DE102014103373B4 - Placement head with two groups of quills that can be moved relative to a shaft, placement machine and process for placement - Google Patents

Abstract

Placement head (130) for the automatic placement of electronic components (495) on a component carrier (190), the placement head (130) having a chassis (532), a rotor (235) which rotates relative to the chassis (532) about an axis of rotation (260a) is rotatably mounted, the rotor (235) having a first block (240) which has at least two first quills (242) which are positioned relative to the first block (240) along a first direction which is parallel to the axis of rotation (260a) , are displaceably mounted, a second block (250) which has at least two second quills (252) which are mounted displaceably relative to the second block (250) along the first direction, the first quills (242) and the second quills (252) are designed in such a way that in each case a component holding device (244, 254) can be attached to one end of the respective quill (242, 252), and a linear guide (270) which is configured to hold at least one of the two blocks (240, 25th 0) to move this block (240, 250) relative to the other block (250, 240) in a second direction, which is perpendicular to the first direction, a central rotary drive (565), which is connected to the chassis (532 ) and the rotor (235) is mechanically coupled and which is configured to drive the rotor (235) to rotate the rotor (235) relative to the chassis (532) about the axis of rotation (260a); whereina linear drive (575) is coupled to both blocks (240, 250) via a linear coupling mechanism, so that both blocks (240, 250) are each displaceable in the second direction, which is perpendicular to the axis of rotation (260a).

Description

Technical area

The present invention relates generally to the technical field of equipping component carriers with electronic components using the so-called collect & place principle. The present invention relates in particular to an assembly head for assembling component carriers with electronic components, which head has a plurality of component holding devices which can each hold an electronic component temporarily. The present invention also relates to an automatic placement machine and a method for automatically populating component carriers with electronic components using this placement head.

Background of the invention

Due to the increasing miniaturization of electronic assemblies, high demands are placed on the placement accuracy of modern placement devices or placement machines. Due to the great price pressure in the electronics industry, the placement machines must also have a high placement rate so that the electronic assemblies can be manufactured in a short time and thus inexpensively. In this context, the term “placement performance” is understood to mean the number of electronic components that can be placed on a component carrier or on several component carriers by the respective automatic placement machine per unit of time.

With regard to the cost-effective production of electronic assemblies, however, the placement performance of an automatic placement machine is not the only decisive factor in practice. The most important performance feature of an automatic placement machine is the placement performance per area, which is taken up by an automatic placement machine in a factory for the production of electronic assemblies. A high placement rate per area can be achieved with high-performance placement machines which place surface mount devices (SMD) on component carriers exclusively using the so-called collect & place principle. In a collect & place process cycle, a placement head, which has a plurality of component holding devices for picking up and holding one component in each case, initially picks up a plurality of components from a component feed system. The plurality of components picked up is then transported by the placement head into a placement area in which a component carrier to be placed is located. Thereafter, the transported components are placed one after the other on the top of the component carrier in such a way that component connections located on the underside of the components come into contact with corresponding connection surfaces or connection pads which are formed on the upper side of the component carrier. At the end of the process cycle, the placement head is then moved again in the direction of a pick-up area in which the component feed system is located. A new process cycle can then begin with the new picking up of further electronic components.

In order not to have to move the entire placement head along a z-direction perpendicular to a placement plane, both when picking up a component from a component feed system and when placing the component on a component carrier, the holding devices of a so-called multiple placement head are relative to a chassis of the placement head displaceable along the z-direction. A linear motor, for example, can be used for this z-shift. A common linear drive can be provided for several holding devices or an individual linear drive can be provided for each holding device. In order to be able to place a component in a correct angular position on the component carrier to be fitted, the holding devices are also typically each rotatable about their longitudinal axis.

As described above, a Collect & Place process cycle comprises the following four significant process phases: (1) picking up the components, (2) transporting the components, (3) placing components on the component carrier and (4) returning the placement head. The placement performance per area of an automatic placement machine can most effectively be increased by optimizing process phases (1) and (3).

JP 2012 - 164 881 A discloses a cylindrical turret head (so-called turret placement head) which has two cylindrical rotors which can be rotated independently of one another about a common axis of rotation which, during placement, is oriented perpendicular to the surface of a component carrier to be placed. Eight component holding devices designed as suction pipettes are attached to each rotor. Furthermore, two so-called z-drives are assigned to each rotor, by means of which two of the eight suction pipettes can be moved relative to a housing of the cylinder turret along a z-axis which is oriented parallel to the common axis of rotation. By varying the angle of rotation of the one rotor relative to the other rotor, the distance between a first suction pipette of the first rotor and a second suction pipette of the second rotor. If this distance corresponds to the distance between two electronic components to be picked up, which have been provided by a component feed system, then these two components can be picked up by the cylinder turret at the same time.

US 2012/036711 A1 discloses a placement head with several suction pipettes, the distance between which is adjustable. When picking up components, this distance can be adapted to a predetermined distance between two electronic components provided by a component supply system.

JP 2009 - 295 608 A discloses a turret placement head with a plurality of suction pipettes which are arranged on two different pitch circles in such a way that the positions of the suction pipettes correspond to a matrix arrangement.

DE 100 06 918 A1 discloses a placement head which has two pipette blocks each with two suction pipettes. The two pipette blocks can be moved on a linear rail along a direction predetermined by the longitudinal direction of the linear rail. As a result, a distance between the two pipette blocks and thus between the two suction pipettes in each case can be adjusted along the specified direction.

DE 10 2008 019 100 B3 discloses a placement head for placing components on substrates. The placement head has two pipette carriers each with a plurality of pipettes for receiving one component each, a rotary drive and a lifting drive being provided for each pipette. One of the pipette supports can be rotated relative to the other pipette support. In addition, disclosed DE 10 2008 019 100 B3 an embodiment in which the placement head has three rotatable pipette carriers, each of which comprises a rotor which is rotatable about an axis of rotation and to which the individual pipettes are attached. A central pipette carrier is arranged in a stationary manner on the placement head. The other two outer pipette supports can be displaced along a linear guide relative to the central pipette support.

DE 102 36 604 A1 discloses a placement head with a support structure to which two groups of grippers are attached, which are aligned parallel to one another. A first group of grippers is assigned to a cross slide which can be moved along a y-direction relative to the support structure. A second group of grippers is assigned to a longitudinal slide which can be moved along an x-direction relative to the support structure.

DE 40 34 422 A1 describes that a suction pipette has to be replaced from time to time during the automatic assembly of printed circuit boards.

Such an exchange can take place automatically within an automatic placement machine.

Summary of the invention

The invention is based on the object of creating a placement head with which the time span for a process cycle of a collect & place placement process can be shortened.

This object is achieved by the subjects of the independent claims. Advantageous embodiments of the present invention are described in the dependent claims.

According to a first aspect of the invention, a placement head for automatically populating a component carrier with electronic components is described. The placement head described has (a) a chassis, (b) a rotor which is rotatably mounted relative to the chassis about an axis of rotation. The rotor has (b1) a first block which has at least two first quills which are mounted displaceably relative to the first block along a direction which is parallel to the axis of rotation, (b2) a second block which has at least two second Has quills which are mounted displaceably relative to the second block along the direction which is parallel to the axis of rotation, the first quills and the second quills are designed such that in each case a component holding device can be attached to one end of the respective quill , and (b3) a linear guide which is configured to guide at least one of the two blocks in order to move this block in another direction which is perpendicular to the direction which is parallel to the axis of rotation. The placement head further comprises (c) a central rotary drive which is mechanically coupled to the chassis and the rotor and which is configured to drive the rotor in order to rotate the rotor relative to the chassis about the axis of rotation. According to the invention, the linear drive is coupled to both blocks via a linear coupling mechanism, so that both blocks can each be displaced in the other direction, which is perpendicular to the axis of rotation.

The placement head described is based on the knowledge that a distance between a first quill or a first component holding device attached to it and a second quill or a second component holding device attached to it is freely adjustable when the distance between the two blocks can be freely adjusted along a direction which is perpendicular to the rotation axis. The axis of rotation of the rotor can in particular be aligned along an internal z-direction of the placement head. The internal z-direction of the placement head can in particular coincide with the generally customary internal z-direction of an automatic placement machine. Furthermore, an angular position between a connecting line between the two quills or component holding devices can be set by suitable activation of the central rotary drive. The placement head described in this document thus allows the free positioning of two component holding devices both for a simultaneous pick-up process of two components from two predetermined pick-up positions of a component feed system and for a simultaneous placement of two components on two placement positions specified on a component carrier.

The Cartesian reference system for the placement head described can be selected such that the axis of rotation extends along a z-axis. An xy plane perpendicular to this is spanned by an x-axis and a y-axis perpendicular to the x-axis. The shifting movement of the at least one block then takes place in the xy-plane, the shifting along the x-axis, along the y-axis or along a direction taking place depending on the angular position determined by the central rotary drive has a y component.

Expressed clearly, two groups of sleeves are each assigned to a block in the assembly head described. By a linear movement of at least one of the two blocks relative to the axis of rotation of the rotor, the distance between the two groups of sleeves can be changed. In this way, the distance between any two quills from one of the two quill groups can be changed in a targeted manner. The two groups of sleeves can also be rotated together with the rotor about the axis of rotation, which can be the longitudinal axis (z-axis) of a central shaft of the placement head.

If the placement head is mounted on a surface positioning system with two degrees of freedom (x-direction, y-direction), the system has a total of four degrees of freedom required for parallel pick-up and placement. These four degrees of freedom are given by the free adjustability of (i) the x-position of the chassis, (ii) the y-position of the chassis, (iii) the angular position of the rotor or the two blocks, which is dependent on the control of the central rotary drive, and ( iv) by the linear displacement of at least one of the two blocks.

A significant advantage of the placement head described is that (i) due to the rotatability of the two blocks around the axis of rotation and (ii) the spatial position of a first quill and a second quill in the xy- Level can be adjusted freely. Due to a wide range variation of the xy positions of the quills, the effective working area of the quills or the component holding devices attached to them can be increased compared to the travel range of a positioning system used which carries the placement head described.

The axis of rotation is preferably arranged in the center of the chassis or in a point of symmetry of the entire placement head. This point preferably coincides at least approximately with the center of gravity of the entire placement head. In this way, an imbalance of the placement head is avoided in a simple and advantageous manner, which would be particularly disadvantageous if the rotor rotates relatively quickly about the axis of rotation together with the two blocks.

In this document, the term “electronic component” or “component” can be understood to mean all equippable elements that can be placed on a component carrier. Components can in particular be two-pole or multi-pole SMT components or other highly integrated flat, round or differently shaped components such as ball grid arrays, bare dies and flip chips. Furthermore, the term “component” can also include mechanical elements such as connection pins, plugs, sockets or the like, or optoelectronic components such as light-emitting diodes or photodiodes. In addition, the term “component” can also include so-called RFID chips, which are used for so-called transponders.

In this document, the term “component carrier” can be understood to mean any type of substrates that can be equipped, in particular printed circuit boards. A component carrier can be rigid or flexible. A component carrier can also have both rigid and flexible areas.

In this document, “relative to the chassis” can mean that the corresponding component of the placement head is attached to the chassis and, in particular, is arranged within the chassis. “Attached to the chassis” can mean that the corresponding component is located outside the chassis. Furthermore, the blocks that can be displaced on the linear guide can also move depending on their current displacement position (i) inside, (ii) partially inside and outside, or (iii) outside of the chassis.

The two blocks can both be attached to said linear guide. In this case, the linear guide represents a common guide for both blocks. The placement head can, however, also have a further linear guide, the linear guide introduced above being assigned to one of the two blocks and the further linear guide being assigned to the other of the two blocks.

At least the two blocks can preferably be arranged within the chassis. The placement head can thus be implemented as a compact component. When the placement head is operated in an automatic placement machine, essential components of the placement head are then protected from negative mechanical influences from the environment of the placement head by the chassis.

The linear drive described can have a linear motor. The linear drive can also have a simple rotary motor and a gearwheel and a spindle, so that when the rotary motor is activated, a linear displacement of the at least one block is generated in a known manner.

The linear coupling mechanism according to the invention between the two linear drives can be designed in such a way that the two blocks can be moved in a synchronized manner with one another. The use of a single linear drive for both blocks has the advantage that only a single linear drive has to be provided in order to be able to move both blocks in a suitable manner relative to the central shaft.

According to a further exemplary embodiment of the invention, the linear coupling mechanism is designed in such a way that when the linear drive is activated, both blocks are moved in opposite directions to one another. This means that when one block is moved in a first direction within the aforementioned xy plane, the other block is moved in a second direction that is antiparallel to the first direction. The two mutually synchronized and opposing movement movements can be dimensioned in such a way that the center of gravity of the two blocks remains unchanged. This results in a reduced complexity for the control behavior of an overall system having the described placement head and a positioning system which moves the entire placement head in an advantageous manner. This is due to the fact that no imbalances arise with respect to the rotation around the center of rotation given by the central shaft and, furthermore, when accelerations along the linear guide the symmetrical movement does not produce any undesirable counterforces.

As an alternative to the linear coupling mechanism according to the invention, a further linear drive can be used with other placement heads. The linear drive is assigned to the first block and the further linear drive is assigned to the second block. This has the advantage that the two blocks can be moved completely independently of one another. Of course, the two linear drives can also be controlled in such a way that the above-described synchronized and possibly also opposing movement of the two blocks results.

According to a further exemplary embodiment of the invention, the placement head also has (a) at least two first rotary drives, a first rotary drive being assigned to one of the two first quills, and / or (b) at least two second rotary drives, with a second rotary drive each being one of the is assigned to the two second quills.

With a rotary drive, the respective quill can be rotated about its longitudinal axis in a known manner. In relation to the placement head described here, the longitudinal axis of the respective quill can be aligned parallel to the axis of rotation or parallel to the z-axis of the placement head. The angular position of an electronic component, which is held by a component holding device that is attached to the respective quill, can thus be adapted in a known manner so that the component in question is placed on a component carrier in a correct angular position with respect to predetermined connection surfaces can.

A separate rotary drive is preferably provided for each quill so that the angular positions of all quills can be varied independently of one another. In this way, the angle of rotation of each electronic component that has been picked up by the placement head can be set individually before it is placed on a component carrier to be fitted.

At this point it is pointed out that a common rotary drive can also be provided for several quills, which is coupled or can be coupled to the respective quill via a suitable rotary coupling mechanism, which comprises, for example, one or more friction wheels. In this case it is not necessary for at least two rotary drives to be assigned to each block. The placement head can then also be implemented with a rotary drive for each of the two blocks.

The rotary coupling mechanism can also be designed such that it is selectively coupled to one or more quills. In this case, the individual quills cannot be rotated at the same time independently of one another, but nevertheless independently of one another by a suitable angle.

According to a further embodiment of the invention, the placement head has (a) a first z-drive, which is assigned to at least one of the first quills, so that the at least one first quill is displaceable relative to the chassis along the direction that is parallel to the axis of rotation and / or (b) a second z-drive, which is assigned to at least one of the second quills, so that the at least one second quill is displaceable relative to the chassis along the direction that is parallel to the axis of rotation.

With the z-drives described, the individual quills and thus also the component holding devices, which are attached to a quill, can be shifted along a z-axis. In a known manner, shortly before an electronic component is picked up, this enables the respective component holding device to be specifically lowered onto an electronic component which is provided by a component feed system at a pick-up position. Furthermore, the respective component holding device can be lowered in a known manner immediately before an electronic component is placed on the component carrier to be fitted.

According to a further exemplary embodiment of the invention, (a) the first z-drive is coupled to at least two first quills via a first z-coupling mechanism and / or (b) the second z-drive is coupled to at least two second quills via a second z-coupling mechanism . This means that each block has at least one z-drive which is assigned to a plurality of at least two quills. It is thus advantageously not necessary to provide a separate z-drive for each quill.

Since a coupling mechanism is typically lighter than a corresponding number of z-drives, the placement head described in this document can have a comparatively low weight. In this way, the inertia of the placement head described can be kept small and simple positioning of the entire placement head can be achieved by means of a positioning system.

According to a further exemplary embodiment of the invention, (a) the first z-coupling mechanism has a plurality of first coupling elements, a first coupling element being assigned to a first quill, and / or (b) the second z-coupling mechanism a plurality of second coupling elements, each with a second coupling element is assigned to a second quill.

The coupling elements can be activated or deactivated individually using suitable actuators. In this context, “activate” means that the corresponding coupling element is brought into interaction with the respective quill. The interaction can be implemented, for example, by means of a mechanical engagement element. The possibility of individual activation of the coupling elements, which are each assigned to a quill, allows the individual quills, each assigned to a block, to be optionally coupled to the respective coupling element. It is thus possible to select a specific quill of the plurality of quills in a block, which follows a movement of the z-drive along the z-axis. The other quills in this group are then not coupled to the z-coupling mechanism

The first coupling mechanism and / or the second coupling mechanism can be implemented with a plurality of jointly rotatable engagement disks which each have a projection or a recess at different rotational angle positions. Depending on the rotational angle positions of the respective engagement disks, a coupling is thus established between the z-drive and the respective quill.

According to a further exemplary embodiment of the invention, the first block has at least four first quills, which are arranged in a first two-dimensional grid. Alternatively or in combination, the second block has at least four second quills, which are arranged in a second two-dimensional grid.

The described two-dimensional arrangement of the at least four quills in each case has the advantage that a plurality of quills can be arranged in a relatively compact manner. This applies in particular to the space requirement in the xy plane, in which the quills, which can be displaced in each case along the z direction, are arranged. A compact arrangement of the plurality of at least four quills in turn creates the possibility of realizing the first block and / or the second block in a compact and lightweight design. As a result, the entire placement head can also be implemented in a compact design and with a low weight.

According to the exemplary embodiment described here, the in each case at least four quills are arranged in such a way that they form at least two rows of at least two quills each.

In an embodiment that currently appears particularly favorable, the placement head has at least two z-drives for each block, one z-drive being assigned to a row with at least two quills. As already described above, the quills of this row can be selectively coupled to the respective z-drive by means of a coupling mechanism.

According to a further aspect of the invention, an automatic placement machine for automatically populating a component carrier with electronic components is described. The placement machine described has (a) a frame, (b) a positioning system with a stationary component and a movable component, the stationary component being attached to the frame, and (c) a placement head of the type described above, the chassis of the placement head is attached to the moving component of the positioning system.

The placement machine described is based on the knowledge that the placement head described above with the two blocks each having several quills, in which (i) the distance between the two blocks can be varied in a targeted manner and in which (ii) the two blocks together around the The axis of rotation of the rotor of the placement head can be rotated, can be used for a particularly effective and thus rapid placement process. With the placement head described, both (a) simultaneous pick-up of two electronic components, each provided at a pick-up position, and (b) simultaneous placement of two picked-up electronic components on a component carrier to be populated is possible. The two electronic components can be placed on a component carrier to be fitted with a high degree of accuracy within an xy plane as well as with a precise angular position on predetermined connection pads.

In order to enable electronic components to be placed on a component carrier to be assembled at any position on the component carrier, the positioning system is preferably a so-called surface positioning system with which the assembly head is within a predetermined positioning range in an xy plane which is perpendicular to the axis of rotation of the Rotor or is oriented to the z-direction, can be moved freely. However, it should be noted that instead of a surface positioning system, a simple linear positioning system can also be used if it is ensured at the same time that the component carrier to be equipped with a plurality of electronic components moves perpendicular to the direction of movement of the linear positioning system during the assembly can be.

According to an exemplary embodiment of the invention, the automatic placement machine also has a component feed system. The component feed system has (a) a first component feed device by means of which electronic components are provided at a first pick-up position, and (b) a second component feed device by means of which electronic components are provided at a second pick-up position. The two pick-up positions are spaced from one another in such a way that the placement head can pick up a first electronic component from the first pick-up position and a second electronic component from the second pick-up position.

If the two component feed devices are so-called belt conveyors, which sequentially convey electronic components packaged in a belt to their pick-up position, then the distance between the two pick-up positions is at least roughly defined. However, since the electronic components typically have a certain amount of play within a receiving pocket formed in the respective belt, there may be slight deviations of the actual position of the component to be picked up from the predetermined component pick-up position. Such deviations can be compensated in a simple and effective manner with the described placement head, in which a distance between a first quill of the first block and a second quill of the second block can be freely adjusted. This means that a first component with a first quill and a second component with a second quill can be picked up at the same time.

The placement head described in this document can, however, also be used in an advantageous manner in an automatic placement machine which has a component feed system with at least two component feed devices, each of which is designed as a so-called bulk material conveyor. In such bulk material conveyors, the components are only provided individually within a specific pick-up area, the exact position of an electronic component to be picked up within the pick-up area not being specified. If the exact position of an electronic component to be picked up is determined, for example, by means of a suitable vision or image recognition system, the placement head described in this document can be set so that the distance between a certain first sleeve of the first block and a certain second sleeve of the second block is the same as the distance between two certain components provided in different pick-up areas. In this way, even in the case of a bulk material conveyor, two electronic components can be picked up at the same time in a simple and reliable manner.

At this point it should be pointed out that in addition to the belt conveyors and bulk material conveyors described above, any other types of component feed devices such as so-called magazine conveyors or rod conveyors can also be used as component feed devices. A combination of different types of conveyors is also possible.

According to a further aspect of the invention, a method for automatically fitting a component carrier with electronic components by means of the placement machine described above and / or by means of the placement head described above is specified. This method comprises (a) picking up a first electronic component from a first pick-up position with a first quill of the first block of the placement head, (b) picking up a second electronic component from a second pick-up position with a second quill of the second block of the pick-and-place head, (c ) Transporting the two electronic components picked up into a placement area in which there is a component carrier to be assembled, (d) placing the transported first electronic component at a first installation position on the component carrier, and (e) placing the transported second electronic component on a second Installation position on the component carrier.

The assembly process described is based on the knowledge that with the assembly head described above, both (i) simultaneous picking up of two electronic components provided at different pick-up positions and (ii) simultaneous placement of two picked-up electronic components at predetermined positions on the component carrier to be assembled is possible.

The pick-up position of each electronic component is given by the type of component supply system which provides the electronic components at a pick-up position or within a given pick-up area. The installation position for each component is predetermined in a known manner by connection contacts or connection pads on the component carrier. The same applies to the angular position of the attached electronic component. The angular position must be set by a suitable control of the placement head or the respective rotary drive so that reliable contact is ensured between electrical connections of the respective component and the electrical connection contacts formed on the component carrier.

According to an exemplary embodiment of the invention, the first electronic component and the second electronic component are picked up simultaneously. Alternatively or in combination, the placing of the transported first electronic component and the placing of the transported second electronic component take place simultaneously. The described temporal parallelization of fetching or picking up at least two components from a component feed system and / or the described temporal parallelization of placing at least two components on a component carrier to be assembled has the advantage that the entire assembly process can be accelerated.

It should be noted that embodiments of the invention have been described with reference to different subjects of the invention. In particular, some embodiments of the invention are described with device claims and other embodiments of the invention with method claims. However, it will be immediately clear to a person skilled in the art upon reading this application that, unless explicitly stated otherwise, in addition to a combination of features belonging to one type of subject matter of the invention, any combination of features relating to different types of Subjects of the invention belong.

Further advantages and features of the present invention emerge from the following exemplary description of currently preferred embodiments. The individual figures of the drawing of this application are only to be regarded as schematic and not true to scale.

Figure list

• 1 shows a perspective view of an automatic placement machine with a placement head according to an embodiment of the invention, which placement head can be moved by means of a surface positioning system.
• 2 shows a schematic representation of a rotor of a placement head with two blocks that can be displaced relative to one another, each with 8 quills, which blocks can be rotated together about an axis of rotation.
• 3a and 3b illustrate (i) an adjustment of the distance between a selected quill of a first quill block and a selected quill of a second quill block and (ii) an angular setting of a connecting line between the two selected quills.
• 4a and 4b show the rotor of the placement head in two different angular positions, the rotor in the second angular position being oriented such that the distance between two adjacent quills is equal to the pitch between adjacent component pick-up positions.
• 5 shows a placement head according to an embodiment of the invention in a cross-sectional view.
• 6a and 6b illustrate a selective mechanical coupling in the z-direction of a quill from a linear arrangement of four quills to a common z-drive.

Detailed description

It is pointed out that in the following detailed description features or components of different embodiments, which are identical or at least functionally identical to the corresponding features or components of another embodiment, are provided with the same reference symbols or with a reference symbol which differs from the reference number of the same or at least functionally identical features or components only in the first digit. In order to avoid unnecessary repetition, features or components that have already been explained using a previously described embodiment are no longer explained in detail at a later point.

It is also pointed out that the embodiments described below only represent a limited selection of possible embodiment variants of the invention. In particular, it is possible to combine the features of individual embodiments with one another in a suitable manner, so that for a person skilled in the art with the embodiment variants explicitly shown here, a large number of different embodiments are to be seen as obviously disclosed.

1 shows an automatic placement machine 100 which is a frame 102 has, on which two parallel linear guides 103 are attached. The two linear guides 103 carry a transverse carrier arm 104 . The transverse support arm 104 has a linear guide itself 105 on which a carrier element 106 is slidably mounted. The two linear guides 103 run along a y-direction, the linear guide 105 runs along an x-direction. On the carrier element 106 is a placement head 130 arranged, which has two component holding devices designed as suction pipettes, a first component holding device 144 and a second component holding device 154 .

The first component holding device 144 is together with at least one further first component holding device, not shown, a first in 1 not shown block of the placement head 130 assigned. The second component holding device 154 is together with at least one further second component holding device, not shown, a second in 1 not shown block of the placement head 130 assigned. The two blocks can be converted to an in 1 axis of rotation, not shown, which runs along the z-direction, can be rotated. This rotation is indicated by the double arrow, which is in front of the lower part of the placement head 130 is shown. Additionally, as will be explained in detail below, the two blocks with their associated component holding devices 144 , 154 displaceable relative to the axis of rotation in an xy plane.

The component holding devices 144 and 154 are by means of an in 1 Hubaktuators also not shown displaceable along the z-direction. The z-direction extends perpendicular to both the x-direction and the y-direction.

The placement machine 100 also includes a component delivery system 110 on which at least two component feeders 112 includes. The component feeders 112 put at several pick-up positions 112a Electronic components (not shown) ready for a so-called “Collect & Place” assembly process. Different component feed devices can be used 112 Similar or different types of components are supplied.

The placement machine also includes 100 a conveyor belt 115 , with which a component carrier 190 into a placement area of the placement machine 100 can be introduced. The component holding devices 144 , 154 can by means of a suitable translational movement of the placement head 130 and by a suitable rotary movement of the two blocks of the placement head 130 be positioned parallel to the xy plane within the entire placement area.

The placement machine 100 also has a processor 101 on. On this processor 101 can be a processing program for the placement machine 100 for equipping component carriers 190 be carried out with electronic components, so that all components of the placement machine 100 in exactly one another work in a coordinated manner and thus to an error-free and rapid assembly of component carriers 190 contribute with components.

On the carrier element 106 is also a so-called circuit board camera 120 attached, which for the detection of at least one on the component carrier 190 attached marking 192 is provided. In this way, the exact position of the component carrier introduced into the placement area can be determined 190 by measuring the position of the at least one marking 132 within the field of view of the circuit board camera 120 to be determined.

For position measurement and for checking by the placement head 130 recorded components is a so-called component camera 122 provided, which according to the embodiment shown here in a fixed position on the frame 102 of the placement machine 100 is arranged. An optical component measurement is preferably carried out immediately after the component or components have been picked up by the component feed system 110 . The placement head is used for this 130 or the respective component holding device 144 , 154 in the field of view of the component camera 122 positioned. The one from the component camera 122 The recorded image is processed in an evaluation unit 124 evaluated and the position of the received component relative to the respective component holding device 144 , 154 determined.

The evaluation unit 124 can also be in the processor 101 be integrated. The evaluation unit can 124 be implemented by means of its own hardware or by means of suitable software.

It should be noted that the invention is in no way intended to be used in the automatic placement machine illustrated here 100 is limited. The invention can also be implemented, for example, with a component camera which is moved together with the placement head and which is provided to measure the components picked up during transport from the pickup position to the placement position.

2 shows a schematic representation of the rotor 235 of a placement head according to a preferred embodiment of the invention. The placement head has a chassis, which in 2 is not shown. On or in the chassis is about an axis of rotation 260a rotatably mounted the rotor 235 appropriate. The rotor 235 has two linear guides 270 on which one rail each 270a and a movable slide 270b include. According to the embodiment shown here is on the two movable carriages 270b one rack each 241 respectively. 251 attached which in a gear 263 intervention. The function of the gear 263 is explained in more detail below.

On the sledge 270b the in 2 linear guide shown on the left 270 is a first block 240 appropriate. The first block can go together with the slide 270b along the length of the rail 270a the left linear guide 270 be moved. On the sledge 270b the linear guide shown on the right 270 is a second block 250 attached, which together with the slide 270b along the length of the rail 270a the right linear guide 270 can be moved.

The first block 240 has a plurality of eight first quills 242 on which by means of a z-guide 242a relative to the first block 240 can be shifted perpendicular to the plane of the drawing along a z-direction. At every first quill 242 is a first component holding device in a known manner 244 appropriate. According to the embodiment shown here, the first component holding devices are suction pipettes 244 educated. In 2 is the suction channel 244a a component holding device 244 shown, over which one of the suction pipette 244 held electronic component, not shown, acted upon by a negative pressure and thus by the suction pipette 244 is held.

In a corresponding way, the second block 250 a plurality of eight second quills 252 on which by means of a z-guide 252a relative to the block 250 can be shifted perpendicular to the plane of the drawing (along the z-direction). Each on the second quill 252 Attached second component holding devices are denoted by the reference symbol 254 Mistake. The second component holding devices are also designed as suction pipettes 254 formed, which each have a suction channel 254a exhibit.

The gear 263 is around an axis of rotation 260a rotatable, which is oriented perpendicular to the plane of the drawing along a z-direction. As already described above, the gear engages 263 into the two racks 241 and 251 a.

The rotor 235 having placement head also has an in 2 linear drive not shown (in 5 shown), which is stationary at the also in 2 chassis not shown (in 5 shown) is attached. By means of this linear drive, the gear 263 around the axis of rotation 260a to be turned around. As a result of the meshing of the gear 263 into the two racks 241 and 251 move the two blocks 240 and 250 parallel to the plane of the drawing always opposite to one another. the Movements of the two blocks 240 and 250 are in 2 each shown with an arrow. The two arrows 272a show the displacements of the two blocks 240 and 250 in case the gear is 263 rotates in a first direction. The two arrows 272b show the displacements of the two blocks 240 and 250 in case the gear is 263 rotates in a second direction opposite to the first direction.

At this point it should be noted that, alternatively or in combination, the two blocks can also be coupled to a belt.

At this point it is also pointed out that each of the two blocks can also be equipped with its own linear drive. The two linear drives are then preferably controlled in such a way that a movement in opposite directions occurs.

3a illustrated how by shifting the two blocks in opposite directions 240 and 250 which shift by the two arrows 272b indicated is the distance dx between (i) a first with the reference number 244 provided suction pipette of the first block 240 and (ii) a second with the reference numeral 254 provided suction pipette of the second block 250 can be changed. It is obvious that in a constellation in which the two blocks 240 and 250 are not shifted against each other, the distance dx between the two suction pipettes 244 and 254 is minimal. The further the two blocks 240 and 250 move against each other, the greater the distance between the two suction pipettes 244 and 254 .

3b shows how by a rotation of the rotor 235 around the axis of rotation 260a the angular position of a connecting line between the first suction pipette 244 and the second suction pipette 254 can be changed. A change in the angular position of the connecting line between two exemplary angular positions is shown in 3b marked with d _ϕ .

By superposing (i) a translational shift of the two blocks 240 and 250 and (ii) rotation of the rotor 235 around the axis of rotation 260a can use the two suction pipettes 244 and 254 can be picked up simultaneously from any two pick-up positions 112a located within certain spatial limits by a component feed system. The same applies to the simultaneous placement of two electronic components, one component being removed from the suction pipette 244 and the other component from the suction pipette 254 is held, on any placement positions lying within certain spatial limits on the top of a component carrier.

It is also evident that by suitable rotation (inclination) of the rotor 235 or the two slidably attached blocks 240 and 250 and in particular by a translational shift between the two blocks 240 and 250 the spatial area can be enlarged from which two electronic components from two spaced-apart pick-up positions at the same time 112a picked up or in which two electronic components can be placed on a component carrier at two spaced apart placement positions at the same time.

the 4a and 4b show the rotor 235 of the placement head in two different angular positions. As in the 2 , 3a and 3b shown but not explicitly mentioned in the associated description, are in the two blocks 240 and 250 the eight suction pipettes each 244 respectively. 254 arranged in an array each. According to the exemplary embodiment shown here, the two arrays each have two columns and four rows.

In the in 4a shown angular position of the rotor 235 the total of four columns of the two arrays are arranged in such a way that the distances between two suction pipettes 244 of different columns a multiple of a pitch t between two neighboring pick-up positions 495a or multiples thereof of a component delivery system 110 correspond to each of which an electronic component 495 is provided. In principle, four electronic components can be used at the same time 495 from the component delivery system 110 be collected.

According to the exemplary embodiment shown here, the component feed system 110 a total of eight component feed devices not shown in detail 112 on which in a known manner in component belts 412a packaged electronic components 495 to the respective pick-up positions 495a support financially. For this purpose, each component has a strap 412a a row of engagement holes on one side 412b on. A pin wheel (not shown) can then be inserted into the engagement holes in a known manner 412b engage and the component belt 412a in the direction of the respective pick-up position 495a transport.

In the in 4b The angular position shown, the total of four rows of the two arrays are arranged in such a way that the distances between two suction pipettes from adjacent rows are exactly the same as the pitch t correspond. In principle, four electronic components can also be used here at the same time 495 from the corresponding pick-up positions 495a of the component delivery system 110 be collected.

5 shows the placement head 130 in a cross-sectional view. Inside the chassis 532 of the placement head 130 is located according to the embodiment shown here, the rotor 235 and thus a large part of all components of the placement head 130 . The rotor 235 has a central shaft, which is designated by the reference number 560 is provided. The long axis of the central shaft 560 represents the axis of rotation of the rotor and coincides with the in 2 axis of rotation shown 260a of the gear 263 together. The central shaft 560 is via a gear consisting of a first gear 565a and a second gear 565b , which intermesh, coupled to the aforementioned central rotary drive, which is here with the reference number 565 is provided. By means of the rotary drive 565 can thus the rotor 235 inside and relative to the chassis 532 around the longitudinal axis of the central shaft 560 to be turned around. To the friction between the rotor 235 and the chassis 532 to keep it low is the central shaft 560 by means of two ball bearings 532a in the (stationary) chassis 532 rotatably mounted. Furthermore, there are ball bearings 532b provided which for low friction between the chassis 532 and a basic element of the rotor which is not provided with a reference number 235 care for.

The central shaft 560 includes two widened bearing sections (a lower, slightly widened bearing section 560b and an upper clearly widened bearing section 560a ). At the two camp sections 560a and 560b are those already above based on 2 described linear guides 270 attached to which the two blocks 240 and 250 are movable. The two blocks 240 and 250 or the two racks 241 and 251 are by means of a mechanical gear with a linear drive 575 coupled. This transmission includes the two gears 575a and 575b , an inner shaft 562 and the gear 263 . By activating the linear drive 575 can move the two blocks 240 and 250 (in the in 5 shown angle of rotation position of the rotor 235 or the central shaft 560 perpendicular to the plane of the drawing). The symmetrical arrangement of the two racks 241 and 251 in relation to the gear 263 ensures that the sliding movements of the two blocks 240 and 250 run in opposite directions. This means that when there is the first block 240 moves out of the plane of the drawing, the second block moves 250 moved into the plane of the drawing.

Because of the for 5 selected cross-sectional view, which is perpendicular to the orientation of, for example, in 4a shown four columns of the total of two arrays of component holding devices 244 , 254 are of the total of sixteen component holding devices 244 , 254 or sixteen quills 242 , 252 only a total of four component holding devices 244 , 254 or four quills 242 , 252 to recognize.

According to the embodiment shown here, a rotary drive is assigned to each quill. How out 5 can be seen is the first quills 242 a first rotary drive each 545 and the second quills 252 a second rotary drive each 555 assigned. As already described above, the rotary actuators 545 and 555 used to determine the angular position of electronic components, which of the corresponding component holding devices 244 , 254 have been recorded to be set so that the relevant electronic components can be placed in the correct angular position on a component carrier to be fitted.

The z-guides already described above 242a and 252a ensure that the rotary actuators 545 respectively. 555 together with the quills 242 respectively. 252 can be displaced along the z-direction (ie parallel to the longitudinal axis of the central shaft 260).

According to the embodiment shown here, the placement head 130 or the rotor 235 of the placement head 130 a total of four z-drives 546 on, each with a z-drive 546 a column of quills 242 assigned. As already explained above, each block 240 , 250 two columns of four quills each 242 respectively. 252 on. The columns extend in 5 perpendicular to the plane of the drawing, so that each of the in 5 illustrated quills 242 , 252 belongs to its own column. A selective mechanical coupling between a quill 242 or a rotary actuator 545 takes place via a coupling mechanism which has (i) a fork-shaped engagement element 547 respectively. 557 that over a pole 546a respectively. 556a with a rotor of the z-drive 546 respectively. 556 is connected, and (ii) a coupling element 548 respectively. 558 that has a thrust shaft 549 respectively. 559 with the rotary drive 545 respectively. 555 connected is.

As below based on 6th is described, exist the fork-shaped engagement elements 547 , 557 each of two circular segments arranged one above the other. By turning the rod 546a respectively. 556a can the circle segments with the respective coupling element 548 respectively. 558 be engaged. According to the embodiment shown here, a rotation of the rod 546a respectively. 556a by a mere in 6th shown actuator. This actuator is over a gear 547c respectively. 557c such with the fork-shaped engagement element 547 respectively. 557 coupled that when the actuator is activated, the corresponding gear 547c , 557c together with the corresponding fork-shaped engagement element 547 respectively. 557 is rotated. With a suitable angular position of the fork-shaped engagement element 547 respectively. 557 there is then a mechanical coupling in the z direction between a z drive 546 respectively. 556 and the corresponding coupling element 548 respectively. 558 manufactured, which is fixed to the rotary actuator 545 respectively. 555 is coupled. Around the respective quill 242 respectively. 252 Every quill is to be held in an upper starting position 242 respectively. 252 a retaining spring 546b respectively. 556b assigned which the corresponding quill 242 respectively. 252 pushes up. This means that it is not necessary to use the respective z-drive 546 respectively. 556 to provide a holding force that the corresponding quill 242 respectively. 252 holds in their upper starting position.

The in 5 illustrated embodiment is each of the total of four columns of the two arrays of quills 242 respectively. 252 with a common stern drive 546 respectively. 556 fitted. This makes it possible to have up to two quills from each block 240 and 250 , so to move up to four quills in the z-direction at the same time. If, for example, electronic components are loaded and / or picked up in pairs, the z-movement of a subsequent second pair of quills can be initiated as soon as the quills of the first pair are moved back into their starting position. This is a significant increase in the performance of the placement head 130 possible through a temporal overlap of movements along different z-axes.

the 6a and 6b illustrate a selective mechanical coupling in the z-direction from a quill 242 from a linear arrangement (column) of four quills to a common z-drive 546 . How out 6a can be seen, the common z-drive 546 with a system of rods 546a connected, which via a cross bar 646b are connected to one another and which are each mounted in a guide so that they can be displaced along the z-direction.

How out 6a you can see the four with the common z-drive 546 coupled rods 546a rotatable, each with a fork-shaped engagement element 547 tied together. The rotatability refers to a rotation about the longitudinal axis of the respective rod 546a . The angular positions of the fork-shaped engagement elements 547 can be done together by means of an actuator 647a can be changed, which via a gear consisting of several gears 547c and a gear 647b with the respective fork-shaped engagement element 547 is coupled.

As from the two 6a and 6b can be seen, have the various fork-shaped engagement elements 547 to each other an angular offset. According to the embodiment shown here with four quills 242 , of which one in each case by a suitable control of the actuator 647a with the common z-drive 546 can be coupled, the angular offset between two adjacent fork-shaped engagement elements 547 at least approximately 90 °. With a different number of quills that are to be coupled to a common z-drive, the number of gears and the number of fork-shaped engagement elements change in a corresponding manner while maintaining the basic structure described here. Furthermore, the angular offset between two adjacent fork-shaped engagement elements can be adapted accordingly, so that the angular positions of the various fork-shaped engagement elements are evenly distributed.

How out 6b can be seen, changes when the actuator is activated 647a and a resultant rotation of the gear 647b the angular position of the four gears 547c which directly or indirectly with the engagement element 547 are connected. Due to the above-described angular offset between the various fork-shaped engagement elements 547 becomes only one coupling element at a time 558 and with it only one quill 242 with the stern drive 546 coupled which quill 242 the corresponding coupling element 558 assigned. By activating the actuator appropriately 647a the angular positions of the fork-shaped engagement elements can be changed collectively in such a way that a selected quill 242 of the four quills 242 with the stern drive 546 is coupled.

• Bei dem beschriebenen Bestückkopf wird eine Mehrzahl von Pinolen, die in Matrizenform oder ähnlicher Form räumlich angeordnet sind, in einem Block (Pinolenblock) zusammengefasst. Insgesamt werden auf diese Weise zwei Pinolenblöcke gebildet, die relativ zueinander linear verschoben werden können, so dass sich die Distanz zwischen zwei ausgewählten Pinolen aus jeweils einem dieser Pinolenblöcke verändern lässt. Die Pinolenblöcke lassen sich zudem um ein gemeinsames Rotationszentrum rotieren. Wird der Bestückkopf mit einem Roboter bzw. einem Flächenpositioniersystem verbunden, der bzw. das den Bestückkopf in x- und y-Richtung positionieren kann, so ist eine beliebige Positionierung der beiden ausgewählten Pinolen möglich. Koppelt man die beiden ausgewählten Pinolen mit mindestens einem z-Antrieb, so können mit zwei Saugpipetten, von denen jeweils eine an der Unterseite von einer ausgewählten Pinole angebracht ist, gleichzeitig zwei elektronische Bauelemente abgeholt oder bestückt werden.

The invention or embodiments of the invention described in this document can be summarized in descriptive terms as follows:

• In the case of the placement head described, a plurality of quills, which are spatially arranged in the form of a matrix or a similar shape, are combined in a block (quill block). In total, two quill blocks are formed in this way, which can be displaced linearly relative to one another, so that the distance between two selected quills can be changed from one of these quill blocks. The quill blocks can also be rotated around a common center of rotation. If the placement head is connected to a robot or a surface positioning system that can position the placement head in the x and y directions, then a Any positioning of the two selected quills is possible. If the two selected quills are coupled with at least one z-drive, two electronic components can be picked up or equipped at the same time with two suction pipettes, one of which is attached to the underside of a selected quill.

List of reference symbols

100

Placement machine

101

processor

102

frame

103

Linear guides

104

transverse carrier arm

105

Linear guide

106

Support element

110

Component feeding system

112

Component feeders

112a

Pick-up positions

115

Conveyor belt

120

Circuit board camera

122

Components camera

124

Evaluation unit

130

Placement head

144

first component holding device / first suction pipette

154

second component holding device / second suction pipette

190

Component carrier

192

mark

235

rotor

240

first block

241

Rack

242

first quills

242a

z-guide

244

first component holding devices / first suction pipettes

244a

Suction channel

250

second block

251

Rack

252

second quills

252a

z-guide

254

second component holding devices / second suction pipettes

254a

Suction channel

260a

Axis of rotation of central shaft 560 and rotor 535

263

gear

270

Linear guide

270a

rail

270b

sleds

272a

first shift direction

272b

second shift direction

dx

Distance between a first suction pipette and a second suction pipette

412a

Component belt

412b

Engagement holes

495

Electronic Components

495a

Component pick-up positions

t

Pitch

532

chassis

532a

Ball bearings

532b

ball-bearing

545

first rotary drive

546

first stern drive

546a

pole

546b

Retaining spring

547

Engagement element / fork

547c

gear

548

Coupling element

549

Thrust shaft

555

second rotary drive

556

second stern drive

556a

pole

556b

Retaining spring

557

Engagement element / fork

557c

gear

558

Coupling element

559

Thrust shaft

560

central shaft

560a

Warehouse section

560b

Warehouse section

562

inner shaft

565

central rotary drive

565a

first gear

565b

second gear

575

linear actuator

575a

first gear

575b

second gear

646b

Crossbar

647a

Actuator for engagement element / fork 557

647b

gear

647c

gear

Claims (11)

Placement head (130) for automatically placing electronic components (495) on a component carrier (190), having the placement head (130) a chassis (532), a rotor (235) which is rotatably mounted relative to the chassis (532) about an axis of rotation (260a), the rotor (235) having a first block (240) which has at least two first quills (242) which are mounted displaceably relative to the first block (240) along a first direction which is parallel to the axis of rotation (260a), a second block (250) which has at least two second quills (252) which are mounted displaceably relative to the second block (250) along the first direction, the first quills (242) and the second quills (252) formed in this way are that in each case a component holding device (244, 254) can be attached to one end of the respective quill (242, 252), and a linear guide (270) which is configured to guide at least one of the two blocks (240, 250) in order to move this block (240, 250) relative to the other block (250, 240) in a second direction which is perpendicular to the first direction is a central rotary drive (565) which is mechanically coupled to the chassis (532) and the rotor (235) and which is configured to drive the rotor (235) about the rotor (235) relative to the chassis (532) about the axis of rotation To turn (260a) around; whereby a linear drive (575) is coupled to both blocks (240, 250) via a linear coupling mechanism, so that both blocks (240, 250) can each be displaced in the second direction, which is perpendicular to the axis of rotation (260a). Placement head (130) according to Claim 1 , the linear coupling mechanism being designed in such a way that when the linear drive (575) is activated, both blocks (240, 250) are moved in opposite directions to one another. Placement head (130) according to one of the preceding Claims 1 until 2 , further comprising at least two first rotary drives (545), a first rotary drive (545) being assigned to one of the two first quills (242), and / or at least two second rotary drives (555), with a second rotary drive (555) each being one the two second quills (252) is assigned. Placement head (130) according to one of the preceding Claims 1 until 3 , further comprising a first z-drive (546), which is assigned to at least one of the first quills (242), so that the at least one first quill (242) can be displaced relative to the chassis (532) along the first direction, and / or a second z-drive (556), which is assigned to at least one of the second quills (252), so that the at least one second quill (252) can be displaced relative to the chassis (532) along the first direction. Placement head (130) according to the preceding Claim 4 , wherein the first z-drive (546) is coupled to at least two first quills (242) via a first z-coupling mechanism, and / or the second z-drive (556) is coupled to at least two second quills via a second z-coupling mechanism ( 252) is coupled. Placement head (130) according to the preceding Claim 5 , the first z-coupling mechanism having a plurality of first coupling elements (548), a first coupling element (548) being assigned to a first quill (242), and / or the second z-coupling mechanism having a plurality of second coupling elements (558), each a second coupling element (558) is assigned to a second quill (252). Placement head (130) according to one of the preceding Claims 1 until 6th , wherein the first block (240) has at least four first quills (242) which are arranged in a first two-dimensional grid, and / or wherein the second block (250) has at least four second quills (252) which are arranged in a second two-dimensional Grid are arranged. Placement machine (100) for automatically placing electronic components (495) on a component carrier (190), the placement machine (100) having a frame (102), a positioning system (103, 104, 105, 106) with a stationary component (103) and a movable component (106), wherein the stationary component (103) is attached to the frame (102), and a placement head (130) according to one of previous Claims 1 until 7th wherein the chassis (532) of the placement head (130) is attached to the movable component (106) of the positioning system (103, 104, 105, 106). Placement machine (100) according to the preceding Claim 8 , further comprising a component supply system (110) which has - a first component supply device (112) by means of which electronic components (495) are provided at a first pick-up position (495a), and - a second component supply device (112 ) by means of which electronic components (495) are provided at a second pick-up position (495a), the two pick-up positions (495a) being spaced from one another in such a way that a first electronic component (495) from the first pick-up position ( 495a) and a second electronic component (495) can be picked up from the second pick-up position (495a). Method for automatically fitting a component carrier (190) with electronic components (495) by means of an automatic fitting machine (100) according to one of the preceding Claims 8 until 9 , the method comprising picking up a first electronic component (495) from a first pick-up position (495a) with a first quill (242) of the first block (240) of the placement head (130), picking up a second electronic component (495) from a second pick-up position (495a) with a second quill (252) of the second block (250) of the placement head (130), transporting the two picked-up electronic components (495) into a placement area in which there is a component carrier (190) to be fitted, placing the transported first electronic component (495) at a first installation position on the component carrier (190) and placing the transported second electronic component (495) at a second installation position on the component carrier (190). Procedure according to the foregoing Claim 10 wherein the picking up of the first electronic component (495) and the picking up of the second electronic component (495) take place simultaneously, and / or wherein the putting on of the transported first electronic component (495) and the putting on of the transported second electronic component (495) simultaneously he follows.

Images