TW202107096A - Automatic probe pick-and-place apparatus and automatic probe pick-and-place machine - Google Patents
Automatic probe pick-and-place apparatus and automatic probe pick-and-place machine Download PDFInfo
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本發明係關於一種自動化探針取放設備,尤指一種可確實達到省時省力、降低成本及提高生產效能之目的的自動化探針取放設備。 The present invention relates to an automatic probe picking and placing device, in particular to an automatic probe picking and placing device that can indeed achieve the purposes of saving time and labor, reducing costs and improving production efficiency.
例如於半導體的製程中,電子元件上的積體電路(IC)通常會設有多個接腳,例如數十個或上百個球狀接腳,且這些接腳係緊密的排列設置。而在該積體電路製作完成後,係會利用具有探針之基盤進行該積體電路的檢測,亦即先以基盤載置與接腳之數量與位置相對應的探針,之後移動基盤而使各個探針接觸各個接腳,並電性導通探針以對接腳進行電路檢測,藉以檢測積體電路於製作過程中是否發生損壞。 For example, in the semiconductor manufacturing process, the integrated circuit (IC) on the electronic component usually has a plurality of pins, such as dozens or hundreds of ball pins, and these pins are arranged closely. After the integrated circuit is manufactured, the substrate with probes is used to test the integrated circuit, that is, the probes corresponding to the number and positions of the pins are placed on the substrate, and then the substrate is moved. Each probe is brought into contact with each pin, and the probe is electrically connected to perform circuit inspection on the pin, so as to detect whether the integrated circuit is damaged during the manufacturing process.
於傳統的作業方式上,基盤上所載置之用於檢測的探針是以人工方式進行取放,亦即以人工使用鑷子夾取細小的探針後,再仔細地一一將探針對位放置於基盤上的插孔。 In the traditional method of operation, the probes placed on the base plate for detection are manually picked and placed, that is, manually use tweezers to pick up the small probes, and then carefully align the probes one by one. A jack placed on the base plate.
然而,上述習知以人工取放探針的作業方式不僅耗時費力,探針亦有可能因人工夾持施力不均而造成損壞,進一步造成探針成本的增加以及生產效能的降低。 However, the above-mentioned conventional manual picking and placing of the probe is not only time-consuming and laborious, but the probe may also be damaged due to uneven manual clamping force, which further increases the cost of the probe and reduces the production efficiency.
為了改善上述習知以人工取放探針的作業方式所具有的缺點,本發明係提出一種自動化探針取放設備,其包含一基座、一基板、一出氣針、一多軸移動平台、一送料器、一承料器、一氣動吸嘴取放器、一氣壓源以及一控制器。其中,該基板在厚度方向設有一通孔;該出氣針係位設於該基板的下方,且該出氣針包含一出氣口,該出氣口係向上朝向該通孔並與該通孔之間間隔出一距離;該多軸移動平台係組設於該基座上;該送料器係組設於該多軸移動平台上並被該多軸移動平台帶動至該出氣口與該通孔之間;該承料器係組設於該基座與該多軸移動平台之其中一者上;該氣動吸嘴取放器係組設於該多軸移動平台上並被該多軸移動平台帶動至該通孔的上方與帶動至該承料器的上方;該氣壓源,係分別連通於該出氣針與該氣動吸嘴取放器;該控制器係分別電性連接於該氣壓源與該多軸移動平台。藉由上述之結構設計,可確實達到省時省力、降低成本及提高生產效能之目的。 In order to improve the above-mentioned shortcomings of the conventional manual picking and placing of probes, the present invention proposes an automated probe picking and placing device, which includes a base, a substrate, an air outlet needle, a multi-axis moving platform, A feeder, a feeder, a pneumatic suction nozzle pick and place device, an air pressure source and a controller. Wherein, the substrate is provided with a through hole in the thickness direction; the air outlet needle is located below the substrate, and the air outlet needle includes an air outlet, the air outlet is upwardly facing the through hole and spaced from the through hole Out a distance; the multi-axis mobile platform is assembled on the base; the feeder is assembled on the multi-axis mobile platform and is driven by the multi-axis mobile platform to between the air outlet and the through hole; The feeder is assembled on one of the base and the multi-axis mobile platform; the pneumatic suction nozzle picker is assembled on the multi-axis mobile platform and is driven to the multi-axis mobile platform The upper part of the through hole and the upper part of the feeder are driven; the air pressure source is respectively connected to the air outlet needle and the pneumatic nozzle pick-and-place device; the controller is electrically connected to the air pressure source and the multi-axis, respectively mobile platform. Through the above-mentioned structural design, the purpose of saving time and effort, reducing cost and improving production efficiency can be achieved.
上述之該氣動吸嘴取放器包含一氣動吸嘴取放盤及複數個氣動管路,該複數個氣動管路係分別連通於該氣動吸嘴取放盤。 The above-mentioned pneumatic suction nozzle pick-and-place device includes a pneumatic suction nozzle pick-and-place tray and a plurality of pneumatic pipes, and the plural pneumatic pipes are respectively connected to the pneumatic suction nozzle pick-and-place tray.
上述之該氣動吸嘴取放盤係為一矩形狀之氣動吸嘴取放盤,且該複數個氣動管路之數量係為四個並分別連通於該氣動吸嘴取放盤之四個角落。 The above-mentioned pneumatic nozzle pick-and-place disk is a rectangular pneumatic nozzle pick-and-place disk, and the number of the plurality of pneumatic pipes is four and they are respectively connected to the four corners of the pneumatic nozzle pick-and-place disk.
上述之該承料器係組設於該多軸移動平台上並被該多軸移動平台帶動至一預設位置。 The above-mentioned feeder is assembled on the multi-axis mobile platform and is driven by the multi-axis mobile platform to a preset position.
上述之承料器係為一盤狀之承料器,且該承料器凹設有複數個凹陷部。 The above-mentioned feeder is a disk-shaped feeder, and the feeder is recessed with a plurality of recesses.
上述之自動化探針取放設備更包含至少一感測器,該至少一感測器係電性連接於該控制器並組設於該基座、該多軸移動平台、該送料器、該承料器、該氣動吸嘴取放器與該氣壓源之至少其中一者上。 The above-mentioned automated probe pick-and-place equipment further includes at least one sensor, which is electrically connected to the controller and arranged on the base, the multi-axis moving platform, the feeder, and the support. At least one of the feeder, the pneumatic suction nozzle pick-and-place device and the air pressure source.
上述之該至少一感測器係選自下列感測器種類群組中之至少其中一者:位移感測器、壓力感測器、溫度感測器、電量感測器及影像感測器。 The aforementioned at least one sensor is selected from at least one of the following sensor types: displacement sensor, pressure sensor, temperature sensor, power sensor and image sensor.
上述之該多軸移動平台係為一xyz三軸移動平台。 The above-mentioned multi-axis mobile platform is an xyz three-axis mobile platform.
本發明亦有關於一種自動化探針取放機台,包含一機架及一如上所述之自動化探針取放設備,且該自動化探針取放設備係置設於該機架上。 The present invention also relates to an automatic probe pick-and-place machine, which includes a rack and an automatic probe pick-and-place device as described above, and the automatic probe pick-and-place device is set on the rack.
上述之自動化探針取放設備更包含一警示器,且該警示器係電性連接於該控制器。 The above-mentioned automatic probe picking and placing equipment further includes a warning device, and the warning device is electrically connected to the controller.
1‧‧‧自動化探針取放設備 1‧‧‧Automatic probe picking and placing equipment
11‧‧‧基座 11‧‧‧Pedestal
111‧‧‧基板 111‧‧‧Substrate
112‧‧‧出氣針 112‧‧‧Venting needle
113‧‧‧通孔 113‧‧‧Through hole
114‧‧‧出氣口 114‧‧‧Exhaust port
12‧‧‧多軸移動平台 12‧‧‧Multi-axis mobile platform
13‧‧‧送料器 13‧‧‧Feeder
14‧‧‧承料器 14‧‧‧Carrier
141‧‧‧凹陷部 141‧‧‧Depression
15‧‧‧氣動吸嘴取放器 15‧‧‧Pneumatic nozzle picker
151‧‧‧氣動吸嘴取放盤 151‧‧‧Pneumatic nozzle pick and place tray
152‧‧‧氣動管路 152‧‧‧Pneumatic pipeline
16‧‧‧氣壓源 16‧‧‧Air pressure source
17‧‧‧控制器 17‧‧‧Controller
171‧‧‧顯示螢幕 171‧‧‧display screen
18‧‧‧感測器 18‧‧‧Sensor
2‧‧‧自動化探針取放機台 2‧‧‧Automatic probe picking and placing machine
21‧‧‧機架 21‧‧‧Frame
22‧‧‧輪子 22‧‧‧wheel
23‧‧‧警示器 23‧‧‧Warning device
31‧‧‧探針 31‧‧‧Probe
32‧‧‧承載盤 32‧‧‧Carrier plate
33‧‧‧載置盤 33‧‧‧Place plate
331‧‧‧插孔 331‧‧‧Jack
34‧‧‧仿形座 34‧‧‧Profile seat
P‧‧‧預設位置 P‧‧‧Preset position
圖1係為本發明較佳具體實施例之立體圖。 Figure 1 is a perspective view of a preferred embodiment of the present invention.
圖2係為本發明較佳具體實施例之部分結構側視圖。 Figure 2 is a partial structural side view of a preferred embodiment of the present invention.
圖3係為本發明較佳具體實施例之作動示意圖之一。 FIG. 3 is one of the schematic diagrams of the operation of the preferred embodiment of the present invention.
圖4係為本發明較佳具體實施例之作動示意圖之二。 Fig. 4 is the second schematic diagram of the operation of the preferred embodiment of the present invention.
圖5係為本發明較佳具體實施例之作動示意圖之三。 Fig. 5 is the third schematic diagram of the operation of the preferred embodiment of the present invention.
圖6係為本發明較佳具體實施例之作動示意圖之四。 Fig. 6 is the fourth schematic diagram of the operation of the preferred embodiment of the present invention.
圖7係為本發明較佳具體實施例之實施示意圖。 Fig. 7 is a schematic diagram of the implementation of a preferred embodiment of the present invention.
請參照圖1,其係為本發明較佳具體實施例之立體圖;另於圖1中表示出部分結構的放大示意圖。於圖1中顯示有一自動化探針取放設備1,且此自動化探針取放設備1包含一基座11、一基板111、一出氣針112、一多軸移動平台12、一送料器13、一承料器14、一氣動吸嘴取放器15、一氣壓源16以及一控制器17。
Please refer to FIG. 1, which is a three-dimensional view of a preferred embodiment of the present invention; and FIG. 1 shows an enlarged schematic view of a part of the structure. Shown in FIG. 1 is an automated probe pick-and-
請參照圖2,其係為本發明較佳具體實施例之部分結構側視圖,並請同時一併參照圖1。如圖1及圖2所示,其中之基板111在厚度方向設有一通孔113,出氣針112係位設於基板111的下方,且出氣針112包含一出氣口114,此出氣口114係向上朝向通孔113並與通孔113之間間隔出一距離;多軸移動平台12係組設於基座11上;送料器13係組設於多軸移動平台12上並被多軸移動平台12帶動至出氣口114與通孔113之間;承料器14係組設於基座11與多軸移動平台12之其中一者上;氣動吸嘴取放器15係組設於多軸移動平台12上並被多軸移動平台12帶動至通孔113的上方與帶動至承料器14的上方;氣壓源16係分別連通於出氣針112與氣動吸嘴取放器15(於圖1中係以連接線概略表示);控制器17係分別電性連接於氣壓源16與多軸移動平台12(於圖1中係以連接線概略表示)。
Please refer to FIG. 2, which is a partial structural side view of a preferred embodiment of the present invention. Please also refer to FIG. 1 at the same time. As shown in Figures 1 and 2, the
上述自動化探針取放設備1之作動方式詳述如下。首先,於送料器13上放置一個插置有多個探針31之承載盤32(即原料盤),於承料器14上放置一空的且具有多個插孔331的載置盤33,該載置盤33即是要載置探針31並用於測試例如積體電路之接腳(圖未示)的治具(載置盤33載置探針31後即是要做測試之廠商客戶所要求的最後產品)。此外,於氣動吸嘴取放器15上會放置一個依照載置盤33仿生製作的仿形座34,所謂仿生製作的仿形座34是以與載置盤33鏡射方
式所製作的仿形座34,故仿形座34之插孔341的位置、排列方式與數量會與載置盤33之插孔331的位置、排列方式與數量呈彼此鏡射對應配置。
The operation mode of the above-mentioned automatic probe picking and placing
請同時參照圖3至圖6,其中之圖3係為本發明較佳具體實施例之作動示意圖之一,圖4係為本發明較佳具體實施例之作動示意圖之二,圖5係為本發明較佳具體實施例之作動示意圖之三,圖6係為本發明較佳具體實施例之作動示意圖之四,並請同時一併參照圖1及圖2。 Please refer to FIGS. 3 to 6 at the same time. FIG. 3 is one of the schematic diagrams of the operation of the preferred embodiment of the present invention, FIG. 4 is the second schematic diagram of the actions of the preferred embodiment of the present invention, and FIG. 5 is the schematic diagram of the operation of the preferred embodiment of the present invention. The third operation schematic diagram of the preferred embodiment of the present invention. FIG. 6 is the fourth operation schematic diagram of the preferred embodiment of the present invention. Please refer to FIGS. 1 and 2 at the same time.
當完成上述配置後,以控制器17(例如以程式)控制氣壓源16與多軸移動平台12開始作動。首先,送料器13會被多軸移動平台12帶動至出氣口114與通孔113之間(即送料器13會位於基板111的下方,如圖2所示),而氣動吸嘴取放器15會被多軸移動平台12帶動至通孔113的上方(如圖2及圖3所示),此時,送料器13所放置之承載盤32的多個探針31會依序地移動至出氣口114,出氣口114會出氣推動探針31,氣動吸嘴取放器15同時吸取探針31,並以此方式一一將探針31吸取至仿形座34(如圖2所示),若總共需要兩百支探針31,則前述動作會重複兩百次(一次吸取一支探針31)(在從承載盤32吸取探針31時,因多個探針31是以矩形陣列排列,為節省探針31吸取時間,可以「之」字形移動承載盤32),最後當所有探針31吸取完成之後,氣動吸嘴取放器15會被多軸移動平台12帶動至承料器14的上方(如圖5所示),然後將仿形座34上的所有探針31一次性放入載置盤33的插孔331,最後氣動吸嘴取放器15被多軸移動平台12帶動移開(如圖6所示)。
After the above configuration is completed, the controller 17 (for example, using a program) controls the
於本實施例中,承料器14係組設於多軸移動平台12上並被多軸移動平台12帶動至一預設位置P。即,當氣動吸嘴取放器15在所有探針31吸取完成之後,承料器14可先被多軸移動平台12帶動至預設位置P(如圖4所示),氣動吸
嘴取放器15再被多軸移動平台12帶動至承料器14的上方,然後將仿形座34上的所有探針31一次放入載置盤33的插孔331(如圖5所示),最後承料器14再被多軸移動平台12帶動回位(如圖6所示)。當然,於結構設計上,承料器14亦可組設於基座11上,例如直接組設於基座11上於預設位置P處。
In this embodiment, the
由上述可知,利用自動化取放探針31,可確實達到省時省力(自動依序吸取探針31,最後一次性放入載置盤33的插孔331(最後產品))、降低成本(例如探針31不會因夾持力道不均而損壞)及提高生產效能(探針31取放時間大幅減少)之目的。
It can be seen from the above that the use of the automated picking and placing
於本實施例中,氣動吸嘴取放器15包含一氣動吸嘴取放盤151及複數個氣動管路152,且複數個氣動管路152係分別連通於氣動吸嘴取放盤151。藉此,於操作時可視實際需要以控制器17控制調整氣壓源16供給至不同氣動管路152的氣體壓力,亦即藉由盤狀與多個管路之設計,可更穩定地進行探針31之吸取。例如,如圖式所示,氣動吸嘴取放盤151係為一矩形狀之氣動吸嘴取放盤151,且複數個氣動管路152之數量係為四個並分別連通於氣動吸嘴取放盤151之四個角落,如此可平均吸取力道而穩定地吸取探針31,或者可視吸取探針31的位置(例如位置偏向某一邊)而控制調整不同氣動管路152的氣體壓力以平均吸取力道。
In this embodiment, the pneumatic nozzle pick-and-
另由圖式可知,於本實施例中,承料器14係為一盤狀之承料器14,且此承料器14凹設有複數個凹陷部141。藉此,可方便作業人員取放承料器14上的載置盤33。
It can also be seen from the drawings that in this embodiment, the
在使用時亦可使自動化探針取放設備1包含至少一感測器18,此至少一感測器18係電性連接於控制器17並組設於基座11、多軸移動平台12、送料器13、承料器14、氣動吸嘴取放器15與氣壓源16之至少其中一者上。換言之,感測
器18之數量與組設位置並不限定,端視實際使用所需。例如,至少一感測器18可選自下列感測器種類群組中之至少其中一者:位移感測器、壓力感測器、溫度感測器、電量感測器及影像感測器。藉此,若需感測多軸移動平台12的移動位置是否正確,即可在基座11、多軸移動平台12、送料器13及/或承料器14組設位移感測器;若需感測氣體壓力是否正常,即可在氣動吸嘴取放器15及/或氣壓源16組設壓力感測器;若需感測工作溫度是否正常,即可於前述構件(位置不限定)組裝溫度感測器;若需感測工作電量之傳輸是否正常,亦可於前述構件之電路中(位置不限定)組裝電量感測器;若需感測探針31是否取放正常,即可於送料器13及/或承料器14組裝影像感測器(其可利用影像辨識方式感測;影像辨識為熟知之技術,於此不再加以贅述)。欲說明的是,於本實施例之圖式中係概略表示出可在不同位置設置不同的感測器18,並未表示出上述所有種類之感測器18,但該領域之人在閱讀上述說明後當可輕易瞭解及實施該項技術內容(不同整類之感測器18的配置)。
When in use, the automated probe picking and placing
上述之多軸移動平台12於本實施例中係為一xyz三軸移動平台,即x軸、y軸、z軸移動平台,但亦可為其他多軸移動平台,例如依實際需要而使用旋轉軸。另外,多軸移動平台12的動力方式並不限制,例如可使用伺服馬達、氣壓缸等。
The above-mentioned multi-axis
請參照圖7,其係為本發明較佳具體實施例之實施示意圖。於圖7中顯示有一自動化探針取放機台2,此自動化探針取放機台2包含一機架21及上述之自動化探針取放設備1,且自動化探針取放設備1係置設於機架21上。換言之,可將自動化探針取放設備1整合置設至機架21上,如此在操作上可更為方便。
Please refer to FIG. 7, which is a schematic diagram of a preferred embodiment of the present invention. Shown in Figure 7 is an automated probe pick-and-
圖7所示之自動化探針取放機台2可裝設輪子22,如此可使自動化探針取放機台2方便移動至所需位置。
The automated probe picking and placing
另外,自動化探針取放機台2於本實施例中可更包含一警示器23,且此警示器23係電性連接於控制器17(於圖7中可將控制器17組設於自動化探針取放機台2一側,且於實際使用時,控制器17還可包括一顯示螢幕171以顯示各項操作訊息;另氣壓源16可設置在自動化探針取放機台2下部)。藉此,當自動化探針取放設備1出現故障等問題時,可利用警示器23進行警示。
In addition, the automatic probe pick-and-
1‧‧‧自動化探針取放設備 1‧‧‧Automatic probe picking and placing equipment
11‧‧‧基座 11‧‧‧Pedestal
111‧‧‧基板 111‧‧‧Substrate
113‧‧‧通孔 113‧‧‧Through hole
12‧‧‧多軸移動平台 12‧‧‧Multi-axis mobile platform
13‧‧‧送料器 13‧‧‧Feeder
14‧‧‧承料器 14‧‧‧Carrier
141‧‧‧凹陷部 141‧‧‧Depression
15‧‧‧氣動吸嘴取放器 15‧‧‧Pneumatic nozzle picker
151‧‧‧氣動吸嘴取放盤 151‧‧‧Pneumatic nozzle pick and place tray
152‧‧‧氣動管路 152‧‧‧Pneumatic pipeline
16‧‧‧氣壓源 16‧‧‧Air pressure source
17‧‧‧控制器 17‧‧‧Controller
18‧‧‧感測器 18‧‧‧Sensor
31‧‧‧探針 31‧‧‧Probe
32‧‧‧承載盤 32‧‧‧Carrier plate
33‧‧‧載置盤 33‧‧‧Place plate
331‧‧‧插孔 331‧‧‧Jack
34‧‧‧仿形座 34‧‧‧Profile seat
Claims (10)
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TW108128780A TWI714209B (en) | 2019-08-13 | 2019-08-13 | Automatic probe pick-and-place apparatus and automatic probe pick-and-place machine |
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TW202107096A true TW202107096A (en) | 2021-02-16 |
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