WO2007148422A1 - 電子部品試験装置のキャリブレーション方法 - Google Patents
電子部品試験装置のキャリブレーション方法 Download PDFInfo
- Publication number
- WO2007148422A1 WO2007148422A1 PCT/JP2006/324697 JP2006324697W WO2007148422A1 WO 2007148422 A1 WO2007148422 A1 WO 2007148422A1 JP 2006324697 W JP2006324697 W JP 2006324697W WO 2007148422 A1 WO2007148422 A1 WO 2007148422A1
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- Prior art keywords
- socket
- imaging
- respect
- unit
- relative position
- Prior art date
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
- G01R31/2851—Testing of integrated circuits [IC]
- G01R31/2886—Features relating to contacting the IC under test, e.g. probe heads; chucks
- G01R31/2891—Features relating to contacting the IC under test, e.g. probe heads; chucks related to sensing or controlling of force, position, temperature
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/26—Testing of individual semiconductor devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R35/00—Testing or calibrating of apparatus covered by the other groups of this subclass
- G01R35/005—Calibrating; Standards or reference devices, e.g. voltage or resistance standards, "golden" references
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L22/00—Testing or measuring during manufacture or treatment; Reliability measurements, i.e. testing of parts without further processing to modify the parts as such; Structural arrangements therefor
Definitions
- the present invention positions various electronic components (hereinafter also referred to as IC devices typically) such as semiconductor integrated circuit elements with high accuracy relative to a socket using an imaging means such as a CCD camera.
- IC devices such as semiconductor integrated circuit elements
- an imaging means such as a CCD camera.
- the present invention relates to a calibration method for calibrating the relative position of an imaging means with respect to a socket after changing the type of IC device.
- a handler In an electronic component testing apparatus called a handler, a large number of IC devices accommodated in a tray are transported into a nodola, and the IC devices are brought into electrical contact with a test head to thereby test the electronic component testing apparatus. Let the main body (hereinafter also referred to as a tester) perform the test. When the test is completed, the tested IC devices are delivered from the test head and placed on the tray according to the test results, so that the products are sorted into non-defective products and defective products.
- a tester main body
- the socket on the test head is manufactured according to the type of IC device, and therefore, whenever the type of IC device changes, it is replaced with another socket corresponding to the IC device. For this reason, in the nodola using the image processing technique, it is necessary to calibrate the position of the CCD camera with respect to the socket after replacement (see, for example, Patent Document 2).
- Patent Document 1 International Publication No. 03Z075023 Pamphlet
- Patent Document 2 Japanese Patent Laid-Open No. 2001-51018
- An object of the present invention is to provide a calibration method for an electronic component test apparatus that can accurately calibrate the relative position of an imaging means with respect to a socket.
- a socket imaging means for imaging a socket and a device imaging means for imaging an electronic component to be tested are provided. After positioning the electronic device under test relative to the socket, an electronic component testing apparatus for testing the electronic device under test by moving means electrically contacting the electronic device under test with the socket, And a calibration method for calibrating the relative position of the device imaging means with respect to the socket, the placing step placing a jig at a first predetermined position, and the first predetermined position.
- a third recognition step a relative position of the socket imaging means with respect to the first predetermined position recognized in the first recognition step, and the socket with respect to the socket recognized in the third recognition step.
- a first calculation step for calculating a relative shift amount of the first predetermined position with respect to the socket from a relative position of the socket imaging means; and the second recognition step. Relative position of the device imaging device relative to the socket from the relative position of the device imaging means relative to the first predetermined position recognized in the step and the amount of deviation calculated in the first calculation step
- a second computing step for computing a position is provided, and a calibration method for an electronic component test apparatus is provided (see claim 1).
- the amount of deviation of the first predetermined position relative to the socket is calculated from the relative position of the socket imaging means relative to the first predetermined position and the relative position of the socket imaging means relative to the socket. The amount of deviation is added to the relative position of the device imaging means with respect to the predetermined position. By doing so, the relative position of the device imaging means with respect to the socket is calculated.
- the relative position of the device imaging means with respect to the socket is calculated by adding the amount of deviation of the first predetermined position relative to the socket to the relative position of the device imaging means with respect to the first predetermined position. It is possible to calibrate the relative position of the imaging means with respect to the socket with the same accuracy as the standard calibration.
- the calibration jig can be generalized.
- the first predetermined position is within a range that can be imaged by the socket imaging means, and is an independent part from the test head that is removed from the electronic component test apparatus when changing the type of the electronic component under test.
- the socket guide is located above the socket (see claim 2).
- the moving means moves the jig from a second predetermined position to the first predetermined position.
- To place are preferred (see claim 3).
- the moving means further includes a return step of moving the jig to the alignment means force to the second predetermined position (see claim 4). .
- the third calculating unit calculates a shift amount of the relative position of the socket imaging unit with respect to the marking unit recognized in the fourth recognition step with respect to the reference relative position of the socket imaging unit with respect to the marking unit.
- the socket for the socket recognized in the third recognition step Based on the calculation step and the amount of deviation calculated in the third calculation step, the socket for the socket recognized in the third recognition step.
- a correction step of correcting the relative position of the bets imaging means, and further comprising a Rukoto is preferred ⁇ (claim 5 see).
- the socket camera is provided in the device moving device so as to be movable together with the contact arm in order to measure the position of the socket.
- the electronic component under test is tested in a state where a predetermined thermal stress is applied. For this reason, the position of the socket camera is displaced with respect to the contact arm due to the thermal expansion caused by the thermal stress, and the socket position cannot be accurately measured using the socket camera. Contact may be invited.
- the position of the socket camera is displaced with respect to the contact arm due to vibration or the like generated during the movement.
- IC devices and sockets may be miscontacted.
- the relative position of the socket imaging means with respect to the marking portion fixed at a predetermined reference position of the electronic component testing apparatus is determined based on the socket with respect to the preset marking portion.
- the amount of deviation is calculated in comparison with the reference relative position of the socket imaging means, and the relative position of the socket imaging means with respect to the socket is corrected based on the amount of deviation.
- the marking portion is fixed to a non-movable portion of the electronic component test device (see claim 6).
- the non-movable part of the electronic component test apparatus is, for example, a force that can include a part that is not moved by an actuator or the like and is directly or indirectly fixed to the frame of the electronic component test apparatus.
- an electronic component testing apparatus for testing an electronic device under test by bringing the electronic device under test into electrical contact with a socket.
- a socket imaging unit that images the socket
- a device imaging unit that images the electronic device under test
- a moving unit that is attached to the socket imaging unit and moves the electronic device under test
- the device imaging means is provided, and alignment processing means for positioning the electronic device under test relative to the socket; and image processing for image information captured by the socket imaging means and the device imaging means.
- An image processing means for performing the calibration and a calibration jig that can be placed at a first predetermined position, and the image processing means is placed at the first predetermined position.
- a first recognition unit for recognizing a relative position of the socket imaging unit with respect to the first predetermined position based on image information captured by the socket imaging unit, and the alignment unit.
- a second recognition unit for recognizing a relative position of the device imaging unit with respect to the first predetermined position based on image information captured by the device imaging unit, the calibration jig being positioned; Based on image information captured by the socket imaging means, the socket recognizes a relative position of the socket imaging means with respect to the socket, and the third recognition section recognizes the socket by the first recognition section.
- a first computing unit that computes a relative shift amount of the first predetermined position with respect to the socket from a relative position of the socket imaging means; and the first predetermined unit recognized by the second recognition unit.
- a second calculation unit that calculates a relative position of the device imaging unit with respect to the socket from a relative position of the device imaging unit with respect to a position and a deviation amount calculated by the first calculation unit.
- the amount of deviation of the first predetermined position relative to the socket is calculated from the relative position of the socket imaging means relative to the first predetermined position and the relative position of the socket imaging means relative to the socket.
- the relative position of the device imaging means with respect to the socket is calculated by adding this amount of deviation to the relative position of the device imaging means with respect to the predetermined position.
- the socket Since the relative position of the device imaging means with respect to the socket is calculated by adding the amount of deviation of the first predetermined position with respect to the socket to the relative position of the device imaging means with respect to the first predetermined position, the socket itself is used as a reference.
- the relative position of the image pickup means with respect to the socket can be calibrated with the same accuracy as the calibration.
- calibration is performed with reference to the first predetermined position that does not depend on the type of electronic device under test, so that calibration can be automated. Therefore, it is possible to complete the calibration in a few minutes without the need to raise or lower the temperature of the electronic component test equipment when performing the calibration associated with product replacement.
- the relative position of the imaging means can be calibrated even after the temperature of the electronic component test apparatus is raised and lowered, and thermal expansion and the like are taken into account. It becomes possible to carry out highly accurate calibration. Furthermore, it is possible to automatically execute calibration at regular intervals, such as every start of work or every two days, or to automatically execute calibration when an earthquake occurs.
- the calibration jig can be generalized.
- the first predetermined position is within a range that can be imaged by the socket imaging means, and is an independent part from the test head that is removed from the electronic component test apparatus when the type of electronic component under test is changed.
- the socket located above the socket is not limited. (See claim 8).
- the electronic device under test before the test is carried into the operating range of the moving means or the electronic device under test that has been tested from within the operating range of the moving means It is preferable that the moving means and the conveying means move the jig from the storage means to the first predetermined position (refer to claim 10).
- the moving means and the conveying means move the jig to the alignment means force to the storage means (refer to claim 11).
- the calibration jig includes a base member placed at the first predetermined position, and the position and orientation of the jig are the sockets. And a marker portion provided at two or more points on each of the main surfaces of the base member so as to be recognized using the device and the device imaging means (refer to claim 12).
- the marker portion is a through-hole penetrating through the base member (see claim 13).
- the marker portion By configuring the marker portion with a through hole, the positional relationship of the marker portion on the front and back surfaces of the base member can be easily matched.
- the image processing means further includes a sign section fixed at a predetermined reference position so that the image can be picked up by the socket image pickup means, and the image processing means includes the sign section as the socket image pickup means.
- a fourth recognition unit for recognizing a relative position of the socket imaging unit with respect to the marking unit based on image information captured by the reference unit, and a reference relative position of the socket imaging unit with respect to the previously described marking unit.
- a third calculation unit for calculating a shift amount of the relative position of the socket imaging unit with respect to the marking unit recognized by the fourth recognition unit, and the shift amount calculated by the third calculation unit. Based on the socket imaging means for the socket recognized by the first recognition unit. It is preferable to have a correction unit that corrects the relative position (see claim 14).
- the marking unit is fixed at a predetermined reference position of the electronic component testing apparatus, the relative position of the socket imaging unit with respect to the marking unit, and the reference of the socket imaging unit with respect to the preset marking unit Compare the relative position and calculate the amount of deviation, and based on the amount of deviation
- the marking portion is fixed to a non-movable portion of the electronic component test apparatus (see claim 15).
- the non-movable part of the electronic component test apparatus is, for example, a force that can include a part that is not moved by an actuator or the like and is directly or indirectly fixed to the frame of the electronic component test apparatus.
- a socket imaging means for imaging a socket and a device imaging means for imaging an electronic component to be tested are provided. After positioning the electronic device under test relative to the socket, an electronic component testing apparatus for testing the electronic device under test by moving means electrically contacting the electronic device under test with the socket.
- a calibration jig used for calibrating the relative position of the device imaging means with respect to the socket, and a base member placed at a first predetermined position of the electronic component testing apparatus; The base member has two or more main surfaces so that the position and orientation of the jig can be recognized using the socket imaging means and the device imaging means. Calibration jig and a, a part marker kicked is provided (see claim 16).
- the calibration jig used for calibrating the relative position of the device imaging means with respect to the socket is configured to be placed on the first predetermined position of the electronic component testing apparatus. This makes it possible to perform calibration based on the first predetermined position that does not depend on the type of IC device.
- the calibration jig can be used for general purposes.
- the first predetermined position of the electronic component test apparatus is a test head that is within a range that can be imaged by the socket imaging means, and is removed when the electronic component test apparatus is replaced with a new one.
- it is not particularly limited as long as it is an independent part, it is preferably a socket guide located above the socket (see claim 17).
- the marker portion is preferably a through-hole penetrating the base member (see claim 18).
- the marker portion By configuring the marker portion with a through hole, the positional relationship of the marker portion on the front and back surfaces of the base member can be easily matched.
- FIG. 1 is a plan view showing an electronic component testing apparatus according to an embodiment of the present invention.
- FIG. 2 is a sectional view taken along the line ⁇ - ⁇ in FIG.
- FIG. 3 is an enlarged view of part III in FIG.
- FIG. 4 is a schematic cross-sectional view of a contact arm and alignment device in an embodiment of the present invention.
- FIG. 5 is a plan view showing a marking portion in the embodiment of the present invention.
- FIG. 6 is a block diagram showing the configuration of the image processing apparatus and its periphery in the embodiment of the present invention.
- FIG. 7 is a flowchart showing an IC device position alignment method according to an embodiment of the present invention.
- FIG. 8 is a flowchart showing a reference calibration method in the embodiment of the present invention.
- FIG. 9 is a plan view showing a calibration jig according to an embodiment of the present invention.
- FIG. 10 is a cross-sectional view taken along line XX in FIG.
- FIG. 11 is a flowchart showing a relative position calibration method for the socket camera and the device camera according to the embodiment of the present invention.
- FIG. 12 is a partial plan view showing a state where the calibration jig according to the present embodiment is placed on the socket guide.
- FIG. 13 is a cross-sectional view taken along the line ⁇ - ⁇ in FIG.
- FIG. 14 is a flowchart showing a method for correcting the relative position of the socket camera in the embodiment of the present invention.
- FIG. 15A is a view for explaining a method for correcting the relative position of the socket camera in the embodiment of the present invention, and is a schematic side view showing a state in which the socket camera is imaging the socket.
- FIG. 15B is a diagram for explaining a method for correcting the relative position of the socket camera in the embodiment of the present invention, and is a schematic side view showing a state in which the socket camera is imaging a marking portion. .
- the electronic component test apparatus 1 includes a handler 10, a test head 70, and a tester 80.
- the test head 70 and the tester 80 are connected to each other. Connected through one Bull 81!
- the handler 10 includes a storage unit 20, a loader unit 30, a test unit 40, and an unloader unit 50, and supplies an IC device under test from the storage unit 20 to the test unit 40 via the loader unit 30. Then, after the contact arm 420 presses the IC device against the socket 71 of the test head 70 and the tester 80 executes the test of the IC device via the test head 70 and the cable 81, the unloader unit 50 inserts the tested IC device. Then, store them in the storage unit 20 while classifying them according to the test results.
- the storage unit 20 is provided with stock tray force 21, classification tray stock force 22, empty tray stock force 23, and tray transport device 24, and stores IC devices under test before and after the test. It is possible.
- the supply tray stocking force 21 stores a plurality of supply trays stacked, and a plurality of pre-test IC devices are mounted on each supply tray.
- the storage unit 20 is provided with two supply tray stock forces 21.
- the number of supply tray stock forces is not particularly limited to this!
- the stock tray force 22 for a classification tray contains a plurality of classification trays stacked, and a plurality of tested IC devices are mounted on each classification tray.
- the storage unit 20 is provided with four sorting tray stock forces 22.
- Classification By providing four tray stocking forces 22, IC devices can be sorted and stored in up to four classifications according to test results. In other words, it is possible to sort non-defective products into non-defective products that have high operating speed, medium speed, low speed, or defective products that require retesting. It has become.
- the number of sorting tray stock forces is not particularly limited to this.
- the empty train stocking force 23 stores a plurality of empty trays stacked together.
- Each sky training Is a tray in which all IC devices mounted on the supply tray are supplied to the loader unit 30 and are empty.
- the supply tray, the classification tray, and the empty tray are not particularly illustrated!
- the misalignment is a tray having the same shape in which a plurality of recesses that can accommodate IC devices are formed.
- the tray with the IC device before the test is called the supply tray
- the tray with the tested IC device is called the classification tray
- the IC device is installed
- the tray is called the empty tray. ing.
- each of the stock forces 21 to 23 is provided with an elevator that can move along the Z-axis direction, so that a plurality of stacked trays can be raised and lowered. It is.
- the tray transport device 24 is composed of a support rail 241, a movable head 242 and an adsorption head 243, and can move the tray along the X-axis direction and the Z-axis direction. It is possible.
- the tray conveying device 24 has an operating range including a supply tray stock force 21, an empty tray stock force 23, and a classification tray stock force 22.
- the support rail 241 is provided on the main base 11 of the handler 10 along the X-axis direction.
- the movable head 242 is supported by the support rail 241 so as to be movable along the X-axis direction.
- the four suction pads 243 are mounted downward on the movable head 242 and can be moved along the Z-axis direction by a not-shown special actuator.
- the tray transfer device 24 supplies all pre-test IC devices to the loader unit 30 and moves the empty tray, which is empty, from the supply tray stock force 21 to the empty tray stock force 23. In addition, the tray transport device 24 transfers the empty tray from the empty tray stock force 23 to the classification tray stock force 22 when the classification tray is full of tested IC devices.
- the loader unit 30 includes a first device transfer device 31, a heat plate 32, and two first buffer units 33.
- the loader unit 30 takes out an IC device before the test from the storage unit 20, and applies a predetermined heat stress. After that, it can be supplied to the test unit 30.
- the first device transport apparatus 31 is also configured with a support rail 311, a movable rail 31 2, a movable head 313, and a suction pad 314 force. It can be moved along the Y-Z axis.
- the first device transporting device 31 has an operating range including the supply tray stock force 21, the heat plate 32, and the first buffer unit 33.
- the support rail 311 is provided on the main base 11 of the handler 10 along the axial direction.
- the movable rail 312 is supported between the two support rails 311 so as to be movable along the axial direction.
- the movable head 313 is provided on the movable rail 312 so as to be movable along the X-axis direction.
- the suction pad 314 is mounted downward on the movable head 313 and can be moved in the axial direction by an actuator (not shown).
- This first device transport device 31 also transports four IC devices to the heat plate 32 at a time with the supply tray stocker 21 having the supply tray stock force 21, and the heat plate 32 performs predetermined heat stress on the IC devices. Then, the IC device is moved from the heat plate 32 to the first notch section 33.
- the heat plate 32 is, for example, a metal plate having a heat source (not shown) in the lower part, and can apply a predetermined thermal stress to the IC device before the test.
- a plurality of recesses 321 that can accommodate IC devices are formed on the upper surface of the heat plate 32.
- the first buffer unit 33 is composed of an actuator 331 and a movable head 332, and the IC device can also move the area force of the loader unit 30 to the area of the test unit 40. It is possible.
- the actuator 331 is provided on the main base 11 of the handler 10 so as to be extendable along the X-axis direction.
- the movable head 332 is fixed to the tip of the drive shaft of the actuator 331.
- Four concave portions 333 that can accommodate IC devices are formed on the upper surface of the movable head 332.
- the first buffer unit 33 extends the actuator 331, and the area of the loader unit 30 Also move the four IC devices to the test area 40 at once.
- a storage place for storing the calibration jig 60 between the two first buffer sections 33 on the substrate 11 of the handler 10. 34 is provided.
- the calibration jig 60 will be described later.
- this storage location 34 is also included in the operating range of the first device transport apparatus 31.
- the test unit 40 includes a device moving device 41 and four alignment devices 43. After the IC device before the test is positioned with high accuracy relative to the socket 71 using image processing technology, the test head 40 It is now possible to press IC devices into 70 sockets 71.
- a space 12 is formed in the lower part of the test unit 40, the test head 70 is inserted into the space 12, and the test head 70 is positioned below the test unit 40! / RU
- an opening 11a is formed in the main base 11 of the handler 10 in the test unit 40, and four sockets 71 are mounted on the top of the test head 70. Yes.
- Each socket 71 includes a large number of contact pins 72 arranged to correspond to the input / output terminals of the IC device.
- a socket 71 mounted on the upper part of the test head 70 faces the inside of the handler 10 through the opening 11a.
- a socket guide 73 for fixing the socket 71 is provided on the upper portion of the socket 71.
- the socket 71 is manufactured exclusively for the type of IC device, while the socket guide 73 is not particularly dependent on the type of IC device.
- the socket guide 73 has an opening 74 for allowing the contact pin 72 of the socket 71 to face the inside of the handler 10.
- the opening 74 two positioning pins 75 for positioning a calibration jig 60 (described later) are provided so as to protrude upward.
- the outer peripheral surface 76 of the positioning pin 75 is formed in a tapered shape.
- the device moving device 41 includes a support rail 411, a movable rail 412, and a movable head 413.
- the IC device is arranged along the X-Y-Z-axis direction. It can be moved.
- the device moving device 41 has an operating range including the socket 71 and the alignment device 43 that face the handler 10 through the opening 11a.
- the support rail 411 is provided on the main base 11 of the handler 10 along the Y-axis direction.
- the movable rail 412 is supported between the two support rails 411 so as to be movable along the Y-axis direction.
- the movable head 413 is supported by the movable rail 412 so as to be movable along the X-axis direction.
- two movable rails 412 are supported between two support rails 411 so as to be independently movable. Therefore, while one movable rail 412 is moved to the alignment device 43 and the IC device position is being aligned, the other movable rail 412 can be moved onto the socket 71 to test the IC device. It has become.
- the movable head 413 includes a socket camera 414, an actuator 415, and four contact arms 420.
- the four contact arms 420 are mounted downward on the movable head 413 so as to correspond to the arrangement of the four sockets 71 provided on the test head 70.
- FIG. 4 only one contact arm 420 is shown for convenience, but actually, as shown in FIG. 1, the four contact arms 420 are arranged at the tip of the drive shaft of the actuator 415 in an array of 2 rows and 2 columns. It is attached to.
- only one socket camera 414 is shown in one movable head 413, but actually, two socket cameras 414 are provided along the X-axis direction! / RU
- the socket camera 414 is, for example, a CCD camera fixed downward to the movable rail 412 via the camera support member 416, and can image the socket 71 of the test head 70. This socket camera 414 is used to recognize the position and posture of the socket 71.
- the actuator 415 is fixed to the movable rail 412 so that it can expand and contract along the Z-axis direction, and four contact arms 420 are attached to the tip of the drive shaft.
- Each contact arm 420 includes a stationary contact arm 421, a lock and free mechanism 422, and a gripping contact arm 423.
- the fixed-side contact arm 421 is fixed at its upper end to the drive shaft of the actuator 415, and at its lower end via the lock-and-free mechanism 422, the holding-side contact arm 421
- the lock-and-free mechanism 42 uses relative pressure along the XY plane of the grip-side contact arm 423 with respect to the fixed-side contact arm 421 and the Z-axis as a center using pressurized air. Relative rotation can be constrained or unconstrained.
- the lock-and-free mechanism 422 also has a centering function for matching the central axis of the fixed contact arm 421 with the central axis of the gripping contact arm 423.
- the gripping side contact arm 423 is provided with an adsorption node 424 for adsorbing and holding the IC device at the lower end thereof, and an annular contact member 425 is provided so as to surround the periphery thereof. Yes.
- the heater 426 and the temperature sensor 427 are embedded in the grip-side contact arm 423.
- the temperature of the IC device is indirectly measured, and on the basis of this measured value, the heater 426 is controlled ONZ OFF, so that the heat plate 32 Thus, it is possible to maintain the applied thermal stress.
- the alignment device 43 includes a stage 431, a mirror 433, and a device force mesa 434, and performs alignment of the position and posture of the grip-side contact arm 423 in contact with the stage 431. By doing so, it is possible to position the IC device with respect to the socket 71 with high accuracy.
- the device moving device 41 includes two movable heads 413
- two sets of four alignment devices 43 are provided as shown in FIG.
- the stage 431 can be moved along the XY plane and rotated around the Z axis by a motor mechanism (not shown).
- a motor mechanism not shown
- an opening 432 having an inner diameter through which an IC device can pass and an annular contact member 425 can contact is formed at a substantially central portion of the stage 431.
- the grip-side contact arm 423 comes into contact with the stage 431, and the grip-side contact arm 423 follows the movement when the stage 431 moves. As a result, the position of the IC device held by the gripping-side contact arm 423 is aligned.
- the device camera 434 is, for example, a CCD camera installed horizontally along the XY plane. Yes, it is possible to take an image of an IC device attracted and held by the grip-side contact arm 423 through the mirror 433 and the opening 432 of the stage 431. This device camera 434 is used before each test to position the IC device relative to the socket 71 before pressing the IC device against the socket 71.
- a marking portion 45 is provided on a straight line passing through the socket 71 and the stage 431.
- the marking portion 45 is composed of a thin sheet-like sealing member 451 having a back surface coated with an adhesive or an adhesive.
- a dot pattern 452 to 454 force arranged in 4 rows and 4 columns, both the left and right ends and the center.
- the marking portion 45 is fixed by being attached to the main base 11 in the test portion 40 so that it cannot move together with the movable contact arm 420 and the replaceable socket 71. Yes.
- the marking unit 45 is imaged by the socket camera 414 in order to grasp the displacement of the position of the socket camera 414 due to thermal expansion or vibration.
- one socket camera 414 is printed on the left end.
- the first dot pattern 452 is imaged, and the other socket camera 414 images the second dot pattern 452 printed at the right end.
- the third dot pattern 454 printed in the center is not particularly used.
- the marking unit 45 is used in an electronic component testing apparatus in which only one socket camera 414 is provided on one movable head 413, the third printed on the central portion is used. Dot pattern 454 is picked up by socket camera 414, and the 1st and 2nd dot patterns 452 and 453 ⁇ are not particularly used!
- the marking unit 45 corresponds to both a type in which one socket camera 414 is provided for each movable head and a type in which two socket cameras 414 are provided. It is possible to
- the device camera 434 and the socket camera 414 described above are connected to an image processing device 44 as shown in FIG. 6, and can transmit captured image information to the image processing device 44. It is possible.
- the image processing device 44 is composed of an image processing processor, ROM, RAM, and the like that are not particularly shown, and performs image processing on image information captured by the device camera 434 when testing an IC device. It is possible to recognize the position and posture of the IC device that is sucked and held by the grip-side contact arm 423. Further, the image processing apparatus 44 calculates the alignment amount necessary for relatively matching the position and orientation of the recognized IC device with the preset position and orientation of the socket 71, and calculates the alignment amount. Sent to controller 435 of device 43. The control device 435 of the alignment device 43 controls the motor mechanism (not shown) of the alignment device 43 based on the amount of alignment to align the position and posture of the IC device.
- the image processing apparatus 44 functionally includes an extraction unit 441, a recognition unit 442, a calculation unit 443, and a correction unit 444.
- the extraction unit 441 can perform image processing on the image information captured by the cameras 414 and 434, and extract the position and orientation of the socket 71, the jig 60, or the marking unit 45. Yes.
- the recognition unit 442 can recognize the relative positions of the cameras 414 and 434 with respect to the socket 71, the socket guide 73, and the marking unit 45 based on the extraction result of the extraction unit 441.
- the calculation unit 443 can calculate the relative displacement of the socket guide 73 with respect to the socket 71 and the relative position of the device camera 434 with respect to the socket 71 based on the recognition result of the recognition unit 442. Yes. In addition, the calculation unit 443 can calculate the amount of deviation by comparing the relative position of the socket force lens 414 with respect to the marking unit 45 with the reference relative position of the socket camera 414 with respect to the preset marking unit 45. It has become.
- the correction unit 444 calculates the relative position of the socket camera 414 relative to the socket 71 recognized by the recognition unit 442 based on the amount of deviation of the relative position of the socket camera 414 relative to the marking unit 45 calculated by the calculation unit 443. It can be corrected.
- the unloader unit 50 includes two second buffer units 51 and a second device.
- a transport device 52 is provided, and tested IC devices can be carried out from the test unit 40 and moved to the storage unit 20 while sorting the IC devices according to the test results.
- the second buffer unit 51 includes an actuator 511 and a movable head 512, and the IC device is moved from the test unit 40 region to the unloader unit 50 region. It can be moved.
- the actuator 511 is provided on the main base 11 of the handler 10 so as to be extendable along the X-axis direction.
- the movable head 512 is fixed to the tip of the drive shaft of the actuator 511.
- Four concave portions 513 capable of accommodating IC devices are formed on the upper surface of the movable head 512.
- the second buffer unit 51 shortens the actuator 511 and unloads from the area of the test unit 40. Move four IC devices to the area of part 50 at once.
- the second device transport apparatus 52 includes a support rail 521, a movable rail 522, a movable head 523, and a suction pad 524, and includes four IC devices. Can be moved along the X—Y—Z axis.
- the second device transporting device 52 has an operation range including the second buffer unit 51 and the four sorting tray stock forces 22.
- the support rail 521 is provided on the main base 11 of the handler 10 along the Y-axis direction.
- the movable rail 522 is supported between the two support rails 521 so as to be movable along the Y-axis direction.
- the movable head 523 is provided on the movable rail 522 so as to be movable along the X-axis direction.
- the suction pad 524 is mounted downward on the movable head 523, and can be moved along the Z-axis direction by an actuator (not shown).
- the second device transporting device 52 moves the tested IC device from the second buffer unit 51 to the sorting tray having the sorting tray force 22 corresponding to the test result.
- the IC device supplied from the storage unit 20 to the test unit 40 via the loader unit 30 is connected to the device.
- the contact arm 420 of the movement device 41 is sucked and held and moved to the stage 431 of the alignment device 43.
- the device camera 434 images the IC device gripped by the gripping side contact arm 423 through the opening 432, and the image information is image processing apparatus.
- Sent to 44 step S100).
- the image processing device 44 performs image processing on the image information, and calculates the position and orientation of the IC device from, for example, the input / output terminals of the IC device and the outline of the package (step S 110).
- step S110 the position and orientation of the IC device calculated in step S110 are compared with the position and orientation of the socket 71 recognized in advance (step S120). In this comparison, if the position of the IC device and the position and posture of the posture force socket 71 are relatively coincident (YES in step S120), the alignment of the position and posture of the IC device is completed.
- step S120 If the position and orientation of the IC device and the position and orientation of the socket 71 are not relatively matched in step S120 (NO in step S120), the image processing apparatus 44 determines the position and orientation of the IC device. The amount of alignment is calculated so as to relatively match the position and orientation of the socket 71 (step S130).
- the lock-and-free mechanism 422 unlocks the relative movement of the gripping contact arm 423 with respect to the fixed contact arm 421 (step S 140), and the stage 431 of the alignment device 43 moves the alignment amount. Then, the gripping-side contact arm 423 follows this moving operation, whereby the position and posture of the IC device are aligned (step S 150).
- step S160 the image processing apparatus 44 compares the position and orientation of the IC device with the preset position and orientation of the socket 71 again (step S160), and these are relatively matched. If not (NO in step S160), return to step S130 to calculate the required amount of alignment.
- step S160 when the position and posture of the IC device and the position and posture of the socket 71 are relatively matched (YES in step S160), the lock and free mechanism 422 is Gripping side contact arm for fixed side contact arm 421 Is locked (step S170).
- the device moving device 41 moves the IC device to the socket 71 and presses the IC device against the socket 71.
- the tester 80 performs the test of the IC device through the cable 81 and the test head 70 in the state where the contact pins 72 of 71 are in electrical contact.
- a calibration gauge (not shown) is placed on the stage 431 of the alignment device 43.
- the gauge is composed of a transparent board on which coordinate axes are printed, and the coordinate axis is located in the opening 432 and can be imaged by the device camera 434.
- the device camera 434 images the gauge (Step S200).
- the socket camera 414 is moved above the gauge, and the socket camera 414 also images the gauge (step S210). Further, the socket camera 414 is moved onto the marking unit 45, and the socket unit 414 images the marking unit 45 (step S220).
- the image processing device 44 performs image processing on the image information captured in steps S200 and S210, extracts the position and orientation of the coordinate axes printed on the gauge, and extracts the camera 414. , 434 is set (step S230).
- the image information captured in step S220 is subjected to image processing, and based on the position and orientation of the dot pattern 452 or 453 printed on the marking unit 45, the marking unit 45 in the image information.
- the position and orientation of the socket camera 414 are extracted, and the relative position of the socket camera 414 with respect to the marking unit 45 is recognized based on this position and orientation (step S240).
- the relative positional force of the socket camera 414 with respect to the marking unit 45 recognized in step S240 is set as a reference relative position used in step S560 of FIG. 14 described later.
- the calibration jig 60 is a jig used in a calibration for calibrating the relative position of the device camera 434 with respect to the socket 71 when the socket 71 is exchanged due to the exchange of the IC device type.
- a base member 61 and a marker portion 62 are provided.
- the base member 61 is a plate-like member that also has a metal force such as synthetic resin film such as polyphenylene sulfide (PPS) resin.
- the marker portion 62 is also configured with a plurality of through-hole caps penetrating through the base member 61 with the surface force and the back surface facing each other. In this embodiment, 40 through-holes are arranged in a rectangular shape. Yes.
- the formation position and arrangement of the through holes are not particularly limited to this, so that the position and posture of the jig 60 can be recognized using the cameras 414 and 434. It is only necessary that through holes are provided in at least two locations on both main surfaces of the base member 61. As the number of through holes increases, the position and posture of the jig 60 can be accurately recognized.
- the marker unit 62 may be formed of printed dots (points), but the device camera 434 images the lower surface of the jig 60 while the socket camera 414 images the upper surface of the jig 60. Since imaging is performed, it is easy to align the positions of the marker portions 62 on the front and back surfaces of the marker portion 62 constituted by through holes.
- First and second insertion holes 63, 65 into which the positioning pins 75 of the socket guide 73 are inserted are formed on both sides of the marker portions 62 arranged in a rectangular shape.
- the first insertion hole 63 has an inner peripheral surface 64 corresponding to the tapered outer peripheral surface 76 of the positioning pin 75.
- the second insertion hole 65 has an inner diameter that extends along the longitudinal direction of the jig 60. This second insertion hole 65 can absorb mechanical pitch errors generated in the insertion holes 63 and 65 and the positioning pin 75.
- the calibration jig 60 described above is normally stored in the storage location 34 (see FIG. 1) of the loader unit 30 described above.
- the storage location is not particularly limited as long as it is in a device transport system of a handler which may be provided in the test unit 40 or the unloader unit 50.
- the first device transport device 31 moves the calibration jig 60 from the storage location 34 to the first buffer unit 33, and the first buffer unit 33 moves the jig 60 from the region of the loader unit 30. Then, the device moving device 41 moves the jig 60 from the first buffer unit 33 to the socket guide 73 and places it (step S300).
- the socket camera 414 images the jig 60 placed on the socket guide 73 (step S310).
- the device moving device 41 moves the jig 60 from the socket guide 73 to the stage 431 of the alignment device 43 (step S320), and the gripping contact arm 423 is in contact with the stage 431.
- the device camera 434 images the jig 60 (step S330).
- the device moving device 41 moves the socket camera 414 above the socket 71 (step S340) in a state where the jig 60 is not placed on the socket guide 73 (step S340). Is imaged (step S350).
- the extraction unit 441 of the image processing apparatus 44 performs image processing on the image information captured by the socket camera 314 in step S310, and based on the position and arrangement of the marker unit 62 formed on the jig 60. Thus, the position and orientation of the jig 60 in the image information are extracted. Based on this position and orientation, the recognition unit 442 recognizes the relative position and orientation P1 of the socket camera 414 with respect to the socket guide 73 (step S360).
- the extraction unit 441 of the image processing device 44 performs image processing on the image information captured by the device camera 434 in step S330, and positions the marker part 62 formed on the jig 60. And based on the arrangement, the position and orientation of the jig 60 in the image information are extracted. Based on this position and orientation, the recognition unit 442 recognizes the relative position and orientation P2 of the device camera 434 with respect to the socket guide 73 (step S370).
- the extraction unit 441 of the image processing device 44 performs image processing on the image information captured by the socket camera 414 in step S350, and each component provided in the socket 71 is processed. Based on the position and arrangement of the tact bins 72, the position and orientation of the socket 71 in the image information are extracted. Based on this position and orientation, the recognition unit 442 recognizes the relative position and orientation P3 of the socket camera 414 with respect to the socket 71 (step S380).
- the device moving device 41 moves the jig 60 from the stage 431 of the alignment device 43 to the first buffer unit 33, and the first buffer unit 33 is moved to the jig 60. Is moved from the region of the test unit 40 to the region of the loader unit 30, and then the first device transfer device 31 returns the jig 60 to the storage location 34.
- the device position relative to the socket guide 73 is determined by considering the amount of deviation ⁇ of the socket guide 73 relative to the socket 71 at the relative position P2 of the device camera 434 relative to the socket guide 73. Since the relative position of the camera 434 is calculated, the cameras 414 and 434 can be calibrated with the same accuracy as the calibration based on the socket 71 itself.
- calibration can be performed automatically, so that there is no need to raise or lower the temperature of the electronic component testing apparatus during calibration, and calibration can be completed in a few minutes. Become.
- the present invention is not particularly limited to this. For example, in the following cases You may carry out.
- calibration may be automatically executed at regular intervals such as every start of work or every two days. Furthermore, the calibration may be automatically executed even when the reference value is deviated when the alignment accuracy is checked due to, for example, an earthquake.
- the calibration is performed based on the basket guide that does not depend on the type of IC device, so that the calibration jig 60 can be generalized.
- the displacement of the socket camera caused by thermal expansion or vibration is corrected.
- a method for correcting the relative position of the socket camera will be described with reference to FIGS. 14 to 15B.
- the frequency of socket camera correction may be less than the calibration frequency described with reference to FIG. 11, or the socket camera may be corrected each time calibration is performed. good. Further, the socket camera may be corrected after calibration, or vice versa.
- step S500 the movable rail 412 moves on the support rail 411 so that the socket camera 414 is positioned above the socket 71 (step S500), and the socket camera 414 force S socket 71 is moved.
- step S510 Take an image (step S510). Note that if device camera calibration is performed immediately before performing socket camera calibration, step S500 and step S510 may be replaced with step S340 and step S350 in FIG. good.
- the movable rail 412 moves on the support rail 411 so that the socket camera 414 is positioned above the marking portion 45 (step S520), and the socket camera 414 is marked.
- the part 45 is imaged (step S530).
- the extraction unit 441 of the image processing device 44 performs image processing on the image information captured by the socket camera 414 in step S510, and the plurality of contact pins 72 ( Based on the position and orientation shown in Fig. 3, the position and orientation of the socket 71 in the image information are extracted. Based on this position and orientation, the recognition unit 442 is connected to the socket 71. Recognize the relative position and posture of the socket camera 414 with respect to (step S540). If calibration of the device camera is performed immediately before the socket camera calibration is performed, this step S540 may be replaced with step S380 in FIG.
- the extraction unit 441 of the image processing device 44 performs image processing on the image information captured by the socket camera 414 in step S530, and the dot pattern printed on the marking unit 45. Based on the position and orientation of 452 or 453, the position and orientation of the marking unit 45 in the image information are extracted. Based on this position and orientation, the recognition unit 442 recognizes the relative position and orientation of the socket camera 414 with respect to the marking unit 45 (step S550).
- the calculation unit 443 of the image processing device 44 determines the relative position and orientation of the socket camera 414 with respect to the marking unit 45 recognized in step S550, and the step S240 at the time of reference calibration (see FIG. 8) ) Is compared with the reference relative position recognized in step S550, and the amount of deviation of the relative position recognized in step S550 from the reference relative position is calculated (step S560).
- the correction unit 444 of the image processing device 44 calculates the amount of deviation calculated in step S560 from the relative position and orientation of the socket camera 414 with respect to the socket 71 recognized in step S540. Is subtracted to correct the relative position and posture of the socket camera 414 with respect to the socket 71 (step S570).
- step S570 Based on the relative position and orientation of the socket camera 414 with respect to the socket 71 corrected in step S570, for example, the position and orientation of the socket 71 used in steps S120 and S160 in FIG.
- the amount of movement of the contact arm 420 from the alignment stage 431 to the socket 71 by the device moving device 41 is corrected.
- This correction removes the misalignment of the socket camera 414 caused by thermal expansion or vibration from the relative position of the socket camera to the socket recognized in step S540, so there is a mistake between the IC device and the socket 71. Contact can be prevented.
- the socket guide 73 is shown as an example of the position on which the jig 60 is placed.
- the force exemplifying the main base 11 of the handler 10 as the fixing position of the marking unit 45 is not particularly limited as long as it is a non-movable part of the electronic component testing apparatus.
- the socket guide 73 and the jig 60 are positioned by the positioning pin 75 and the insertion hole 63.
- the present invention is not particularly limited to this. .
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Testing Of Individual Semiconductor Devices (AREA)
Description
Claims
Priority Applications (2)
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JP2008522280A JP4948533B2 (ja) | 2006-06-19 | 2006-12-11 | 電子部品試験装置のキャリブレーション方法 |
US12/305,075 US8294759B2 (en) | 2006-06-19 | 2006-12-11 | Calibration method of electronic device test apparatus |
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PCT/JP2006/312255 WO2007148375A1 (ja) | 2006-06-19 | 2006-06-19 | 電子部品試験装置のキャリブレーション方法 |
JPPCT/JP2006/312255 | 2006-06-19 |
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PCT/JP2006/312255 WO2007148375A1 (ja) | 2006-06-19 | 2006-06-19 | 電子部品試験装置のキャリブレーション方法 |
PCT/JP2006/324697 WO2007148422A1 (ja) | 2006-06-19 | 2006-12-11 | 電子部品試験装置のキャリブレーション方法 |
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Cited By (2)
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JP2021135074A (ja) * | 2020-02-25 | 2021-09-13 | 株式会社Nsテクノロジーズ | 電子部品搬送装置、電子部品検査装置および電子部品搬送装置の状態確認方法 |
JP7367251B1 (ja) | 2023-02-03 | 2023-10-23 | 興和株式会社 | 把握方法 |
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JP2013024829A (ja) * | 2011-07-26 | 2013-02-04 | Seiko Epson Corp | 電子部品搬送装置及び電子部品搬送方法 |
JP2013145132A (ja) * | 2012-01-13 | 2013-07-25 | Advantest Corp | ハンドラ装置、試験方法 |
CN102937816B (zh) * | 2012-11-22 | 2015-05-27 | 四川华雁信息产业股份有限公司 | 摄像机预置位偏差校准方法及装置 |
KR101748253B1 (ko) * | 2014-03-25 | 2017-06-16 | 가부시키가이샤 어드밴티스트 | 핸들러 장치 및 시험 장치 |
JP2015232446A (ja) * | 2014-06-09 | 2015-12-24 | セイコーエプソン株式会社 | 電子部品搬送装置および電子部品検査装置 |
EP3259908B1 (en) * | 2015-02-18 | 2021-07-14 | Siemens Healthcare Diagnostics Inc. | Image-based tray alignment and tube slot localization in a vision system |
CN105352604A (zh) * | 2015-11-02 | 2016-02-24 | 上海电力学院 | 基于可见光图像配准的红外测温***云台位置校准方法 |
US10473714B2 (en) * | 2017-03-06 | 2019-11-12 | Asm Technology Singapore Pte Ltd | Method and apparatus for aligning electronic components |
US10297043B2 (en) | 2017-04-07 | 2019-05-21 | Advantest Corporation | Detector for detecting position of IC device and method for the same |
US11226390B2 (en) * | 2017-08-28 | 2022-01-18 | Teradyne, Inc. | Calibration process for an automated test system |
JP2020066066A (ja) * | 2018-10-22 | 2020-04-30 | セイコーエプソン株式会社 | ロボットシステム、ロボットの校正治具、ロボットの校正方法 |
TWI765312B (zh) * | 2019-11-04 | 2022-05-21 | 旺矽科技股份有限公司 | 邊緣感測器及其點測方法 |
US11573267B1 (en) * | 2021-11-12 | 2023-02-07 | Advantest Corporation | Electronic component handling apparatus and electronic component testing apparatus |
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- 2006-06-19 WO PCT/JP2006/312255 patent/WO2007148375A1/ja active Application Filing
- 2006-12-11 KR KR1020097000096A patent/KR101042654B1/ko active IP Right Grant
- 2006-12-11 WO PCT/JP2006/324697 patent/WO2007148422A1/ja active Application Filing
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JP2001051018A (ja) * | 1999-08-17 | 2001-02-23 | Nec Machinery Corp | Ic試験装置 |
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JP2021135074A (ja) * | 2020-02-25 | 2021-09-13 | 株式会社Nsテクノロジーズ | 電子部品搬送装置、電子部品検査装置および電子部品搬送装置の状態確認方法 |
JP7386725B2 (ja) | 2020-02-25 | 2023-11-27 | 株式会社Nsテクノロジーズ | 電子部品搬送装置、電子部品検査装置および電子部品搬送装置の状態確認方法 |
JP7367251B1 (ja) | 2023-02-03 | 2023-10-23 | 興和株式会社 | 把握方法 |
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US20090278926A1 (en) | 2009-11-12 |
KR101042654B1 (ko) | 2011-06-20 |
US8294759B2 (en) | 2012-10-23 |
WO2007148375A1 (ja) | 2007-12-27 |
KR20090028608A (ko) | 2009-03-18 |
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