JPS5843763B2 - Kurikaeshiundoukikouto Serbokikou Niyor Fukugou Undoukikou - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention enables a servo mechanism to add micro-movements to objects that are in constant repetitive motion at arbitrary times.
This invention relates to a complex motion mechanism aimed at making minute corrections to repeated motions.

Conventionally, for example, when assembling a transistor, wire bonding is performed by moving a capillary that guides a gold wire repeatedly using a cam mechanism.

In this case, due to variations in the positions of the transistors supplied for assembly, constant repeated movements cannot bond in the correct position.

Therefore, a manual positioning mechanism is installed below the cam-based moving mechanism, and bonding positioning is performed manually by an operator.

However, this method has problems such as insufficient positioning if the operator is fatigued, resulting in incorrect bonding, and the need for inexperienced operators to learn from the beginning.

The present invention provides a compound motion mechanism that aims to correct a portion of the repetitive motion by adding minute motions using a servo mechanism during the above-described constant repetitive motion.

The present invention will be explained in detail below using examples.

FIG. 1 shows the configuration of a bonding mechanism of a transistor assembly machine.

1 is a television camera, 2 is a recognition and determination device using the means described in Japanese Patent Application No. 48-21636, 3 is a servo mechanism, 4 is a pulse motor, 5 is a moving mechanism operated by a cam mechanism, 6 is an arm, and 7 is a capillary. , 8 is a transistor pellet,
9 is a base electrode, 10 is an emitter electrode, 11 is a collector lead, 12 is a base lead, and 13 is an emitter lead.

The capillary 7 is attached to an arm and moves in a constant reciprocating manner in the direction of the dashed arrow shown in FIG. A gold wire 14 is bonded to the electrode 10 and emitter lead 13.

Here, since there are variations in the positions of the supplied transistor pellets 8, it is necessary to align the capillary 7 to the correct bonding position immediately before the gold wire 14 contacts the base electrode 9 and the emitter electrode 10.

Conventionally, a manual positioning mechanism was provided below the moving mechanism 5 that moves using a cam mechanism, and positioning was performed by an operator.

In the present invention, a servo mechanism 3 is provided in place of the manual positioning mechanism, an image of the transistor pellet 8 is captured by a television camera 1, and an image of the transistor pellet 8 is captured by a recognition and determination device 2 using the means disclosed in Japanese Patent Application No. 48-21636. The positions of the base electrode 9 and emitter electrode 10 of the pellet 8 are recognized, and the pulse motor 4 of the servo mechanism 3 is driven based on the determination result.

FIG. 3 shows a sectional view of the servo mechanism 3.

15 is a feed screw, 16 is a fixed table, 11 is a steel ball, 1
8 is an X table, and 19 is a Y table.

When the pulse motor 4 is driven by the recognition and determination device 2, the feed screw 15 coupled to the shaft of the pulse motor 4
rotates, and the X table 18 or Y table 19 meshing with it is guided by the steel ball 17 to drive the feed screw 15.
axially and bond to the correct electrode position.

The position correction by the servo mechanism 3 is performed immediately before bonding to each electrode.

In the above embodiment, the servo mechanism gives a minute displacement at a specific time to the constant repetitive movement of the cam, but the compound motion mechanism according to the present invention can apply a minute displacement to an object that is making a constant repetitive motion at any given time. It is also possible to correct displacement, velocity, acceleration, angle, angular velocity, angular acceleration, etc.

[Brief explanation of drawings]

FIG. 1 is a diagram showing the configuration of a bonding mechanism of a transistor assembly machine according to the present invention. FIG. 2 is a diagram showing the movement trajectory of the capillary. FIG. 3 is a diagram showing a cross-sectional view of the servo mechanism. 1 is a television camera, 2 is a recognition and judgment device using the means described in Japanese Patent Application No. 48-21636, 3 is a servo mechanism, 4 is a pulse motor, 5 is a moving mechanism operated by a cam mechanism, 6 is an arm, and 7 is a capillary. 8 is a transistor pellet, 9
is a base electrode, 10 is an emitter electrode, 11 is a collector lead, 12 is a base lead, 13 is an emitter lead, 1
4 is a gold wire, 15 is a feed screw, 16 is a fixed table, 17
is a steel ball, 18 is an X table, and 19 is a Y table.

Claims (1)

[Claims] 1. A cam movement mechanism for causing a driven body to perform a certain repetitive motion, and a servo movement mechanism that mounts and holds the entire cam movement mechanism, wherein the driven body moves the cam movement mechanism on the servo movement mechanism. By adding a minute movement by the servo movement mechanism to the entire cam movement mechanism at any time while the driven body is being subjected to a certain repetition movement by the cam movement mechanism, A compound movement mechanism characterized by performing a movement that is a combination of movement and a minute movement by the servo movement mechanism.