Robotic Vision Systems, Inc.

Alex Mauro

Howard K Stern

William E Yonescu

Jay Lee

Joseph Vaiana

Joseph A Ross

Richard Q Schmidt

Fereydoun Maali

Frank Holetsky

A method and apparatus are provided for efficiently using 3-D vision systems to measure selected structural features of objects that have a uniform geometric arrangement. The method and apparatus are particularly well suited for optimizing the 3-D measurement of a multiple lead frame, leads of integrated circuit devices mounted on the multiple lead frame, and ball grid array integrated circuit devices on a wafer. For obtaining the three-dimensional data, corresponding sides of the multiple lead frames or devices are scanned sequentially in a row or column with at least one three dimensional sensor. This scanning procedure is repeated for all rows and columns containing structural features of the devices for which data are to be obtained. The acquired three-dimensional device geometry data are compared with the intended predetermined geometry to produce a signal indicative of a deviation of an actual device geometry from the intended predetermined geometry that exceeds a specified tolerance.

Apparatus and method for obtaining three-dimensional data from objects

Methods and arrangements are provided to efficiently use 3-D vision systems to measure selected features, of objects that are semi-constrained in compartmented trays having a uniform geometric arrangement. The methods are particularly well suited for optimizing the 3-D measurement of leads on integrated circuit devices which are packaged in trays. For obtaining the three-dimensional data, a multi-pocketed tray can be provided with tray pockets arranged in rows and columns, and corresponding sides of the multiple parts or devices in a row or column are scanned sequentially with at least one three dimensional sensor. This scanning procedure is repeated for all rows and columns containing sides of the devices from which data is to be obtained. The devices can be first aligned by applying directional vibration to the tray to drive all the parts or devices to the same corner or side of the respective pockets. The collected device geometry data is fed back to the manufacturing operation to control the parameters thereof.

Method for obtaining three-dimensional data from semiconductor devices

Apparatus for obtaining three-dimensional data from multiple parts or

Methods and arrangements are provided to efficiently use 3-D vision systems to measure selected features of objects that are semi-constrained in compartmented trays having a uniform geometric arrangement. The methods are particularly well suited for optimizing the 3-D measurement of leads on integrated circuit devices which are packaged in trays. For obtaining the three-dimensional data, a multi-pocketed tray is provided with tray pockets arranged in rows and columns. Corresponding sides of the multiple parts or devices in a row or column are scanned sequentially with at least one three-dimensional sensor. This scanning procedure is repeated for all rows and columns containing sides of the devices from which data is to be obtained. The devices can be first aligned by applying directional vibration to the tray to drive all the parts or devices to the same corner or side of the respective pockets.

Method for obtaining three-dimensional data from multiple parts or

Methods and arrangements are provided to efficiently use 3-D vision systems to measure selected features of objects that are semi-constrained in compartmented trays having a uniform geometric arrangement. The methods are particularly well suited for optimizing the 3-D measurement of leads on integrated circuit devices which are packaged in trays.

Methods and arrangements for automation of the masking process for spray painting and other material spray deposition. The methods provide masking simultaneous with the material spray to thereby eliminate additional mask application and removal processes. The arrangements provide non-contact masking and unused material recovery. Air curtain masking and solid non-consumable masking methods are provided.

Automated masking device for robotic painting/coating

An arrangement for improved dispensed material bead profile control, in which a viscous material is dispensed in a stream upon a surface. The stream is transported along that surface and forms a bead of the viscous material. The bead is then confined with air streams which also reshape the profile of the bead. The material is dispensed by a nozzle which has at least two orifices in its proximity. One orifice is located at a distance from the nozzle which is greater than for the other orifice. The orifices form air streams under pressure and direct the air streams toward the material stream, as well as toward the bead formed on the surface when the material stream is transported along that surface.

Sealant bead profile control

A stream calibration arrangement for visually determining the position and orientation of a sprayed material stream. Use of a stream calibration fixture to determine adjustments to an adjustable spray gun mount to realign a spray stream without altering the taught path of a robot carrying the spray gun. Alternatively, the stream is realigned by altering the taught robot path and requiring no gun mount adjustment. Stream realignment is also carried out automatically with and without gun mount adjustments. Machine vision is used for automatic stream realignment.

Robotic sealant calibration

An arrangement for controlling the flow of fluid in which the fluid is allowed to flow through a selected number of parallel paths of various flow capacities as determined by restricting orifices and cutoff valves. Accurate volume/length of fluid is dispensed at variable velocities by controlling both applicator velocity and flow rate. An arrangement is also provided for controlling the shape of the deposited fluid employing controlled air flow confinement.

Digital flow control system

An arrangement for scanning the measurement field of view of a three-dimensional measurement system, in which the measurement system is pivoted through a relatively small motion to scan a relatively large area of volume. The measurement system is rotated via a control unit which accurately controls the rotation. Mathematical corrections are applied to determine the true measured coordinates.

Rocker arm sensor

An arrangement in which three-dimensional measurement sensors are calibrated using linear translation of three flat plates, one orthogonal to the path, one sloping vertically, one sloping horizontally. Sensors for which linear interpolation applies need only calibrate two surfaces of the sensor volume for complete calibration. Two flat surfaces are adequate for calibrating a volume if one surface is used twice.

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Wheatley Heights, NY, United States of America

Alex Mauro