JPS5917851B2 - Gate control method for inclined drop type autohandler - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a device that provides a place to automatically and sequentially conduct electrical property tests or inspections on a group of C devices such as molded ICs and IC ceramic packages. This invention relates to a gate control method in an automatic handler system.

This type of autohandler is;
An upper loader (10ader) 1 that is equipped with a track type container 20 that accommodates devices 10 arranged adjacently in one row on one track; an upper loader (10ader) 1 that is equipped with a track type container 20 of the same type as described above that accommodates each device; a lower unloader (UnIOader) 2; and an intermediate section that receives a group of devices that are tilted down from the upper loader and then provides a characteristic testing place for each device during the process of tilting and feeding each device to the lower unloader. It is configured to include an inclined track body 3.

Loader 1, orbital body 3, and unloader 2 are approximately 4 in this order.
They are assembled with an inclination angle of 0 degrees. The loader 1 is a conveyor mechanism that has a container mounting surface inclined at the same inclination angle as the track body, and can be moved stepwise in a direction perpendicular to the axial direction of the track body.

A large group of containers are loaded on this loader, and all the storage devices are automatically supplied to the track body by their own weight from one container arranged on the same track line as the track body.
The conveyor surface of the loader is moved by one step so that the next container is disposed on the corresponding track line. A gate mechanism 13 controls the timing of sending devices from a container arranged on the track of the loader to the track body. The unloader 2 is a conveyor mechanism that has an inclined container mounting surface like the loader 1 and is movable in a direction perpendicular to the axial direction of the track body.

When the container 1 arranged on the same track line as the track body is filled with a predetermined amount of devices automatically supplied by its own weight from the track body, the conveyor surface moves one step and the next Container No. 1 is dislocated onto the relevant orbital line and is placed on standby. The track body 3 has a track 31 having the same dimensions and shape as the container 1.

The raceway is an aluminum product with a convex cross section, and it has lead 1.
The device 10 having the device 1 rides on a horse, and the lower surface of the device body slides on the track surface. Reference numeral 4 denotes a test device attached to the track body 3, which houses various automatic test equipment.

In order to intentionally test the electrical characteristics of each device 10 using the equipment of this device, it is necessary to hold each device group at a predetermined location on the orbit for a predetermined period of time. It is necessary to separate the lowest one from the remaining ones and hold them so that the remaining ones do not fall. Air cylinders will mainly be used as retention means in the future. The air cylinder is installed at a necessary location on the track body, and its plunger presses the main body of the device from above to hold it in place, or it enters the lower end of the device and blocks the device to hold it in place, and when the plunger retreats. Therefore, it functions to release the hold and release the necessary device. When all the devices 10 are fed into the track body from the container 1 on the loader 1 which is on the same axis as the track body 3, the loader moves one step perpendicular to the track axis, and then the next device to be supplied is loaded. A container is disposed on the orbital axis. This operation has conventionally been performed by the following method. That is, near the upper end of the track body adjacent to the loader, a light source that emits a detection light that crosses the track soil of the track body and a photo sensor that detects the light are arranged on both sides of the track, and when the photo sensor detects the light, When the last device in the group of devices fed as a unit from container 1 of the loader passes in front of the photo sensor,
This is a gate control method in which the conveyor mechanism of the loader is activated by a signal from a photo sensor.

According to this method, it is true that there is no device in front of the photo sensor, but the subsequent device gets caught and remains at the boundary between the loader and the orbital body above the position of the light, and continues to the orbital body. If there is a delay in the intrusion, an untoward accident will occur. That is, in this case, when the loader starts, a shearing force is applied to the device on the boundary by the container on the loader and the track body,
As a result, the device will be destroyed. Shikarabi,
This type of disadvantage could be avoided if the light source and photo sensor were arranged so that the light passed over the loader-track interface.

However, even if it is arranged in this way, the following inconvenience cannot be avoided. In other words, there is a mechanical delay in the start-up from when the loader receives a start command from the photo sensor until it actually starts, so during this delay, for some reason, the devices remaining in the container lose their weight to the track body. It may be invaded by.

In this case, since the loader is activated while the device is passing through the boundary between the loader and the track body, the device will be destroyed by the above-mentioned shearing force. Therefore, the conventional gate control method adopted to improve this point is to install a new shutter mechanism that blocks the boundary between the loader and the track body from above. This method uses a control system that starts the shutter.

using this method? Since the starting force of a round shutter is significantly faster than that of a loader, the above-mentioned problem is improved. However, since delays in starting the shutter actually exist, although the frequency will decrease, the destruction of devices that have entered the boundary cannot be avoided as in the past. Moreover, since the shutter mechanism becomes an obstacle in the arrangement, it is not allowed to arrange the light source and photo sensor so that the light passes through the boundary between the loader and the track body. Therefore, as described above, when issuing a start command to the loader, the photo sensor cannot detect that a device already remains at the boundary between the loader and the orbital body. Therefore, if a device remains at the boundary, the shutter activated by the same command as the loader will cause the residual device to be sheared by the activated loader and the immovable track body while the device is in the presser foot position. It will be destroyed by force. SUMMARY OF THE INVENTION An object of the present invention is to realize a gate control method that solves the above problems. Gate control is performed by the gate mechanism shown in area C in FIG. 1, and the device part according to the present invention in this area is shown in detail in the enlarged plan view of the main part in FIG. 2 and the side view in FIG. 3. is shown.

According to the present invention, the gate mechanism 13 is a combination of a detection mechanism 130 consisting of a light source 131 and a photo sensor 132, and a shutter mechanism 140, similar to the conventional example described above.

The shutter mechanism 140 consists of an air cylinder 141 and a shutter 143 fixed to the tip of its plunger 142. It is preferable that the tip portion 142A of the plunger is made of an elastic material such as rubber to reduce the impact on the device. This shutter 143 is connected to the track 31 of the loader 1 and the track body 3.
It consists of a device shielding plate 143A that blocks the boundary between the light source 131 and the photo sensor 132, and a sensor shielding plate 143B that extends downstream from the plate along the trajectory and is arranged to block the light source 131 and the photo sensor 132. The light source 131 and the photo sensor 132 are located slightly downstream of the air cylinder 141 of the shutter mechanism, and are fixed to the base 100 of the track body 3 so as to face each other with the track 31 in between.

The sensor shielding plate 143B is the device shielding plate 142.
When the photo sensor 132 is lowered to the lower limit position together with A, the photo sensor 132 is thereby shielded from the light source light. FIGS. 2 and 3 show the container 2 up to the stopper 31 of the air cylinder located downstream of the track 31.
A series of devices 10 are shown falling down from zero and being accumulated on the track soil and in the container.

In this state, the shutter 143 (1
43A+143B) is stopped at the regular upper limit position,
Source light 131A is blocked by only one of the accumulated devices. FIGS. 4 and 5 are side views showing two types of modes when the shutter mechanism 140 is activated.

The mode shown in FIG. 4 is a mode in which the shutter has descended to the lower limit position when the device is present at both the position where it is exposed to the light source light and the boundary between the loader and the track body. In this case, the photo sensor 132 senses the light source light 131A (
That is, the shutter mechanism 140 is activated by the sensing signal (knowing that the device does not exist), and the plunger tip 142A of the air cylinder protrudes to the maximum extent without any hindrance, so that the plunger tip surface comes into contact with the raceway surface. Ru. Fifth
In the illustrated embodiment, the device is not located at a position where it is exposed to light from the light source, but is located at the boundary between the loader and the orbital body, and the shutter has descended to an intermediate position. In this case, the photo sensor 132 senses the light source light 131A, and the sensing signal activates the shutter mechanism 140, causing the air cylinder plunger 142 to move toward its tip 142.
A is projected until it comes into contact with the top surface of the device 10A on the boundary. According to the present invention, in this contact state, the C-circle photo sensor 132 is protected by the light source light 1 by the sensor shielding plate 143B.
The dimensions of the shielding plate are specified so that it will not be shielded from 31A.

Further, the device shielding plate is dimensionally designed so that its lower end surface is at the same level or slightly higher than the elastic lower end surface of the plunger which is compressed by pressing the device. In this way, even though the shutter mechanism is started in response to a command from the photo sensor, if the light reception by the photo sensor is not interrupted, that is, if the light reception continues, the gate mechanism, according to method 1, will detect the light reception path. Based on the following information, the cylinder mechanism is controlled to be deactivated. Therefore, the fifth
When the device is in the state shown in the figure, the light is detected by the photo sensor immediately after the preceding device 10B crosses the light source, the shutter mechanism is activated, and the plunger comes into contact with the succeeding device 10A. Shyatsuta 5
Drive is released.

The loader is controlled to start based on the fact that the photo sensor is interrupted from receiving light by the sensor shielding plate 143B.

Therefore, in the state shown in FIG. 5, the loader does not start, and as a result, no shearing force is generated in the device 10A due to the trajectory of the container on the loader and the track body, and the device is prevented from being destroyed. In the device state shown in FIG. 4, immediately after the last device 10B crosses the light source, the shutter mechanism is activated as in the case of FIG. Since the device shielding plate 143A is not present, the device shielding plate 143A is lowered to the maximum extent and the rod tip 142A comes into contact with the track surface, and the sensor shielding plate 143B interrupts the light reception of the photo sensor, and based on this interruption, the loader is started. controlled by. In this case, the drive of the shutter mechanism is not released. Therefore, it is impossible for the device to be destroyed due to the movement of the loader.The O loader moves one step and a new container 1 replaces the empty container 1 and is moved onto the axis of the track 31 to drive the loader. When the shutter 1 mechanism is released, the drive of the shutter 1 mechanism is released and the shutter 1
43 returns upwards and the gate opens.

And from this new container, the device group is in orbit 3.
1 and moves upwards from the stopper 32. In the case of an abnormal situation as shown in Figure 5, in method 1, the drive of the shutter mechanism is canceled based on the continuation of light reception by the sensor after a certain period of time has elapsed, and the drive of the shutter mechanism is canceled based on the continuation of light reception by the sensor after a certain period of time has elapsed. The shutter mechanism is controlled to be re-driven based on the

As a result, repeated shocks are applied to the device 10A by the plunger, so that the device may become unlatched and the normal situation shown in FIG. 4 may develop. However, there is no guarantee that everything will progress this way.
It is controlled to drive an alarm device which issues an alarm during its repeated activation. Therefore, if the situation progresses to the situation shown in FIG. 4, the alarm will stop, so only if the alarm continues for a long time will an operator rush to work to restore the situation to normal.
Incidentally, as a simple method, a method may be adopted in which the shutter drive is not released in the state shown in FIG. 5, but instead an alarm is issued.

In this system, whenever an abnormal situation as shown in FIG. 5 occurs, an operator must rush to the system and restore normal operation. The basic instructions of the gate control method of the present invention can be summarized as shown in FIG. 6 in a program diagram. An abnormal situation in which the device is destroyed due to the drive of the loader is prevented, and furthermore, the case has the advantage that it can be automatically returned to normal.

[Brief explanation of drawings]

FIG. 1 is an explanatory side view showing the entire autohandler according to the present invention, and FIGS. 2 and 3 are an explanatory plan view and a side view of the main part showing the gate mechanism of the autohandler according to the invention. , FIG. 4 and FIG. 5 are side views showing main parts of two types of gate 81 legs according to the present invention, and FIG. 6 is a program diagram showing a gate control procedure according to the present invention. In the figure, 1 is a loader, 2 is an unloader, 3 is a track body, 4 is a test device, 13 is a gate mechanism, 11 is a lead, 2
0 is container one, 31 is orbit, 32 is stopper, 131
is a light source, 132 is a photo sensor, 131A is a light source, 1
40 is a shutter mechanism, 141 is an air cylinder 14
2 is a plunger, 142A is an elastic body at the tip of the plunger, 143 is a shutter, 143A is a device shielding plate,
143B is a sensor shielding plate, 10A is a subsequent device,
10B indicates a preceding device.

Claims (1)

[Claims] 1. A loader with an inclined conveyor mechanism in which track-type containers containing a group of articles such as IC devices are loaded in parallel and the positions of the loaded containers are shifted stepwise in a direction perpendicular to the container axis: the conveyor a track body having an inclined track that provides a place for performing characteristic tests on individual articles while receiving a group of articles falling under their own weight from a container at a specific position on the mechanism; and a track body on the loader; a shutter mechanism that lowers an article shielding means from above to block the boundary between the orbit of the container No. 1 and the orbit body; and a shutter mechanism that crosses the orbit at a position downstream of the article shielding means and at an altitude where the article on the orbit blocks the boundary. A gate mechanism includes a light source that emits light and an article detector that includes a photosensor that receives the light from the light source:
In an autohandler of an inclined drop type that includes: the article shielding means, when its lower end surface comes into contact with the track surface, the photosensor is shielded from the light source light, and the lower end surface protects the article on the track. A sensor shielding means is added so that the photosensor can sense the light from the light source when the photosensor comes into contact with the light source, and the shutter mechanism is actuated based on the photosensor receiving the light from the light source. Driving the loader based on the fact that the light reception of the photosensor is interrupted by the sensor shielding means immediately after driving the mechanism; and driving the shutter mechanism based on the fact that the drive of the loader is released. A gate control method for a tilt-drop type autohandler, characterized by releasing the gate. 2. A loader with an inclined conveyor mechanism that loads track-type containers containing a group of articles such as IC devices in parallel and shifts the position of the loaded containers step by step in a direction perpendicular to the container axis: a track body having an inclined track that provides a place for subjecting individual articles to property tests while receiving a group of articles falling under their own weight from a certain one container; and said one container on said loader and said one container on said loader; a shutter mechanism for blocking the boundary of the orbit of the orbital body by lowering an article shielding means from above; and a shutter mechanism that emits light so as to cross the orbit at a position downstream of the article shielding means and at an altitude where it is intercepted by the article on the orbit. In an autohandler of an inclined drop type, the gate mechanism has a light source that detects a light source, and an article detector that includes a photosensor that receives the light from the light source. Adding a sensor shielding means that shields the photosensor from the light source light when it comes into contact with the article and allows the photosensor to sense the light source when the lower end surface comes into contact with the article on the orbit; The shutter mechanism is driven based on the photosensor receiving the light source; after a certain period of time has elapsed from the shutter driving, the shutter mechanism is deactivated based on the continuation of the light reception; re-driving the shutter mechanism based on the continuation of the light reception after a lapse of time; driving the loader based on the fact that the light reception was interrupted by the sensor shielding means immediately after driving the shutter mechanism; A gate control method for an inclined drop type autohandler, characterized in that the drive of the shutter mechanism is released based on the release of the drive of the loader. 3. A gate control method for a tilt-drop type autohandler according to the method of item 1 or 2 above, in which the portion of the article shielding means that comes into contact with the track surface or the article surface is made of an elastic material that cushions the impact on the article.