IC封裝分量機之自動化設計研究

摘要導入IC產品元件包裝之自動化作業設備並進行完成模組化設計應用之目標，能夠充分達到取代人工包裝作業，是本研究的主要課題。針對IC產品元件包裝之作業設備進行研究紀錄，了解生產技術的需求，以及考量包裝自動化設備設計可能的問題，進行機構模組化設計與分類，據此設計出符合需求的導入IC元件包裝模組機構，再導入視覺影像檢測與分量系統。而承裝IC元件最常使用的是Tray(托盤)，針對傳統使用人工的方式將IC元件置入托盤(Tray)流程，提出使用SCARA機械手用於搬運IC元件，並搭配視覺檢測的解決方案。亦即透過視覺辨識IC數量位置與形狀，提供四軸SCARA機械手臂設計取放動作之軌跡並實施工單需求之分量分類。另亦經辨識托盤邊緣與斜角方向性以檢測定位之精確度。經實測機械手臂由A托盤與B托盤取放料運動之定位精度為0.03mm，在生產速度為95PCS/min操作下，取放IC元件3200顆，發生失誤3顆，失誤率為0.09%，可遠低於所需之失誤率為0.3%。據此，所開發之系統可以達到預期的效益，可降低人為的不穩定操作造成的數量短缺與產品汙染，並使IC包裝過程更加順暢，使整體的生產效率提昇。關鍵字：IC Tray、視覺辨識、SCARA Robot

關鍵字

IC Tray ；視覺辨識； SCARA Robot

並列摘要

Abstract The main focus of this report is to develop an automatic operation system for IC component packaging and accomplish modular design and application purpose so that completely replacing manual work. Based upon the recoding data measured in the production process of IC component packaging, the demanding production technology is thus defined. Also, considering the automation problems in the process of IC packaging, modular design of mechanism for pick-and-place operation and the classification of IC components by using vision-based inspection is carried out. Tray (pallet) is probably the most commonly used material handling equipment to contain IC components. Following the way of manually insert the IC component into the tray, a SCARA robot is integrated with a vision system to grab IC components and insert them into the tray. That is, the vision system is able to recognize the position and shape of the IC components, which provides important information for the four degree-of-freedom SCARA robot to define the pick-and place trajectory and calculate the number of the picked IC components, and achieve the goal of classification. Also, via the vision-based inspection, the source pallet edge and bevel directivity are measured to identify the positioning accuracy. In practical operation of the integrated system manipulating from tray A to tray B, the positioning accuracy is 0.03mm, and 3 pieces are failed in 3200 pieces of IC component under the production speed of 95pcs/min, which indicates the error rate is 0.09% far below the requirement of 0.3%.The developed system is verified to reach the target of reducing the problem of product shortage and pollution due to unsteady manual work so that improving the overall production efficiency. Key Words: IC Tray, Vision-based inspection, SCARA Robot.