosure is an electronic component pickup device system, in which, in the first and second aspects, the holder has a holder body and a projection provided on the holder body that functions as the pressing portion.

[0011] A fifth aspect of the present disclosure is an electronic component pickup device system in which, in the first and second embodiments, the rotating leg and the holder are mounted on the pickup device body on a parallel line parallel to the centerline, which is displaced upstream in the rotational direction with respect to the centerline of the rotation axis.

[0012] A sixth aspect of the present disclosure is an electronic component pickup device system, in which, in the first and second aspects, the adhesive sheet is placed and further comprises a moving mechanism that is movable along the horizontal direction in the x, y, and θ directions.

[0013] A seventh aspect of the present disclosure is an electronic component pickup device system in which, in the first and second aspects, the control unit rotates the rotation axis by a predetermined rotation angle of 1 degree or more and 5 degrees or less, and the pressing portion of the holder presses the side surface of the electronic component on the adhesive sheet on the rotational direction to peel the electronic component off the adhesive sheet. [Effects of the Invention]

[0014] According to this disclosure, electronic components on an adhesive sheet can be easily and simply removed without damaging or scratching the adhesive sheet. [Brief explanation of the drawing]

[0015] [Figure 1] Figure 1 is a schematic perspective view showing an electronic component pickup device system according to this embodiment. [Figure 2A] Figure 2A is a front view of the pickup device according to this embodiment, as seen from the direction of the rotation axis. [Figure 2B] Figure 2B is an enlarged view of section A in Figure 2A. [Figure 3A]FIG. 3A is a front view of the pickup device in the comparative example as viewed from the direction of the rotation axis. [Figure 3B] FIG. 3B is an enlarged view of part B of FIG. 3A. [Figure 4] FIG. 4 is a perspective view showing the holding body in an inverted U shape according to the present embodiment. [Figure 5] FIG. 5 is a perspective view showing another example of the L-shaped holding body. [Figure 6] FIG. 6 is a perspective view showing the moving mechanism for placing the adhesive sheet, and is a view showing the adhesive sheet partially for convenience. [Figure 7] FIG. 7 is a view showing the arrangement relationship between the pickup device having the holding body and the holding body drive unit, and is a view in which the spring is removed from the rotating leg for convenience. [Figure 8] FIG. ⑧ is a side view showing the transfer table and the suction nozzle. [Figure 9] FIG. 9 is a plan view showing the transfer table, and is a view in which the suction nozzle is removed for convenience. [Figure 10] FIG. 10 is an overall view showing a work transfer device in which an electronic component pickup device system is incorporated. [Figure 11] FIG. 11 is a view showing the transfer table and the suction nozzle attached to the transfer table. [Figure 12] FIG. 12 is a flowchart showing the operation of the electronic component pickup device system according to the present embodiment.

Embodiments for Carrying Out the Invention

[0016] Hereinafter, an electronic component pickup device system according to the present disclosure will be described with reference to the drawings.

[0017] FIGS. 1 to 12 are views showing embodiments of an electronic component pickup device system according to the present disclosure.

[0018] First, the entire electronic component (hereinafter referred to as "workpiece") transport device incorporating the electronic component pickup system will be explained using Figures 8 to 11. Here, the workpiece transport device 1 transports electronic components (hereinafter referred to as "workpieces") W, such as semiconductor elements, while performing visual inspection, electrical characteristic inspection, optical characteristic inspection, and marking processing on the workpieces W.

[0019] Figure 10 shows the overall configuration of the workpiece transport device 1. The workpiece transport device 1 has a transport path 5 for workpieces W, and transports the workpieces W in an aligned manner along the transport path 5, and sequentially performs various process operations on the workpieces W along the transport path 5, such as visual inspection, electrical characteristic inspection, and marking. A pickup device 10 and a holder drive unit 40 are provided at the beginning of the transport path 5. A storage unit 3 for discharging and storing the workpieces W is provided at the end of the transport path 5. Various processing units U1, U2, U3, U4… for performing various processes on the workpieces W are installed along the transport path 5 between these points. Examples of such processing units U1, U2, U3, U4… include a visual inspection unit, an electrical characteristic inspection unit, an additional inspection unit, and a marking processing unit. The storage unit 3 for discharging the workpieces W is provided at the end of the transport path 5. A storage box or the like can be used as the storage unit 3. Alternatively, a carrier tape may be provided, and the workpieces W may be stored within this carrier tape.

[0020] Examples of electronic components (also called workpieces) W include semiconductor elements, as well as non-semiconductor elements such as resistor chips and capacitors. Examples of semiconductor elements include discrete semiconductors such as inductors, transistors, diodes, LEDs, capacitors, and thyristors, and integrated circuits such as ICs and LSIs. In this way, any electronic component is included within the scope of disclosure of this embodiment.

[0021] As shown in Figures 8 to 11, the transport path 5 is formed on the outer circumference of the transport table 4, which rotates intermittently at predetermined angles. A suction nozzle 50, which is a means for holding the workpiece W, is supported on the outer circumference of the transport table 4. By holding the workpiece W with the suction nozzle 50 and intermittently rotating the transport table 4, the workpiece W moves along the outer circumference of the transport table 4 (see Figures 10 and 11).

[0022] In reality, the transport table 4 has a shape such as a disc or star that radiates outwards from a single point, as shown in Figures 8 and 9. The transport table 4 is pivotally supported at its center 4a by the rotation axis of the transport table drive mechanism 4A. Multiple suction nozzles 50 are provided on the outer circumference of the transport table 4 at equal intervals along the circumferential direction and at the same radial distance from the center 4a of the transport table 4.

[0023] Furthermore, each suction nozzle 50 is hollow inside and has an open end. The inside of each suction nozzle 50 is in communication with the pneumatic circuit of a negative pressure generating device such as a vacuum pump or ejector. Each suction nozzle 50 generates negative pressure in the pneumatic circuit, thereby adsorbing the workpiece W at its open end, causing vacuum breakage or release to the atmosphere in the pneumatic circuit, and releasing the workpiece W.

[0024] In this embodiment, the suction nozzle 50 is attached to the transport table 4 via a suction nozzle holding mechanism 51. The suction nozzle 50, held by this suction nozzle holding mechanism 51, is driven vertically relative to the transport table 4.

[0025] Furthermore, the transport table drive mechanism 4A of the transport table 4 is controlled by the control unit 60 to rotate intermittently in 1-pitch increments. The rotation pitch of the transport table 4 is equal to the spacing between the suction nozzles 50, and the suction nozzles 50 move and stop along the transport path 5.

[0026] As shown in Figure 10, various processing units, such as a visual inspection unit, an electrical characteristics inspection unit, an additional inspection unit, and a marking processing unit, are arranged in the transport path 5 formed on the outer periphery of the transport table 4. Of these, the visual inspection unit performs a visual inspection on the workpiece W.

[0027] The electrical characteristics inspection unit inspects the resistance and other electrical characteristics of the workpiece W, while the additional inspection unit performs other additional inspections on the workpiece W, such as optical characteristics inspection. The marking processing unit performs marking on the workpiece W.

[0028] As shown in Figure 10, upstream of each processing unit U1, U2, U3, U4… in the transport path 5, a workpiece front / back inspection device 70 that detects the front / back orientation of the workpiece W picked up by the suction nozzle 50 of the transport table 4 and a workpiece reversal device 80 that reverses the front / back orientation of the workpiece W are sequentially arranged.

[0029] In this embodiment, the front / back orientation of the workpiece W is detected by the workpiece front / back inspection device 70. The front / back orientation of the workpiece W detected by the workpiece front / back inspection device 70 is sent to the control unit 60, and if the control unit 60 determines that the front / back orientation of the workpiece W should be reversed, the workpiece reversal device 80 can reverse the front / back orientation of the workpiece W based on a signal from the control unit 60. In this embodiment, after the front / back orientation of the workpiece W is detected by the workpiece front / back inspection device 70, the front / back orientation of the workpiece W is reversed by the workpiece reversal device 80 as needed. However, if all of the workpieces W are to be reversed, the workpiece front / back inspection device 70 is not necessarily required, and all of the workpieces W may be reversed by the workpiece reversal device 80.

[0030] Next, the electronic component pickup device system 10A described herein will be explained.

[0031] The electronic component pickup system 10A has a pickup device 10, as described below, and this pickup device 10 is installed at the starting end of the transport path 5.

[0032] The electronic component pickup device system 10A according to this disclosure will be illustrated with reference to Figures 1 to 7. This electronic component pickup device system 10A retrieves a workpiece W from an adhesive sheet 8 that is holding the workpiece W in an adhesive manner.

[0033] In other words, the electronic component pickup device system 10A includes a pickup device 10 that picks up a workpiece W from an adhesive sheet 8. After the workpiece W is picked up from the adhesive sheet 8 by this pickup device 10, it moves to a position rotated 90 degrees, and at this rotated position, the workpiece W is subjected to a preliminary visual inspection by a preliminary visual inspection unit 9 (see Figure 1).

[0034] Next, the workpiece W, which has undergone a preliminary visual inspection by the preliminary visual inspection unit 9, reaches the uppermost position after being rotated 180 degrees. At this 180-degree rotated position, the workpiece W is transferred from the pickup device 10 to the suction nozzle 50 provided on the transport table 4 described above.

[0035] Next, a pickup device 10 for removing the workpiece W from the adhesive sheet 8 will be described. As shown in Figures 1 to 2B, the pickup device 10 includes a pickup device body 11 including a rotating shaft 11a arranged parallel to the adhesive sheet 8, a plurality of rotating legs 12, for example four, provided radially on the pickup device body 11, and a holder 20 attached to the tip of each rotating leg 12 for adsorbing and holding the workpiece W.

[0036] Furthermore, the rotating shaft 11a of the pickup device body 11 is designed to rotate intermittently by the rotating shaft drive unit 18.

[0037] Furthermore, the electronic component pickup device system 10A includes, in addition to the pickup device 10, a holder drive unit 40 that moves the holder 20, which is attached to the tip of the rotating leg 12 of the pickup device 10, toward and toward the adhesive sheet 8 (moves it away or brings it closer).

[0038] Of these, the pickup device body 11 of the pickup device 10 is fitted with a vacuum pipe 15 that communicates with a vacuum path (not shown) in each rotating leg 12. Each vacuum pipe 15 communicates with the corresponding vacuum path in the rotating leg 12 and the pickup device body 11, thereby providing a vacuum suction function to the vacuum hole 25 of the holder 20, which will be described later, provided at the tip of the rotating leg 12.

[0039] Furthermore, a vacuum generating mechanism (not shown) is connected to the pickup device body 11, and this vacuum generating mechanism maintains a vacuum state in the vacuum holes 25 of the holder 20 via the vacuum paths in each rotating leg 12.

[0040] The holder drive unit 40 also includes a cam 42 and a cam drive unit 41 that rotates the cam 42. The cam drive unit 41 rotates the cam 42 (see Figure 7).

[0041] Incidentally, as shown in Figures 2A and 7, each rotating leg 12 has a rotating leg body 12a attached to the pickup device body 11, and a sliding body 12b provided within the rotating leg body 12a that slides radially (radially in the direction of the rotation axis 11a) relative to the rotating leg body 12a, with a spring 12c interposed between the rotating leg body 12a and a stopper 12b1 provided at the radially inward end of the sliding body 12b.

[0042] In the rotating leg 12 having this configuration, the rotating leg body 12a is fixed to the pickup device body 11. The holder 20 that holds the workpiece W is attached to the radially outward end of the sliding body 12b of the rotating leg 12.

[0043] In other words, the sliding body 12b of the rotating leg 12 is provided with a stopper 12b1 at its radially inward end, and a holder 20 is attached to the radially outward end of the sliding body 12b that is on the opposite side of the stopper 12b1.

[0044] Furthermore, the sliding body 12b of the rotating leg 12 is provided with a cam follower 12d that engages with the cam 42 of the holder drive unit 40 near the holder 20 (see Figure 7).

[0045] In this embodiment, when the cam 42 of the holder drive unit 40 is rotated by the cam drive unit 41, the cam follower 12d that engages with the cam 42 moves along the radial direction of the rotation axis 11a. As described above, a spring 12c is interposed between the rotating leg body 12a and the stopper 12b1 of the sliding body 12b of the rotating leg 12, constantly biasing the sliding body 12b radially inward of the rotation axis 11a.

[0046] Then, as the cam 42 of the holder drive unit 40 is rotated by the cam drive unit 41, the cam follower 12d that contacts the cam 42 can cause the sliding body 12b to reciprocate along the radial direction of the rotation axis 11a.

[0047] As shown in Figure 7, the cam 42 of the holder drive unit 40 does not rotate 360 ​​degrees along the rotational direction, but reciprocates within a rotational angle of less than 360 degrees. Therefore, by appropriately determining the shape of the cam, the travel distance when the sliding body 12b reciprocates in the radial direction of the rotation axis 11a can be changed to a desired value.

[0048] Next, the holder 20 that holds the workpiece W by suction will be described with reference to Figures 4 and 5. As shown in Figure 4, the holder 20 has a holder body 21 and a pair of protrusions 22 and 23 provided on the holder body 21 and arranged in the rotational direction of the rotation axis 11a.

[0049] Of the pair of protrusions 22 and 23, the protrusion 22 on the upstream side in the rotational direction functions as a pressing part that presses against the upstream side W1 of the workpiece W when the pickup device 10 is rotated clockwise.

[0050] Furthermore, a workpiece storage space 20a is formed between the pair of protrusions 22 and 23 for accommodating the workpiece W when it is absorbed and held.

[0051] The main body 21 of the holder 20 has a vacuum hole 25 formed on the surface facing the work storage space 20a, which allows the workpiece W to be vacuum-suctioned. In addition, a magnet 26 is embedded in the protruding portion 22 of the holder 20 to magnetically attract the workpiece W.

[0052] The holder 20, having this configuration, is in an inverted U-shape when viewed from the side, that is, from the direction of the rotation axis 11a. The pair of protrusions 22 and 23 of the U-shaped holder 20 allow the workpiece W to be stably held by suction while surrounding the upstream side W1 and the downstream side W2 in the direction of rotation.

[0053] Alternatively, as shown in Figure 5, the holder 20 may have a holder body 21 and a single protrusion 22 provided on the holder body 21. This protrusion 22 functions as a pressing part that presses against the upstream side W1 of the workpiece W when the pickup device 10 is rotated clockwise.

[0054] Furthermore, as shown in Figure 5, when the holder body 21 and the protruding portion 22 adsorb and hold W, a workpiece storage space 20a for storing the workpiece W is formed.

[0055] Furthermore, the main body 21 of the holder 20 has a vacuum hole 25 formed on the surface facing the work storage space 20a, which allows the workpiece W to be vacuum-suctioned. In addition, magnets 28 are embedded on both sides of the vacuum hole 25 on the surface of the main body 21 of the holder 20 facing the work storage space 20a, and a magnet 2a is embedded in the protruding part 22 of the holder 20, which magnetically attracts the workpiece W.

[0056] The holder 20, having this configuration, is L-shaped when viewed from the side, that is, from the direction of the rotation axis 11a (see Figure 5). Since the L-shaped holder 20 does not include a protrusion on the downstream side in the direction of rotation, when the holder 20 is brought close to the workpiece W on the adhesive sheet 8, the possibility of the holder 20 coming into contact with an adjacent workpiece W on the downstream side in the direction of rotation can be reduced.

[0057] As shown in Figures 2A and 2B, in this embodiment, each rotating leg 12 of the pickup device 10 is attached to the pickup device body 11, and each rotating leg 12 and the holder 20 attached to the rotating leg 12 are displaced upstream in the rotational direction with respect to the center line L1 of the rotation axis 11a and are mounted on a parallel line L2 parallel to the center line L1. In this case, the parallel line l2 is displaced by a distance α with respect to the center line L1. This distance α is given by α = (0.5 to 1.0) × β, where β is the maximum width of the workpiece W on the adhesive sheet 8 when viewed from the direction of the rotation axis 11a. In this case, as will be described later, if the distance α is less than 0.5 × β, the downswing state of the holder 20 becomes small, and the pressing surface 22a of the protruding portion 22 cannot uniformly contact the side surface W1 of the workpiece W. On the other hand, if the distance α exceeds 1.0 × β, the downswing state of the holder 20 becomes too large, and similarly, the pressing surface 22a of the protruding portion 22 cannot uniformly contact the side surface W1 of the workpiece W.

[0058] In this embodiment, when picking up a workpiece W on the adhesive sheet 8 as described later, the holder 20 is first brought close to the adhesive sheet 8, and the pickup device 10 is rotated slightly clockwise by an angle of 1 to 2 degrees to press the side surface W1 on the upstream side in the direction of rotation of the workpiece W with the protrusion 22, thereby peeling the workpiece W from the adhesive sheet 8. In this case, each rotating leg 12 and the holder 20 attached to the rotating leg 12 are displaced upstream in the direction of rotation with respect to the center line L1 of the rotation axis 11a and are mounted on a parallel line L2 parallel to the center line L1. Therefore, while rotating the holder 20 in a downswing state, the side surface W1 of the workpiece W can be uniformly pressed by the protrusion 22 (see Figures 2A and 2B).

[0059] In this embodiment, as shown in Figure 2B, the workpiece W has a rectangular shape when viewed from the side, that is, when viewed from the direction of the rotation axis 11a, and the pressing surface 22a of the protruding portion 22 that presses against the workpiece W is also a vertical surface.

[0060] When the holder 20 approaches the workpiece W on the adhesive sheet 8, a small gap is usually formed between the side surface W1 of the workpiece W and the pressing surface 22a of the protrusion 22. By bringing the holder 20 close to the workpiece W on the adhesive sheet 8 in this way and rotating the holder 20 in a downswing state, the pressing surface 22a of the protrusion 22 can press against the side surface W1 of the workpiece W, allowing the pressing surface 22a of the protrusion 22 to contact the side surface W1 of the workpiece W while maintaining a vertical plane. As a result, the pressing surface 22a of the protrusion 22 can be uniformly brought into contact with the side surface W1 of the rectangular workpiece W along the vertical direction, and the workpiece W on the adhesive sheet 8 can be effectively peeled off by the holder 20, as described later (see Figure 2B).

[0061] On the other hand, consider the comparative example shown in Figures 3A and 3B, in which each rotating leg 12 of the pickup device 10 is attached to the pickup device body 11, and each rotating leg 12 and the holder 20 attached to the rotating leg 12 are displaced downstream (clockwise) in the rotational direction with respect to the center line L1 of the rotation axis 11a and are mounted on a parallel line L3 parallel to the center line L1. In the comparative example shown in Figures 3A and 3B, since the holder 20 is displaced downstream (clockwise) in the rotational direction with respect to the center line L1 of the rotation axis 11a and is mounted on a parallel line L3 parallel to the center line L1, the holder 20 rotates in an upward swing state.

[0062] As the holder 20 rotates in an upward swing state, the pressing surface 22a of the protrusion 22 cannot maintain a vertical plane. When the pressing surface 22a of the protrusion 22 contacts the side surface W1 of the workpiece W, the gap between the pressing surface 22a of the protrusion 22 and the side surface W1 of the workpiece W widens from bottom to top. Therefore, it becomes difficult to make the pressing surface 22a of the protrusion 22 contact the side surface W1 of the workpiece W more uniformly, and it becomes difficult to effectively peel the workpiece W from the adhesive sheet 8.

[0063] Incidentally, as shown in Figure 6, the adhesive sheet 8 that holds the workpiece W is placed on the moving mechanism 30. This moving mechanism 30 has a mounting surface 31 on which the adhesive sheet 8 is placed, an x-direction moving mechanism 32 that moves the mounting surface 31 in the x-direction, and a y-direction moving mechanism 33 that moves the mounting surface 31 in the y-direction. In Figure 6, the adhesive sheet 8 is shown in part for convenience, but normally the adhesive sheet 8 is placed across the entire front surface of the mounting surface 31 of the moving mechanism 30.

[0064] In Figure 6, the x-direction movement mechanism 32 has an x-direction drive unit 32a, and the y-direction movement mechanism 33 has a y-direction drive unit 33a. A θ-direction movement mechanism (not shown) is provided between the mounting surface 31 and the y-direction movement mechanism 33 to rotate the mounting surface 31 in the θ direction.

[0065] In this embodiment, the transport table 4, suction nozzle 50, suction nozzle holding mechanism 51, workpiece front / back inspection device 70, workpiece inversion device 80, pickup device 10, holder drive unit 40, and moving mechanism 30 are all driven and controlled by the control unit 60.

[0066] Next, we will describe the operation of this embodiment, which has the above configuration.

[0067] First, as shown in Figure 10, the pick-up device 10 picks up the workpieces W on the adhesive sheet 8 one by one, and the workpieces W picked up by the pick-up device 10 are transferred to the suction nozzle 50 provided on the transport table 4.

[0068] Next, the process by which the workpieces W on the adhesive sheet 8 are picked up one by one by the pickup device 10 will be explained using the flowchart shown in Figure 12.

[0069] First, an adhesive sheet 8, on which multiple workpieces W are pre-attached, is placed on the mounting surface 31 of the moving mechanism 30. In this case, multiple workpieces W are pre-arranged on the adhesive sheet 8 in the previous step, and the multiple workpieces W are positioned and arranged in a grid pattern at predetermined intervals on the adhesive sheet 8 with high precision (see Figure 6).

[0070] Next, the mounting surface 31 of the moving mechanism 30 moves horizontally by the x-direction moving mechanism 32, the y-direction moving mechanism 33, and the θ-direction moving mechanism, and the desired workpiece W moves to directly below the holder 20, which is at the lowest end of the pickup device 10.

[0071] In this case, the adhesive sheet 8 is provided with positioning marks (not shown), and the control unit 60 drives the moving mechanism 30 by reading these positioning marks with an optical sensor. As a result, the moving mechanism 30 can move the desired workpiece W on the adhesive sheet 8 to directly below the holder 20, which is located at the lowest end of the pickup device 10.

[0072] The holder 20 of the pickup device 10 can be positioned at the lowest position of 0 degrees, at a 90-degree position to the side when viewed from the direction of the rotation axis 11a, at the highest position of 180 degrees, and at a 270-degree position to the side when viewed from the direction of the rotation axis 11a, by rotating the rotation axis 11a of the pickup device body 11 with the rotation axis drive unit 18 (see Figure 2A).

[0073] Next, the control unit 60 drives the holder drive unit 40 to lower the holder 20, which is at its lowest position of 0 degrees, and brings the holder 20 to the workpiece W placed on the adhesive sheet 8. At this time, the workpiece W on the adhesive sheet 8 is placed within the workpiece storage space 20a of the holder 20 (see Figure 2B).

[0074] Next, the rotating shaft drive unit 18 of the pickup device 10 rotates the pickup device body 11 around the rotating shaft 11a by a predetermined small rotation angle, for example, 2 degrees clockwise. At this time, the rotating leg 12 and the holder 20 also rotate by 2 degrees, so that the pressing surface 22a of the protruding portion 22 of the holder 20 comes into contact with the side surface W1 on the upstream side in the rotational direction of the workpiece W, and then the pressing surface 22a presses against the side surface W1 of the workpiece W. This allows the workpiece W to be peeled off the adhesive sheet 8. In this case, the workpiece W can be easily and simply peeled off the adhesive sheet 8 without providing a push-up pin on the back surface of the adhesive sheet 8 to push up the workpiece W.

[0075] During this time, the holder 20 rotates in a downward swing state and presses the side surface W1 of the workpiece W with the pressing surface 22a of the protruding portion 22, so that the side surface W1 of the workpiece W can be uniformly brought into contact with the pressing surface 22a of the protruding portion 22. As a result, the holder 20 can effectively peel the workpiece W off the adhesive sheet 8.

[0076] Next, the rotation of the pickup device body 11 of the pickup device 10 is stopped. In this case, the workpiece W, which is contained within the workpiece storage space 20a of the holder 20, is attracted to the holder 20 by the vacuum attraction action of the vacuum holes 25 and the magnetic attraction action of the magnets 26.

[0077] Next, the control unit 60 drives the holder drive unit 40 to raise the holder 20, and then the control unit 60 drives the rotating shaft drive unit 18 to rotate the pickup device body 11 88 degrees clockwise around the rotating shaft 11a. At this time, as the pickup device body 11 rotates, the rotating legs 12 and the holder 20 also rotate 88 degrees clockwise around the rotating shaft 11a, and the holder 20, which is holding the workpiece W by suction, reaches a position 90 degrees to the side when viewed from the direction of the rotating shaft 11a (see Figure 2A).

[0078] At this time, the workpiece W, which is held by the holder 20 when it reaches a 90-degree position, is subjected to a preliminary visual inspection by the preliminary visual inspection unit 9.

[0079] Next, the control unit 60 drives the rotary shaft drive unit 18 in the same manner as above, rotating the pickup device body 11 around the rotary shaft 11a by a small angle, 2 degrees. After that, it rotates it by an angle of 88 degrees, in the same manner as above. As a result, the rotating legs 12 and the holder 20 also rotate by an angle of 2 degrees, and then by an angle of 88 degrees. In this way, the workpiece W that has undergone the preliminary visual inspection by the preliminary visual inspection unit 9 reaches the uppermost position, which is 180 degrees rotated. At this 180-degree rotated position, the workpiece W held by the holder 20 of the pickup device 10 is then handed over to the suction nozzle 50 of the transport table 4.

[0080] Subsequently, the control unit 60 drives the rotation shaft drive unit 18 to rotate the pickup device body 11 around the rotation shaft 11a, bringing the holder 20 to a lateral position (empty position) when viewed from the direction of the rotation shaft 11a, which is 270 degrees. The pickup device body 11 is then rotated further to bring the holder 20 to the lowest position of 0 degrees, and the above-described operation is repeated.

[0081] In the above embodiment, the pickup device body 11 is rotated, for example, only 2 degrees around the rotation axis 11a, thereby rotating the rotating leg 12 and the holder 20 by the same 2 degrees to peel the workpiece W from the adhesive sheet 8.

[0082] However, the method is not limited to this; the rotating leg 12 and the holder 20 may also be rotated to any angle between 1 and 5 degrees to peel the workpiece W from the adhesive sheet 8.

[0083] In this case, if the rotation angle is less than 1 degree, the workpiece W cannot be reliably detached from the adhesive sheet 8. On the other hand, if the rotation angle exceeds 5 degrees, the workpiece W that has been detached from the adhesive sheet 8 may slide on the adhesive sheet 8, potentially scratching its surface. Also, if the rotation angle exceeds 5 degrees and the workpiece W is placed close to the adhesive sheet 8, the holder 20 rotating at an angle exceeding 5 degrees may inadvertently collide with an adjacent workpiece W.

[0084] Therefore, the rotation angle of the rotating leg 12 and the holder 20 for peeling the workpiece W from the adhesive sheet 8 is set to be between 1 degree and 5 degrees.

[0085] In this embodiment, the pickup device 10 has four rotating legs and four holders 20. The holders 20 are spaced 90 degrees apart, with the lowest position at 0 degrees, a lateral position at 90 degrees, the uppermost position at 180 degrees, and a lateral position at 270 degrees. Therefore, after the holder 20 at the lowest position peels the workpiece W from the adhesive sheet 8 and picks it up, it rotates to the next lateral position by an angle obtained by subtracting the rotation angle required to peel the workpiece W from the adhesive sheet 8 from 90 degrees. For example, if the rotation angle required to peel the workpiece W from the adhesive sheet 8 is 2 degrees, the holder 20 will rotate by the remaining 88 degrees.

[0086] During this time, when the workpiece W is transferred from the pickup device 10 to the suction nozzle 50, the transport table 4 rotates intermittently, and the workpiece W picked up by the suction nozzle 50 is sequentially sent to the workpiece front / back inspection device 70, the workpiece inversion device 80, and various processing units U1, U2, U3, U4... The workpiece front / back inspection device 70 also detects the orientation of the workpiece W, and if the orientation of the workpiece W is not the desired orientation, the workpiece inversion device 80 inverts its orientation. Subsequently, the workpiece W undergoes visual inspection, electrical characteristic inspection, additional inspections such as optical characteristic inspection, and marking in the various processing units U1, U2, U3, U4.

[0087] The workpiece W, having undergone the above processing, is discharged from the transport path 5 in the storage unit 3 and stored in a storage section (not shown) provided in the storage unit 3.

[0088] As described above, according to this embodiment, the control unit 60 brings the holder 20 closer to the workpiece W on the adhesive sheet 8 and places the workpiece W into the workpiece storage space 20a of the holder 20. Next, the holder 20 is rotated by a predetermined small rotation angle, for example, 2 degrees clockwise. At this time, the pressing surface 22a of the protruding portion 22 of the holder 20 comes into contact with and presses against the side surface W1 on the upstream side in the rotation direction of the workpiece W. This allows the workpiece W to be peeled off the adhesive sheet 8, and thereafter the workpiece W can be easily and reliably attracted to the holder 20 by the vacuum attraction action of the vacuum holes 25 and the magnetic attraction action of the magnet 26. During this time, the magnet 26 of the holder 20 reliably attracts the electrode portion of the workpiece W.

[0089] In this way, the holder 20 is rotated by a small angle, for example, only 2 degrees, to peel the workpiece W from the adhesive sheet 8, and then the holder 20 adsorbs the workpiece W on the adhesive sheet 8. Therefore, in order to remove the workpiece W from the adhesive sheet 8 with the holder 20, it is not necessary to provide a push-up pin on the back surface of the adhesive sheet 8 to push up the workpiece W. In this way, it is not necessary to push up the adhesive sheet 8 with a push-up pin to remove the workpiece W from the adhesive sheet 8, and the adhesive sheet 8 will not be scratched or damaged. For this reason, the adhesive sheet 8 can be reused many times.

[0090] Furthermore, since the adhesive strength of the adhesive sheet 8 does not need to be excessively reduced in order to easily remove the workpiece W on the adhesive sheet 8 with the holder 20, the workpiece W on the adhesive sheet 8 will not fall off or shift position on the adhesive sheet 8.

[0091] Furthermore, each rotating leg 12 and the holder 20 attached to the rotating leg 12 are displaced upstream in the rotational direction with respect to the center line L1 of the rotation axis 11a and are mounted on a parallel line L2 that is parallel to the center line L1. As a result, the holder 20 rotates in a down-swing state and presses the side surface W1 of the workpiece W with the pressing surface 22a of the protruding portion 22. As a result, the side surface W1 of the workpiece W comes into uniform contact with the pressing surface 22a of the protruding portion 22, and the holder 20 can effectively peel the workpiece W from the adhesive sheet 8.

[0092] Furthermore, if the holder 20 has a holder body 21 and a pair of protrusions 22 and 23, and is shaped like an inverted U when viewed from the side, that is, from the direction of the rotation axis 11a (see Figure 4), the pair of protrusions 22 and 23 of the holder 20 can surround the workpiece W on the upstream side W1 and the downstream side W2 in the direction of rotation, thereby allowing the holder 20 to stably hold the workpiece W by suction.

[0093] Furthermore, if the holder 20 has a holder body 21 and a single protrusion 22, and is L-shaped when viewed from the side, that is, from the direction of the rotation axis 11a (see Figure 5), the holder 20 does not include a protrusion on the downstream side in the direction of rotation. Therefore, when the holder 20 is brought close to the workpiece W on the adhesive sheet 8, there is no risk of the holder 20 coming into contact with the adjacent workpiece W on the downstream side in the direction of rotation.

[0094] Furthermore, by setting the rotation angle of the rotating legs 12 and the holder 20 for peeling the workpiece W from the adhesive sheet 8 to 1 degree and 5 degrees or less, the workpiece W can be reliably peeled from the adhesive sheet 8 without damaging the adhesive sheet 8, and the holder 20 does not collide with adjacent workpieces W.

[0095] In the above embodiment, an example was shown in which the holder 20 is rotated by a predetermined rotation angle and the workpiece W on the adhesive sheet 8 is peeled off the adhesive sheet 8 by the pressing surface 22a of the holder 20. However, the invention is not limited to this, and the adhesive sheet 8 may be moved by controlling the moving mechanism 30, and the workpiece W held by the holder 20 may be peeled off the adhesive sheet 8 by the pressing surface 22a of the holder 20. [Explanation of symbols]

[0096] 1. Workpiece transfer device 3 containment units 4. Transport Table 5. Transport route 6 Supply route 8 Adhesive sheets 10 Pickup device 11. Pickup device body 11A Electronic component pickup system 11a Rotation axis 12-rotation legs 12a Rotating Script Body 12b Sliding body 12b1 Stopper 12c spring 12d Cam Follower 15 Vacuum pipes 18 Rotary shaft drive unit 20 Holder 20a Work storage space 21 Main body of the holder 22 Protrusion 22a Pressing surface 23 Protrusion 25 Vacuum hole 26 Magnets 28 Magnets 29 Magnets 30 Moving mechanism 31 Mounting surface 32 x direction movement mechanism 32a x-direction drive unit 33 Y-direction movement mechanism 33a y-direction drive unit 40 Holder drive unit 41 Cam drive unit 42 Cam 50 Suction Nozzles 51 Suction nozzle holding mechanism 60 Control Unit 70 Workpiece Front / Back Inspection Device 80 Workpiece Inversion Device U1, U2, U3, U4 Processing Units Double job W1 side W2 side L1 center line L2 parallel line L3 Parallel lines α Displacement distance β maximum width

Claims

1. In an electronic component pickup device system for removing an electronic component from an adhesive sheet that holds the electronic component in an adhesive manner, A pickup device comprising: a pickup device body including a rotating shaft arranged parallel to the adhesive sheet; a plurality of rotating legs radially provided on the pickup device body; a holder attached to the tip of each rotating leg for adsorbing and holding the electronic component; and a rotating shaft drive unit for intermittently rotating the rotating shaft. A holder drive unit that moves the holder attached to the rotating leg toward and away from the adhesive sheet, It comprises a control unit and, The holder has a pressing portion that presses against the side surface on the upstream side in the rotational direction of the electronic component, An electronic component pickup device system comprising: the control unit controls the rotating shaft drive unit to stop the rotating shaft, then controls the holder drive unit to bring the holder closer to the adhesive sheet, rotates the rotating shaft by a predetermined rotation angle, and presses the side surface of the electronic component on the adhesive sheet on the adhesive sheet with the pressing portion of the holder to peel the electronic component away from the adhesive sheet, and then picks up the electronic component with the holder.

2. The electronic component pickup device system according to claim 1, wherein the control unit peels the electronic component off the adhesive sheet with the pressing portion of the holder and holds the electronic component in place with the holder, and then controls the holder drive unit to separate the holder from the adhesive sheet and rotate the rotating shaft.

3. The holder comprises a holder body and a pair of protrusions provided on the holder body and arranged in the rotational direction. The electronic component pickup device system according to claim 1 or 2, wherein the projection on the upstream side in the rotational direction functions as the pressing portion.

4. The electronic component pickup device system according to claim 1 or 2, wherein the holder has a holder body and a protruding portion provided on the holder body that functions as the pressing portion.

5. The electronic component pickup device system according to claim 1 or 2, wherein the rotating leg and the holder are mounted on the pickup device body on a parallel line parallel to the center line, which is displaced upstream in the rotational direction with respect to the center line of the rotation axis.

6. The electronic component pickup device system according to claim 1 or 2, further comprising a moving mechanism that allows the adhesive sheet to be placed on the device and to move freely in the x, y, and θ directions along the horizontal direction.

7. The electronic component pickup device system according to claim 1 or 2, wherein the control unit rotates the rotation axis by a predetermined rotation angle of 1 degree or more and 5 degrees or less, and the pressing portion of the holder presses the side surface of the electronic component on the adhesive sheet on the side surface on the side surface on the side surface on the side surface on the side surface on the adhesive sheet on the side surface, thereby peeling the electronic component off the adhesive sheet.

Images