WO1993002952A1

WO1993002952A1 - Input/output apparatus for electronic device handlers

Info

Publication number: WO1993002952A1
Application number: PCT/US1992/006569
Authority: WO
Inventors: Santino Marrone; Carl Eerdmans; Mark W. Klug
Original assignee: Symtek Systems, Inc.
Priority date: 1991-08-05
Filing date: 1992-08-05
Publication date: 1993-02-18

Abstract

Input and output apparatuses have open-face bins (6) containing stacks of drawers (4) each for holding an electronic device tray (2). Each bin has a drawer puller (10) and is moveable vertically to selectively align each drawer therein with the drawer puller. The aligned drawer is pulled from the bin and brought into collinear alignment with a registration line. An input shuttle (16) moves along the input registration line and picks up devices at the registration line, and delivers them to an input stage (24). The input stage shifts the devices to the handler's input points (26). Further, an output shuttle (38) with a pick-up head (40) fetches devices from pick-up points in an output stage (52) which receives devices at the handler's output points (58) and shifts them to the output shuttle pick-up points (50). The output shuttle delivers them to tray seats along the output registration line.

Description

"INPUT/OUTPUT APPARATUS FOR ELECTRONIC DEVICE HANDLERS".

BACKGROUND OF THE INVENTION This invention relates in general to apparatuses for automatically inputting electronic devices to and outputting devices from electronic device handlers, and in particular to such apparatuses, if any, which selectively pick electronic devices from trays upon which they are carried, and present the picked devices, precisely located, to a device handler, and which retrieve the electronic devices from an output stage of the device handler and return them in sorted fashion to the trays.

This invention provides input and output means to automate the testing and sorting of electronic devices carried in conventional planar trays, such as JEDEC trays. Heretofore, there has not been an efficiently automated means for controlling a plurality of such trays containing devices such that the devices can be automatically picked from the trays and handed off to a device handler for processing. Also, heretofore there has not been an efficiently automated means of receiving processed devices from a handler and returning them to the trays in sorted fashion.

This invention provides a fully automated system under computer program control such that devices picked for testing by the handler can be selected in random order as opposed to serial order (as required by devices stacked in tubes) , and such that the devices being outputted by the handler can be randomly directed to designated trays based upon their testing characteristics.

This invention also provides a way of circumventing the problem that the devices as they are arranged in trays such as JEDEC trays are not located with the precision necessary for a device handler. This invention provides a mechanism for presenting the devices to a handler precisely located.

Other advantages and attributes of this invention will be readily discernable from a reading of the text hereinafter.

SUMMARY OF THE INVENTION Definitions: Please note that the terms ^■■random" and "randomly" when used herein to describe a manner of selecting elements from a set of elements (e.g., trays from an array of trays, devices or device pockets from a plurality of such coordinately arranged) shall mean that the elements of the set can be selected in any sequence without regard to how the elements are ordered in the set. The term "electronic device" as used herein shall include without limitation integrated circuits, includingwithout limitation monolithic circuits, thin film circuits, thick film circuits, and hybrid circuits, and any other circuits and hybrid assemblies so packaged as to enable them to be handled as if they were integrated circuits. The term "set" as used herein shall mean a group of elements numbering one or more.

SUBSTITUTE SHEET Presented is an improvement in an electronic device handler which inputs sets of electronic devices for processing by fetching the sets from a corresponding set of input pick-up points, and which outputs sets of processed electronic devices by depositing them at a corresponding set of output drop points, such as the handlers disclosed in U.S. Patent Application by Twigg, et al., Serial No. 07/587,218. The improvement in part comprises: (1) means for holding a plurality of planar trays in an input array, each tray of the input array being capable of holding a plurality of electronic devices arranged in a plurality of lines, (2) means for selectively aligning the plane of each tray in the input array with a first horizontal plane, (3) means for selectively bringing each line of electronic devices which are on a tray that is aligned with said first horizontal plane into coUinear alignment with a first registration line, (4) means for selectively picking from a tray a set of electronic devices from a line of electronic devices that is coUinear with the first registration line, and (5) means for shuttling a set of electronic devices picked from a tray to the corresponding set of input pick-up points. The improvement further comprises: (1) means for holding a plurality of planar trays in an output array, each tray of the output array having a plurality of seat means therein or thereon each seat means for holding an electronic device, said seat means being arranged in a plurality of lines, (2) means for selectively aligning the plane of each tray in the output array with a second horizontal plane, (3)

SUBSTITUTESHEET means for selectively bringing each line of said seat means which is on a tray that is aligned with said second horizontal plane into coUinear alignment with a second registration line, (4) means for picking up the sets of electronic devices outputted from the electronic device handler, (5) means for shuttling a set of picked up electronic devices to the second registration line, and (6) means for selectively depositing a picked up and shuttled set of electronic devices onto a corresponding set of seat means in a line of seat means which are in coUinear alignment with the second registration line.

An object of this invention is to provide an automated input apparatus for an electronic device handler which can randomly and selectively pick devices, singularly or in plural, from trays upon which they are carried, such as those conventionally used to transport devices in some coordinated arrangement, e.g. JEDEC trays, and present each picked device to a device handler for processing.

A further object of this invention is to provide an automated input apparatus as described in the preceding paragraph which can present the picked devices located to a precision required by the handler.

A further object of this invention is to provide an automated input apparatus as described in the previous two paragraphs which has the further capabilities of randomly and selectively picking a device tray from an array of such trays and presenting each selected tray in such a way that the devices in said tray can be picked for presentation to a device handler.

A further object of this invention is to provide an automated output apparatus for receiving electronic devices, singularly or in plural, from an electronic device handler and depositing the picked devices into randomly or serially selected device seats ( e.g. pockets) defined by a selected one of an array of device trays, e.g. JEDEC trays.

A further object of this invention is to provide an automated output apparatus as described in the preceding paragraph in which each tray of the array which is receiving devices from the handler can be randomly and selectively designated to receive electronic devices having one or more particular characteristics, such that a program in control of the output apparatus can sort the electronic devices being output by the handler into designated device trays according to their characteristics.

Other objects of this invention will either be discussed or will be readily discernible from the specification herein.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a pictorial representation, partially exploded, of a device input portion of this invention.

Figure 2 is a pictorial representation, partially exploded, of a device output portion of this invention.

Figure 3 is a top view of a drawer having a donor tray thereon being grasped by a drawer puller.

Figure 4 is a side view of a drawer puller. Figure 5 is a plan view of an input bin and its associated drawer puller with a drawer pulled out containing a donor tray thereon.

Figure 6 is a top view of the input shuttle path. Figure 7 is a side view of a shuttle assembly adapted to interface with a device invertor.

Figure 8 is a side view of a device invertor assembly. Figure 9 is a side view of the input shuttle path during a device handoff between the input shuttle and the device invertor.

Figure 10 is a plan view of the output shuttle path. Figures 11 and 12 are plan views of the output bins, each with a drawer pulled out.

Figure 13 is a front view of the output shuttle path without an output device invertor.

Figure 14 is a side view of a shuttle, either input or output, having a pick-up head which does not rotate. Figure 15 is a plan view of an input stage. Figure 16 is a side view of an input stage. Figure 17 is a plan view of an input stage without device specific components affixed thereto.

Figure 18 is a plan view of an output stage without a device specific adapter mounted thereon.

Figure 19 is a side view of the output stage of Figure 18.

Figure 20 is a cross-sectional view of a drawer mounted in a bin. Figures 21-23 are side views of a drawer puller claw in three progressive stages of gripping a drawer.

Figure 24 is a side view of a bin and its drive mechanism. DESCRIPTION OF THE PREFERRED EMBODIMENT

Referring to Figure 1, means for holding and vertically moving an array of electronic device trays 2 from which the trays can be individually selected in random order, and means for selectively picking a set of electronic devices from a selected tray and delivering the set to an electronic device handler are illustrated. As illustrated the device trays can comprise a planar platform with a plurality of seats (e.g. pockets) in a coordinated arrangement, such as rows and columns, and each seat is designed to contain and carry an electronic device. The device trays can be the kind that are conventionally used to transport such devices in some coordinated fashion, for example, JEDEC trays having perpendicular rows and columns of device pockets. For reference purposes only, the trays in an array of trays in the input apparatus of this invention shall be referred to as "donor" trays to reflect the fact that they provide electronic devices to the handler.

Referring to Figure 2, a means for receiving a set of electronic devices from an electronic device handler and depositing the set into selected seats in a selected device tray of an array of device trays is illustrated. For reference purposes only, the trays in an array of trays in the output apparatus of this invention shall be referred to

SUBSTITUTESHEET as "recipient" trays to reflect the fact that they receive electronic devices from the handler. It should be noted that donor and recipient trays are preferably identical.

As illustrated in Fig. 1, a plurality of donor trays 2 can be assembled into a one dimensional array by placing them individually on a stack of drawers 4 disposed in a bin 6. Although only one bin is illustrated, it should be noted that a plurality of bins each containing a stack of drawers can be used in order to assemble the donor trays into a two dimensional array, all without departing from the purposes of this invention and the scope of the claims hereinafter. The drawers 4 are each mounted on slides (as illustrated in Fig. 20) and can slide in and out through an open face of the tray bin 6. Each drawer can be individually pulled out of the bin to an extent sufficient for a device picking mechanism (as illustrated in Fig. 7) to gain access to each device 8 in a donor tray 2 contained in the drawer from above the tray. A drawer puller 10 grips a forward edge of a drawer and pulls it through the open face of the tray bin 6. As will be further explained, the tray bin is rectilinearly moveable up and down. (For reference purposes only, the movement of the bin will be considered to be in a line parallel to a Z axis as in a three dimensional Cartesian coordinate system having X, Y and Z axes), as illustrated by arrow 12. The drawer puller 10 is stationary with respect to the Z axis and the tray bin is so moveable to selectively bring each drawer of the bin o a certain horizontal plane which is in alignment with a drawer gripping mechanism of the drawer puller. (As illustrated in Figs. 21-23.) In this way each tray in the donor array can be randomly selected for pulling. Using the same Cartesian coordinate system of reference, the drawer puller can be said to move the selected donor tray back and forth along a line parallel to a Y axis, as illustrated by arrow 14.

Referring again to Figure 1, an input shuttle 16 is affixed to a pulley driven belt 18 and is thereby moveable back and forth along a line parallel to an X axis, as illustrated by arrow 20. The input shuttle has a pick-up head 22 which is at least moveable up and down a line parallel to the Z axis. As will be explained, the pick-up head has the ability to contact a device positioned below it, lift the device and carry it. The input shuttle can be moved by the pulley motor to selectively position its pick¬ up head over each device in a registration line. The electronic devices 8 in the donor trays are arranged in lines which are parallel to the movement of the input shuttle. As illustrated, the lines are the rows of the perpendicular row/column configuration of the tray seats. The drawer puller can be operated to selectively bring each line of electronic devices in a pulled drawer into coUinear alignment with the registration line. The registration line is a line along which the shuttle can pick-up devices. As illustrated, the registration line is parallel to the shuttle's line of movement and its spacing from said line of movement is basically defined by the reach of the

SUBSTITUTESHEET shuttle's pick-up head. In this fashion, each device of each tray can be randomly selected, picked up and carried by the input shuttle. It should be noted that the pick-up head can be configured to pick-up more than one device at a time.

Referring again to Figure 1, the input shuttle 16 having picked up a device from a donor tray 2, then transports the device inboard toward an input stage 24 of a device handler 26 (shown in phantom) . If the electronic devices, as they reside in the donor trays, are properly orientated for the handler, the input shuttle then deposits the device onto the input stage at a drop point 26. If the electronic devices, as they reside in the donor trays, are orientated oppositely to the proper orientation for testing, the input shuttle moves to a position proximate a device invertor 28. As will be further explained, the device is then handed from the input shuttle to the device invertor which reverses the device's orientation and drops it onto the input stage at drop point 26. Referring again to Figure 1, the input stage 24 serves two primary purposes. It shifts electronic devices individually from drop point 26 to a pick-up point 30 where they can be retrieved by a handler loader 32, but as illustrated it also precisely locates the devices for the handler loader. The function of precisely locating the electronic device for the handler loader can be necessary if as they reside in the donor trays, the respective positions of the electronic devices are typically not precise enough for the handler. In such a case, they must be located sufficiently precisely for the handler loader.

As illustrated in Fig. 2, in contrast to the input apparatus of Figure 1 the output apparatus of Figure 2 has two tray bins 34. Each tray bin can contain a plurality of recipient trays assembled into stacks by being individually placed on drawers 36 in the bins. Thus, the output apparatus of this invention, as illustrated, can have a two dimensional array of recipient trays. As in Figure 1, the drawers are slidable in and out of the bins through open faces of the bins, each drawer capable of being pulled out to an extent that a output shuttle 38 can selectively position its pick-up head 40 over each device seat of the tray. The bins are rectilinearly moveable up and down in a direction parallel to a Z axis as illustrated by arrow 42 and the drawers are slidable in and out of their respective bins along a direction parallel to a Y axis as illustrated by arrow 44. The output shuttle is affixed to a pulley- driven belt 46 which moves the output shuttle back and forth along a direction parallel to an X axis as illustrated by arrow 48. The drawer puller can be controlled to selectively bring each line of seats in a pulled drawer into coUinear alignment with a registration line which, as illustrated, is parallel to the line of output pulley movement and is spaced therefrom to the extent of the output pulley's pick-up head's reach. It is a line along which the pick-up head can accurately deposit devices onto seats. Thus, a device coming from a handler can be deposited in a

SUBSTITUTE SHEET randomly selected pocket of a randomly selected recipient tray 36 of either bin 34. It should be noted that the output shuttle's pick-up head can be configured to handle more than one device at a time. Referring again to Figure 2, the output shuttle 38 has an inboard limit of travel at a location where its pick-up head-40 is positioned over a pick-up point 50 of an output stage 52 of the device handler 26, if the electronic devices being output by the handler are properly orientated for transfer onto the recipient trays. If, however, the devices as they come out of the handler are oppositely orientated, then an output device invertor 54 is fixedly positioned over the pick-up point 50 of the output stage. In the latter case, the output device invertor picks up the device by its head 56 and hands it off to the output shuttle 38 in such a way that the orientation of the device is reversed. The output stage 52 serves to shift each device being output from the handler from an output drop point 58, i.e., the point at which a device is dropped by a handler unloading head 60, and moves the device to the output pick-up point 50. It should be noted that output device invertor 54 can be configured to handle more than one device at a time to match the number of devices being handled by the output shuttle. Referring to Figures 3-5, a drawer with a donor tray thereon being grasped by a drawer puller 10 is illustrated. The drawer 4 is a planar sheet having longitudinal side walls, 62A and 62B, to laterally contain and hold in place the donor tray 2. Four corner posts, 64A-64D, jutting upward from the drawer are used to longitudinally contain and hold in place the donor tray. In operation, there is a enough tolerance between the outside dimensions of the donor tray, and the spacing in between the side walls and between the posts to allow the donor trays to be positioned therebetween unforced. Preferably, the donor trays can be manually and freely placed on the drawer between the side walls and the posts. Referring again to Figures 3-5, as illustrated a claw 66 of the drawer puller 10 grasps a forward edge (with respect to the open face of the bin in which the drawer is disposed) of the drawer. As will be further explained, the claw is powered by a pneumatic ram. The claw is affixed to a claw carrier 68 which is selectively driven back and forth by means of a motor 70 and a drive screw 72. A guide rod 74 provides stability.

Referring to Figures 6-7, an input shuttle 16 is illustrated as having a carrier block 67 connected to a pulley belt 18 by means of brackets 68A and 68B. The carrier block defines a channel 70 which rides along a bar guide (not shown) . Affixed to the carrier in a direction toward the drawer bin 6 is a means for rotating the head 22 ninety degrees toward the device invertor 28. Preferably said means is a pneumatic cylinder of conventional design. Affixed to the means for turning the head ninety degrees is a means for moving the head up and down in a Z direction, which means is again preferably a pneumatic cylinder 74.

SUBSTITUTE SHEET Affixed to the base of the cylinder 74 is a cantilevered arm 76, and extending downward from the end of the arm remote from the cylinder 74 is a suction cup 78 in communication with a vacuum source (not shown) which is selectively actuated via tube 80. It should be noted that instead of one suction cup 78 there can be a plurality of suction cups in a line along the line of registration all communicating with a vacuum manifold affixed to the remote end of arm 76, the spacing of the suction cups matching the spacing of the devices on the registration line, the manifold communicating with a vacuum source, e.g. via tube 80. In this way a plurality of devices along the registration line can be picked-up simultaneously by the shuttle.

Referring again to Figures 6 and 7, affixed to the carrier block and projecting in opposite directions along an X direction are two limit sensors 82A and 82B. The travel of the input shuttle along the axis is controlled by a stepper motor 84 which drives a pulley 86. At an opposite end of the pulley belt is a idler pulley 88. When the input shuttle is at either extreme of its travel, one of the tongues, 82A or 82B interrupt a light beam passing through a gap of the sensors fixedly located at the extremes, 90A or 90B respectively, of the shuttle's travel. An interruption of the light of either sensor indicates to a controlling program that the shuttle has reached an extreme limit of travel.

Referring to Figures 6-8 again, a device invertor 28 is illustrated as having an anchor block 92 which is affixed to a base 94 so unlike the input shuttle, it remains fixed in place. However, like the input shuttle, it to has an arm 76 at the end of which is affixed a suction cup 78 communicating with a selectively activated vacuum source via tube 80. Like the input shuttle its arm 76 is connected to the base of a cylinder 74 which moves the arm up and down along the Z axis. Also like the input shuttle, it has a means for rotating the head 22 ninety degrees, but the rotation is toward the input shuttle. It should be noted that the device invertor, like the shuttle, can also have a plurality of suction cups communicating with a vacuum manifold hung at the remote end of arm 76. In such a case, the pick-up head of the device invertor will match the pick¬ up head of the input shuttle. Referring to Figure 9, a device handoff between the input shuttle 16 and the device invertor 28 is illustrated. Shown in phantom below the input shuttle is device 8B being held by the input shuttle's suction cup 78A in the orientation as the device was originally in the tray. In solid between the input shuttle and the device invertor, the device 8B as being transferred from the suction cup of the input shuttle to the suction cup of the device invertor 78B. Shown in phantom below the device invertor 28 is the reversed orientation of the device 8B after the handoff and after the device has been rotated downward to be positioned above the drop point 26 of the input stage 24. The arrows indicate the movement of the device during the inversion manoeuver.

SUBSTITUTE SHEET Referring to Figure 10, the output shuttle is illustrated as being affixed to a pulley driven belt 46 by clamps 96A and 96B. As with the input shuttle, a carrier block 98 has affixed thereto oppositely pointed tabs with interact with sensors, 102A and 102B respectively, to limit the travel of the output shuttle. Preferably, the output shuttle is identical to the input shuttle except that the cylinder which rotates the head 40 of the output shuttle rotates it in the opposite direction in order to face its corresponding device invertor 54. Likewise, the output device invertor 54 is identical to the input device invertor 28 except for the rotation of its head 56 which rotates oppositely in order to face the output shuttle. As with the input apparatus, the pulley belt is driven by a stepper motor 104 which turns a drive pulley 106 and at the opposite end of the pulley belt is an idler pulley 108.

Referring again to Figure 10, the output device invertor 54 is illustrated as being in a fixed location such that its head, and in particular the suction cup (or cups as the case may be) of its head (not shown) is positioned directly over the pick-up point on the output stage 52. The drop point 58 on the output stage (the point at which the handler unloader drops an outgoing device) is illustrated in phantom. As previously explained, the output stage shifts an outgoing device from the drop point to the pick-up point and said shift is illustrated by arrow 108 in operation, when a device has been dropped and shifted to the pick-up point, the output device invertor picks up the device and its head rotates ninety degrees toward the output shuttle. The head 40 of the output shuttle then rotates ninety degrees in the opposite direction to face the output device invertor and the output shuttle moves to a position proximate the output device invertor. At a point, the suction cups of both the device invertor and the output shuttle are in contact with opposite sides of the device. The device handoff is illustrated in phantom and generally designated 110. Referring to Figure 13, the output shuttle path is illustrated in a case where the devices as they are seated in the trays are properly oriented for the handler. In this case, the outgoing devices are shifted by an output stage 56 but are picked up not by an output device invertor but by the output shuttle 38. The output shuttle then traverses as previously explained and deposits the device into a selected seat of a selected recipient tray of a selected bin.

Referring to Figure 14, a shuttle is illustrated which does not have a rotating head. The shuttle illustrated can be either an output or an input shuttle. As illustrated, the shuttle has a carrier block 112 which serves the same purpose as previously defined carrier blocks 67. However, in place of the device which rotates the head (see Figure 7, 72A) , is a filler block 114. Attached to the filler block is the cylinder 74 for moving the suction cup 78 up and down along a line parallel to the Z axis, the suction being attached to a remote of an arm 76 which is attached

SUBSTIT to the base of cylinder 74. As previously described the shuttle illustrated can also have multiple suction cups 78 projecting from a common vacuum source distributed as by an elongated manifold affixed at the remote end of the arm 76. Referring to Figure 15, the input stage 24 is illustrated as having a chip drop point which is the point at which the chip is dropped by the shuttle pick-up head 22, and the chip drop point is where the chip 8 is picked up by the handler input loader 32 for processing. The input stage shifts the device from the chip drop point to the chip pick¬ up point so as to avoid space contention between the input shuttle 16 and the handler's device loader 32. A shoulder 118 abuts a device at the chip drop point and pushes it toward a fence 120 which as illustrated forms a right-angle corner 122. A second moveable shoulder 124 moves laterally across the path of the device as it is being pushed by shoulder 118 and the two moveable shoulders end up cornering the device at the chip pick-up point against the fence 120 in the right-angle corner 122. Thus the chip is ultimately moved between the chip drop point and the chip pick-up point as in a direction as indicated by arrow 126 while at the same time it is moved laterally by shoulder 124. It should be noted, that the shoulders 118 and 124 and the fence 120 are device dependent. They are preferably replaceable with other shoulders and fences which conform to the profiles of other types of devices. In this way, the input stage can be adapted to shift and precisely locate a wide variety of device forms. It should be noted that where the input shuttle can handle a plurality of devices simultaneously, then the number of input stages will match the number of devices the shuttle is capable of handling. For example, if the input shuttle can pick N devices, then there will be N input stages, preferably all operated in unison with a common drive, and the N chip drop points will be spaced to match the spacing of the input shuttle's N suction cups.

Referring to Figures 15-17, the input stage without the device specific shoulders and fence is illustrated with the driving mechanism. A conventional air cylinder 128 drives a mounting bracket 130 upon which is mounted the shoulder

118 which drives the device in the X direction as indicated by arrows 126 and 132. Also driven by cylinder is a rod 134 with a roller 136 at its remote end. At some point as the rod drives forward in the X direction the roller 136 encounters angled cam 138 which is affixed to a bracket 140 upon which is mounted the lateral moving shoulder 124, the shoulder which moves the device laterally to corner it. The roller acting against the cam drives the lateral shoulder. Also illustrated is a mounting bracket 142 upon which is mounted a device specific fence 120.

Referring to Figures 10, 18 and 19, the output stage 52 is illustrated in more detail. Basically, the output stage is a device pocket which merely shifts the device away from the output drop point to the output pick-up point. The device pocket 144 is defined by a device specific block mounted on a moveable base 146 driven by a conventional air cylinder 148. Thus, the output stage can be adapted to a

SUBSTITUTE SHEET variety of device forms, and moreover can be adapted to receive multiple devices if the output shuttle 38 or the output device invertor 54 (whatever the case may be) is capable of handling a set of devices. A guide rod 150 provides stability to the base 146.

Referring to Figure 20, the slides upon which each drawer is mounted in a bin 6 is illustrated. Projecting outboardly in opposite directions from drawer walls 62A and 62B are axles 152A and 152B, respectively. These are axles for roller bearings 154A and 154B, respectively. The bearing 154B rides between rails 156A and 156B which both present flat surfaces to the bearing's rollers. Bearing 154A however, rides between the bottom flat surface of rail 158A and a V grooved surface 160 of rail 158B. As illustrated, the right side bearing 154A riding in V grove 160 tends to center itself with respect to the apex of the V groove, thus providing a reference line of travel. This creates a relaxed tolerance with the respect to the width of the drawers and the spacing of the roller bearings since the left side bearing merely rides between flat surfaces and has lateral tolerance space 162. The left side bearing provides angular stability.

Referring to Figures 3, 21-23, the steps taken by a drawer pulling claw 66 in grasping a drawer 4 is illustrated. Figure 21 shows the claw 66 with its upper jaw 164 and lower jaw 166 fully open with a forward edge of drawer 4 therebetween. This is a point where the bin in which the drawer is located has stopped its vertical movement and has aligned the drawer illustrated with the certain horizontal plane in which the drawer puller can operate. The claw 66 has been moved by the claw carrier 68 to a position where it can grasp the forward edge of the drawer, and a claw drive rod 168 is moving forward to the point where a roller 170 on the end of the rod has made contact with upper jaw cam surface 172 and lower jaw cam surface 174. The upper cam surface 172 has a greater pitch than the lower cam surface 174 and therefore the upper jaw rotates downward (toward the drawer) at a faster rate in reaction to the wheel 170 than the lower jaw rotates upward. This has the effect of rotating the upper jaw 164 down toward the drawer to within a gap 176 before the lower jaw engages the drawer. Figure 22 illustrates the point at which the upper jaw stops rotating and remains positioned basically parallel to the drawer a slight gap 176 away. This slight gap is to minimize jarring the drawer during the clamping process. The lower jaw continues to rotate upward until a pin 178 engages a pin hole 180 defined by the drawer. The rotation f the lower jaw continues until it forces the drawer up against the upper jaw and the engagement is complete. Figures 22 and 23 illustrate how the upper jaw remains in its fixed position as the lower jaw continues to move. This is so because the wheel once it drives past the upper cam surface 72, it thereafter rides in a groove 182 defined by the upper jaw and rotation of the upper jaw ceases. In this fashion, when the lower jaw finally makes contact with the

SUBSTITUTESHEET drawer and creates some jarring effect, the upper movement of the drawer in response thereto is limited to the gap 176, and therefore the jarring effect is sufficiently dampened to avoid jostling the devices in the tray in the drawer, which jostling could unseat the devices causing problems with the operation of the apparatus.

Referring to Figure 24, a side view of a bin 6 is illustrated to show the mechanism by which the bin can be moved vertically as shown by arrow 12. A drive motor 184 drives a pulley 186 via belt 188. The pulley 186 turns a screw 190, the rotation of the screw moves the bin and the direction of rotation determines the direction of the bin movement.

Referring again to again to Figure 7, angular stability for the shuttles are provided by respective channels defined by channel bar 192 in which a bearing 194 of fixed to the shuttle block 67 rides. The guide rod 70 provides linear stability while the bearing 194 riding in a channel guide prevents any rotation of a shuttle with respect to the axis of rod 70.

Referring to Figures 18 and 19, it should be noted that the tray bins, drawer pullers and shuttles are independently operable and can be controlled by a computer software via conventional computer input and output circuits for interfacing between the software and the pneumatic devices and sensors involved in their movements. Thus the sequence of selection of trays, devices and device pockets can be changed by simply changing the software. This offers tre endous flexibility in the selection of devices being inputted to the handler, and in the sorting of devices being outputted from the handler.

The foregoing description and drawings were given for illustrative purposes only, it being understood that the invention is not limited to the embodiments disclosed, but is intended to embrace any and all alternatives, equivalents, modifications and rearrangements of elements falling within the scope of the invention as defined by the following claims. WE CLAIM:

SUBSTITUTESHEET

Claims

1. In an electronic device handler which receives sets of electronic devices for processing by fetching the sets from a corresponding set of input pick-up points, an improvement comprising:

(a) means for holding a plurality of planar trays in an array, each tray of the array being capable of holding a plurality of electronic devices arranged in a plurality of lines,

(b) means for selectively aligning the plane of each tray in the array with a certain horizontal plane,

(c) means for selectively bringing each line of electronic devices which are on a tray that is aligned with said certain horizontal plane into coUinear alignment with a registration line,

(d) means for selectively picking from a tray a set of electronic devices from a line of electronic devices that is coUinear with the registration line, and (e) means for shuttling a set of electronic devices picked from a tray to the corresponding set of input pick-up points.

2. The improvement according to claim 1 wherein the means for shuttling the electronic devices picked from a tray shuttles them to a corresponding set of input drop points, and further comprising a stage means for receiving the set at the input drop points and shifting them to the corresponding input pick-up points.

3. The improvement according to claim 2 wherein the stage means further comprises means for locating a set of electronic devices to a precision required by the electronic device handler, while shifting them to their respective input pick-up points.

4. In an electronic device handler which releases sets of processed electronic devices by depositing them at a corresponding set of output drop points, an improvement comprising:

(a) means for holding a plurality of planar trays in an array, each tray of the array having a plurality of seat means therein or thereon each seat means for holding an electronic device, said seat means being arranged in a plurality of lines, (b) means for selectively aligning the plane of each tray in the array with a certain horizontal plane, (c) means for selectively bringing each line of said seat means which is on a tray that is aligned with said certain horizontal plane into coUinear alignment with a registration line, and (d) means for picking up the sets of electronic devices released from the electronic device handler, (e) means for shuttling a set of picked up electronic devices to the registration line, and

SUBSTITUTESHEET (f) means for selectively depositing a picked up and shuttled set of electronic devices onto a corresponding set of seat means in a line of seat means which are in coUinear alignment with the registration line.

5. The improvement according to claim 4 further comprising a stage means for receiving a set of electronic devices outputted from the electronic device handler and shifting them to a set of corresponding output pick-up points, and wherein the means for picking up the sets of electronic devices outputted from the electronic device handler picks them up at the set of output pick-up points.

6. In an electronic device handler which receives sets of electronic devices for processing by fetching the sets from a corresponding set of input pick-up points, and which releases sets of processed electronic devices by depositing them at a corresponding set of output drop points, an improvement comprising:

(a) a device input apparatus comprising: (i) means for holding a plurality of planar trays in an input array, each tray of the input array being capable of holding a plurality of electronic devices arranged in a plurality of lines, (ii) means for selectively aligning the plane of each tray in the input array with a first horizontal plane, (iii) means for selectively bringing each line of electronic devices which are on a tray that is aligned with said first horizontal plane into coUinear alignment with a first registration line,

(iv) means for selectively picking from a tray a set of electronic devices from a line of electronic devices that is coUinear with the first registration line, and

(v) means for shuttling a set of electronic devices picked from a tray to the corresponding set of input pick-up points, and (b) a device output apparatus comprising:

(i) means for holding a plurality of planar trays in an output array, each tray of the output array having a plurality of seat means therein or thereon for holding a plurality of electronic devices, said seat means being arranged in a plurality of lines,

(ii) means for selectively aligning the plane of each tray in the output array with a second horizontal plane, (iϋ) means for selectively bringing each line of said seat means which is on a tray that is aligned with said second horizontal plane into coUinear alignment with a second registration line, and (iv) means for picking up the sets of electronic devices released from the electronic device handler,

SUBSTITUTESHEET (v) means for shuttling a set of picked up electronic devices to the second registration line, and

(vi) means for selectively depositing a picked up and shuttled set of electronic devices onto a corresponding set of seat means in a line of seat means which are in coUinear alignment with the second registration line.

7. The improvement according to claim 6 wherein the means for shuttling the electronic devices picked from a tray to the corresponding set of input pick-up points shuttles them to a corresponding set of input drop points, and further comprising an input stage means for receiving the set at the input drop points and shifting them to the corresponding input pick-up points.

8. The improvement according to claim 7 wherein the input stage means further comprises means for locating a set of electronic devices to a precision required by the electronic device handler, while shifting them to their respective input pick-up points.

9. The improvement according to claim 6 further comprising an output stage means for receiving a set of electronic devices outputted from the electronic device handler and shifting them to a set of corresponding output pick-up points, and wherein the means for picking up the sets of

SUBSTITUTE SHEET electronic devices outputted from the electronic device handler picks them up at the set of output pick-up points.

SUBSTITUTESHEET