Dispensing head, nozzle and method
阅读说明：本技术 分配头、喷嘴及方法 (Dispensing head, nozzle and method ) 是由 约翰·达内克 彼得·约瑟夫·迪翁 于 2018-02-26 设计创作，主要内容包括：一种用于拾放机的主轴,包括长度在第一端和第二端之间延伸的轴,轴包括外主体和中空内部,位于所述轴的第一端的喷嘴尖,喷嘴尖设置为接触电子元件以操纵电子元件,以及位于轴上的θ齿轮,所述θ齿轮设置为与拾放头的电机啮合。该主轴设置为可拆卸地连接在拾放头上。还公开了包含该主轴的分配头主轴模块、主轴库以及装配机。(A spindle for a pick and place machine comprising a shaft extending a length between a first end and a second end, the shaft comprising an outer body and a hollow interior, a nozzle tip at the first end of the shaft, the nozzle tip being arranged to contact an electronic component to manipulate the electronic component, and a theta gear on the shaft, the theta gear being arranged to engage a motor of a pick and place head. The spindle is configured to be removably coupled to the pick-and-place head. Also discloses a distribution head spindle module comprising the spindle, a spindle library and an assembly machine.)
1. A spindle for a pick and place machine, comprising:
a shaft having a length extending between a first end and a second end, the shaft including an outer body and a hollow interior;
a nozzle tip at a first end of the shaft, the nozzle tip configured to contact an electronic component to manipulate the electronic component; and
a theta gear on the shaft, the theta gear configured to engage a motor of the pick-and-place head,
the spindle is characterized in that the spindle is detachably connected to the pick-and-place head.
2. The spindle of claim 1, wherein the outer body comprises at least one opening configured to receive a gas into the hollow interior.
3. A spindle according to claim 2, wherein the at least one opening is a plurality of openings provided at a point on the outer body of the shaft along its length.
4. A spindle according to claim 2, wherein the shaft is arranged to deliver a stream of air to the nozzle such that the nozzle is arranged to pick and place electronic components.
5. The spindle of claim 1, wherein the shaft is cylindrical and the theta gear is fixed to the shaft such that rotation of the theta gear rotates the theta gear by a motor driving the gear and the shaft is rotated by rotation of the theta gear.
6. The spindle of claim 1, wherein the theta gear is a component manufactured separately from the shaft, the theta gear including an opening configured to receive the shaft.
7. The spindle of claim 6, wherein the theta gear includes an upper surface facing the second end, a lower surface facing the first end, and an outer circumference along which teeth are disposed, the theta gear further including a circumferential ridge extending from the upper surface toward the second end, the circumferential ridge being located between the outer circumference of the theta gear and the shaft.
8. The spindle of claim 7, wherein the theta gear includes a base extending from a lower surface toward the first end, the base being located proximate to the opening and extending the length of the opening.
9. The spindle of claim 1, wherein the theta gear is made of a magnetic material configured to interact with a motor and rotate via magnetic force.
10. The spindle of claim 1, wherein the shaft comprises a magnetic material proximate the second end configured to be received by a magnet of the pick-and-place head for removable attachment.
11. An assembly method comprising:
providing a pick and place machine having a pick and place head;
there is provided a spindle for a pick and place machine, the spindle comprising:
a shaft extending in length between a first end and a second end, the shaft including an outer body and a hollow interior;
a nozzle tip at a first end of the shaft;
a theta gear located on the shaft;
connecting the spindle to a pick-and-place head of the pick-and-place machine; the gear is meshed with a motor of the pick-and-place head through a theta gear;
contacting the electronic component through the spindle;
manipulating the electronic component through the spindle; and
the spindle is removed from the pick-and-place head of the pick-and-place machine.
12. The method of claim 11, wherein the outer body includes at least one opening, the method further comprising receiving gas from a gas delivery system of a pick-and-place head through the at least one opening into the hollow interior and using the gas flow during handling.
13. The method of claim 12, further comprising:
picking up the electronic component by the nozzle using the air flow; and
the nozzles through which the electronic components are placed using air flow.
14. The method of claim 11, further comprising:
rotating the theta gear by a motor of the pick-and-place head; and
the shaft and the nozzle tip are rotated by the rotation of the theta gear.
15. The method of claim 11, wherein the theta gear further comprises an upper surface facing the second end, a lower surface facing the first end, and an outer circumference, with teeth disposed along the outer circumference, the theta gear further comprising a circumferential ridge extending from the upper surface toward the second end, the circumferential ridge being located between the outer circumference of the theta gear and the shaft, the method further comprising:
cutting off a light beam of an optical sensor located on the pick-and-place head by the circumferential ridge;
movement of the nozzle relative to at least a portion of the pick-and-place head is sensed by the optical sensor.
16. The method of claim 11, wherein the theta gear is made of a magnetic material, the method further comprising rotating the theta gear via magnetic force by a motor.
17. The method of claim 1, wherein the shaft includes a magnetic material proximate the second end, the method further comprising receiving the shaft with a magnet of a receiving location of the pick-and-place head such that the magnetic material interacts with the magnet of the receiving location.
18. A dispensing head, comprising:
a body structure having a receiving location;
a Z-axis motor;
a theta motor; and
a spindle received in a receiving position, the spindle comprising:
a shaft extending in length between a first end and a second end, the shaft including an outer body and a hollow interior;
a nozzle tip at a first end of the shaft, the nozzle tip configured to contact an electronic component to manipulate the electronic component; and
a theta gear on the shaft, the theta gear configured to mesh with the theta motor such that the theta motor is configured to rotate the theta gear.
19. The dispense head according to claim 18, wherein the spindle is removably connected at the receiving location.
20. The dispense head of claim 18, further comprising an air flow delivery system, wherein the outer body of the shaft of the spindle comprises at least one opening for receiving an air flow from the air flow delivery system into the hollow interior.
21. A spindle magazine for a pick and place machine, comprising:
a base including a plurality of mounting locations, each mounting location configured to receive a mountable spindle module including at least one pick-and-place spindle and a nozzle; and
a bearing system connectable to the motion axis of the pick and place machine such that the spindle magazine is movable along the motion axis.
22. The spindle library of claim 21, wherein the spacing between each mounting location is less than 25 millimeters.
23. The spindle library of claim 21, further comprising a gas delivery system configured to deliver gas to each mounting location, wherein each mounting location is configured to deliver gas to each mountable spindle module upon mounting.
24. The spindle library of claim 21, further comprising a power delivery system arranged to deliver power to each mounting location, wherein each mounting location is arranged to deliver power to each mountable spindle module when mounted.
25. The spindle library of claim 21, wherein each mounting location comprises at least one threaded connection location configured to receive at least one threaded connection component to which one of the spindle modules may be mounted.
26. The spindle magazine of claim 25, wherein the at least one threaded connection location is two threaded holes, and wherein the at least one threaded connection component to which one of the spindle modules can be mounted is two threaded screws.
27. The spindle magazine of claim 26, wherein the plurality of mounting locations are arranged such that a mountable spindle module can be connected to each mounting location with only a manual tool.
28. The spindle library of claim 21, wherein the plurality of mounting locations comprises at least eight mounting locations.
29. The spindle library of claim 24, wherein the gas delivery system comprises a first channel extending between a first inlet and a first set of outlets, each of the first set of outlets configured to provide gas to one of the plurality of mounting locations, the gas delivery system further comprising a second channel extending between a second inlet and a second set of outlets, each of the second set of outlets configured to provide gas to one of the plurality of mounting locations.
30. The spindle library of claim 21, wherein the plurality of mounting locations comprises a first mounting location configured to receive a first mountable spindle module, wherein the plurality of mounting locations comprises a second mounting location configured to receive a second mountable spindle module, wherein the first mountable spindle module is different from the second mountable spindle module such that the first mounting location comprises at least one physical characteristic different from the second mounting location.
31. A pick and place machine comprising:
a feeder position arranged to present electronic components for pick up;
a placement location configured to receive an unfinished product to place an electronic component;
a first axis of motion; and
a spindle magazine, the spindle magazine comprising:
a base comprising a plurality of mounting locations, each mounting location configured to receive a mountable spindle module, the spindle module comprising at least one pick-and-place spindle and a nozzle; and
a bearing system connectable to the first axis of motion such that the spindle magazine is movable along the first axis of motion.
32. The machine of claim 31, further comprising a second axis of motion perpendicular to the first axis of motion, the bearing system being connectable to the second axis of motion such that the spindle library is movable along the second axis of motion.
33. A method of assembly comprising:
providing a pick and place machine having a first axis of motion;
providing a spindle magazine for a pick and place machine, the spindle magazine comprising:
a base comprising a plurality of mounting locations; and
a bearing system connectable to a first axis of motion of the pick and place machine such that the spindle magazine is movable along the axis; and is
Mounting a mountable spindle module comprising at least one pick-and-place spindle and a nozzle at each mounting location; and
assembling at least one unfinished product by means of the received mountable spindle module.
34. The method of claim 33, wherein the pick and place machine includes a first air distribution system, wherein the spindle library includes a second air distribution system, the method further comprising:
distributing gas to a spindle library through the first gas distribution system; and
after installation, gas is distributed to each mountable spindle module by the second gas distribution system.
35. The method of claim 33, wherein the pick and place machine includes a power distribution system, wherein the spindle library includes a second power distribution system, the method further comprising:
distributing power to a spindle library through a first power distribution system; and
power is distributed to each mountable spindle module after installation by the second power distribution system.
36. The method of claim 33, wherein each mounting location comprises at least one threaded connection location, and wherein one of the mountable spindle modules comprises at least one threaded connection component, the method further comprising:
at least one screw connection part, on which the spindle module can be mounted, is accommodated by means of the at least one screw connection location.
37. The method of claim 36, further comprising: at least one of the mountable spindle modules is mounted to a selected one of a plurality of mounting locations by an installer using only a hand tool.
38. The method of claim 33, further comprising:
connecting the bearing system to the first motion shaft;
the spindle magazine is moved along a first axis of motion by the pick and place machine.
39. The method of claim 38, wherein the pick and place machine further comprises a second axis of motion perpendicular to the first axis of motion, the method further comprising:
connecting the first axis of motion to the second axis of motion; and
the spindle magazine is moved along a second axis of motion by the pick and place machine.
40. The method of claim 33, wherein the plurality of mounting locations includes a first mounting location configured to receive a first mountable spindle module, wherein the plurality of mounting locations includes a second mounting location configured to receive a second mountable spindle module, wherein the first mountable spindle module is different than the second mountable spindle module such that the first mounting location includes at least one physical characteristic different than the second mounting location, the method further comprising:
mounting a first mountable spindle module to the first mounting location; and
mounting a second mountable spindle module to the second mounting location.
41. A pick-and-place spindle module comprising:
a modular body structure including a first receiving location configured to receive a spindle;
a first Z-axis motor configured to move the main shaft accommodated in the first accommodation position on the Z-axis;
a first θ motor configured to rotate the spindle accommodated in the accommodation position;
a gas distribution system comprising a gas distribution port, the gas distribution system configured to deliver received gas from the gas distribution port to a spindle housed in a first housing location;
a power distribution system including a power distribution port, the power distribution system configured to deliver received power from the power distribution port to the first Z-axis motor and the first theta motor; and
a mechanical connection mechanism configured to facilitate connection of the modular body structure to the spindle magazine such that the gas distribution port is connected to receive gas from the spindle magazine and the power distribution port is configured to receive power from the spindle magazine.
42. The pick-and-place spindle module according to claim 41, wherein the pick-and-place spindle module is not directly connected to a motion axis of the pick-and-place machine.
43. The pick-and-place spindle module according to claim 41, wherein the mechanical connection mechanism is a plurality of threaded bolts each configured to be rotated by a hand tool.
44. The pick-and-place spindle module according to claim 43, wherein the mechanical connection mechanism is two threaded bolts, both arranged to be rotated by a hand tool, and wherein the two threaded bolts are all the connection mechanisms required to connect the modular body structure to the spindle magazine.
45. The pick-and-place spindle module of claim 41, further comprising a motion control chip configured to control the first Z axis motor and the first θ motor.
46. The pick-and-place spindle module according to claim 41, wherein the modular body structure further comprises a second receiving location configured to receive a spindle, the pick-and-place spindle module further comprising:
a second Z-axis motor configured to move the spindle accommodated in the second accommodation position on the Z-axis;
a second θ motor configured to rotate the spindle accommodated in the accommodation position;
wherein the gas distribution system is configured to deliver received gas from the gas distribution port to the spindle housed in the second housing location;
wherein the power distribution system is configured to deliver the received power from the power distribution port to the second Z-axis motor and the second theta motor.
47. The pick-and-place spindle module according to claim 46, wherein the spacing between the first and second receiving locations is equal to or less than 10 mm.
48. The pick-and-place spindle module according to claim 46, wherein the modular body structure further comprises a first linear rail and a second linear rail, the pick-and-place spindle module further comprising:
a first body coupled to the first linear rail, the first body further operatively coupled to the first Z-axis motor such that the first body moves along the first linear rail when the first Z-axis motor is activated; and
a second body coupled to the second linear rail, the second body further operatively coupled to a second Z-axis motor such that the second body moves along the second linear rail when the second Z-axis motor is activated;
wherein the first theta motor is operatively connected to the first body; the second theta motor is operatively connected to the second body.
49. The pick-and-place spindle module according to claim 48, wherein the first linear rail and the second linear rail are connected to the modular body structure by a set screw extending between the first nut and the second nut.
50. The pick-and-place spindle module according to claim 46, further comprising:
a first motion control chip configured to control the first Z-axis motor and the first θ motor;
and a second motion control chip configured to control the second Z-axis motor and the second theta motor.
51. A method of assembly comprising:
providing a pick and place machine having a first axis of motion;
providing a spindle magazine connected to the pick and place machine such that the spindle magazine is movable along a first axis of motion;
providing a first pick-and-place spindle module comprising:
a modular body structure including a first receiving location;
a first Z-axis motor;
a first theta motor;
the gas distribution system comprises a gas distribution port;
a power distribution system comprising a power distribution port; and
a mechanical connection mechanism;
connecting a first pick-and-place spindle module to the spindle magazine using a mechanical connection mechanism such that the gas distribution port is connected to receive gas from components of the spindle magazine and the power distribution port is connected to receive power from components of the spindle magazine;
receiving a first spindle through a receiving location of the modular body structure;
moving the accommodated first spindle on the Z-axis by a first Z-axis motor;
rotating, by a first θ motor, the housed first spindle;
delivering, by a gas distribution system, the received gas from a gas distribution port onto the housed first spindle;
delivering, by a power distribution system, the received power from a power distribution port to a housed first spindle;
moving the spindle magazine along a first axis of motion; and
at least one unfinished product is at least partially assembled by the connected first pick-and-place spindle module.
52. The method of assembling of claim 51, wherein said mechanical connection mechanism is a plurality of threaded bolts, said method further comprising:
a first pick-and-place spindle module is connected to the spindle magazine using a hand tool.
53. The method of assembling of claim 51, wherein said modular body structure further comprises a second receiving location, said pick-and-place spindle module further comprising:
a second Z-axis motor;
a second theta motor;
the method further comprises the following steps:
receiving a second spindle through a second receiving location of the modular body structure;
moving the accommodated second spindle on the Z-axis by a second Z-axis motor;
rotating the accommodated second spindle by a second θ motor;
delivering the received gas from the gas distribution port to the housed second spindle through the gas distribution system;
the received power is delivered from the power distribution port to the housed second spindle through the power distribution system.
54. The method of assembling of claim 53, wherein said modular body structure further comprises a first linear rail and a second linear rail, said pick-and-place spindle module further comprising:
a first body connected to the first linear rail, the first body further operatively connected to a first Z-axis motor; and
a second body connected to the second linear rail, the second body further operatively connected to a second Z-axis motor, wherein the first theta motor is operatively connected to the first body; a second theta motor is operably connected to the second body, the method further comprising:
moving the first body along a first linear track by a first Z-axis motor; and
the second body is moved along a second linear track by a second Z-axis motor.
55. The pick-and-place spindle module of claim 54, further comprising:
the first and second linear rails are connected to the modular body structure by set screws extending between the first and second nuts.
56. The method of assembling of claim 53, the first pick-and-place spindle module further comprising:
a first motion control chip; and
a second motion control chip for controlling the motion of the object,
the method further comprises the following steps:
controlling a first Z-axis motor and a first theta motor using a first motion control chip; and
a second Z-axis motor and a second theta motor are controlled using a second motion control chip.
57. The method of assembling of claim 51, further comprising:
providing a second pick-and-place spindle module comprising:
a modular body structure, the structure including a receiving location;
a first Z-axis motor;
a first theta motor;
the gas distribution system comprises a gas distribution port;
a power distribution system comprising a power distribution port; and
a mechanical connection mechanism;
connecting a second pick-and-place spindle module to the spindle magazine using the mechanical connection mechanism such that the gas distribution port is connected to receive gas from components of the spindle magazine and the power distribution port is connected to receive power from components of the spindle magazine;
receiving a second spindle through a receiving location of the modular body structure of the second pick-and-place spindle module;
the main shaft accommodated by the second picking and placing main shaft module moves on the Z axis through a first Z axis motor of the second picking and placing main shaft module;
rotating the spindle received by the second pick-and-place spindle module by a first theta motor of the second pick-and-place spindle module;
the received gas is conveyed to a main shaft accommodated by the second picking and placing main shaft module from a gas distribution port of the second picking and placing main shaft module through a gas distribution system of the second picking and placing main shaft module;
transferring, by the power distribution system of the second pick-and-place spindle module, the received power from the power distribution port of the second pick-and-place spindle module onto a spindle housed by the second pick-and-place spindle module; at least one unfinished product is at least partially assembled by the attached second pick-and-place spindle module.
58. The assembly method of claim 57, the pick-and-place spindle module further comprising a first motion control chip, the second pick-and-place spindle module further comprising a second motion control chip, the method further comprising:
controlling a first Z-axis motor of the first pick-and-place spindle module and a first theta motor of the first pick-and-place spindle module using the first motion control chip; and
the first z-axis motor of the second pick-and-place spindle module and the first theta motor of the second pick-and-place spindle module are controlled using a second motion control chip.
59. A pick and place machine comprising:
a feeder position arranged to present electronic components for pick up;
a placement location configured to receive an unfinished product to place an electronic component;
a first axis of motion;
a spindle magazine movable along a first axis of motion; and
a pick-and-place spindle module connected to a spindle magazine, comprising:
a modular body structure including a first receiving location configured to receive a spindle;
a first Z-axis motor configured to move the main shaft accommodated in the first accommodation position on the Z-axis;
a first θ motor configured to rotate the spindle accommodated in the accommodation position;
a gas distribution system comprising a gas distribution port, the gas distribution system configured to deliver received gas from the gas distribution port to a spindle housed in a first housing location;
a power distribution system including a power distribution port, the power distribution system configured to deliver received power from the power distribution port to the first Z-axis motor and the first theta motor; and
a mechanical connection mechanism connecting the modular body structure to the spindle magazine such that the gas distribution port is connected for receiving gas and the power distribution port is configured to receive power.
60. The machine of claim 59, wherein said mechanical attachment mechanism is a plurality of threaded bolts each configured to be rotated by a hand tool.
61. A pick-and-place spindle module comprising:
a modular body structure including a first receiving location configured to receive a spindle;
a first Z-axis motor configured to move the main shaft accommodated in the first accommodation position on the Z-axis;
a first θ motor configured to rotate the spindle accommodated in the accommodation position;
the first motion control chips are connected to the main body structure and are used for controlling the first Z-axis motor and the first theta motor; and
a mechanical connection mechanism configured to facilitate connection of the modular body structure to the spindle magazine.
62. The pick-and-place spindle module according to claim 61, wherein the modular body structure further comprises a second receiving location configured to receive a second spindle, the pick-and-place spindle further comprising:
a second Z-axis motor configured to move the spindle accommodated in the second accommodation position on the Z-axis;
a second θ motor configured to rotate the spindle accommodated in the accommodation position;
and the second motion control chips are connected to the main body structure and are arranged to control the second z-axis motor and the second theta motor.
63. The pick-and-place spindle module according to claim 61, wherein the mechanical connection mechanism is a plurality of threaded bolts each configured to be rotated by a hand tool.
64. The pick-and-place spindle module according to claim 62, wherein the first and second motion control chips are each configured to control the speed, acceleration, and position of the respective first and second Z axis motors and the respective first and second θ motors.
65. The pick-and-place spindle module according to claim 64, further comprising a first spindle received in the first receiving location and a second spindle received in the second receiving location, wherein the first and second motion control chips are configured to create separate independent motion control configurations for the first and second spindles, respectively.
66. A pick-and-place spindle magazine comprising:
a base including a plurality of mounting locations; and
a bearing system connectable to the shaft of the pick and place machine, such that the spindle magazine is movable along the shaft; and
a first pick-and-place spindle module mounted to a first mounting location of the plurality of mounting locations, the first pick-and-place spindle module comprising:
a modular body structure comprising: a first receiving position configured to receive the spindle;
a first Z-axis motor configured to move the main shaft accommodated in the first accommodation position on the Z-axis;
a first θ motor configured to rotate the spindle accommodated in the first accommodation position;
the first motion control chips are connected to the modular main body structure and are used for controlling the first Z-axis motor and the first theta motor; and
and the mechanical connecting mechanism is used for connecting the modular main body structure to the base.
67. The pick-and-place spindle magazine of claim 66, wherein the modular body structure further comprises a second receiving location configured to receive a second spindle, the pick-and-place spindle further comprising:
a second Z-axis motor configured to move the spindle accommodated in the second accommodation position on the Z-axis;
a second θ motor configured to rotate the spindle accommodated in the second accommodation position;
and the second motion control chips are connected to the modular main body structure and are arranged to control the second Z-axis motor and the second theta motor.
68. The pick-and-place spindle magazine of claim 66, wherein the mechanical connection mechanism is a plurality of threaded bolts each configured to be rotated by a hand tool.
69. The pick-and-place spindle library of claim 67, wherein the first and second motion control chips are each configured to control the speed, acceleration, and position of the respective first and second Z axis motors and the respective first and second θ motors.
70. The pick-and-place spindle library of claim 69, further comprising a first spindle received in a first receiving location and a second spindle received in a second receiving location, wherein the first and second motion control chips are each configured to create separate independent motion control configurations for the first and second spindles, respectively.
71. The pick-and-place spindle library of claim 66, further comprising:
a second pick-and-place spindle module mounted to a second location of the plurality of mounting locations, the second pick-and-place spindle module comprising:
a modular body structure comprising: a first receiving position configured to receive the spindle;
a first Z-axis motor configured to move the main shaft accommodated in the first accommodation position on the Z-axis;
a first θ motor configured to rotate the spindle accommodated in the accommodation position;
the first motion control chips are connected to the modular main body structure and are used for controlling the first Z-axis motor and the first theta motor; and
and the mechanical connecting mechanism is used for connecting the modular main body structure to the base.
72. The pick-and-place spindle magazine of claim 67, further comprising
A second pick-and-place spindle module mounted to a second location of the plurality of mounting locations, the second pick-and-place spindle module comprising:
a modular body structure comprising: a first accommodating position and a second accommodating position, both configured to accommodate the spindle;
a first Z-axis motor configured to move the main shaft accommodated in the first accommodation position on the Z-axis;
a second Z-axis motor configured to move the spindle accommodated in the second accommodation position on the Z-axis;
a first θ motor configured to rotate the spindle accommodated in the first accommodation position;
a second θ motor configured to rotate the spindle accommodated in the second accommodation position;
the first motion control chips are connected to the modular main body structure and are used for controlling the first Z-axis motor and the first theta motor;
the second motion control chips are connected to the modular main body structure and are used for controlling a second Z-axis motor and a second theta motor; and
and the mechanical connecting mechanism is used for connecting the modular main body structure to the base.
73. A pick-and-place head comprising:
a body structure;
a plurality of Z-axis motors coupled to the body structure and each configured to move the spindle in a Z-axis;
a plurality of theta motors coupled to the body structure, each configured to rotate the spindle; and
a plurality of motion control chips coupled to the body structure, each motion control chip configured to control one of the plurality of Z-axis motors and one of the plurality of θ motors.
74. The pick-and-place head of claim 73, wherein each motion control chip is configured to control the speed, acceleration, and position of one of the plurality of Z axis motors and one of the plurality of θ motors.
75. The pick-and-place head of claim 73, further comprising a plurality of spindles, each Z-axis motor arranged to move one of the spindles in the Z-axis, each theta motor arranged to rotate one of the spindles, wherein each motion control chip is arranged to create a separate independent motion control configuration for each spindle.
76. A method of assembly comprising:
there is provided a pick-and-place head comprising:
a body structure;
a plurality of Z-axis motors coupled to the body structure, each motor configured to move the spindle in a Z-axis;
a plurality of theta motors connected to the body structure, each motor configured to rotate the spindle; and
a plurality of motion control chips coupled to the body structure,
controlling one of a plurality of Z-axis motors and one of a plurality of theta motors with each of a plurality of motion control chips; and
the unfinished product is assembled at least partially with the pick-and-place head.
77. The assembly method of claim 76, further comprising controlling the speed of each Z-axis motor and each theta motor using each motion control chip.
78. The assembly method of claim 76, further comprising controlling the acceleration of each Z-axis motor and each theta motor using each motion control chip.
79. The assembly method of claim 76, further comprising controlling the position of each Z-axis motor and each theta motor using each motion control chip.
80. The method of assembling of claim 76 wherein said pick-and-place head further comprises a plurality of spindles, said method further comprising:
a separate independent motion control configuration is created for each spindle using each motion control chip.
81. A pick-and-place dispensing head comprising:
a main body structure including a first Z-axis motor connection position, a second Z-axis motor connection position, a first linear rail, and a second linear rail;
a first Z-axis motor connected to the body structure at a first Z-axis motor connection location;
a second Z-axis motor connected to the body structure at a second Z-axis motor connection location;
a first body coupled to the first linear rail, the first body further operatively coupled to the first Z-axis motor such that the first body moves along the first linear rail when the first Z-axis motor is activated;
a second body coupled to the second linear rail, the second body further operatively coupled to a second z-axis motor such that the second body moves along the second linear rail when the second z-axis motor is activated;
a first theta motor operatively connected to the first body;
a second theta motor operatively connected to the second body;
a first receiving location operatively connected to the first body configured to receive a pick-and-place spindle, wherein the first θ motor is configured to rotate the pick-and-place spindle received at the first receiving location; and
a second receiving location operatively connected to the second body, the second receiving location configured to receive the pick-and-place spindle, wherein the second theta motor is configured to rotate the pick-and-place spindle received at the second receiving location,
wherein the first and second linear rails are connected to the body structure by a set screw extending between the first and second nuts.
82. The pick-and-place dispensing head of claim 81, wherein the set screw includes external threads, and wherein the first nut and the second nut each include an internally threaded nut body configured to receive the external threads of the set screw.
83. The pick-and-place dispensing head of claim 82, wherein the first linear track includes a first aperture configured to receive the head thereof when the first nut is tightened such that the first nut does not interfere with movement of the first body on the first linear track, and wherein the second linear track includes a second aperture configured to receive the head thereof when the second nut is tightened such that the second nut does not interfere with movement of the second body on the second linear track.
84. The pick-and-place dispensing head of claim 82, wherein the first linear track and the second linear track are connected to the body structure by a set screw extending between the third nut and the fourth nut.
85. A pick-and-place dispensing head comprising:
a body structure extending in an X-axis, a Y-axis perpendicular to the X-axis, and a Z-axis perpendicular to the X-axis and the Y-axis, the body structure including a first Z-axis motor connection location, a second Z-axis motor connection location, a first linear track extending along the Z-axis, and a second linear track extending along the Z-axis;
a first Z-axis motor coupled to the body structure at a first Z-axis motor connection location, the first Z-axis motor configured to move precisely in the Z-axis;
a second Z-axis motor coupled to the body structure at a second Z-axis motor coupling location, the second Z-axis motor configured to move precisely in the Z-axis;
a first body connected to the first linear rail, the first body further operably connected to a first Z-axis motor such that the first body moves along the first linear rail when the first Z-axis motor is activated;
a second body connected to the second linear rail, the second body further operably connected to a second Z-axis motor such that the second body moves along the second linear rail when the second Z-axis motor is activated;
a first theta motor operatively connected to the first body;
a second theta motor operatively connected to the second body;
a first receiving location operatively connected to the first body, the first receiving location configured to receive a pick-and-place spindle, wherein the first theta motor is configured to rotate the pick-and-place spindle received at the first receiving location; and
a second receiving location operatively connected to the second body, the second receiving location configured to receive the pick-and-place spindle, wherein the second theta motor is configured to rotate the pick-and-place spindle received at the second receiving location,
wherein the first and second accommodating positions are spaced apart on the X-axis and located at the same position on the Y-axis, and wherein the first and second Z-axis motors are spaced apart on the X-axis and spaced apart on the Y-axis.
86. The pick-and-place dispensing head of claim 85, wherein the first and second receiving locations are spaced apart on the X-axis by an amount equal to or less than 12 MM.
87. The pick-and-place dispensing head of claim 86, wherein the first and second Z-axis motors are spaced equal to or greater than 16mm apart.
88. The pick-and-place dispensing head according to claim 85 wherein the first and second receiving locations are spaced apart in the X-axis by an amount equal to or less than 10 mm.
89. The pick-and-place dispensing head of claim 86, wherein the first and second Z-axis motors are spaced equal to or greater than 18mm apart.
90. A pick-and-place dispensing head comprising:
a body structure having a Z-axis motor connection location and a linear track;
a Z-axis motor connected to the body structure at an axis motor connection location, the Z-axis motor configured to move precisely in a Z-axis;
a body connected to the linear rail and operatively connected to the Z-axis motor such that the body moves along the linear rail when the Z-axis motor is activated;
a theta motor operatively connected to the first body;
a receiving location operatively connected to the body, the receiving location configured to receive the pick-and-place spindle such that the pick-and-place spindle is configured to move in the Z-axis relative to the body when an upward Z-axis force is applied to the pick-and-place spindle; the receiving position includes a spring mechanism configured to resist Z-axis movement in the pick-and-place spindle axis, and wherein the first theta motor is configured to rotate the pick-and-place spindle received in the first receiving position and to remain engaged with the pick-and-place spindle during the Z-axis movement of the pick-and-place spindle; and
an optical detector extends from the first body and is configured to detect upward Z-axis movement of the accommodated pick-and-place spindle relative to the body.
91. The pick-and-place dispensing head of claim 90, wherein the spring mechanism is magnetic.
92. The pick-and-place dispensing head of claim 90, wherein the spring mechanism is a mechanical spring.
93. The pick-and-place dispensing head of claim 90, further comprising a pick-and-place spindle received at the receiving location, the pick-and-place spindle comprising:
a shaft extending in length between a first end and a second end, the shaft including an outer body and a hollow interior;
a nozzle tip at a first end of the shaft, the nozzle tip configured to contact an electronic component to manipulate the electronic component; and
a theta gear on the shaft, the theta gear configured to engage a motor of the pick-and-place head,
wherein the nozzle is configured to be removably attached to the pick-and-place head.
94. The pick-and-place dispensing head of claim 93 wherein the theta gear further comprises an upper surface facing the second end, a lower surface facing the first end, the theta gear further comprising a circumferential ridge extending from the upper surface toward the second end, the circumferential ridge being located between an outer circumference of the theta gear and the shaft.
95. The pick-and-place dispensing head of claim 94 wherein the optical detector extends between a first end and a second end and has an opening therebetween, wherein the first end includes an optical beam generator arranged to generate an optical beam directed at the second end, and wherein the second end includes a visible light detector, wherein the circumferential ridge is positioned to cut the optical beam through the insertion opening as the pick-and-place spindle is moved relative to the body.
Technical Field
The subject matter of the present invention generally relates to an assembly machine. More particularly, the subject matter relates to a dispensing head or pick-and-place head, a spindle and a nozzle for a pick-and-place machine.
Background
The assembly machines comprise complex robots with a dispensing head moving along one or more axes for assembling the unfinished product. The dispensing head can be used to pick, place, supply material to a component or surface, manipulate, screw, or otherwise dispense a task or material. In pick-and-place assembly machines, for example, the dispensing head is typically configured to receive a plurality of different spindle and nozzle assemblies to efficiently pick, place, and assemble the various components. The dispensing head must typically include a spindle assembly for imparting rotation to the nozzle and also have the ability to move the nozzle along the Z-axis. These requirements result in the dispensing head of the pick and place machine being generally large and heavy.
Furthermore, the assembly machine may comprise a multi-spindle or multi-nozzle dispensing head. These dispensing heads may be configured to pick up multiple components, for example from one or more feeder magazines, and then move to a placement location to place the multiple components. This reduces assembly time compared to having a single spindle or a single nozzle. This is because a single spindle and nozzle arrangement typically needs to be moved back and forth between the feeder garage and the placement position with a single placed component. However, providing additional spindles and nozzle receptacles on the dispensing head generally increases the size, volume, and engineering complexity of the head. Furthermore, if one spindle or nozzle breaks down or begins to function improperly, the entire dispense head may be damaged until the problem is resolved.
In addition, the dispensing heads currently used in pick and place systems are typically controlled by a machine-level processor or control system. These systems eliminate the possibility of creating an independent motion control configuration for each individual spindle on a multi-spindle dispense head. Specifically, a motion control configuration at the dispense head level is created.
Accordingly, improved assembly machines, dispense heads, spindles, spindle mounting modules, and spindle magazines that alleviate or reduce one or more of the above limitations would be welcomed in the art.
Disclosure of Invention
According to one embodiment, a spindle for a pick and place machine includes: a shaft extending in length between a first end and a second end, the shaft including an outer body and a hollow interior; a nozzle tip at a first end of the shaft, the nozzle tip configured to contact an electronic component to manipulate the electronic component; and a theta gear on the shaft, the theta gear configured to engage a motor of the pick-and-place head, wherein the spindle is configured to be removably coupled to the pick-and-place head.
According to another embodiment, a method of assembly includes: providing a pick and place machine having a pick and place head; there is provided a spindle for a pick and place machine, the spindle comprising: a shaft extending in length between a first end and a second end, the shaft including an outer body and a hollow interior; a nozzle tip at a first end of the shaft; a theta gear located on the shaft; connecting the spindle to a pick-and-place head of the pick-and-place machine; the gear is meshed with a motor of the pick-and-place head through a theta gear; contacting the electronic component through the spindle; manipulating the electronic component through the spindle; and removing the spindle from the pick-and-place head of the pick-and-place machine.
According to another embodiment, a dispensing head comprises: a body structure having a receiving location; a Z-axis motor; a theta motor; a spindle received in a receiving position, the spindle comprising: a shaft extending in length between a first end and a second end, the shaft including an outer body and a hollow interior; a nozzle tip at a first end of the shaft, the nozzle tip configured to contact an electronic component to manipulate the electronic component; and a theta gear on the shaft, the theta gear configured to mesh with the theta motor such that the theta motor is configured to rotate the theta gear.
According to another embodiment, a spindle library for a pick and place machine includes: a base comprising a plurality of mounting locations, each mounting location configured to receive a mountable spindle module, the spindle module comprising at least one pick-and-place spindle and a nozzle; and a bearing system connectable to the axis of motion of the pick and place machine such that the spindle magazine is movable along the axis of motion.
According to another embodiment, a pick and place machine includes: a feeder position arranged to present electronic components for pick up; a placement location configured to receive an unfinished product to place an electronic component; a first axis of motion; and a spindle magazine, the spindle magazine comprising: a base comprising a plurality of mounting locations, each mounting location configured to receive a mountable spindle module, the spindle module comprising at least one pick-and-place spindle and a nozzle; and a bearing system connectable to the first axis of motion such that the spindle magazine is movable along the first axis of motion.
According to another embodiment, a method of assembly includes: providing a pick and place machine having a first axis of motion; providing a spindle magazine for a pick and place machine, the spindle magazine comprising: a base including a plurality of mounting locations; and a bearing system connectable to a first axis of motion of the pick and place machine, such that the spindle magazine is movable along the axis; and mounting a mountable spindle module comprising at least one pick-and-place spindle and a nozzle at each mounting location; and assembling at least one unfinished product with the received mountable spindle module.
According to another embodiment, a pick-and-place spindle module comprises: a modular body structure including a first receiving location configured to receive a spindle; a first Z-axis motor configured to move the main shaft accommodated in the first accommodation position on the Z-axis; a first θ motor configured to rotate the spindle accommodated in the accommodation position; a gas distribution system comprising a gas distribution port, the gas distribution system configured to deliver received gas from the gas distribution port to a spindle housed in a first housing location; a power distribution system including a power distribution port, the power distribution system configured to deliver received power from the power distribution port to the first Z-axis motor and the first theta motor; and a mechanical connection mechanism configured to facilitate connection of the modular body structure to the spindle magazine such that the gas distribution port is connected to receive gas from the spindle magazine and the power distribution port is configured to receive power from the spindle magazine.
According to another embodiment, a method of assembly includes: providing a pick and place machine having a first axis of motion; providing a spindle magazine connected to the pick and place machine such that the spindle magazine is movable along a first axis of motion; providing a first pick-and-place spindle module comprising: a modular body structure including a first receiving location; a first Z-axis motor; a first theta motor; the gas distribution system comprises a gas distribution port; a power distribution system comprising a power distribution port; and a mechanical connection mechanism; connecting a first pick-and-place spindle module to the spindle magazine using a mechanical connection mechanism such that the gas distribution port is connected to receive gas from components of the spindle magazine and the power distribution port is connected to receive power from components of the spindle magazine; receiving a first spindle through a receiving location of the modular body structure; moving the accommodated first spindle on the Z-axis by a first Z-axis motor; rotating, by a first θ motor, the housed first spindle; delivering, by a gas distribution system, the received gas from a gas distribution port onto the housed first spindle; delivering, by a power distribution system, the received power from a power distribution port to a housed first spindle; moving the spindle magazine along a first axis of motion; and at least partially assembling at least one unfinished product with the attached first pick-and-place spindle module.
According to another embodiment, a pick and place machine includes: a feeder position arranged to present electronic components for pick up; a placement location configured to receive an unfinished product to place an electronic component; a first axis of motion; a spindle magazine movable along a first axis of motion; and a pick-and-place spindle module connected to the spindle magazine, comprising: a modular body structure including a first receiving location configured to receive a spindle; a first Z-axis motor configured to move the main shaft accommodated in the first accommodation position on the Z-axis; a first θ motor configured to rotate the spindle accommodated in the accommodation position; a gas distribution system comprising a gas distribution port, the gas distribution system configured to deliver received gas from the gas distribution port to a spindle housed in a first housing location; a power distribution system including a power distribution port, the power distribution system configured to deliver received power from the power distribution port to the first Z-axis motor and the first theta motor; and a mechanical connection mechanism connecting the modular body structure to the spindle magazine such that the gas distribution port is connected for receiving gas and the power distribution port is configured to receive power.
According to another embodiment, a pick-and-place spindle module comprises: a modular body structure including a first receiving location configured to receive a spindle; a first Z-axis motor configured to move the main shaft accommodated in the first accommodation position on the Z-axis; a first θ motor configured to rotate the spindle accommodated in the accommodation position; the first motion control chips are connected to the main body structure and are used for controlling the first Z-axis motor and the first theta motor; and a mechanical connection mechanism configured to facilitate connection of the modular body structure to the spindle magazine.
According to another embodiment, a pick-and-place spindle magazine comprises: a base including a plurality of mounting locations; and a bearing system connectable to the shaft of the pick and place machine, such that the spindle magazine is movable along the shaft; and a first pick-and-place spindle module mounted to a first mounting location of the plurality of mounting locations, the first pick-and-place spindle module comprising: a modular body structure comprising: a first receiving position configured to receive the spindle; a first Z-axis motor configured to move the main shaft accommodated in the first accommodation position on the Z-axis; a first θ motor configured to rotate the spindle accommodated in the first accommodation position; the first motion control chips are connected to the modular main body structure and are used for controlling the first z-axis motor and the first theta motor; and a mechanical connection mechanism connecting the modular body structure to the base.
According to another embodiment, a pick-and-place head includes: a body structure; a plurality of Z-axis motors coupled to the body structure and each configured to move the spindle in a Z-axis; a plurality of theta motors coupled to the body structure, each configured to rotate the spindle; and a plurality of motion control chips coupled to the body structure, each motion control chip configured to control one of the plurality of Z-axis motors and one of the plurality of theta motors.
According to another embodiment, a method of assembly includes: there is provided a pick-and-place head comprising: a body structure; a plurality of Z-axis motors coupled to the body structure, each motor configured to move the spindle in a Z-axis; a plurality of theta motors connected to the body structure, each motor configured to rotate the spindle; and a plurality of motion control chips connected to the body structure, each of the plurality of motion control chips controlling one of the plurality of Z-axis motors and one of the plurality of theta motors; and assembling the unfinished product at least partially with the pick-and-place head.
According to another embodiment, a pick-and-place dispensing head comprises: a main body structure including a first Z-axis motor connection position, a second Z-axis motor connection position, a first linear rail, and a second linear rail; a first Z-axis motor connected to the body structure at a first Z-axis motor connection location; a second Z-axis motor connected to the body structure at a second Z-axis motor connection location; a first body coupled to the first linear rail, the first body further operatively coupled to the first Z-axis motor such that the first body moves along the first linear rail when the first Z-axis motor is activated; a second body coupled to the second linear rail, the second body further operatively coupled to a second Z-axis motor such that the second body moves along the second linear rail when the second Z-axis motor is activated; a first theta motor operatively connected to the first body; a second theta motor operatively connected to the second body; a first receiving location operatively connected to the first body configured to receive a pick-and-place spindle, wherein the first θ motor is configured to rotate the pick-and-place spindle received at the first receiving location; and a second receiving location operatively connected to the second body, the second receiving location configured to receive the pick-and-place spindle, wherein the second theta motor is configured to rotate the pick-and-place spindle received at the second receiving location, wherein the first and second linear tracks are connected to the body structure by a set screw extending between the first and second nuts.
According to another embodiment, a pick-and-place dispensing head comprises: a body structure extending in an X-axis, a Y-axis perpendicular to the X-axis, and a Z-axis perpendicular to the X-axis and the Y-axis, the body structure including a first Z-axis motor connection location, a second Z-axis motor connection location, a first linear track extending along the Z-axis, and a second linear track extending along the Z-axis; a first Z-axis motor coupled to the body structure at a first Z-axis motor connection location, the first Z-axis motor configured to move precisely in the Z-axis; a second Z-axis motor coupled to the body structure at a second Z-axis motor coupling location, the second Z-axis motor configured to move precisely in the Z-axis; a first body connected to the first linear rail, the first body further operably connected to a first Z-axis motor such that the first body moves along the first linear rail when the first Z-axis motor is activated; a second body connected to the second linear rail, the second body further operably connected to a second Z-axis motor such that the second body moves along the second linear rail when the second Z-axis motor is activated; a first theta motor operatively connected to the first body; a second theta motor operatively connected to the second body; a first receiving location operatively connected to the first body, the first receiving location configured to receive a pick-and-place spindle, wherein the first theta motor is configured to rotate the pick-and-place spindle received at the first receiving location; and a second receiving position operatively connected to the second body, the second receiving position being configured to receive the pick-and-place spindle, wherein the second theta motor is configured to rotate the pick-and-place spindle received at the second receiving position, wherein the first receiving position and the second receiving position are spaced apart in the X-axis and are located at the same position in the Y-axis, and wherein the first Z-axis motor and the second Z-axis motor are spaced apart in the X-axis and are spaced apart in the Y-axis.
According to another embodiment, a pick-and-place dispensing head comprises: a body structure having a Z-axis motor connection location and a linear track; a Z-axis motor connected to the body structure at an axis motor connection location and configured to move precisely in the Z-axis; a body connected to the linear rail and operatively connected to the Z-axis motor such that the body moves along the linear rail when the Z-axis motor is activated; a theta motor operatively connected to the first body; a receiving location operatively connected to the body, the receiving location configured to receive the pick-and-place spindle such that the pick-and-place spindle is configured to move relative to the body in the Z-axis when an upward Z-axis force is applied to the pick-and-place spindle; the receiving position includes a spring mechanism configured to oppose Z-axis movement in the pick-and-place spindle axis, and wherein the first theta motor is configured to rotate the pick-and-place spindle received in the first receiving position and to remain engaged with the pick-and-place spindle during the Z-axis movement of the pick-and-place spindle; and an optical detector extending from the first body and configured to detect upward Z-axis movement of the accommodated pick-and-place spindle relative to the body.
Drawings
Some embodiments of the invention will be described in detail, with reference to the following drawings, wherein like designations denote like elements, and wherein:
fig. 1 shows a perspective view of an assembly machine according to an embodiment;
FIG. 2A illustrates a perspective view of the assembly machine of FIG. 1 with the cover removed, in accordance with one embodiment;
FIG. 2B shows an enlarged perspective view of circle A of the assembly machine of FIG. 2A, according to one embodiment;
FIG. 3 illustrates a perspective view of a spindle module according to one embodiment;
FIG. 4 shows a perspective view of a body structure of a spindle module according to one embodiment;
FIG. 5 illustrates a front view of the body structure of FIG. 4, in accordance with one embodiment;
FIG. 6 illustrates a partial exploded view of the spindle module of FIG. 3 in accordance with one embodiment;
FIG. 7A illustrates a side view of the spindle module of FIG. 3 according to one embodiment;
3 FIG. 37 3B 3 illustrates 3a 3 cross 3- 3 sectional 3 view 3 of 3 the 3 spindle 3 module 3 of 3 FIG. 37 3A 3 taken 3 along 3 arrows 3A 3- 3A 3 according 3 to 3 one 3 embodiment 3; 3
FIG. 8 illustrates a perspective view of a spindle nozzle in accordance with one embodiment;
FIG. 9 illustrates a side view of the spindle nozzle of FIG. 12 in accordance with one embodiment;
FIG. 10 illustrates a side cross-sectional view of the spindle module of FIG. 3 in accordance with one embodiment;
FIG. 11 illustrates a front view of the spindle module of FIG. 3 with the first Z-axis motor activated, in accordance with one embodiment;
FIG. 12A illustrates a perspective view of the spindle module of FIG. 3 with the first Z-axis motor activated, according to one embodiment;
FIG. 12B illustrates an enlarged perspective view of circle B of the spindle module of FIG. 12A, in accordance with one embodiment;
FIG. 13A illustrates a perspective view of the spindle module of FIG. 3 with the first Z-axis motor activated, according to one embodiment;
FIG. 13B illustrates an enlarged perspective view of circle C of the spindle module of FIG. 13A, in accordance with one embodiment;
FIG. 14 shows a perspective view of a spindle magazine according to one embodiment; and
FIG. 15 illustrates a perspective view of the spindle magazine of FIG. 14 with a plurality of spindle modules attached, in accordance with one embodiment.
Detailed Description
The embodiments of the disclosed apparatus and method described below are described in detail herein by way of example and not limitation with reference to the figures.
Referring to fig. 1, an assembly machine 10 is shown. In the illustrated embodiment, the assembly machine 10 is a pick and place machine configured to assemble a Printed Circuit Board (PCB). For example, the assembly machine may be an advanced package assembly machine, a part assembly machine, or the like. In other embodiments, the features described below can be applied to various other assembly machines, such as profile assembly machines (OFAs) and the like. The assembly machine 10 includes a frame 12 providing a structural body 14 including covers 16a, 16 b. The frame 12 may include a plurality of legs for allowing the assembly machine 10 to stand. Assembly machine 10 includes a plurality of feeder banks 18a, 18 b. A plurality of feeders 20 are disposed on (as shown in fig. 2A), attached to, or otherwise mounted on each feeder bank 18a, 18 b. Each feeder 20 comprises a plurality of electronic components and the assembly machine 10 is arranged to pick up these electronic components to be placed on the PCB for assembly or at least partial assembly of the PCB. The assembly machine 10 also includes board handling holes 22. A board handling track 24 may extend in body 14 of assembly machine 10 between aperture 22 and another aperture (not shown) on the opposite side of assembly machine 10. The board handling rails 24 may be configured to receive PCBs or other unfinished products and deliver the PCBs to a placement location in the body of the assembly machine 10 for assembly. The assembly machine 10 is shown to also include operator interface and control displays 26a, 26b, one on each side. The display screen 26 may be configured to receive user or operator input and display information necessary or useful to the user or operator. While the features of the illustrated assembly machine 10 are an exemplary embodiment, it will be apparent to those skilled in the art that the various aspects of the invention described herein may be applied to various other types of assembly machines.
Referring to fig. 2A, the assembly machine 10 is shown with the covers 16a, 16b removed to expose the interior 28 of the assembly machine 10. Assembly machine 10 includes two additional feeder banks 18c, 18d disposed on body 14 on opposite sides of feeder banks 18a, 18 b. Plate handling rails 24 may be located between feeder banks 18a, 18b and feeder banks 18c, 18 d. The board handling track 24 may be configured to supply unfinished products, such as PCBs, to a placement station 30 along the track 24.
Assembly machine 10 may facilitate movement of parts in three axes of motion: an X-axis, a Y-axis, and a Z-axis. Hereinafter, the X-axis may be an axis extending parallel to the plate handling rail 24. The Y-axis may be perpendicular to the X-axis and the plate handling rails 24. The Z axis may be up and down or a longitudinal axis. The assembly machine 10 may include a plurality of axes of motion 32, 34, 36, 38 for movement in the X and Y axes. In particular, assembly machine 10 may include a first axis of motion 32 and a second axis of motion 34 arranged to facilitate motion in the Y-axis. Assembly machine 10 may include a third axis of motion 36 and a second axis of motion 38 configured to facilitate movement in the X-axis. First and second axes of motion 32 may extend along the depth of the machine between first side 40 and second side 42. The first side 40 is the side of the assembly machine 10 adjacent the first and second feeder banks 18a, 18 b. The second side 42 is the side of the assembly machine 10 adjacent the third and fourth feeder banks 18c, 18 d. Third and fourth axes of motion 36, 38 are shown connected to first and second axes of motion 32, 34 and extending between first and second axes of motion 32, 34. During operation of the assembly machine 10, the third and fourth axes of motion 36, 38 are arranged to move independently of each other along the first and second axes of motion 32, 34 to provide motion in the Y-axis. Spindle libraries 100a, 100b are shown movably attached to the third and fourth axes of motion 36, 38, respectively. The spindle libraries 100a, 100b may each be configured to move along the X-axis by moving along the third and fourth axes of motion 36, 38, respectively. In other embodiments, assembly machine 10 may be a single axis of motion machine. For example, there may be a single X-axis and a single Y-axis connectable to the assembly machine, rather than two each as shown in the embodiments of the figures.
By means of the movement axes 32, 34, 36, 38, the spindle magazine 100a, 100b in the assembly machine 10 is arranged with an X-axis and a Y-axis freedom of operation in the interior 28. This allows the spindle magazine 100a, 100b to reciprocate from the feeder magazine 18a, 18b, 18c, 18d to the placing station 30. This is accomplished by movement of the spindle libraries 100a, 100b along the third and fourth axes of motion 36, 38 and the third and fourth axes of motion 36, 38 along the first and second axes of motion 32, 34, respectively. Other forms of X-axis and Y-axis motion within the assembly machine 10 are also contemplated, with the axes of motion shown for exemplary purposes.
Referring now to fig. 2b, there is shown an enlarged perspective view of the assembly machine 10 at the location of circle a (from fig. 2A). The enlarged portion shows the spindle magazine 100a provided with a base 110 and a bearing system 112. The base 110 may be a body, a housing, a structure, or the like. The base 110 may include a plurality of mounting
The bearing system 112 may be a system for movement of the spindle magazine 100a along the third axis of motion 36. The bearing system 112 may include rollers that facilitate movement between the spindle magazine 100a and the motion axis 36. In other embodiments, the bearing system 112 may include magnets to facilitate magnetic movement between the spindle library 100a and the third axis of motion 36. The third motion shaft 36 may include a bottom surface track structure (not shown) that cooperates with the raceway structure bearing system of the spindle magazine 100 a. For example, the
The mounting
Referring now to FIG. 3, a
The
The
The
In one embodiment, the
The
Attachment of the
The
Referring now to fig. 4 and 5, a perspective view and a side view of the
The intermediate
An upper
In one embodiment, the first and second mounting surfaces 266, 268 may be positioned such that when mounted, the first and second Z-
Upper struts 270, struts, etc. extend to the top of the upper
The lower
The
Referring now to fig. 6, a partial exploded view of the
The third and
Referring now to fig. 7A and 7B, a mechanism and method of connecting the first and second
The first and second
To attach the first and second
Referring now to fig. 8 and 9, a spindle 300 is shown. In particular, fig. 8 shows a perspective view of the spindle 300, and fig. 9 shows a side view of the spindle. Spindle 300 may include the same features as
The spindle 300 may be considered a spindle-nozzle combination. The
Spindle 300 may be configured to provide vacuum suction to electronic components through
The shaft 312 may be cylindrical.
The outer body 316 of the rotating shaft 312 includes a first opening 322 configured to receive the airflow into the hollow interior 318. For example, the
The
In one embodiment, the shaft 312 may be made of a magnetic material to magnetically attach the spindle 300 to a receiving location, such as one of the receiving
Spindle 300 is shown as a spindle-nozzle combination including a toothed arrangement driven by a toothed gear. However, the spindle 300 may also be a spindle-nozzle combination: the theta gear is a magnetic gear rather than a toothed gear. The magnetic theta gear may be driven by a magnetic theta motor. Regardless of the drive mechanism utilized, the spindle 300 may include a nozzle and an integrated device that provides for rotation of the nozzle.
Referring now to fig. 10, a side cross-sectional view of the
The first and second Z-
Furthermore, the
Fig. 11 shows a front view of the
Fig. 12A shows a perspective view of the
As shown in fig. 12B,
Fig. 13A shows a perspective view of the
Referring first to fig. 14, one of the
The plurality of mounting
In the illustrated embodiment, the centers of each of the mounting
The
The
Each of the mounting
Fig. 15 shows a plurality of spindle modules 200a, 200b, 200c, 200d, 200e, 200f, 200g connected, and a spindle module 500 different from the spindle modules 200a, 200b, 200c, 200d, 200e, 200f, 200 g. Thus, the plurality of mounting
Although not shown, it is also contemplated that the
Various methods of assembling unfinished products or assembling the assembly machine using the assembly machine, dispense head, spindle mount module, and spindle magazine as described above are contemplated.
For example, a method of assembly includes providing a pick and place machine, such as assembly machine 10, having a pick and place head, such as a combination of
Another assembly method may include providing a pick and place machine, such as assembly machine 10, having a first axis of motion, such as third axis of motion 36 or fourth axis of motion 38. The method may include providing a spindle library, such as
Another assembly method may include providing a pick and place machine, such as assembly machine 10, having a first axis of motion, such as third axis of motion 36 or fourth axis of motion 38. The method may include providing a spindle library, such as
The method may further include controlling the first Z-axis motor and the first theta motor using a first motion control chip of the spindle module, such as
The assembly method may also include providing a second pick-and-place spindle module, such as
The assembly method may also include providing a pick-and-place head comprising a body structure, such as the
The terms "a" or "an" or "single" have been used to describe elements of the embodiments. The articles "a" or "an" mean that there are one or more elements. The terms "comprising" and "having" and derivatives thereof are intended to be inclusive and thus mean that there may be additional elements other than the listed elements. When the conjunction "or" is used with a listing of at least two terms, it is intended to mean any term or combination of terms. The terms "first" and "second" are used to distinguish elements and are not used to denote a particular order.
While the invention has been described in detail in connection with only a limited number of embodiments, it should be readily understood that the invention is not limited to such disclosed embodiments. Indeed, the invention can be modified to incorporate any number of variations, alterations, substitutions or equivalent arrangements not heretofore described, but which are commensurate with the spirit and scope of the invention. Additionally, while various embodiments of the invention have been described, it is to be understood that aspects of the invention may include only some of the described embodiments. Accordingly, the invention is not to be seen as limited by the foregoing description, but is only limited by the scope of the appended claims.
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