# US 8,727,693 B2 · Apparatus for object processing

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- Number: US 8,727,693 B2
- Document ID: US8727693B2
- Status: Granted
- Kind: B2
- Application number: 12/596,145
- Filed: 2008-05-06
- Published: 2011-04-07
- Granted: 2014-05-20
- Earliest claimed: 2007-05-07
- Assignees: Manufacturing Integration Technology Ltd
- Applicants: Francis Medel P. Tundag; Han Yong Lam; Kam Yee Fong
- Inventors: Francis Medel P. Tundag; Han Yong Lam; Kam Yee Fong
- Web page: https://patentgrep.com/patent/US8727693B2

## CPC

- H10P 72/0446: {Apparatus for mounting on conductive members, e.g. leadframes or conductors on insulating substrates}
- Y10T 29/53178: Chip component
- H10P: GENERIC PROCESSES OR APPARATUS FOR THE MANUFACTURE OR TREATMENT OF DEVICES COVERED BY CLASS H10
- Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION

## Abstract

The present invention provides apparatuses for processing an object just as semiconductor chips and dies. The first embodiment comprises two or more pick and place heads (FIG. 1) which operate sequentially (ie leap frog) to pick components from a first location to a second. The second embodiment (FIG. 8) comprises a flipping head combined with a pick and place heads where an object is picked up by the flipping head, turned over and then presented to a pick and place head for relocation to an output.

## Claims

### Claim 1

An apparatus for object processing, comprising:
an input unit for loading a plurality of objects, wherein at least one of plurality of objects is positioned in a first predetermined location;
a first Pick & Place (PNP) unit and a second Pick & Place (PNP) unit for picking the positioned object from the first predetermined location and placing the picked object onto a second predetermined location; wherein the first PNP unit and second PNP unit are so configured that they can pick the positioned objects from the first predetermined location sequentially and in turn transport the picked objects to the second predetermined location;
a transporting system for transporting the first PNP unit and second PNP unit from the first predetermined location to the second predetermined location and back forth;
wherein the transporting system comprises a first gantry being disposed with the firs PNP unit and a second gantry being disposed with the second PNP unit, wherein the first gantry and second gantry are disposed on separate bases to form a mirror configuration so that the first PNP unit and second PNP unit travel along the first gantry and second gantry independently, and stop at the first predetermined location and second predetermined location sequentially; whereby the plurality of objects can be picked at the first predetermined location by the first PNP unit and second PNP unit, transported along the first gantry and second gantry, and placed at the second predetermined location by the first PNP unit and second PNP unit sequentially; and
an output unit providing the second predetermined location so that the picked objects can be sequentially placed onto the output unit;
whereby the output unit unloads the placed objects.

### Claim 2 (depends on 1)

The apparatus of claim 1, wherein the plurality of objects are semiconductor dies.

### Claim 3 (depends on 2)

The apparatus of claim 2, wherein the semiconductor dies loaded by the input unit and unloaded by the output unit are in a singulated wafer form or a strip form or a magazine form.

### Claim 4 (depends on 1)

The apparatus of claim 1, wherein each of the first PNP unit and second PNP unit comprises a PNP head for picking, transporting and placing one of the plurality of objects, and a maneuverable arm having a first end coupled to the respective gantry, a second end coupled to the PNP head, and a body between the first end and second end, wherein the maneuverable arm is operable according to a user's instructions.

### Claim 5 (depends on 4)

The apparatus of claim 4, wherein each of the first PNP unit and second PNP unit further comprises a linear motor for driving the extension or retraction of the maneuverable arm.

### Claim 6 (depends on 1)

The apparatus of claim 1, wherein each of the first gantry and second gantry comprises a rail on which the PNP units are operably disposed, and a driving module for moving the operably disposed PNP along the rails.

### Claim 7

An apparatus for object processing, comprising:
an input unit for loading a plurality of objects, wherein at least one of plurality of objects is positioned in a first predetermined location;
a first Pick & Place (PNP) unit and a second Pick & Place (PNP) unit for picking the positioned object from the first predetermined location and placing the picked object onto a second predetermined location; wherein the first PNP unit and second PNP unit are so configured that they can pick the positioned objects from the first predetermined location sequentially and in turn transport the picked objects to the second predetermined location;
a transporting system for transporting the first PNP unit and second PNP unit from the first predetermined location to the second predetermined location and back forth; wherein the transporting system comprises a first gantry being disposed with the firs PNP unit and a second gantry being disposed with the second PNP unit, wherein the first gantry and second gantry are disposed on the same base with one gantry is above another one to form a tier configuration so that the first PNP unit and second PNP unit travel along the first gantry and second gantry independently without collision, and stop at the first predetermined location and second predetermined location sequentially; whereby the plurality of objects can be picked at the first predetermined location by the first PNP unit and second PNP unit, transported along the first gantry and second gantry, and placed at the second predetermined location by the first PNP unit and second PNP unit sequentially; and
an output Unit providing the second predetermined location so that the picked objects can be sequentially placed onto the output unit;
whereby the output unit unloads the placed objects.

### Claim 8 (depends on 7)

The apparatus of claim 7, wherein each of the first PNP unit and second PNP unit comprises a PNP head for picking, transporting placing one of the plurality of objects, and a maneuverable arm having a first end coupled to the respective gantry, a second end coupled to the PNP head, and a body between the first end and second end, wherein the maneuverable arm is operable according to a user's instructions.

### Claim 9 (depends on 8)

The apparatus of claim 8, wherein each of the first PNP unit and second PNP unit further comprises a linear motor for driving the extension or retraction of the maneuverable arm.

### Claim 10 (depends on 7)

The apparatus of claim 7, wherein each of the first gantry and second gantry comprises a rail on which the PNP units are operably disposed, and a driving module for moving the operably disposed PNP along the rails.

### Claim 11 (depends on 8)

The apparatus of claim 8 wherein each of the first PNP unit and second unit further comprises a Z-axis linear motor for driving the PNP unit to move along Z-axis.

### Claim 12 (depends on 1)

The apparatus of claim 1, further comprising a vision inspection system for capturing and/or processing the image of the object during object processing, and a control system for receiving information from the vision inspection system and sending instructions to other components of the apparatus for precise picking and placing the object.

### Claim 13 (depends on 12)

The apparatus of claim 12, wherein the vision inspection system comprises:
an input inspection camera for capturing the image of the object on the input unit in the first predetermined location and optionally processing the captured image;
at least one bottom inspection camera for capturing the image of the object picked by each of the first PNP unit and second PNP unit, wherein the at least one bottom inspection camera is disposed between the first predetermined location and second predetermined location, and optionally processing the captured image; and
an output inspection camera for capturing the image of the object placed by the PNP units on the Output unit in the second predetermined location.

### Claim 14 (depends on 13)

The apparatus of claim 13, wherein each inspection camera of the vision inspection system comprises an image unit for capturing images of the object, and an optional vision microprocessor for processing the captured image.

### Claim 15

An apparatus for object processing, comprising:
an input unit for loading a plurality of objects, wherein at least one of plurality of objects is positioned in a first predetermined location;
a flipping mechanism for picking up the positioned object at the first predetermined location, flipping the picked object, and positioning the flipped object in a second predetermined location, whereby the opposite side of the flipped object is available for further processing; wherein the flipping mechanism comprises a first flipping unit and a second flipping unit; wherein each of the first flipping unit and second flipping unit comprises a flipper and a driving means for driving the flipper; wherein the flipper comprises at least one flipper head that is able to pick up the positioned object at the first predetermined location and flipping the object to the second predetermined location;
a Pick & Place (PNP) mechanism for picking up the flipped object at the second predetermined location, transporting the picked flipped object to a third predetermined location, and placing the picked flipped object at the third predetermined location;
a transporting system for transporting the PNP mechanism from the second predetermined location to the third predetermined location and back forth; and
an output unit providing the third predetermined location so that the picked flipped object can be placed onto the output unit.

### Claim 16 (depends on 15)

The apparatus of claim 15, wherein the plurality of objects are semiconductor dies.

### Claim 17 (depends on 16)

The apparatus of claim 16, wherein the semiconductor dies loaded by the input unit and unloaded by the output unit are in a singulated wafer form or a strip form or a magazine form.

### Claim 18 (depends on 15)

The apparatus of claim 15, wherein the first flipping unit and second flipping unit have a configuration that the two units are independently controlled so that they can pick up the positioned object at the first predetermined location.

### Claim 19 (depends on 18)

The apparatus of claim 18, wherein the first flipping unit and second flipping unit have a mirror configuration so that each unit picks up the positioned object at the first predetermined location and flipping the picked object to the second predetermined location.

### Claim 20 (depends on 19)

The apparatus of claim 19, wherein the second predetermined location for the flipped object from the first flipping unit and second flipping unit is different so that the PNP mechanism has to be able to pick the flipped object at two second predetermined locations.

### Claim 21 (depends on 15)

The apparatus of claim 15, wherein the PNP mechanism comprises a first Pick & Place (PNP) unit and a second Pick & Place (PNP) unit for picking the positioned flipped object from the second predetermined location; wherein the first PNP unit and second PNP unit are so configured that they can pick the positioned flipped objects sequentially and in turn transport the picked objects to the third predetermined location.

### Claim 22 (depends on 21)

The apparatus of claim 21, wherein the transporting system comprises a first gantry being disposed with the firs PNP unit and a second gantry being disposed with the second PNP unit, wherein the first gantry and second gantry are positioned on the same horizontal plane and have a mirror configuration so that the first PNP unit and second PNP unit travel along the first gantry and second gantry separately, and stop at the second predetermined location and third predetermined location sequentially;
whereby the plurality of objects can be picked at the second predetermined location by the first PNP unit and second PNP unit, transported along the first gantry and second gantry, and placed at the third predetermined location by the first PNP unit and second PNP unit sequentially.

### Claim 23 (depends on 22)

The apparatus of claim 22, wherein each of the first PNP unit and second PNP unit comprises a PNP head for picking, transporting placing one of the plurality of objects, and a maneuverable arm having a first end coupled to the respective gantry, a second end coupled to the PNP head, and a body between the first end and second end, wherein the maneuverable arm is operable according to a user's instructions.

### Claim 24 (depends on 23)

The apparatus of claim 23, wherein each of the first PNP unit and second PNP unit further comprises a linear motor for driving the extension or retraction of the maneuverable arm.

### Claim 25 (depends on 22)

The apparatus of claim 22, wherein each of the first gantry and second gantry comprises a rail on which the PNP units are operably disposed, and a driving module for moving the operably disposed PNP along the rails.

### Claim 26 (depends on 21)

The apparatus of claim 21, wherein the transporting system comprises a first gantry being disposed with the firs PNP unit and a second gantry being disposed with the second PNP unit, wherein the first gantry and second gantry are positioned on two horizontal planes and have a tier configuration so that the first PNP unit and second PNP unit travel along the first gantry and second gantry separately, and stop at the second predetermined location and third predetermined location sequentially;
whereby the plurality of objects can be picked at the second predetermined location by the first PNP unit and second PNP unit, transported along the first gantry and second gantry, and placed at the third predetermined location by the first PNP unit and second PNP unit sequentially.

### Claim 27 (depends on 26)

The apparatus of claim 26, wherein each of the first PNP unit and second PNP unit comprises a PNP head for picking, transporting placing one of the plurality of objects, and a maneuverable arm having a first end coupled to the respective gantry, a second end coupled to the PNP head, and a body between the first end and second end, wherein the maneuverable arm is operable according to a user's instructions.

### Claim 28 (depends on 27)

The apparatus of claim 27, wherein each of the first PNP unit and second PNP unit further comprises a linear motor for driving the extension or retraction of the maneuverable arm.

### Claim 29 (depends on 26)

The apparatus of claim 26, wherein each of the first gantry and second gantry comprises a rail on which the PNP units are operably disposed, and a driving module for moving the operably disposed PNP along the rails.

### Claim 30 (depends on 23, 27)

The apparatus of claim 23 or 27, wherein each of the first PNP unit and second unit further comprises a Z-axis linear motor for driving the PNP unit to move along Z-axis.

### Claim 31 (depends on 15)

The apparatus of claim 15, further comprising a vision inspection system for capturing and/or processing the image of the object during object processing, and a control system for receiving information from the vision inspection system and sending instructions to other components of the apparatus for precise picking and placing the object.

### Claim 32

An apparatus for object processing, comprising:
an input unit for loading a plurality of objects, wherein at least one of plurality of objects is positioned in a first predetermined location;
a flipping mechanism for picking up the positioned object at the first predetermined location, flipping the picked object, and positioning the flipped object in a second predetermined location, whereby the opposite side of the flipped object is available for further processing; wherein the flipping mechanism comprises one flipper and a driving means for driving the flipper, and wherein the flipper comprises a flipper arm having two free ends and operable to rotate about a pivot, two flipper heads attached to the two ends of the flipper arm for sequentially acquiring the object from the input unit at the first predetermined location and positioning the flipped object in the second predetermined location;
a Pick & Place (PNP) mechanism for picking tip the flipped object at the second predetermined location, transporting the picked flipped object to a third predetermined location, and placing the picked flipped object at the third predetermined location;
a transporting system for transporting the PNP mechanism from the second predetermined location to the third predetermined location and back forth; and
an output unit providing the third predetermined location so that the picked flipped object can be placed onto the output unit;
wherein the flipping mechanism comprises one flipper and a driving means for driving the flipper, and wherein the flipper comprises a flipper arm having two free ends and operable to rotate about a pivot, two flipper heads attached to the two ends of the flipper arm for sequentially acquiring the object from the input unit at the first predetermined location and positioning the flipped object in the second predetermined location.