Sensor device and position determination process and their use f

Details Sensor device and position determination process and their use f Sensor device and position determination process and their use f

1994-06-06

1997-01-28

Gonzalez, Frank

Optics: measuring and testing

By alignment in lateral direction

With light detector

356399, 356375, 235470, 414273, 901 47, G01B 1100

Patent

active

055982700

DESCRIPTION:

BRIEF SUMMARY
BACKGROUND OF THE INVENTION

1. Field of the Invention
The invention relates to a sensor device for establishing the relative position of two mutually displaceable objects, a method of automatically determining a position of a displaceable robot with respect to an object with the aid of the sensor device, and a use of the sensor device and an application of the method for controlling a mounting robot for a line of machines and/or devices, in particular for the automatic processing or treatment of electronic chips.
2. Discussion of the Prior Art
FIG. 1 schematically shows in perspective a line of machines for the automatic processing and/or of devices for the automatic treatment of electronic chips according to the prior art.
FIG. 2 shows in a schematic side view selected elements of the installation shown in FIG. 1 according to the prior art.
The journal "productronic 1/2-1991", page 112 and "European Semiconductor", October 1990, disclose the line of machines schematically represented in perspective in FIG. 1 for the automatic processing and of devices for the automatic treatment of electronic chips. The machines B1-B4 are, for example, "die bonders" and "wire bonders" for establishing electrical connections on the chips, and the devices E1-E2 are, for example, continuous furnaces for the curing of plastics and devices for the intermediate storage of the chips. The chips to be processed or to be treated are contained in magazines M when they are transported, fed to the machines B1-B4 or devices E1-E2 and prepared therein for processing or treatment and also for transporting away after the processing or treatment.
The machines B1-B4 and devices E1-E2 are set up in series. Arranged behind this series, with regard to the transport of the magazines, is a rail device T, on which there runs a mounting robot R, which grips, moves, positions and releases the magazines M as required.
In FIG. 2, the machine B1, the rail device T and the mounting robot R are represented in a schematic side view. The mounting robot R travels rectilinearly and horizontally on the rail device T. A gripper G for the magazine M is supported movably on the mounting robot R by means of an advancing carriage V and a lifting carriage H. The advancing carriage V is movable on the mounting robot R horizontally and orthogonally to the rail device T towards the machine BI and away from it. The lifting carriage H is movable vertically on the advancing carriage V. Consequently, the gripper G can be moved with three Cartesian degrees of freedom or directions of movement with respect to the machine B1 in order to bring the magazine M to the intended magazine position P1 or P2 at the machine B1 and unload it there, or to grip it there and lead it away from there.
This entails the problem of automating the movements of the mounting robot R.
The machines B1-B4 are namely set up, changed and adjusted in accordance with the requirements of fabrication. The individual machines are then admittedly aligned as well as possible at right angles to the rail device T or to the running direction of the mounting robot R, but are not mechanically connected directly and in a predetermined way to the rail device T. The only common reference is the floor plane; moreover, the machines M or their magazine positions P1-P2 may be arranged at various non-standardized heights above the floor and at various non-standardized distances from the rail device T. Under these circumstances, to automate the movements of the mounting robot R it is necessary to make the mounting robot R itself learn the magazine position P1-P2 and determine the corresponding set position of the gripper G, otherwise the magazine positions P1-P2 would have to be measured after each change and entered into the control of the mounting robot R as a corresponding default value, which would be extremely complex. To detect the magazine positions concerned, sensor devices are necessary.
A sensor device which can be used for this is disclosed, for example, by the brochure "LN110/120" of the Namco company. It es

REFERENCES:
patent: 4764668 (1988-08-01), Hayard
patent: 5303034 (1994-04-01), Carmichael et al.
Namco brochure, LN110/120.

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