Patent Grant
10475690
The present disclosure relates generally to a semiconductor component handling device for picking and placing objects such as semiconductor components. More specifically, aspects of the present disclosure are directed to a system, apparatus, device, and process for automatically setting the force exerted by a pickup head on a component, for instance, on a dynamic or near real-time basis during component pickup operations by a component handling system and/or automatically calibrating and monitoring, measuring, and/or adjusting the travel (e.g., vertical travel) of one or more pickup heads of the component handling system, apparatus, or device.
Semiconductor Integrated Circuits (ICs) are generally fabricated in wafer form or in package form. After the fabrication process, each wafer or package is typically singulated into multiple components. The components can include semiconductor dies or plastic packages such as quad flat no lead (QFN), Chip Scale (CSP), or ball grid array (BGA) packages. The semiconductor components typically undergo numerous processing steps including inspection, testing, and handling processes before they are ready to be packaged and distributed from a semiconductor fabrication facility to other destinations, e.g., for subsequent sale.
Each processing step generally occurs at a distinct or different processing station or module. Typically, the semiconductor component is first retrieved by a component handling device at or from a first or current station, and transferred and thereafter deposited or detached at a second or next station. Semiconductor components are processed at the processing stations either while in motion or while temporarily stationary at the processing stations, depending on processing requirements. The manner in which components are retrieved, handled, and deposited from one processing station to another plays a critical role in ensuring that the components are not damaged, more so when semiconductor component handling operations are automated in a compact space and in a high speed environment.
Existing component handling devices for transferring semiconductor components can include, for example, a robotic assembly or rotatable assembly or any other pick-and-place system well known in the art. Various types of component handling devices have multiple component pickup head assemblies or mechanisms, which can also be referred to as component pickup heads or component handlers for retrieving, receiving, holding, and transferring components. Generally, semiconductor components that have been retrieved or received and are held by the pickup head(s) are transferred between and positioned at different processing stations by way of the pickup head(s) as displacement of the pickup head(s) occurs along a predetermined travel profile or path.
Typically, a pickup head must be precisely or very precisely positioned over a pickup surface (e.g., a component top surface, bottom surface, or side surface) of each component requiring transfer on a repeated, successive, or ongoing basis in order to ensure that component pickup operations occur in a consistent, predictable, and error-free manner. Moreover, the force that the pickup head exerts on the components retrieved thereby must be (a) sufficiently large to ensure that components are securely and reliably held or retained by the pickup head and (b) sufficiently small to minimize the likelihood of component damage. Minimizing the likelihood of component damage can be particularly important in component pickup situations involving fragile components (e.g., thin or very thin semiconductor die), especially when the economic cost or value of each fragile component at the manufacturing stage during which component pickup occurs is non-trivial or significant (e.g., after multiple or many complex component fabrication processes or steps have already been performed).
A component pickup head is commonly used in association with or includes a soft or deformable tip element, which can be a replaceable element that is attached to a predetermined end of the component pickup head at which components are retrieved, and which comes into contact with each component as part of the component retrieval or pickup process. Tip elements can deteriorate or degrade over time as a result of successive component pickup operations, and thus the length or height of a tip element can become smaller over time. Consequently, the precision and reliability of component pickup operations can deteriorate or degrade over time because the vertical distance between the distal end of the tip element and component pickup surfaces can increase over time, possibly in a non-uniform or less than readily predictable manner.
In some types of component pickup situations, for instance, when semiconductor die reside on or are adhered to a deformable (e.g., vertically deformable) surface such as a conventional tape carried by a film frame, the pickup head is configured such that the tip element engages with and intentionally slightly presses against the pickup surface of each component while the component resides on the tape, to thereby exert an intended amount of downward compressive force on the component pickup surface in order to provide an adequate grip for consistently overcoming the adhesive force holding the component on the tape and picking up or removing components from the tape. In such situations, the component can be damaged if there is excessive force exerted on the component pickup surface when the pickup head is pressed thereon or thereagainst. This compressive force can be established in accordance with a predetermined target compressive force level depending on the type and thickness of semiconductor components under consideration. However, in conventional component handling systems, apparatuses, and devices, precise calibration, measurement, adjustment, and monitoring of compressive forces applied to components are difficult to achieve and practically infeasible, particularly due to the small, compact nature of the pickup heads and the highly confined spaces in which the component handling devices operate.
In view of the foregoing, in order to properly and consistently retrieve the semiconductor components in a safe or damage-free manner, the position and vertical travel of the pickup head(s) need to be precisely calibrated prior to the initiation of regular, sustained, ongoing, or post-calibration component pickup operations. This calibration is typically performed manually by a technician. However, the manual process pickup head calibration process involves a significant amount of time, adversely affecting throughput; as well as a great deal of trial and error, which is prone to human error and which leads to insufficiently reliable or inconsistent component pickup, and/or inadequate or excessive compressive force applied to the semiconductor components during the post-calibration component retrieval operations. In addition, there are no existing devices or mechanisms for determining or monitoring the compressive force(s) exerted on components during component handling device operation.
Accordingly, in order to address or alleviate the aforementioned problems and/or disadvantages associated with conventional component handling devices, there is a need for a system, apparatus, device, and process for automatically setting an intended compression threshold to prevent the pickup head(s) from inadequately or excessively pressing onto the semiconductor components during component retrieval operations and/or automatically precisely calibrating the travel (e.g., vertical travel) of component pickup head(s) to component pickup surfaces, and which can facilitate or enable monitoring or measurement of pickup head performance and component pickup consistency over time.
According to various embodiments of the present disclosure, a system, apparatus, device, and process are disclosed for automatically setting the force exerted by a pickup head on a component, for instance, on a dynamic or near real-time basis during component pickup operations by a component handling system and/or automatically calibrating and monitoring, measuring, and/or adjusting the travel of one or more pickup heads of the component handling system, apparatus, or device.
In various embodiments, the system may include a sensor, a component pickup assembly having a reference structure such as a vacuum cap, a housing and a spring guide holder which is coupled to a suction tip. A resilient member such as a spring may reside within the housing and the reference structure such that the spring guide holder and the housing are spaced from each other to define a variable first gap thereinbetween. A gate may be formed by the reference structure and a sheath located on the housing such that the reference structure may be spaced from the housing to define a variable second gap thereinbetween. Further, a detection structure or element may be located within the variable second gap such that the sensor may be able to detect portions of the detection structure or element. The detected portion of the detection structure or element at the second gap size may be correlated to the height of the variable first gap and the height of the variable first gap may be correlated to a reference predetermined threshold compressive force exerted on the component by the resilient member.
In one aspect of the disclosure, the sensor may include a laser sensor or an image capture device adjustably mated to a structure of the component handling device.
In one aspect of the disclosure, the reference structure may include a reference border or structure of the component pickup assembly including a predetermined border, edge, or rim structure or section of a vacuum cap of the component pickup assembly.
In one aspect of the disclosure, the suction tip may be mated to the spring guide holder such that the tip element may be resiliently slidable along a longitudinal axis of the housing for exerting a predetermined compressive force on the component that may be residing on a carrier or support surface.
In one aspect of the disclosure, the sheath blocks or partially blocks illumination directed to and reflected from the detection structure from/to the sensor when the sheath is in the way of the line of sight or field of view of the optical travel path of the sensor.
In one aspect of the disclosure, the amount or intensity of illumination reflected from the detection structure and detected by the sensor may be correlated to the size, dimensions or height of the variable second gap when the detection structure is a reflector and the sensor is a laser sensor.
In one aspect of the disclosure, the indicia carried by the detection structure and captured by the sensor may be correlated to the size, dimensions or height of the variable second gap when the detection structure is a calibrated marker which may include a reflective polycarbonate material and the sensor is an image capture device.
In one aspect of the disclosure, the initial height of the variable first gap is calibrated when the component pickup assembly is at an initial calibrated position, such that the initial calibrated position of the component pickup assembly is in a closest spatial relationship with the predetermined position of the pickup surface of the component.
In one aspect of the disclosure, the sheath may act as a gate for providing: (i) a fully closed variable second gap position such that the sensor is unable detect the detection structure; (ii) a range of partially open variable second gap positions such that the sensor may be able to detect portions of the detection structure; and (iii) a fully open variable second gap position such that the sensor is able detect a maximum portion of the detection structure. In this way, the opening of the gate from a closed position to a fully open position, corresponding to the second gap height, may be established to correspond with an allowable or acceptable first gap height.
In one aspect of the disclosure, the spring is not compressed when the gate corresponding to the variable second gap is in the fully closed position, such that no compressive forces may be exerted on the component by the spring.
In one aspect of the disclosure, the spring is not compressible to absorb the excess force exerted on the component when the gate is in the fully open position.
In one aspect of the disclosure, the sensor may be communicatively linked to a controller for computing the compressive force exerted on a component corresponding to the variable first gap height by way of image processing operations based on an analysis of the intensity of the illumination or size, dimension or height of the detection structure captured by the sensor.
In one aspect of the disclosure, the controller may further be configured to provide an auto-calibration mechanism to: (i) position the component pickup assembly within an accuracy of one micron of the initial calibrated position; and (ii) dynamically adjust the position of the vertical travel of the component pickup assembly such that the component pickup assembly may be (a) maintained within a predetermined vertical travel range during component pickup operations; and (b) prevented from pressing excessively onto the component during the component pickup process.
In one embodiment, a method of calibrating the compressive forces exerted on a component during a component retrieval process from a carrier or support surface by a component handling device is disclosed. The method may include the steps of: linking a sensor to a controller; providing a component pickup assembly including a reference structure, a housing, and a spring guide holder coupled to a suction tip and a resilient member residing within the housing and reference structure; spacing the spring guide holder and the housing from each other to define a variable first gap thereinbetween; forming a gate formed by the reference structure and a sheath located on the housing; spacing the reference structure from the housing to define a variable second gap thereinbetween; providing a detection structure located within the variable second gap by which the sensor may be able to detect portions of the detection structure; correlating a detected portion of the detection structure at the second gap size to the height of the variable first gap; such that the height of the variable first gap may be correlated to a predetermined threshold compressive force exerted on the component.
In one aspect of the disclosure, the method may further include an automatic calibrating method of setting the initial position of the component pickup assembly. Such a method may include the steps of: moving the component pickup assembly of the component handling device to dispose the component pickup assembly at a predetermined initial component handling device height by the controller; activating the sensor; moving the component pickup assembly downwardly in first incremental pulses until the sensor detects the detection structure; registering a first component pickup assembly height; moving the component pickup assembly upwardly in first incremental pulses; moving the component pickup assembly downwardly in second incremental pulses until the sensor detects the detection structure; registering a second component pickup assembly height; moving the component pickup assembly upwardly in second incremental pulses; and establishing a calibrated component pickup assembly height including the first and second component pickup assembly heights by the controller, such that the first and second component pickup assembly heights correspond to a plurality of component pickup assembly heights, and such that the first incremental pulses are greater in magnitude than the second incremental pulses.
In another aspect of the disclosure, the method may further include a method of automatic monitoring, measuring, and adjusting the calibrated position of the component pickup assembly. Such a method may include the steps of: moving the component pickup assembly of the component handling device to dispose the component pickup assembly at a predetermined initial component handling device height by the controller; activating the sensor; moving the component pickup assembly downwardly in first incremental pulses until the sensor detects the detection structure; registering a first component pickup assembly height; moving the component pickup assembly upwardly in first incremental pulses; moving the component pickup assembly downwardly in second incremental pulses until the sensor detects the detection structure; registering a second component pickup assembly height; moving the component pickup assembly upwardly in second incremental pulses; and establishing a calibrated component pickup assembly height comprising the first and second component pickup assembly heights by the controller, such that the first and second component pickup assembly heights correspond to a plurality of component pickup assembly heights, and wherein the first incremental pulses are greater in magnitude than the second incremental pulses.
Representative embodiments of the present invention are described hereinafter with reference to the figures, in which:
In the present disclosure, the depiction of a given element or consideration or use of a particular element number in a particular FIG. or a reference thereto in corresponding descriptive material can encompass the same, an equivalent, or an analogous element or element number identified in another FIG. or descriptive material associated therewith. The presence of “/” in a FIG. or text herein is understood to mean “and/or” unless otherwise indicated. The recitation of a particular numerical value or value range herein is understood to include or be a recitation of an approximate numerical value or value range, for instance, within +/−20%, +/−15%, +/−10%, +/−5%, +/−2%, or +/−0%. The term “essentially all” can indicate a percentage greater than or equal to 90%, for instance, 95%, 98%, 99%, or 100%.
As used herein, the term “set” corresponds to or is defined as a non-empty finite organization of elements that mathematically exhibits a cardinality of at least 1 (i.e., a set as defined herein can correspond to a unit, singlet, or single element set, or a multiple element set), in accordance with known mathematical definitions (for instance, in a manner corresponding to that described in An Introduction to Mathematical Reasoning: Numbers, Sets, and Functions, “Chapter 11: Properties of Finite Sets” (e.g., as indicated on p. 140), by Peter J. Eccles, Cambridge University Press (1998)). In general, an element of a set can include or be a system, an apparatus, a device, a structure, an object, a process, a physical parameter, or a value depending upon the type of set under consideration.
The representative embodiments in accordance with the present disclosure described herein increase or maximize the likelihood that a set of pickup heads corresponding to an automated component or object handling system, apparatus, or device can consistently, precisely, repeatedly, and securely capture, retrieve, receive, or pickup components or objects (e.g., semiconductor die, or other types of components or other objects) in a predictable and safe or damage-free manner. Various embodiments in accordance with the present disclosure provide an automated or automatic process by which one or more of (a) pickup head displacement or travel (e.g., vertical travel) relative to component pickup surfaces (e.g., a top, bottom, or side surface of each component within a sequence of components) can be precisely calibrated; (b) pickup head displacement or travel relative to component pickup surfaces can be monitored, measured, and adjusted at one or more times or during one or more time periods (e.g., on a periodic, dynamic, or near-real time basis); and (c) compressive forces exerted by a pickup head on components during component pickup operations can be estimated, calculated, or adjusted at one or more times or during one or more time periods (e.g., on a periodic, dynamic, or near-real time basis). Multiple embodiments in accordance with the present disclosure provide an automated process by which insufficient or excessive pickup head displacement or travel relative to a component pickup surface and/or insufficient or excessive compressive forces exerted by a component pickup head on components can be identified, addressed, remedied, or corrected (e.g., by way of electromagnetic signal feedback used by a pickup head displacement control subsystem) during component pickup operations (e.g., on-the-fly during the pickup of a given or each component, or on-the-fly from the pickup of one component to a subsequent, next, or immediately successive component).
In situations in which a pickup head tip element (e.g., a pliable, soft, and/or resiliently deformable tip element, such as a soft polymer or rubber tip element) is configured for exerting an intended or predetermined level or amount of compressive force (e.g., downward compressive force) upon each component's pickup surface to engage the tip element with the pickup surface during an initial portion of a component pickup process or set of component pickup operations (e.g., for instance, when a semiconductor die resides on a deformable or compressible surface such as an adhesive tape supported by a film frame and the pickup head needs to precisely, reliably, and safely apply sufficient suction or vacuum force to each semiconductor die to overcome the adhesive force holding the semiconductor die to the tape). Various embodiments in accordance with the present disclosure reduce the likelihood that the pickup head will exert inadequate or excessive compression force on such components, which can lead to failed/improper retrieval of the components, damage to the components, and/or possibly damage to the pickup head. Embodiments in accordance with the present disclosure automate, simplify, and reduce machine setup time, and reduce, greatly reduce, or eliminate the likelihood of calibration errors, particularly human-caused calibration errors, by providing an automated or automatic calibration of the position of a pickup head relative to component pickup surfaces. Embodiments in accordance with the present disclosure further provide an automatic manner of determining and monitoring a permissible distance range across which the pickup head can compress onto component pickup surfaces with minimal or negligible deviation from an intended, predetermined, or calibrated distance range suitable for picking upon a particular type of component.
In a representative embodiment, the component handling station 26 can include or be a robotic assembly that utilizes a suitable physical mechanism configured for operating in accordance with a corresponding physical principal for transporting the components 100. The robotic assembly can include a robotic gripper tool, a suction device, a vacuum device, and/or other suitable device(s). Such a robotic assembly can further include, for example, a controller 28 (shown in
In another representative embodiment, the component handling station 26 includes a rotatable assembly such as a turret (not shown) having multiple pick-and-place mechanisms 30 or component handling devices for receiving, holding, and transferring components 100. Rotation of the turret displaces the pick-and-place mechanisms 30 along a predetermined travel profile or path. Generally, the components 100 received and held by the pick-and-place mechanisms 30 are transferred to be positioned at the different processing stations for processing as the pick-and-place mechanisms 30 are displaced along the predetermined travel profile. Each pick-and-place mechanism 30 or component handler includes a mechanism for picking up, retrieving, or receiving a semiconductor component 100 at a first position, as well as a mechanism for releasing, depositing, or detaching the semiconductor component at a subsequent, next, or second position.
In yet another representative embodiment, the component handling station 26 includes a carriage having a flipper mechanism 31 (shown in
The component handling station 26 can further be configured for controllably moving the components 100 in a predetermined or selectable/programmable manner. For instance, the component handling station 26 and the pick-and-place mechanism 30 can include one or more photo sensors (not shown) that are used to detect devices or components, and/or one or more cameras/sensors (not shown) that are operable to focus on devices or components at predetermined locations. The controller 28 can be operable to process data from such photo sensors and/or cameras to place the component handling station 26 over the component or object at a predetermined position. The pick-and-place mechanism 30 is then utilized to pick up the component 100, move it to another predetermined location, and thereafter release the component 100.
For purposes of brevity and clarity, the description of embodiments in accordance with the present disclosure is limited hereinafter to a component handling station 26 having a pick-and-place mechanism 30 corresponding to or forming a portion of a flipper mechanism 31. It will, however, be apparent to a person skilled in the relevant art that such a mechanism as described herein does not preclude the applicability of embodiments in accordance with the present disclosure to other types of component handling stations and/or situations, where fundamental principles among various embodiments in accordance with the present disclosure, such as operational, functional and/or performance characteristics, are desired or required. For example, a system, apparatus, or process in accordance with the present disclosure can be used for precise, reliable, secure, and/or damage free retrieval and handling of other types of components and objects, such as objects for which pickup head(s) travel to component pickup surfaces and/or compressive force(s) applied by the pickup head(s) to component pickup surfaces should or must be precisely controlled and/or monitored or measured.
With further reference to
The suction tip 52 can be shaped and dimensioned for picking up components 100 (e.g., for securely capturing or attaching a semiconductor component or object thereto) at a first or current processing station, and subsequently detaching or releasing the attached component 100 at a second, next, or subsequent processing station. Such a suction tip 52 can be made of a resilient material such as one or more types of plastic or rubber materials, in a manner readily understood by individuals having ordinary skill in the relevant art. The edge or lower border of the suction tip can be configured for providing a good sealing engagement when engaged with a component. As shown in
The operation of the vacuum source is such that a signal can be generated to trigger the vacuum source to operate at or provide a positive, zero, or negative pressure based upon the position of the pickup head 36. Typically, it will be apparent to an individual having ordinary skill in the relevant art that a negative vacuum pressure will be activated when the pickup head 36 is disposed at a predetermined component pickup position at which engagement between the suction tip 52 and the component pickup surface 102 is intended to occur by way of (a) activation of the vacuum or suction force such that the vacuum or suction force draws the component 100 upwards toward the suction tip 52 prior to physical contact of the suction tip 52 with the component pickup surface 102; (b) downward compressive contact of the suction tip 52 against the component pickup surface 102 prior to the activation of the vacuum or suction force; or (c) essentially simultaneous activation of the vacuum or suction force with physical contact between the suction tip 52 and the component pickup surface 102.
The use of a vacuum source enables secure retention of the component 100 to the suction tip 52 even at a wide range of speeds of displacement of the pick-and-place mechanism 30 along the predetermined travel profile. Individuals having ordinary skill in the relevant art will understand that alternative designs and structures of the vacuum source can be used for achieving a similar, essentially identical, or identical function without deviating from the scope of the invention.
To enable the pickup head 36 to properly retrieve the component 100, the home position is initially calibrated or set up during a calibration or setup process. From the home position, the pickup head 36 will travel across an intended or predetermined distance 105 (e.g., 3-4 mm in some representative embodiments) to precisely, consistently, and safely retrieve the component 100. The travel distance, throw, or stroke of the pickup head 36 corresponding to the predetermined distance 105 is established to encompass or correspond to an intended safe distance range or distance (e.g., an engagement or engagement force buffering distance) across which the pickup head's spring guide holder 56 can or should travel to provide the aforementioned cushioning effect, by way of which the spring guide holder 56 absorbs at least some force across a small distance range or distance relative to or within which the suction tip 52 can be compressed during its engagement with the component pickup surface 102. As a result, component pickup can occur in a consistent, reliable, and damage limited, essentially damage free, or damage free manner, including in situations in which the suction tip 52 applies a downward compressive force to the component 100 prior to application of the vacuum or suction force to the component pickup surface 102 by way of the vacuum source, such that an intended or desired compressive force (e.g., a target minimum or threshold compressive force, which is less than a target maximum compressive force) can be established to facilitate proper pickup of the component 100.
As indicated above, in various pickup head embodiments, the spring guide holder 56 is configured for displacement relative to the housing 54. More particularly, the spring guide holder 56 can be configured for upward displacement toward the housing 54, such that the pickup head spring 60 can absorb or cushion contact or impact forces between the suction tip 52 and the component 100 that occur during engagement therebetween. As further detailed below, the pickup head 36 can be configured to provide a set of gap structures or gaps 70, 72 (shown in
As illustrated in
The second gap 72 has a height that increases from an initial second gap height up to the reference maximum height as the spring guide holder 56 moves relative to the housing 54, e.g., as the lower portion of the spring guide holder 56 is displaced upward. The height of the second gap 70 thus varies inversely relative to or with the current height of the first gap 70 as the lower portion of the spring guide holder 56 is displaced upward towards the housing 54. That is, the second gap height 110 increases while the first gap height 106 decreases as the lower portion of the spring guide holder 56 travels toward the housing 54. The initial second gap height 110min can be as small as approximately 0.0 mm.
In various embodiments, the size or height of the second gap 72 corresponds to or defines the size or an illumination reflection and/or detection area, within which a reflector and/or a calibratable or calibrated marker structure 80 resides behind a displaceable sheath 74 that is coupled to or which is formed as a portion of the housing 54, as illustrated in
In view of the foregoing, in some representative embodiments, upon initial contact between the suction tip 52 and the pickup surface 102 of the component 100, the suction tip 52 can compress or travel and/or the pickup head 36 can travel a further distance of about 0.05-0.35 mm (e.g., about 0.1-0.3 mm). This distance range can result in a suitable, effective, or optimum contact condition whereby the component 100 can be consistently and safely retrieved. Under such a contact condition, the pickup head spring 60 can provide a “cushioning effect” of about 0.1-0.3 mm, and exert a predetermined compressive force, e.g., of less than or equal to 100 gmF, on the pickup surface 102 of the component 100 without damaging the component 100.
In some representative embodiments in accordance with the present disclosure, a predetermined first gap height 106 of 0.1-0.7 mm is calibrated, established, or determined to provide an acceptable, target, or ideal spring guide holder travel range relative to the housing 54 for purpose of maintaining a permissible compression of not more than 100 gmF exerted on the component 100 without damaging the component 100 and/or the pickup head 36. Such a predetermined first gap height 106 of between 0.1-0.7 mm provides a suitable, acceptable, target, or ideal reference or “cushion” or tolerance for the pickup head 36 to safely retrieve the component. However, an individual having ordinary skill in the relevant art will be able to determine an intended or predetermined reference maximum first gap height and corresponding compression force corresponding to different pickup head embodiments, and/or different sizes and types of components to be picked.
In conventional systems, apparatuses, or devices, the home position is calibrated by a technician before the start of the component pickup or retrieval operations. More specifically, the current practice for setting such a home position is to utilise an optical scope to magnify the technician's view of the pick-and-place mechanism 30 and manually position the pickup head 36 whereby the rubber tip 52 can be disposed as close to the surface of the component 100 as possible for component pickup operations. The final home position is then determined by the technician based on a series of manual iterations to determine a best “fit” position. The final home position is intended to correspond to the vertical position at which component pickup can actually occur, whereat the suction tip 52 is disposed closest to the surface of the component 100. However, the process of calibrating this home position involves a great deal of trial and error which may result in inadequate or excessive compressive force on the components 100, which is prone to human error, and which consumes significant amounts of time, adversely affecting manufacturing throughput.
With reference again to
The reflector can further be mounted in a face-to-face or optically equivalent orientation with the sensor 81 such that a laser beam can be directed to and from the reflector along a set of predetermined optical travel paths 114, e.g., in a non-interrupted manner during component pickup operations. As shown in the representative embodiment of
Additionally or alternatively, the sensor 81 can include a camera such as a video camera adjustably mounted to the same or a different bracket 82, which can be further attached to an arm or structure of the component handling device or station 26. A marker carrying indicia corresponding to the size, dimensions or height of the second gap 72 can be attached to a predetermined portion of the vacuum cap 62 of the pickup head 36 or any other suitable location on the pickup head 36. Such a marker can be suitably dimensioned according to the available space and configuration of the location of the laser camera, in a manner analogous to that for the reflector.
The marker can further be mounted in a face-to-face or optically equivalent orientation with the camera such that the camera line of sight (LOS) or field of view (FOV) can be directed to and from the marker in a non-interrupted manner during component pickup operations. As shown in
In the context of a particular non-limiting representative embodiment detailed hereafter to further aid understanding,
In the context of this particular non-limiting representative embodiment,
For the particular non-limiting representative embodiment under consideration,
The laser sensor can be a commercially available multi-purpose digital laser sensor suitable for such a purpose, which can include a laser as an illumination source therein. The laser sensor can output at least one area beam, which is least affected by vibrating targets or backgrounds. The laser sensor can utilise a moderately wide or wide laser beam to provide stable detection, even if the sensor reflector position varies. The current or most-recent size of the first gap height 106 is correlated with or estimable or determinable from the amount of light reflected from the reflector, as will be readily understood by individuals having ordinary skill in the relevant art. The laser sensor can be communicatively linked to the controller 28.
The camera can be a commercially available video camera (e.g., a high speed video camera) suitable for such a purpose, and can be communicatively linked to the controller 28. With respect to a sequence of individual video images within a video image sequence or stream, the current or most-recent size of the first gap height 106 can be computed by way of image processing operations based upon an analysis of marker indicia captured by the camera within a captured image that corresponds to a maximum captured second gap size or height during component pickup operations as indicated by the marker indicia, which corresponds to a minimum first gap height 108 during component pickup operations as a result of upward displacement of the lower portion of the spring guide holder 56 toward the housing 54. This maximum captured second gap size or height as indicated by the marker can be correlated with the first gap height, in a manner readily understood by individuals having ordinary skill in the relevant art.
Embodiments in accordance with the present disclosure can be advantageously utilized without technician (human) intervention in at least two ways. The first is to replace the manual calibration process with an automated or automatic calibration process. An auto-calibration mechanism in accordance with the present disclosure can be configured to provide an accurate or highly accurate positioning of the pickup head within approximately 1 micron accuracy of the home position. Such an auto-calibration mechanism eliminates human errors and prolonged setup/calibration times associated with conventional manual pickup head calibration processes. The second is to automatically estimate, determine, monitor, and/or measure the first and/or second gap height corresponding to the maximum extent of displacement of the lower spring guide holder toward the housing, possibly in association with the generation of a feedback control signal applied to the linear motor (e.g., voice coil) such that the position of the vertical travel of the pickup head can be adjusted (e.g., dynamically or on-the-fly) during a sequence of component pickup operations (e.g., by way of dynamically adjusting the linear motor 40's displacement of the pusher arm 42) such that the pickup head 36 is (a) maintained within an intended, predetermined, near-optimal, or optimal vertical travel range during component pickup operations, e.g., regardless of suction tip wear over time, and/or a changed or non-optimal suction tip distal end location resulting from suction tip replacement; and (b) prevented from pressing excessively onto the component 100 during the component pickup process.
A non-limiting example of an auto calibration is described for the subsystem of
A non-limiting representative procedural home position calibration sequence 200 is illustrated in
In Step 201, pickup head Z-down movement occurs to dispose the pickup head 36 at an initial vertical position, which is an expected, estimated, or measured/known vertical distance such as 0.3 mm above target component pickup position. In Step 202, pickup head Z-down in 100 pulse increments (100 pulses=100 microns in this non-limiting representative example) until sensor registers as “ON” as a result of detecting illumination reflected from the reflector/marker 80 meeting or just exceeding a minimum illumination threshold detection level (e.g., as a result of the second gap 72 attaining a corresponding threshold second gap height 110max).
In Step 203, controller 28 registers current pickup head height. In Step 204, pickup head Z-up 100 pulses. In Step 205, pickup head Z-down in 10-pulse increments, until Sensor “ON” as above. In Step 206, controller registers pickup head height. In Step 207, pickup head Z-up 10 pulses. In Step 208, pickup head Z-down in 1-pulse increments until Sensor “ON” as above. In Step 209, controller 28 registers current pickup head vertical position as target vertical component pickup position. In Step 210, pickup head Z-up (i.e., vertically displaced upward) across a predetermined distance or by a predetermined number of pulses to establish home position (e.g., such that a tip of the pusher arm 42 configured for imparting force upon the Z-shaft 44 to downwardly displace the Z-shaft 44 resides just above the upper end of the Z-shaft 44).
Such an automated or automatic calibration sequence can be performed at least once, and can be repeated any number of times, to establish or re-establish a calibrated component pickup position and a corresponding calibrated home position, which are consistently reproducible at an accuracy to within 1.0-3.0 microns (e.g., approximately 1.0 micron), which is not possible through a conventional manual calibration procedure.
Upon calibrating the “home’ position, the pick-and-place mechanism 18 is ready to perform component pickup operations as part of component pick-and-place operations. Further to the foregoing non-limiting representative examples, an automatic pickup head monitoring, measuring, and adjustment process is described, for example, using the subsystem
A non-limiting process 300 is shown in
In the case where component 100 is carried on a rigid, non-vertically deformable component support surface, a vacuum or suction force is turned on through the suction tip 52 at a sufficient level to overcome any opposing vacuum or suction force retaining the component 100 on the component support surface. This draws the component 100 upward away from component support surface to the suction tip 52 and establishing secure engagement between the suction tip 52 and the component pickup surface 102.
In the case where component 100 is carried on a sticky or vertically deformable surface such as an adhesive tape supported by a film frame, pickup head moves downwards in the Z direction and continues until reflector/marker 80 is exposed. The sensor 81 registers a reflected illumination intensity corresponding to a target second gap height range or height, which is correlated with or corresponds to a target separation distance range or distance between the bottom portion of the spring guide holder 56 and the housing 54, thereby indicating compressive engagement between the suction tip 52 and the component pickup surface 102 has been reached and compressive force falls within or is at a target compressive force range or level, respectively, after which vacuum or suction force is turned on to securely maintain engagement between suction tip 52 and component pickup surface 102.
In Step 305, based on signal communication with the sensor 81, controller 28 determines or records the current pickup head vertical position, the current sensor signal level, and the current first and/or second gap heights. In Step 306, controller 28 computes the current compressive force exerted by pickup head spring 60 on the component 100 based on current pickup head vertical position, current first and/or second gap heights, and pickup head spring parameters. In Step 307, if necessary, controller 28 increases or decreases pickup head Z-down to ensure a minimum threshold compressive force exerted by the pickup head spring 60 on the component 100 is reached or a maximum compressive force exerted by the pickup head spring 60 on the component is not exceeded, respectively, e.g., on a dynamic basis or on-the-fly.
In Step 307, further if necessary, controller 28 determines an adjusted home position or establishes a recalibrated home position, e.g., on a dynamic basis or on-the-fly during the current component pickup operation or prior to a next component pickup operation, based on current pickup head vertical position and current sensor signal output indicating current second gap height at which the minimum threshold compressive force exerted by the pickup head spring 60 on the component 100 is reached or the maximum compressive force exerted by the pickup head spring 60 on the component 100 is not exceeded. In Step 308, pickup head returns to its original or the adjusted home position, from which a subsequent, next, or successive component pickup operation can begin to continue a sequence of component pick-and-place operations.
In the above description, non-limiting representative example systems, subsystems, apparatuses, devices, and processes in accordance with particular embodiments of the present disclosure have been described. It will be readily understood by a person having ordinary skill in the relevant art that various modifications can be made to specific forms, arrangements, and/or structures of the embodiments described above, without departing from the scope of embodiments in accordance with the present disclosure.
| Number | Name | Date | Kind |
|---|---|---|---|
| 5500589 | Sumcad | Mar 1996 | A |
| 9778131 | Everett | Oct 2017 | B2 |
| 20060166371 | Testa | Jul 2006 | A1 |
| 20110166824 | Haisty | Jul 2011 | A1 |
| 20130204157 | Clark | Aug 2013 | A1 |
| 20150070330 | Stern | Mar 2015 | A1 |
| 20150328497 | Doucot | Nov 2015 | A1 |
| 20160237759 | Li-Leger | Aug 2016 | A1 |
| Number | Date | Country | |
|---|---|---|---|
| 20170365501 A1 | Dec 2017 | US |
| Number | Date | Country | |
|---|---|---|---|
| 62350685 | Jun 2016 | US |
