本論文提出一個系統設計方法來實現一個多軸分散式自動燒錄設備，主要以結構演化、取放系統、及防撞策略等三個面向進行設計與實現。在結構演化上，本論文提出一個多軸分散式機構來提高設備產出的效率。在取放系統上，本論文提出一個同動取放流程來讓多台手臂可以各自同動，降低設備的等待時間來提高取放系統的效率。在防撞策略上，本論文提出一個基於工作區域使用權的防撞策略來避免多台手臂在同時進行取放過程中可能造成的碰撞。由實驗結果可知，本論文所設計實現的多軸分散式自動燒錄設備確實可以有效地提升設備的每單位小時的件數（Unit Per Hour, UPH），並且提高每軸的平均輸出。

In this dissertation, a system design method for a multi-axis distributed automatic programming equipment is proposed and implemented based on three improvement aspects: structural evolution, pick-and-place system, and anti-collision strategy. In the structural evolution, a multi-axis distributed mechanism is proposed to improve the efficiency of the system output. In the pick-and-place system, a simultaneous pick-and-place process is proposed to allow multiple arms to move together and reduce the waiting time of the equipment to improve the efficiency of the pick-and-place system. In the anti-collision strategy, a collision avoidance strategy based on the right to use the work area is proposed to avoid the collision of multiple arms during the simultaneous pick-and-place process. Experimental results show that the implemented multi-axis distributed automatic programming equipment effectively increases UPH (Unit Per Hour) of system and improves the average output per axis.

目錄
目錄	V
圖目錄	VII
表目錄	XII
參數對照表	XIV
第一章 緒論	1
1.1 研究動機與目的	1
1.2 文獻回顧	3
1.3 產品系統設計	6
1.4 論文架構	8
第二章 自動燒錄設備硬體演化過程	9
2.1 傳統X-Y模式之硬體架構	16
2.2 圓-雙模式之硬體架構	20
2.3 多軸分散式同動模式之硬體架構	24
第三章 多軸分散式取放系統設計	29
3.1 結構演化設計	29
3.2 運動方式改變	34
3.3多軸分散式同動取放系統	47
3.4 多軸分散式同動模式取放系統時間分析	53
3.5 實驗結果	58
第四章 多軸分散式同動取放路徑設計	59
4.1設備動作流程	59
4.2路徑分析	67
4.3實務驗證與討論	74
第五章 結論與未來展望	86
參考文獻	89
研究著作	93

圖目錄
圖1.1、晶片自動燒錄設備示意圖	6
圖1.2、產品系統進化改良延伸之設計概念圖	7
圖2.1、晶片承載盤	10
圖2.2、ATH-100傳統X-Y模式產品的示意圖	17
圖2.3、ATH-100傳統X-Y模式產品的上視圖	17
圖2.4、ATH-100進料區的示意圖	18
圖2.5、ATH-100出料區的示意圖	18
圖2.6、ATH-100 燒錄器區的示意圖	19
圖2.7、ATH-100 手臂進料的展示圖	19
圖2.8、ATH-100 手臂出料的展示圖	20
圖2.9、AH-480圓-雙模式的產品圖	21
圖2.10、AH-480圓-雙模式的上視圖	21
圖2.11、AH-480 進料區的示意圖	22
圖2.12、AH-480 出料區的示意圖	22
圖2.13、AH-480 燒錄器區的示意圖	23
圖2.14、AH-480 手臂進料的展示圖	23
圖2.15、AH-480 手臂出料的展示圖	24
圖2.16、AH-640 多軸分散式同動模式的產品圖	25
圖2.17、AH-640 多軸分散式同動模式的上視圖	25
圖2.18、AH-640 進料區的示意圖	26
圖2.19、AH-640 出料區的示意圖	26
圖2.20、AH-640 燒錄器區的示意圖	27
圖2.21、AH-640 手臂進料的展示圖	28
圖2.22、AH-640 手臂出料的展示圖	28
圖3.1、多軸分散式同動模式多Y軸的展示圖	30
圖3.2、圓周式燒錄區燒錄座增加示意圖	31
圖3.3、燒錄區結構演化展示圖	31
圖3.4、設備Z軸吸嘴展示圖	32
圖3.5、輪巡的燒錄方式示意圖	35
圖3.6、運動方式示意圖	35
圖3.7、傳統 X-Y模式的取放流程	36
圖3.8、多軸分散式同動模式的取放流程	38
圖3.9、多軸分散式同動取放系統之工作區域圖	39
圖3.10、多軸分散式同動安全防撞策略圖	40
圖3.11、RX軸防撞策略圖	41
圖3.12、LX軸防撞策略圖	42
圖3.13、RX之防撞策略流程說明	45
圖3.14、LX之防撞策略流程說明	46
圖3.15、多軸分散式同動取放平台同動流程示意圖	48
圖3.16、傳統X-Y模式流程示意圖	48
圖3.18、多軸分散式同動模式取放系統的燒錄流程時序圖	50
圖3.19、燒錄時間過長的時序分析圖	51
圖3.20、移動時間過長的時序分析圖	52
圖3.21、無燒錄等待的各階段示意圖	54
圖3.22、具有燒錄等待時間的各階段示意圖	55
圖3.23、多軸分散式同動模式取放系統流程圖(a)總流程、(b)RX流程、(c)LX流程	57
圖4.1、AH-640 設備動作流程圖	60
圖4.2、CCD ON T1動作圖	61
圖4.3、CCD ON T2動作圖	61
圖4.4、CCD ON T4動作圖	62
圖4.5、CCD ON T6動作圖	62
圖4.6、CCD ON T8動作圖	62
圖4.7、CCD ON T10動作圖	63
圖4.8、CCD ON T12動作圖	63
圖4.9、CCD ON T13及T14動作圖	63
圖4.10、CCD ON T16動作圖	64
圖4.11、CCD ON T18動作圖	64
圖4.12、CCD ON T20動作圖	64
圖4.13、CCD OFF T7動作圖	65
圖4.14、CCD OFF T9動作圖	65
圖4.15、AH-640 設備動作流程與動作圖表對照圖	65
圖4.16、多軸分散式取放系統燒錄區及影像辨識示意圖	68
圖4.17、多軸分散式取放系統燒錄區間隔距離示意圖	69
圖4.18、多軸分散式取放系統燒錄區實機圖	69
圖4.19、燒錄器模組路徑示意圖與 XY軸實際路徑圖（a）H-routing路徑示意圖、（b）V-routing路徑示意圖、（c）C-routing 路徑示意圖、（d）H-routing XY軸實際路徑圖、（e）V-routing XY軸實際路徑圖、（f）C-routing XY軸實際路徑圖	71
圖4.20、燒錄座水平路徑（a）示意圖與（b）XY軸實際路徑圖	72
圖4.21、4種燒錄列數之三種路徑燒錄模組總移動距離比較表	73
圖4.22、燒錄數量少：影像辨識開啟與3種燒錄放置路徑之產量圖	77
圖4.23、燒錄數量少：影像辨識關閉與3種燒錄放置路徑之產量圖	78
圖4.24、燒錄數量多：影像辨識開啟與3燒錄種放置路徑之產量圖	80
圖4.25、燒錄數量多：影像辨識關閉與3種燒錄放置路徑之產量圖	81
圖4.26、燒錄數量少：影像辨識關閉與開啟之產量提升比率圖	84
圖4.27、燒錄數量多：影像辨識關閉與開啟之產量提升比率圖	85

表目錄
表1.1、晶片自動燒錄設備	5
表2.1、LEAPER-56 口袋型高速萬用晶片燒錄器	11
表2.2、SU-600 FLASH 元件燒錄器	12
表2.3、SU-6000 記憶元件量產型晶片燒錄器	13
表2.4、SU-6808 eMMC量產型燒錄器	14
表2.5、4種燒錄器的比較表	15
表3.1、防撞策略圖代號說明表	41
表3.2、傳統X-Y模式與多軸分散式同動模式之UPH比較表	58
表3.3、傳統X-Y模式與多軸分散式同動模式平均每軸之UPH比較表	58
表4.1、設備行徑軸代號說明表	60
表4.2、4種燒錄列數之3種路徑燒錄模組總移動距離表	73
表4.3、燒錄數量少：影像辨識開啟與3種燒錄放置路徑之產量與產量差異表	77
表4.4、燒錄數量少：影像辨識關閉與3種燒錄放置路徑之產量與產量差異表	78
表4.5、燒錄數量多：影像辨識開啟與3種燒錄放置路徑之產量與產量差異表	79
表4.6、燒錄數量多：影像辨識關閉與3種燒錄放置路徑之產量與產量差異表	81
表4.7、影像辨識關閉：燒錄數量多與少之產量差異表	82
表4.8、影像辨識開啟：燒錄數量多與少之產量差異表	83
表4.9、燒錄數量少：影像辨識關閉與開啟之產量差異表	83
表4.10、燒錄數量多：影像辨識關閉與開啟之產量差異表	83
表4.11、燒錄數量少：影像辨識關閉與開啟之產量提升比例表	84
表4.12、燒錄數量多：影像辨識關閉與開啟之產量提升比例表	84

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