Source: http://www.google.com/patents/US6112905?dq=6,272,646
Timestamp: 2016-10-28 14:17:26
Document Index: 685006966

Matched Legal Cases: ['arts 35', 'arts 35', 'arts 36', 'arts 35', 'arts 35', 'arts 35', 'arts 35', 'arts 35', 'art 35', 'arts 35', 'arts 35', 'arts 35', 'arts 35', 'arts 35', 'arts 35', 'art 35', 'arts 35', 'arts 35']

Patent US6112905 - Automatic semiconductor part handler - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign inPatentsAutomatic seminconductor part handler. In one aspect the handler includes a source of parts and a transfer mechanism for transferring a part from the source to a belt assembly. The belt assembly includes a belt, a belt displacement controller, and an image forming device for forming an image of the part...http://www.google.com/patents/US6112905?utm_source=gb-gplus-sharePatent US6112905 - Automatic semiconductor part handlerAdvanced Patent SearchTry the new Google Patents, with machine-classified Google Scholar results, and Japanese and South Korean patents.Publication numberUS6112905 APublication typeGrantApplication numberUS 08/678,426Publication dateSep 5, 2000Filing dateJul 31, 1996Priority dateJul 31, 1996Fee statusLapsedAlso published asDE19780745T0, DE19780745T1, US6234321, WO1998005059A2, WO1998005059A3Publication number08678426, 678426, US 6112905 A, US 6112905A, US-A-6112905, US6112905 A, US6112905AInventorsR. Bruce O'Connor, Zinovy AlshineOriginal AssigneeAseco CorporationExport CitationBiBTeX, EndNote, RefManPatent Citations (28), Referenced by (7), Classifications (12), Legal Events (10) External Links: USPTO, USPTO Assignment, EspacenetAutomatic semiconductor part handler
US 6112905 AAbstract
Automatic seminconductor part handler. In one aspect the handler includes a source of parts and a transfer mechanism for transferring a part from the source to a belt assembly. The belt assembly includes a belt, a belt displacement controller, and an image forming device for forming an image of the part with respect to a desired end point. The belt displacement controller is coupled to the belt to move the belt based upon the image of the part with respect to the desired end point, thereby positioning the part in a precise location with respect to the direction of motion of the input belt.
1. An apparatus for automatically handling parts, the apparatus comprising:a movable belt having a direction of motion; and a precisor rail located along at least a portion of the movable belt, the direction of motion of the belt being non-parallel with the precisor rail such that a part on the moving belt is biased against the precisor rail to provide precise part orientation with precisor rail. 2. The apparatus of claim 1 wherein the precisor rail includes a guiding edge which guides the part along the moving belt.
3. The apparatus of claim 2 further comprising a source of parts and a transfer mechanism, the transfer mechanism being coupled between the source and the belt to transfer the parts from the source to the belt.
4. The apparatus of claim 3 wherein the source of parts is a tray containing parts, the tray being delivered by a tray handling mechanism.
5. An apparatus for handling parts, the apparatus comprising:a source of parts; a belt assembly including a belt, a belt displacement controller coupled to the belt, and an image forming device coupled to the controller for forming an image of a part on the belt with respect to a desired end point; and a transfer mechanism coupled between the source and the belt assembly to transfer the parts from the source to the belt assembly, wherein the controller controllably moves the belt based upon the image of the part with respect to the desired end point. 6. The apparatus of claim 5 wherein the source of parts is a tray with columns of parts.
7. The apparatus of claim 6 wherein the transfer mechanism is an input gantry.
8. The apparatus of claim 5 wherein the source of parts is a trolley assembly.
9. The apparatus of claim 5 wherein the image forming device is a camera.
10. The apparatus of claim 5 further comprising an image processor adapted to receive the image from the camera, the image processor calculating the distance between the part and the desired end point and communicating the distance to the belt controller.
11. The apparatus of claim 10 further comprising an adjustable end stop for stopping the part at the desired end point.
12. The apparatus of claim 10 wherein the image processor and the belt controller iteratively position the part at the desired end point.
13. An apparatus for handling parts, comprising:a movable belt having a direction of motion and adapted to receive the parts; a precisor rail located adjacent to at least a portion of the belt and having a guiding edge that is not parallel to the direction of motion of the belt such that the guiding edge of the precisor rail eventually contacts parts that move with the belt. 14. The apparatus of claim 13 further comprising an adjustable end stop located proximate to an end of the belt.
15. The apparatus of claim 13 further comprising a belt displacement controller and an image forming device in communication with the controller for forming an image of the part with respect to a desired end point wherein the belt displacement controller is coupled to the belt and the controller controllably moves the belt based upon the image of the part with respect to the desired end point.
16. The apparatus of claim 13 wherein the guiding edge of the precisor rail and the direction of motion of the belt form an angle of approximately 0.18 degrees.
A significant cost and efficiency consideration for all part handlers is alignment between the part to be tested and the testing contactor. Precise alignment is necessary to insure proper electrical contact. As parts evolve into smaller packages with more leads, alignment between the part and the test contactor must be even more precise. For example, because part lead widths are now on the order of 0.010 inches and lead pitches are on the order of 0.020 inches, even "small" x, y and theta alignment errors will result in an unsuccessful electrical test. Repeatability of these precise alignment requirements is essential because thousands of very nearly identical parts must accurately and electrically engage the testing contactor.
It appears that vision-based systems are not employed in the automatic part handling field. However, machine vision methods and apparatus are found in other fields including the circuit board manufacturing prior art. The most common vision-based apparatus in circuit board manufacturing is called "pick and place." The basic pick and place apparatus uses a placement arm, a camera and vision software. The placement arm picks up a part and brings it to a zeroing position where it is observed by the camera. The vision software calculates the x, y and theta corrections necessary to place the part at the desired location. The placement arm makes the corrections dictated by the vision software and places the part accordingly. A somewhat similar apparatus, but used for part testing purposes, is described in U.S. Pat. No. 5,481,202 to Frye. Frye discloses a vision-based system which aligns a part with an electrical testing apparatus exclusively by visual means. By relying exclusively on visual alignment means, however, part testing is slow and cumbersome. More importantly, like the automatic handler prior art described above Frye requires a part carrier to accurately orient the part.
The handling operation occurs primarily in the handling portion 14 of the handler 10. As shown in FIGS. 2, 2a and 3, the handling portion 14 includes an input side 20, a trolley assembly 22, an output side 24 and a vision system 25. The input side 20 delivers parts to the trolley assembly 22. The trolley assembly 22 transfers parts from the input side 20 to the test contactor 6 of the test station 8, and then to the output side 24. The output side 24 moves the parts away from the trolley assembly 22. The vision system 25 provides alignment data and inspection data of parts within the handler 10.
Turning back to FIG. 4, the tray handling mechanism 30 automatically and successively moves the trays 32 through three areas: a staging area 42, a working area 34, and an empty tray area 44. First, at the staging area 42, stacked trays 46 are placed onto a platform 48. The platform 48 is mounted on a pull-out drawer 50 which makes loading and unloading of the stacked trays 46 easy and allows for automated loading and unloading of the stacked trays 46. Once the stacked trays 46 are loaded onto the platform 48, the drawer 50 is pushed into the handling mechanism 30. The platform 48 engages a motor driven elevator 52 which moves the trays 46 upwards until the topmost tray 32 is in a working area 34. In the working area 34, the topmost tray 32 is positioned in the horizontal plane with hard stops 54 as depicted in FIG. 4. The hard stops 54 provide accurate and repeatable positioning of the tray 32. Finally, when the unloading of parts 35 in the topmost tray 32 is complete, the elevator 52 moves the topmost tray 32 to the empty tray area 44 as shown in FIG. 4.
As depicted in FIG. 15, eight input belt assemblies 110 are included in the preferred embodiment. Depending on system parameters such as the throughput capabilities of the test contactor 6 and other testing requirements, the number of input belt assemblies 110 can be increased or decreased accordingly. Also shown in FIG. 15 is an adjustable end stop 151 having a stop edge 153 which serves to precisely orient the parts 35 in the direction of motion of the input belts 112. The function of the adjustable end stop 151 operating in conjunction with the vision system 25 and the computer system 18 is more fully described below.
Referring again to FIG. 12, each input belt 112 has a loading end 134 and an unloading end 136. Parts are placed on the loading end 134 by the input gantry 70. The gantry 70 places an entire column of parts 36 on a single input belt 112. The rollers 122, in contact with the input belt 112, are propelled by the input belt motor 114. The input belt motor 114 is controlled by the computer system 18. As the input belt 112 moves the parts 35 towards the unloading end 136, the slight angle between the precisor rail 126 and the direction of motion of the input belt 128 causes the parts 35 to be biased against the guiding edge 132 of the precisor rail 126. The smooth surface of the guiding edge 132 prevents any "sticking" or turning of the parts 35. At the unloading end 136 of the input belt 112, the parts 35 are precisely orientated against the guiding edge 132 of the precisor rail 126.
The vision system 25, shown in FIG. 16, includes an input side camera 152 for each input belt assembly 110, an output side camera 162 (more fully described below) for each output belt assembly 210, and a test contactor camera 164 (also more fully described below). As seen in FIGS. 16 and 17, the cameras 152, 162, 164 of vision system 25 are supported by four crossbars 156 which are bolted into crosspiece 158. The crosspiece 158 is supported by two girders 159 which are bolted into the chassis 16.
Thus, the "naked" parts 35 on each input belt 112 are precisely and repeatably orientated on two axes (along each precisor rail 126 and at the stopping edge 153). The rotation (or theta orientation) of the part 35 is also fixed. Additionally, the part orientation provided by the precisor rail 126 and the adjustable end stop 151 operating in conjunction with the vision system 25 is robust in that different part sizes, thicknesses, types, and shapes can be easily introduced into the handler 10.
Turning to the next transfer operation performed by the handler 10, FIG. 3 depicts a side view of the trolley assembly 22. The trolley assembly 22 transfers parts 35 from the desired endpoint 154 (see, e.g., FIG. 15) of each input belt 112 to the test contactor 6. After testing, the trolley assembly 22 transfers the parts 35 to the output belts 212. Referring now to FIGS. 18 and 19, a top view of the trolley assembly 22 is depicted. To provide clarity, the input belt assemblies, output belt assemblies and the cameras are not shown in FIGS. 18 and 19. In the preferred embodiment, the trolley assembly 22 includes two drums 172 and 174. Drum 172 is positioned over the input side 20 and drum 174 is positioned over the output side 24. The drums 172, 174 are mounted to the handler chassis 16 and they are fully restrained by the chassis 16 except for rotation about axis 179. Each drum 172,174 has a motor 176, 178 which independently rotates its corresponding drum 172, 174 about axis 179. The motors 176, 178 are controlled by the computer 18.
As shown in FIG. 21, a cross-sectional side view of the trolley assembly 22, the drums 172,174 each comprise eight drum shafts 175 constrained in a circular configuration by spider brackets 177. An essential feature of the entire trolley assembly 22, including the drums 172, 174 is its skeletal nature. The skeletal design of the trolley assembly permits the cameras 152, 162, 164 (see FIGS. 3, 11 and 17) positioned above the trolley assembly 22 to view the parts with minimal obstruction from the trolley assembly 22.
The trolleys 180, 182 include vacuum heads 82 similar to those used in the input gantry 70. Each vacuum head 82 has an associated cam (not shown) which causes the vacuum head 82 to extend when a cam shaft (also not shown) is rotated. The cam shaft is controlled by the computer 18. As in the input gantry 70, the computer system 18 also controls the vacuum in the vacuum heads 82 of the trolleys 180, 182. Vacuum is supplied to the trolleys 180, 182 by vacuum lines 186 (attached to trolley 180) and 188 (attached to trolley 182).
The procedure for transferring parts is as follows. As a result of the precise part orientation on the input belt assembly 110 and the data from the input side cameras 152, the computer system 18 "knows" that each part is at the desired end point 154 along the precisor rail 126 and stopping edge 153 of each input belt assembly 110. The computer system 18 positions the trolley 180 (having vacuum heads 82) along the drum 172 and above the parts 35 with the lead screw 181. Cam shafts within the trolley 180, lower the vacuum heads 82 to pick up the parts 35. After the parts 35 are picked up, the drums 172, 174 are each rotated ninety degrees (in opposite directions) by the motors 176, 178. The picked up parts are interfaced with the test contactor 6 of test station 8. The lead screw 181 moves the trolley 180 along the lined-up drums 172, 174, moving the trolley 180 from drum 172 to drum 174. After the electrical test at the test contactor 6 is complete, the trolley 180 moves so that it is completely on the output side drum 174 (see FIG. 19). The drum 174 is then rotated ninety degrees to position the parts 35 over the output belt assemblies 210. The computer 18 then releases the vacuum in the vacuum heads 82 and the parts are placed on the output belts 212.
Turning to FIG. 23, a top view of the output sorter 240 is shown. The output sorter 240 includes the mounting bracket 250, a support plate 252, a vertical displacement motor 268 and vacuum heads 82. The mounting bracket 250 includes guiding slots 269 to restrain movement of the plate 252 (relative to the bracket 250) in all directions except the vertical direction. The mounting bracket also houses the vertical displacement motor 268. The displacement motor 268 supports the plate 252 in the vertical direction and governs the vertical positioning of the plate 252. The computer system 18 controls the displacement motor 268.
A slotted photo sensor 256 provides the computer system 18 with displacement data. The photo sensor 256 is slotted and is mounted on the bracket 250. A marker 257 mounted to the plate 252 is disposed within the slotted photo sensor 256. The photo sensor is electrically connected (not shown) to the computer system 18. When the marker 257 moves within the photo sensor 256, the photo sensor 256 provides the computer system 18 with the relative position between the bracket 250 and the plate 252. The computer system 18 can control the displacement motor 268 based upon the displacement data provided by the photo sensor 256. Thus, the vacuum heads 82 mounted to the plate 252 can be adjusted in unison depending upon part height and output tray 284 depth. Additionally, the vacuum heads' 82 vertical position can be adjusted "on the fly" by the computer system 18 so as to adjust to different part heights and output tray 284 depths.
The vacuum heads 82 of the output sorter 240 are each mounted on the plate 252 and operate in substantially the same manner as described above with respect to the vacuum heads 82 of the input gantry 70 (see also FIG. 10). The primary difference between the output sorter 240 and the input gantry 70 is that the output sorter 240 individually controls the vacuum heads 82. As seen in the FIG. 24 side view of the output sorter 240, the top of the vacuum head 82 further includes a piston 258 which is attached via tube 259 to a pressurized air supply (not shown). The pressurized air flow to each piston 258 is controlled by the computer system 18. The computer system 18, therefore, can control the downward thrust of the piston 258 which in turn moves the vacuum cup 86 downwards to pick up the part 35 positioned by precising rail 216 and the adjustable end stop 251) on output belt 212. The vacuum head body 85 includes a nub 267 which limits the downward motion of the vacuum head 82 relative to the bracket 252. Additionally, the pressurized air in each tube 261 (each of which is connected to the vacuum creating venturi 91), is likewise controlled individually by the computer system 18. Thus, the output sorter 240 can pick up individual parts 35 and release the parts 35 individually into the appropriate location in the output trays 284.
The output sorter 240 (and, in the alternate embodiment described above, the rotary sorter 270) is controlled by the computer system 18 and x-y part placement within the output trays 284 can be based upon the test data from the test contactor 6. In another alternate embodiment more fully described below, the test data also includes mechanical inspection results from the vision system 25. Because the output sorter 240 can place individual parts one by one within the output trays, it can place "bad" parts in a particular tray or even in a particular position within the tray.
As shown in FIG. 28, the handler computer system 18 serves to integrate and control the above-described functions of the handler. The computer system 18 receives test data from the vision system 25 and the test contactor 6. Based upon these data, and based upon preprogrammed routines for the handler 10 configuration, part size and tray dimensions, the computer system 18 controls the input tray mechanism motor 52, the input gantry motor 80, the gantry hinge motor 81, the pressurized air to all vacuum heads 82, the input belt motors 114, the end stop motors 155, 255, the drum motors 176, 178, the trolley lead screw motors and cam shafts, the output belt motors 214, the output sorter motor 262, the arm motor 245, track motor 247, the vertical displacement motor 268, and the output tray mechanism 280.
In an alternate embodiment, shown in FIG. 27, handler 10 further contains a thermal control apparatus 311. The thermal control apparatus 311 is controlled by the computer system 18. The thermal control apparatus includes convection heaters 312, 314 on both the input side 20 and the output side 24. The convention heaters 312, 314 include fans which blow thermally conditioned gas (preferably air or nitrogen) across the parts. Two conduction heaters 322, 324 attached underneath the input belt assemblies condition parts on the input belts 112 before testing at the test contactor. A similar heater 326 conditions parts underneath output belts 212. The handler 10 is enclosed by shroud 17 (see FIG. 1) to further aid heating and cooling of the parts. The temperature range of the control apparatus 311 (and the parts in test), in accordance with industry standards, is preferably between +125� C. and -55� C.
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BRUCE;REEL/FRAME:008149/0517Effective date: 19960703Owner name: ASECO CORPORATION, MASSACHUSETTSFree format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:SEM-RAD, LTD. OF OGONNELOE, SCARIFF, COUNTY CLARE, IRELAND;REEL/FRAME:008149/0504Effective date: 19960724Jun 29, 2003ASAssignmentOwner name: SILICON VALLEY BANK, CALIFORNIAFree format text: SECURITY INTEREST;ASSIGNOR:MICRO COMPONENT TECHNOLOGY INC;REEL/FRAME:014438/0974Effective date: 20030610Feb 26, 2004FPAYFee paymentYear of fee payment: 4May 9, 2007ASAssignmentOwner name: LAURUS MASTER FUND, LTD., NEW YORKFree format text: GRANT OF SECURITY INTEREST IN PATENTS AND TRADEMARKS;ASSIGNOR:MICRO COMPONENT TECHNOLOGY, INC.;REEL/FRAME:019265/0285Effective date: 20070329Aug 13, 2007ASAssignmentOwner name: MICRO COMPONENT TECHNOLOGY, INC., MINNESOTAFree format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:MICRO COMPONENT TECHNOLOGY, INC.;REEL/FRAME:019744/0835Effective date: 20070806Mar 17, 2008REMIMaintenance fee reminder mailedSep 5, 2008LAPSLapse for failure to pay maintenance feesOct 28, 2008FPExpired due to failure to pay maintenance feeEffective date: 20080905May 5, 2009ASAssignmentOwner name: MCT WORLDWIDE, LLC, MINNESOTAFree format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:MCT, INC.;REEL/FRAME:022634/0743Effective date: 20090421Oct 26, 2009ASAssignmentOwner name: LV ADMINISTRATIVE SERVICES, INC., NEW YORKFree format text: GRANT OF SECURITY INTEREST IN PATENTS AND TRADEMARKS;ASSIGNOR:MCT WORLDWIDE, LLC;REEL/FRAME:023419/0228Effective date: 20091016RotateOriginal ImageGoogle Home - Sitemap - USPTO Bulk Downloads - Privacy Policy - Terms of Service - About Google Patents - Send FeedbackData provided by IFI CLAIMS Patent Services