Method for replacing capillary

1. A method for replacing a capillary of a wire bonding apparatus that includes a holding unit that holds a capillary, the method comprising:

transferring a capillary replacing unit to the wire bonding apparatus by a mobile robot in response to receiving a capillary replacement start signal from the wire bonding apparatus;

separating, by the capillary replacing unit, the capillary corresponding to the replacement start signal from the wire bonding apparatus;

acquiring, by the wire bonding apparatus, an image of a new capillary gripped in a gripper of the capillary replacing unit to obtain position information of the new capillary;

aligning an insertion hole of the holding unit and the new capillary with each other using the position information, and

installing, by the capillary replacing unit, the new capillary in the wire bonding apparatus.

2. The method of claim 1 , wherein transferring the capillary replacing unit comprises:

transmitting the replacement start signal to the mobile robot on which the capillary replacing unit is loaded;

positioning the mobile robot wherein the mobile robot corresponds to the wire bonding apparatus that transmitted the replacement start signal; and

transferring the capillary replacing unit from the mobile robot onto a loading area of the wire bonding apparatus.

3. The method of claim 2 , wherein positioning the mobile robot comprises:

autonomously moving the mobile robot toward the wire bonding apparatus to position the mobile robot adjacent to the wire bonding apparatus;

acquiring, by the mobile robot, an image of a position mark of the adjacent wire bonding apparatus to obtain image information; and

aligning the mobile robot with the wire bonding apparatus using the image information.

4. The method of claim 1 ,

wherein installing the new capillary comprises:

inserting the new capillary into the insertion hole of the holding unit; and

holding, by the holding unit, the new capillary in the insertion hole.

5. The method of claim 4 , wherein aligning the insertion hole and the new capillary comprises:

moving the holding unit using the position information wherein the insertion hole and the new capillary vertically overlap each other.

6. The method of claim 4 , wherein aligning the insertion hole and the new capillary comprises:

moving the gripper using the position information wherein the insertion hole and the new capillary vertically overlap each other.

7. The method of claim 1 , further comprising:

transmitting the replacement start signal from the wire bonding apparatus when at least one of a capillary use time or a number of uses of the capillary corresponds to a predetermined reference value.

8. The method of claim 1 ,

wherein separating the capillary comprises:

acquiring, by the wire bonding apparatus, an image of a pair of grip members of a gripper of the capillary replacing unit to obtain position information of the grip members;

aligning a space between the grip members and an insertion hole of the holding unit into which the capillary is inserted with each other using the position information;

positioning the capillary in the insertion hole within the space;

gripping the capillary in the space by the gripper; and

releasing, by the holding unit, the capillary being gripped by the gripper.

9. The method of claim 1 , further comprising:

locating the capillary replacing unit to an original position by the mobile robot after the installing of the new capillary.

10. A method for replacing a capillary of a wire bonding apparatus using a capillary replacing unit loaded on a mobile robot, the method comprising:

receiving a capillary replacement start signal from at least one of a plurality of wire bonding apparatuses;

autonomously moving the mobile robot that received the replacement start signal to the wire bonding apparatus that transmitted the replacement start signal to load the capillary replacing unit onto the wire bonding apparatus;

separating, by the capillary replacing unit, the capillary corresponding to the replacement start signal from the wire bonding apparatus; and

installing, by the capillary replacing unit, a new capillary in the wire bonding apparatus.

11. The method of claim 10 , wherein autonomously moving the mobile robot to load the capillary replacing unit comprises:

positioning the mobile robot wherein the mobile robot is adjacent to the wire bonding apparatus that transmitted the replacement start signal; and

transferring the capillary replacing unit from the mobile robot onto a loading area of the wire bonding apparatus.

12. The method of claim 10 ,

wherein installing the new capillary comprises:

acquiring, by the wire bonding apparatus, an image of the new capillary gripped in a gripper of the capillary replacing unit to obtain position information of the new capillary;

aligning an insertion hole of the holding unit and the new capillary with each other using the position information;

inserting the new capillary into the insertion hole of the holding unit; and

holding, by the holding unit, the new capillary in the insertion hole.

13. The method of claim 12 , wherein aligning the insertion hole and the new capillary comprises;

moving the holding unit using the position information wherein the insertion hole and the new capillary vertically overlap each other.

14. The method of claim 10 , wherein the wire bonding apparatus includes a holding unit holding a capillary,

wherein separating the capillary comprises:

acquiring, by the wire bonding apparatus, an image of a pair of grip members of a gripper of the capillary replacing unit to obtain position information of the grip members;

aligning a space between the grip members and an insertion hole of a holding unit of the wire bonding apparatus in which a capillary is inserted with each other using the position information;

positioning the capillary in the insertion hole into the space;

gripping, by the gripper, the capillary in the space; and

releasing, by the holding unit, the capillary being gripped in the gripper.

15. The method of claim 10 , further comprising:

transmitting the replacement start signal from the wire bonding apparatus when at least one of a capillary use time or a number of uses of the capillary corresponds to a predetermined reference value.