Patent GB-1218855-A (GB)
Title: Improvements relating to methods and apparatus for positioning articles in preselected orientations
IPC: B23Q1/48
Filed: 1968-06-14
Abstract: 1,218,855. Photo-electric position finding. INTERNATIONAL BUSINESS MACHINES CORP. 14 June, 1968 [26 June, 1967], No. 28406/68. Heading H4D. [Also in Division B8] Though the invention broadly relates to an arrangement for positioning an article in a preselected translational and rotary orientation, the embodiment particularly described relates to a photo-electric arrangement for detecting the deviation of a semi-conductor chip 14, Fig. 2, from said preselected orientation and for causing the detected deviation to control servo-motors 29, 31, 33, whereby a platform 10, on which the chip is positioned is moved until said deviation is zeroed. The preselected orientation is defined by fixed axes X and Y, Fig. 1A, along which the edges of the chip are to be lined, Fig. 1B. Movement of the platform is caused by three servo-actuated screw piston/spring-loaded reaction piston pairs 16/17, 19/20 and 22/23- pairs 16/17 and 19/20 causing movement of the platform and chip along the X and Y axes respectively and pair 22/23 acting along a line parallel to axis to cause rotational movement of the platform. If the necessary movement of the pairs 16/17, and 19/20 are X 1  and Y 1  respectively, then the necessary movement of pairs 22/23 is given by where A is the distance between the lines of action 15 and 21 of pairs 16/17 and 22/23 and X 2  is the perpendicular distance detected between the Y axis and the edge 12 of the chip along a line 25 parallel to the X axis but spaced therefrom by a. Three photo-detectors 26, 27 and 28 respectively scan along lines 15, 18 and 25, and axes X and Y are defined by light projection thereof upon the platform. In the arrangement of Fig. 5 the photodetectors are indicated as 36, 37 and 38, wherein on detecting the projection of the X axis, detector 37 starts the operation of a pulse counter 40. Detection of the (illuminated) edge 13 of the chip stops the count, whereby the count represents distance Y 1 . This count then activates servomotor 31 such that screw piston 19 moves the platform until Y 1  becomes zero. In the same manner counter 39 connected to detector 36 produces a count representing X 1 , which count activates servomotor 29. Counter 41 connected to detector 38 produces a count representing X 2 . The outputs of counter 39 and 41 are fed to an inhibited gate 42 such that the gate produces a count representing (X 2 -X 1 ). In the same manner inhibited gate 44 produces a count representing (X 1 -X 2 ). Pulse multiplifiers 47 and 48 connected to respective gates produce count representing A/a (X 2 ~X 1 ) and a count representing equation (1) is produced by summing the above count with the X 1  count in servomotor 33 which controls screw piston 22. To enable the movement forces exerted by the pistons to be kept substantially constant irrespective of the orientation of the platform, the pistons may engage hardened circular protuberances on the edge of the platform (Fig. 3, not shown). The chip may hang on the end of a vacuum probe (Fig. 4, not shown) fixed to the underside of the platform. The invention may be incorporated in a semi-conductor chip conveyer system wherein the chips 50 are transferred from rotating dispenser 54 to rotary table 57, by means of vacuum crane 55. Table 57 moves the chip into a detecting position whereat its orientation is detected as described. A vacuum probe 51 lifts the chip on to platform 60 where its orientation is corrected as described. The repositioned chip is then lifted on to conveyer 66.