KR100699459B1 - Module test handler - Google Patents

Abstract

A module test handler which can test a large number of modules at one time and automatically responds without interrupting the test even if the types of modules change is started. The disclosed invention includes a module supply unit having at least two supply stations for sequentially loading and supplying a recovery tray containing a module to be tested, first and second test units for testing a module carried from the module supply unit, A tray supply unit for loading a stacker when the module is tested is filled in a user tray placed in at least two module stacking positions, and a user tray stack for stacking a plurality of empty user trays and supplying them sequentially to the module stacking position. Kerr, installed around each of the first and second test units, and installed between the defective loading tray and the re-checking jig containing the defective module and the retest module according to the test result of the module, and between the first and second test units. The first and second mobile buffers, the first and second test sections, the supply station and the module loading position And first and second mobile robots for transferring the module to each part.

Memory Module, Module Handler, Pick & Place Unit, Variable Means, Test Site

Description

Module test handler             

1 is a perspective view showing a module test handler according to an embodiment of the present invention.

Figure 2 is a perspective view showing in detail the recovery tray stacker of Figure 1;

3 is a perspective view showing in detail the socket jig of the test unit of FIG.

4 is a perspective view showing in detail the pick and place unit of FIG.

5 is a perspective view showing the module fixing part of the moving buffer of FIG.

Figure 6 is a perspective view showing the width of the tray loading means and the tray moving means of the tray supply of Figure 1;

7 is a perspective view showing the automatic width adjusting means of the user tray stacker of FIG.

* Explanation of symbols for main parts of drawings *

1; recovery tray 2; user tray

3,3 '; Bad load tray 10; Main frame

51,52; mobile robot 60; pick and place unit

100; module supply unit 101; recovery tray stacker

107; tray separating means 120; supply station

130,130 '; Test unit 140,140'; Moving buffer

160; tray supply unit 170; tray moving means

180; tray unloading means 189; take-out stacker

190,190 '; Recheck Jig 200; User Tray Stacker

The present invention relates to a module test handler, and more particularly, to a module test handler which automatically grasps a module supplied to a recovery tray, inserts it into a test site, and classifies and loads a module according to a test result.

In general, in the production of a memory module which is a main memory device of a personal computer (PC), when assembly is completed in an assembly process, it is necessary to inspect the quality of the assembled memory module. To increase the efficiency of this test, a device called a module test handler is used that performs the test automatically.

Conventional module test handlers used for this purpose include a recovery tray supply unit for supplying a module to be largely tested, a test unit with a socket for module testing, a user tray unit for loading a tested module, and a module between the above processes. It consists of a mobile robot that carries it.

The recovery tray supply unit includes a recovery tray stacker of a magazine type and a supply station for supplying the module by holding / unloading the tray and maintaining the recovery tray at a predetermined position with respect to the recovery tray stacker.

The test unit includes a test site connected to the module tester, a module guide for guiding the module to be inserted into the test socket, and taking out means for taking out the module from the test socket.

The user tray unit is composed of a magazine-type user tray stacker and a module loading station for loading / unloading trays and holding the user tray at a predetermined position for loading the tested module in the same manner as the recovery tray supply unit. do.

The mobile robot consists of a pick and place unit for transporting the module to a two-axis rectangular coordinate robot located above the supply station, test site and module loading station. The pick and place unit can handle eight modules at a time.

Recovery Tray The recovery tray loaded on the stacker is unloaded by the supply station and positioned at the module supply position. When the mobile robot grasps the module from the recovery tray and places it in the test socket of the test section, the module is inserted by the module insertion means.

When the test is completed, the mobile robot grasps the module and places it in the user tray at the module export position. When the module is full in the user tray, the user tray at the module export position is loaded in the export stacker, and a new empty user tray is unloaded to the export position to prepare for the export.

In this way, the memory module can be automatically tested.

However, in the conventional module test handler as described above, since only four modules can be tested at a time, the module production efficiency is low, and the recovery tray supply unit for supplying the module and the one for carrying out the tested module are one place. There was a problem that the test could not be performed at the time of replacing the recovery tray or the user tray.

In addition, the conventional module test handler has a problem that the production of the module is interrupted in the meantime because the pick and place unit of the supply station, the user tray unit and the mobile robot must be replaced with the module when the type of the module is changed.

The present invention has been made to solve the above problems, the number of modules that can be tested at a time is high, the efficiency of module production, the test does not stop when replacing the tray, and also supply according to the type of module Its purpose is to provide a modular test handler without stationary production by automatically adjusting the pick and place units of stations, user tray units and mobile robots.

Module test handler according to the present invention for achieving the above object, the module supply unit having at least two or more supply stations for sequentially supplying the recovery tray containing the module to be tested; First and second test units for testing modules carried from the module supply unit; A tray supply unit which loads a stacker on a take-out stacker when the module in which the test is completed is filled in a user tray placed in at least two module stacking positions; A user tray stacker stacking a plurality of empty user trays and sequentially supplying the empty user trays to the module stacking positions; First and second defective loading trays and rechecking jig installed around each of the first and second test units, each containing a defective module and a module to be retested according to a test result of the module; First and second moving buffers installed between the first and second test units to carry modules; A first mobile robot installed above the first test unit and the supply station to move a module between the first test unit, the supply station, the moving buffer, the first bad loading tray, and the first reloading jig; ; And, installed above the second test unit and the module loading position to move the module between the second test unit, the module loading position, the moving buffer, the second defective loading tray and the second reloading jig. And a second mobile robot.

The module supply unit includes: a recovery tray stacker for loading a plurality of recovery trays in a bulk type, and separating the stacked recovery trays one by one; And a supply station for loading and unloading the recovery tray to the recovery tray stacker.

The first and second test units may include: a test socket for connecting the module with a tester; And a socket jig for guiding the module when inserting the module into the test socket.

The socket jig includes a guide adjusting means including a motor, a ball screw driven by the motor, a ball nut screwed onto the ball screw, a guide plate to which the ball nut is fixed, and a linear guide for guiding the guide plate. .

The user tray stacker automatically adjusts the width of the stacker according to the type of the module.

The first and second mobile robots include a pick and place unit capable of simultaneously holding eight modules.

The pick and place unit has an inserting means for inserting the module into the test socket, and is automatically changed according to the type of the module.

Module inserting means, the pick and place base plate coupled to the mobile robot, a motor fixed to the base plate, a ball screw connected to the motor and attached to the base plate to enable rotational movement, the ball screw and screw coupling It consists of a ball nut, a pick and place frame coupled to the ball nut and a linear motion guide disposed between the base plate and the pick and place frame to guide a linear motion.

Hereinafter, with reference to the accompanying drawings a preferred embodiment of the present invention will be described in more detail.

1 is a perspective view showing a module test handler according to an embodiment of the present invention, Figure 2 is a perspective view showing the recovery tray supply unit shown in FIG. 3 is a perspective view illustrating the test unit shown in FIG. 1 in more detail, FIG. 4 is a perspective view showing the pick and place unit shown in FIG. 1 in detail, and FIG. 5 is a module height in the mobile buffer shown in FIG. A perspective view of a government. 6 is a perspective view showing a case in which the automatic width adjusting means is added to the tray carrying section shown in FIG. 1, and FIG. 7 is a perspective view showing a case in which the automatic width adjusting means is added to the user tray stacker shown in FIG. .

In describing the embodiment of the present invention, the direction in which the recovery tray and the user tray form heat is in the X direction, the direction perpendicular to the X direction in the direction of the test part in the recovery tray is Y direction, and the direction perpendicular to the ground. It defines by Z direction and demonstrates.

As shown in FIG. 1, a module test handler according to an embodiment of the present invention includes a module supply unit 100, first and second test units 130 and 130 ′, a tray supply unit 160, and a user. Tray stacker 200, first and second defective loading trays and rechecking jigs (3,3 ') 190 and 190', first and second moving buffers 140 and 140 ', and first and second It consists of mobile robots 51, 52, 51 'and 52'.

The module supply unit 100 is mounted on the main frame 10 in the Y direction at the same height as the tray transport height of the recovery tray stacker 101 and the recovery tray stacker 101 installed on the front of the main frame 10. Consisting of a supply station 120.

As shown in FIG. 2, the recovery tray stacker 101 includes a tray lifting means 102, a tray guide frame 106, and a tray separating means 107. The tray lifting means 102 is mounted on the front surface of the main frame 10 in the Z direction and includes a motor (not shown), a ball screw 102a, and an LM guide (linear guide) 103a. The tray elevating plate 104 is coupled to a ball nut that is screwed with the ball screw 102a to perform a linear motion. The tray guide frame 106 is installed in the same direction as the elevating means 102, guides the tray to be elevated in the Z direction by the elevating means 102, and the operator inserts and removes the recovery tray 1. Its front surface is shaped like a c channel. The tray separating means 107 is a pneumatic cylinder in which a rod end is coupled to one end of each hinge and two pairs of first and second hinges 108 and 109 vertically installed on both sides of the middle portion of the tray guide frame 106. It consists of 110 and 111. Hinges 108 and 109 are opened by a torsion spring so that the recovery tray can pass when it is raised, and when it is lowered, it can be opened 90 degrees so as to support the recovery tray in a position restored by the spring. In addition, the hinges 108 and 109 are folded by the pneumatic cylinders 110 and 111 installed at one end thereof so that the recovery tray 1 can be lowered after all work is completed. And, the second hinge 108 on the lower side is coupled to the pneumatic cylinder 112 for the hinge lift, it is possible to lift a certain height.

Supply station 120 is the first pneumatic cylinder installed on the upper side of the main frame 10, the second pneumatic cylinder fixed to the rod end of the first pneumatic cylinder, tray plate and tray plate fixed to the rod of the second pneumatic cylinder It consists of a guide rail for guiding the retracting. The supply station 120 is installed so that the second hinge 108 maintains a height slightly lower than the tray height when the tray plate is able to carry out the tray separated by the tray separating means of the recovery tray stacker.

As illustrated in FIG. 3, the first and second test units 130 and 130 ′ may include a test socket 122 and a socket jig 121. The test socket 122 accommodates the module, and is installed from the lower side of the main plate 10. The top plate of the main frame 10 is provided with a through hole so that the test socket 122 can be exposed.

The socket jig 121 is installed on the upper plate of the main frame 10 so as to be positioned above the test socket 122, and includes a pitch shifting means 123, an insertion support means, a module ejecting means 133, and a module guide means 134. It consists of.

The pitch shifting means 123 is a pneumatic cylinder 124 fixed to the upper plate of the main frame 10, and a socket lower plate having a through hole coupled to the rod end of the pneumatic cylinder 124, the test socket 122 is exposed ( 125 and an LM guide 126 installed between the socket lower plate 125 and the main frame 10 upper plate.

Insertion support means is coupled to the plurality of pneumatic cylinder 127 and the respective pneumatic cylinder 127 rod fixed to the upper plate of the main frame and is formed to support the lower portion of the support block of the socket 122 assembly base plate It consists of. The module extracting means 133 has a plurality of pneumatic cylinders 129 installed in the Z direction on the upper surface of the socket lower plate 125, and a socket upper plate having a through-hole fixed to the rod end of the pneumatic cylinder 129 and exposing a test socket. 131 and a plurality of guide bars 132 disposed between the socket upper plate 131 and the lower plate 125.

The module guide means 134 is composed of a pair of guide member formed with a plurality of grooves to guide both side surfaces of the module and the gap adjusting means 135 for adjusting the distance between the guide member. The gap adjusting means 135 is composed of a motor 136, a ball screw 137 and an LM guide 138, the guide member is a guide bracket 139 and a guide bracket 139 for linear movement on the LM guide 138 A plurality of guides 134a are attached at regular intervals and have a shape such as a V groove at one end thereof. In addition, the pneumatic cylinder is arranged behind the module takeout guide at one side of the guide bracket 139 to guide the takeout module.

The tray supply unit 160 includes two tray loading means for supplying the user tray 2 to the module stacking position from the user tray stacker 200 in which the empty user tray 2 is loaded, and the user tray 2 in which the modular loading is completed. Tray moving means 170 for carrying the up to the unloading position, the tray unloading means 180 for unloading the user tray 2 located at the unloading position to the unloading tray stacker 189, and the user on which the module is loaded. An export tray stacker 189 for stacking the trays 2 is included.

As shown in Fig. 6, the tray loading means fixes the rodless cylinder 161 installed in the Y direction at the same height as the tray unloading height of the user tray stacker and the tray drawer mounted on the moving plate of the rodless cylinder. A fixed cylinder, a fixed pin coupled to the rod end of the fixed cylinder, and a pair of open / close cylinders 165 installed at right angles to the rodless cylinder 161 at the rear of the rodless cylinder 161 ( 165 '). On one side of the opening / closing cylinder, a gap adjusting means 166 is attached. The gap adjusting means 166 is composed of a motor 168, a ball screw 169, and an LM guide 167 to move one open / close cylinder 165 in the X direction. In the module test handler according to the present invention, two sets of tray loading means are arranged.

The tray moving means 170 is provided on the main frame under the tray loading means, and is composed of a belt conveyor unit 171 and a tray lifting unit 172 for carrying the user tray 2 to a tray unloading position. A pair of belt conveyor units 171 are installed in a direction in which the user tray is moved in the X direction, and the pair of belt conveyors are spaced apart by a width capable of supporting the user tray. Further, the belt conveyor on one side is provided with a gap adjusting means 173 for adjusting the gap between the pair of belt conveyors. The gap adjusting means 173 connects the motor 176 installed on the upper side of the main frame, the ball screw 175 mounted in the Y direction to the rotary frame, and the motor 176 and the ball screw 175. Consists of a belt and pulley, a ball bush screwed to the ball screw 175 is composed of a conveyor base for linear movement in the Y direction and an LM guide 174 for guiding the linear movement of the conveyor base. An interval adjusting belt conveyor is installed above the conveyor base. The tray lifting units 172 are installed between the pair of belt conveyors 171, one by one under each loading means and the tray unloading position. The tray lifting unit 172 is assembled to a pneumatic cylinder 179 fixed to the upper side of the main frame in the Z direction, a lifting plate 177 coupled to the rod of the pneumatic cylinder 179, and a lifting plate 177 to perform the lifting movement. It includes a rotating cylinder installed on one side of the guide shaft 178 and the lifting plate 177 to assist. An auxiliary bracket 177a is assembled to the rod of the rotary cylinder, and is pivoted by 90 degrees in the Y direction with respect to the lifting plate.

The tray unloading means 180 is a movable plate of the rodless cylinder 181 and the rodless cylinder 181 provided so that the moving plate 182 is disposed downward in the Y direction at the tray unloading position above the belt conveyor 171. And a gripper 183 mounted at 182. The gripper 183 is composed of a moving jaw and a fixed jaw, and the moving jaw can adjust the spacing between the jaws by a motor, a ball screw, and an LM guide. In addition, the fixing tank and the moving tank are to hold the user tray 2 by a plurality of cylinders 185 fixed to the tank.

The export tray stacker 189 is a ball screw and a ball nut which are screwed to a ball screw and a ball screw installed in the Z direction next to the recovery tray stacker 100 on the front side of the main frame 10 to a linear motion. Combination is made up of the tray elevating plate (188) for lifting in the Z direction and the LM guides disposed on both sides of the ball screw to guide the lifting of the elevating steel plate (188). The ball screw is connected to a motor mounted next to it.

As illustrated in FIG. 7, the user tray stacker 200 includes a tray frame 201, a spacing plate 202, a tray drawer 204, and a tray frame lifting means.

The tray frame lifting means is composed of a ball screw and an LM guide installed vertically on the main frame 10 on the same plane as the surface of the transport tray stacker 189 is installed, the power source of the lifting motion is by a motor.

The tray frame 201 is fixed to a ball nut having a lower plate screwed to the ball screw, and an LM block guided by an LM guide. A plurality of guide rails 208 in which the tray drawer 204 is guided in the X direction are mounted on one side of the tray frame 201 and the space adjusting plate 202 in the Y direction, and the lower side of the upper plate and the upper side of the lower plate are LM. The guide 206 is mounted.

The gap adjusting plate 202 has a U-shaped channel shape, and the upper and lower members of the channel are fixed to the LM block on the LM guide 206 mounted on the upper and lower plates of the tray frame 201. The ball nut is mounted on the surface where the LM block on the lower side of the channel is fixed, and the ball nut is screwed with the ball screw 207 provided in the lower part of the tray frame lower plate through a through hole formed in the lower plate of the tray frame 201. The ball screw 207 is powered by a timing belt and a pulley from a motor 209 attached to the side. In addition, the side of the spacer plate 202 is mounted with a guide rail 210 at the same height and spacing as the guide rail 208 mounted on one side of the tray frame 201.

The tray drawer 204 is a U-shaped frame consisting of two L-shaped frame is a structure that can be adjusted by the width of the guide rail 213 is installed on the overlapping portion of the two L-shaped frame. In addition, the portion of the non-overlapping portion of the U-shaped frame is a bracket 211 having a width capable of supporting the tray is assembled in a hinge form and is to maintain the N-shape by the torsion spring. In addition, the outer side surfaces of the tray drawer 204 are formed with guides guided by the guide rails 208 and 210 mounted to the tray frame and the spacing plate. In addition, at the rear end of one side of the tray drawer 204, a carrying hole 212 is formed in the X direction.

The 1st and 2nd bad loading trays 3 and 3 'hold | maintain the fixed collection | recovery tray in a fixed position.

The first and second rechecking jig 190 and 190 ′ is a jig in which a plurality of guides for inserting a module to temporarily reload a module requiring retesting and then retest at a predetermined time are formed. The guide is provided with a guide gap adjusting means consisting of a motor, a ball screw, and an LM guide to adjust the gap according to the type of module.

The first and second moving buffers 140 and 140 ′ are formed of a rodless cylinder 141 and a module holding means installed on the moving plate 142 of the rodless cylinder. The module holding means includes two fixed blocks 143 fixed to the moving plate 142, a moving block 144 positioned between the fixed block 143 and relative motion to the fixed block 143, and a moving block ( The rod is coupled to one end of the 144 and consists of a pneumatic cylinder 145 fixed to the moving plate 142. A fixing piece 143a protrudes from the fixing block 143 at the same interval as the test socket interval, and the moving piece 144a corresponding to the fixing piece 143a is attached to the moving block 144. The moving piece 144a is spring-supported to the moving block 143 to hold the module stably positioned between the stationary piece 143a and the moving piece 144a even if the thickness of the module being held is varied.

The first and second mobile robots 50 and 50'are Y, which pick-and-place unit 60, an X-axis 51 for moving the pick-and-place unit in the X direction, and a pick-and-place unit Y. It is a biaxial cartesian robot having a Y axis 52 moving in the direction. The first mobile robot 50 has a stroke that can be loaded into the first test socket 122 or the first mobile buffer 140 by holding the module in the module supply unit 100, the second mobile robot 50 ' Has a stroke that can hold the module from the second test socket or the second mobile buffer 140 'to unload the module to the module dispensing position.

The pick-and-place unit 60 includes a module inserting means 65, a pick-and-place frame 70, a variable gripper gap stage, a plurality of gripper frames 72, variable tank units and gripper lifting means.

The module insertion means 65 includes a pick and place base plate 61 mounted on a mobile robot, a motor 62 fixed to the base plate, and a base plate connected to the motor 62 to enable rotational movement. Ball screw 64 attached to 61, ball nut screwed with ball screw 64, pick and place frame 70 coupled to the ball nut, base plate 61 and pick and play The LM guide 63 is disposed between the frame 70 to guide the linear movement in the Z direction.

The gripper spacing variable stages vary the distance between the plurality of grippers 99 into two stages in a close and open state, and guide pins 75 protrude upward from the center of each gripper frame 72, which guide The rod is coupled to the link plate 76 fitted to each of the pins 75 and the gripper frame 72 at the front, and the body is composed of a pneumatic cylinder 77 fixed to the pick and place frame 70. The link plate 76 is a thin plate having a through hole having the same diameter as the guide pin 75 and a long hole corresponding to the distance between the grippers, and inserts the through hole into the guide pin 75 of the first gripper frame. Insert the long hole into the guide pin (75) of the gripper frame. The link plate 76 is inserted into the third guide pin and the fourth guide pin in the same manner as described above. After that, the through-hole is inserted into the second guide pin and the long hole is inserted into the third guide pin on the link plate fitted to the second guide pin and the third guide pin. When a plurality of gripper frames are connected in the same manner as described above, the pneumatic cylinder 77 pushes or pulls the first gripper frame 72 to vary the distance between the gripper frames 72. In order to smoothly adjust the gap of the gripper frame 72, the LM guide 78 is installed at the lower side of the pick and place frame 70 in a variable direction, and the LM block 79 is fixed to each gripper frame 72. have.

The variable jaw unit is composed of two LM guides 81 fixed to the lower side of the pick and place frame 70 and a moving frame 82 having an L channel shape fixed to connect the LM guides 81. The upper surface of the movable frame 82 is coupled to the bracket 82a is connected to the ball nut of the ball screw 83 installed on the upper surface of the pick and place frame 70. The motor driving the ball screw 83 is fixed to the pick and place frame 70 and transmits power by a timing belt and a pulley. The moving frame 82 is moved by the motor to adjust the interval between the fixing tank 93 and the variable tank 87 according to the type of module. In addition, an LM guide 84 is provided inside the movable frame 82, and a plurality of variable tank bases 85, which correspond one-to-one with the fixing tank 93, are placed on the LM guide 84 by the LM block. It is fixed. Another LM guide 86 is mounted to the variable tank base 85 in the Z direction, and the variable tank 87 is coupled thereon to guide the lifting motion of the variable tank 87.

The gripper elevating means includes a pneumatic cylinder 91 installed at both sides of each of the plurality of gripper frames 72 in the Z direction, and a jaw guide shaft 92 connecting rod ends of both cylinders 91. A fixed tub 93 is coupled to one end of the jaw guide shaft 92 and a variable tub 87 is fitted on the opposite side thereof. In order to smoothly raise and lower the gripper 99 by the pneumatic cylinder 91, a linear motion guide 94 is provided on both sides of the gripper frame 72.

In addition, the lower end of the fixing tank 93 and the variable tank 87 is attached to the pneumatic cylinder 96 for the module holding the module gripper 97 is attached to the rod.

The gripper 97 installed in the pick and place unit 60 can be appropriately selected according to the production quantity, but preferably eight grippers are attached.

Hereinafter, the operation of the module test handler according to an embodiment of the present invention configured as described above will be described in detail.

The worker loads the recovery tray 1 containing the assembled module into the recovery tray stacker 101 in a bulk type. When the recovery tray 1 is loaded, the recovery tray stacker 101 detects the recovery tray at the uppermost level and separates the recovery tray at the uppermost level from the recovery tray below by the tray separating means 107 to recover the supply station 120. Allow the tray 1 to be unloaded to the module feed position.

The operation of separating the recovery tray 1 by the tray separating means 107 is as follows.

First, the pair of recovery tray support hinges 108 and 109 are raised until they are folded by the torsion spring, and when the hinges are retracted, they are lowered again and placed on the hinges. The remaining recovery tray continues to descend to the sensor detection point, so it is separated from the top recovery tray. After that, the second hinge lift cylinder 112 is operated to raise the separated recovery tray to a certain height.

When separation of the recovery tray 1 is completed, the first and second pneumatic cylinders of the supply station 120 are advanced to position the tray plate under the separated upper tray. When the tray plate is located under the tray, the second hinge cylinder 112 is lowered so that the separated recovery tray is placed on the tray plate. After that, when the first and second pneumatic cylinders are returned to their original state, the recovery tray is in the module supply position. When the recovery tray is in the module supply position, the first mobile robot operates to move the module to the first test unit 130 or the first mobile buffer 140.

When the recovery tray 1 at the module supply position becomes empty, the supply station 120 operates to load the recovery tray 1 into the second hinge 108 of the recovery tray stacker 101. When the empty recovery tray is placed on the second hinge 108, the hinge lift cylinder 112 is operated to raise the recovery tray 1 and the supply station 120 returns to the module supply position. When the tray plate returns, the tray lifting means raises the tray on which the module is loaded, and pushes the empty recovery tray up to the height of the first hinge 109. Then, when the tray lifting means descends, the empty recovery tray is caught by the first hinge 109, and when the recovery tray on which the next module is loaded is caught by the second hinge 108, the second hinge lifting cylinder 112 is operated. . After that, the supply station 120 operates to move the tray plate to the module supply position. This operation is performed until there is no loaded recovery tray.

In the case of the present invention, the module supply unit 100 is composed of two, so that the test unit does not stop the test even at the time of replacing the recovery tray 1.

The operation of transporting the module by the first mobile robot 50 in the recovery tray located at the module supply position by the supply station 120 will be described in detail as follows.

The pick and place unit 60 is positioned above the recovery tray by the X and Y axes 51 and 52 of the first mobile robot 50. Then, when the gripper 99 is lowered by the cylinder 91 of the gripper elevating means, and the gripper fixing tank 93 and the variable tank 87 are located on both sides of the module to be gripped, the pneumatic cylinder for module holding 96 Will be activated to grasp the module. After the gripper, the gripper elevating cylinder 91 is raised, and the mobile robot 50 moves to the upper portion of the first test unit 130 or the first moving buffer 140 according to the situation. The mobile robot 50 is basically configured to grip eight modules at a time, but may selectively grasp any number according to circumstances.

When the first mobile robot 50 is located on the first test unit 130, the pick and place unit 60 inserts the module directly into the test socket 122. This operation will be described in detail as follows. .

When the test module is inserted into the test socket 122, the module is partially removed from the socket 122 by the cylinder device and the ejector, and the ejection guide 134a attached to the socket jig 121 is provided. When the module is held, the cylinder 129 of the module ejecting means 133 is operated to raise the module. When the module is pulled out and raised, the module taken out by the pitch shifting means 123 moves one pitch. When the extracted module is pitch shifted, the pick and place unit 60 lowers the module into the groove of the test socket 122 with the cylinder 91 of the gripper lifting means, and the module inserting means with the module placed with the gripper 99. The motor 62 of 65 is operated to fully insert the module into each socket. At this time, the module to be inserted is inserted while being guided by the module insertion guide 139a between the already taken out modules held by the module extraction guide 134a on the socket jig 121.

When the gripper of the pick and place unit 60 completes the insertion of the module, the mobile robot 50 moves the pitch after ascending, grasps the module which has already been taken out, and raises the module according to the test result. At 140 ', the module to be retested is loaded into the reloading jig 190, and the module which has been determined to be completely defective is loaded on the failing loading tray 3.

When the gripper lowers the module between the moving piece 144a and the fixed piece 143a of the module holding means of the second moving buffer 140 ', the moving piece pneumatic cylinder 145 operates to hold the module. Since the lower end of the module is held by the moving piece 144a and the fixing piece 143a, the module is formed at right angles, thereby reducing the possibility of an error occurring when the second mobile robot 50 'grips the module. . When the module is gripped by the moving buffer 140 ', the moving plate 142 is moved to the second test part 130' by the rodless cylinder 141.

In addition, when the first mobile robot 50 is being tested by the first test unit 130, the first mobile robot 50 is gripped by the supply station 120 and loaded into the first mobile buffer 140 in the same manner as described above. That is, the first mobile robot 50 selectively supplies the module held by the first test unit 130 to the first test socket 122 and the first mobile buffer 140.

The module on the rechecking jig 190 is first inserted into the test socket 122 when the rechecking jig 190 becomes full to perform a retest. The module to be retested is usually treated as a failure if the set test is continued.

The second mobile robot 50 ′ moves the module to be tested loaded on the first mobile buffer 140 to the second test unit 130 ′ and inserts it into the socket, and is loaded on the second mobile buffer 140 ′. The module tested in the first test unit 130 is loaded in the plurality of user trays 2 located at the module loading position of the tray supply unit 160, and the module tested in the second test unit 130 ′ is placed on the test result. Therefore, it is selectively loaded into the user tray 2, the reloading jig 190 'or the defective loading tray 3'. The movement of the module to each position by the second mobile robot 50 ′ is controlled by the main control panel so that the test efficiency of the module handler can be maximized.

The second mobile robot 50 'inserts / takes out the module into the test socket of the second test unit 130' and the user tray 2, the reloading jig 190 ', and the bad loading tray 3'. Since the operation of loading in the same as the operation of the first mobile robot 50, a detailed description thereof will be omitted.

When the second mobile robot 50 'loads the tested good product module in the user tray 2 located at the module loading position, the user tray containing the module is moved to the tray unloading position by the tray moving means 170, and the tray is moved. The unloading means 180 is loaded on the unloading tray stacker 189.

The operation in which the user tray of the module mounting position is loaded in the export tray stacker 189 will be described below in detail.

When the module is filled in the user tray, the lifting plate 177 is raised to the lower end of the user tray by the cylinder 179 of the tray lifting means 172 located below the module loading position. The lifting plate 177 selectively operates the auxiliary bracket 177a according to the size of the user tray 2. When the lifting plate 177 is raised, a pair of opening and closing cylinders 165 and 165 'of the tray loading means opens the tray support bracket 211 of the tray drawer 204 downward. When the support bracket 211 is opened, the lifting plate 177 is lowered to seat the user tray 2 on the belt conveyor 171. When the tray 2 is placed on the belt conveyor 171, the belt is driven to move the tray 2 to the unloading position.

When the tray 2 comes to the unloading position, the tray lifting unit at the unloading position is raised to raise the tray. When the tray is raised, the gripper 183 of the tray unloading means 180 grips the tray 2, the lifting unit is lowered, and the unloading means 180 moves the tray 2 by the rodless cylinder 181. Carried out on the unloading tray stacker 189. When the tray 2 comes on the take-out tray stacker 189, the tray lift plate 188 of the take-out tray stacker 189 is raised to be positioned at the sensor-sensed height under the tray, and the gripper 183 grips it. When the lifting unit is lowered on the tray 2, the gripper 183 unloading the tray 2 returns to its original position.

When the user tray placed in the module loading position for carrying out is placed on the belt conveyor 171, the rodless cylinder 161 of the tray loading means returns the empty tray drawer 204 to the user tray stacker 200, do. The user tray stacker 200 then ascends to stop the next tray drawer 204 at the user tray 2 unloading position. The tray loading means is a fixed cylinder mounted on the moving plate of the rodless cylinder 161, and an empty user tray is inserted into the conveying hole 212 formed in the new tray drawer 204 stopped at the user tray stacker 200. The containing tray drawer 204 is moved to the module loading position. The above operation is repeated in the same manner when the module is loaded in the user tray.

In the above, the module handler for testing one type of module has been described. However, even if the type of the module is changed, the module handler can be automatically handled by the main controller. The pick and place unit 60 of the first and second mobile robots 50 and 50 ', the guide member 139 of the first and second test part socket jig, , The belt conveyor unit 171 and the elevating plate 177 of the tray moving means, the tray supporting member opening and closing cylinder 165 of the tray loading means, the gripper 183 of the tray unloading means, and the user tray stacker 200. It is a rechecking jig of.

As described above, according to the present invention, the module supply unit for supplying the module, the test unit for testing the module, and the module loading position for holding the tested module are each composed of two, each of which can be tested at a time Since the number is increased to 16, the production efficiency of the module is increased, the test is not interrupted when the recovery tray or the user tray is replaced, and the user tray stacker and the pick and place unit of the mobile robot are automatically adjusted according to the module type. Even if the type of is changed, the test is not interrupted.

Although the preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the above-described specific preferred embodiments, and the present invention without departing from the gist of the present invention as claimed in the following claims. Those skilled in the art will be able to implement various modifications.

Claims (8)

In the module test handler for returning the module to the test unit for the test of the assembled memory module, inserting the returned module to the test unit, classifying the module to be tested and discharged according to the test result, A module supply unit having at least two supply stations for sequentially loading and supplying a recovery tray containing a module to be tested; First and second test units for fixing and testing a module carried from the module supply unit; A tray supply unit for loading the stacker when the module in which the test is completed is filled in a user tray placed in at least two module stacking positions; A user tray stacker stacking a plurality of empty user trays and sequentially supplying the empty user trays to the module stacking positions; First and second defective loading trays and rechecking jig installed around each of the first and second test units, each of which contains a defective module and a rechecking module according to a test result of the module; First and second moving buffers installed between the first and second test units to carry modules; A first mobile robot installed above the first test unit and the supply station to move a module between the first test unit, the supply station, the moving buffer, the first bad loading tray, and the first reloading jig; ; And A second unit installed above the second test unit and the module loading position to move the module between the second test unit, the module loading position, the moving buffer, the second defective loading tray, and the second reloading jig; Module test handler, comprising: a mobile robot. The method of claim 1, wherein the module supply unit, A recovery tray stacker for loading a plurality of recovery trays having different heights in a bulk type, and separating the stacked recovery trays one by one; And And a supply station for loading and unloading the recovery tray to the recovery tray stacker. The method of claim 1, wherein the first and second test unit A test socket for connecting the module with a tester; And And a socket jig for guiding the module when the module is inserted into or taken out of the test socket. The method of claim 3, wherein the socket jig, And a guide adjusting means comprising a motor, a ball screw driven by the motor, a ball nut screwed to the ball screw, a guide plate to which the ball nut is fixed, and a linear guide to guide the guide plate. Module test handler. The method of claim 1, wherein the user tray stacker, Module test handler, characterized in that the width of the stacker is automatically adjusted according to the type of module. The method of claim 1, wherein the first and second mobile robot, A module test handler comprising a pick and place unit that can hold eight modules simultaneously. The method of claim 6, wherein the pick and place unit, And a means for inserting the module into a test socket, the module test handler being automatically changed according to the type of the module. The method of claim 7, wherein the module inserting means, Pick and place base plate coupled to the mobile robot; A motor fixed to the base plate; A ball screw connected to the motor and attached to the base plate to enable rotational movement; A ball nut screwed with the ball screw; A pick and place frame coupled to the ball nut; And And a linear motion guide disposed between the base plate and the pick and place frame to guide linear motion.

Images