CN104918472B - Assembly head with two sets of tip holder sleeves movable relative to the shaft - Google Patents

Abstract

An assembly head (130) for automatically assembling a component carrier (190) with components (495) is described. The mounting head (130) has (a) a frame (532) and (b) a rotor (235) rotatably supported relative to the frame (532) about an axis of rotation (260 a). The rotor (235) has: (b1) a first module (240) having at least two first tip seat sleeves (242) movably supported relative to the first module (240) along a direction parallel to the axis of rotation (260 a); and (b 2) a second module (250) having at least two second tip seat sleeves (252) which are mounted so as to be movable relative to the second module (250) in a direction parallel to the axis of rotation (260 a), wherein the first tip seat sleeve (242) and the second tip seat sleeve (252) are designed such that the element-retaining means (244, 254) can be brought onto the end of each tip seat sleeve (242, 252); and (b 3) a linear guide (270) configured to push at least one of the two modules (240, 250) in another direction perpendicular to said direction parallel to the axis of rotation (260 a). The mounting head (130) also has (c) a central rotational drive (565) mechanically coupled to the frame (532) and the rotor (235) and configured to drive the rotor (235) to rotate the rotor (235) relative to the frame (532) about the rotational axis (260 a). An automatic placement machine and a method for automatically placing component carriers (190) with components (495) using a placement head (130) are also described.

Description

There are two the assembly heads relative to the moveable tailstock sleeve group of bar portion for tool

Technical field

The present invention relates to place principle in the so-called collection & of application（Collect&PlacePrinzips）In the case of use Electronic component carrys out the technical field of assembling element carrier.The invention particularly relates to one kind being used for electronic component assembling element carrier Assembly head, with many element-stop devices, which can temporarily fix electronic component respectively.The present invention is also It is related to a kind of automatic assembling machine, and is related to a kind of come from electronic component in the case of application assembly head and moves assembling element load The method of body.

Background technology

Since electronic building brick becomes increasingly to be miniaturized, so to the assembly precision of modern assembly device or automatic assembling machine Propose very high requirement.Additionally due to the price pressure in electronics industry is very big, automatic assembling machine must have very high dress With efficiency, therefore therefore electronic building brick can be made in short-term and inexpensively.Concept " efficiency of assembling " is in this context The quantity of middle finger electronic component, they can be placed in an element by relevant automatic assembling machine in each chronomere and carry On body or multiple element carrier.

But in practice in order to inexpensively manufacture electronic building brick, the efficiency of assembling for not being only automatic assembling machine is weight It wants.The mostly important efficiency characteristics of automatic assembling machine are the efficiency of assembling on each surface, and the surface is in manufacture electronic building brick Factory in loaded by automatic assembling machine.The high efficiency of assembling on each surface can be realized by high power-automatic assembling machine, They are by surface mounted component（surfacemountdevices,SMD）Principle is only placed by so-called collection & and is placed on member On part carrier.Receive the multiple element of element-supply system, the dress by assembly head first in collecting the process cycles that & is placed An element respectively is received and fixed with multiple element-stop device with head.Then, by the element of multiple receivings by assembling Head is transferred in assembly area, and component carrier to be assembled is located in the assembly area.Then, the element of the conveying is successively in this way It is placed on the upside of component carrier so that element-interface on member underside connects with corresponding joint face or connection gasket It touches, the joint face or connection gasket are arranged on the upside of component carrier.Then at the end of the process cycles, assembly head edge again The direction running in extraction area, element-supply system is located in the extraction area.Then, by readmitting other electronics members Part starts new process cycles.

In order to both when receiving element from element-supply system, also when on component carrier, entirely be filled by component placement It need not be moved all along perpendicular to the directions z- of fitting plane with head, the stop device of the so-called assembly head being made of several parts It can be moved along the directions z- relative to the rack of assembly head.It, such as being capable of applicable line motor in order to realize that the z- is elapsed. Here, common linear drive apparatus is arranged for multiple stop devices, or individual linear drives are set for each stop device Device.In order to correct angle position by component placement on component carrier to be assembled, stop device is also typically It is rotatable around its longitudinal axis respectively.

As before the same, it includes the important operation stage of following four to collect & and place process cycles：（1）It carries Take element；（2）Delivery element；（3）With element come assembling element carrier；And（4）Assembly head is sent back to.Pass through optimize technique rank Section（1）With（2）Most effectively improve the efficiency of assembling on each surface of automatic assembling machine.

JP2012-164881A discloses a kind of cylinder-turret（So-called capstan head-assembly head）, there are two its tools Cylindrical rotor, they can come to rotate around common axis of rotation line independently of each other, and the rotation axis is in assembly Perpendicular to the surface of component carrier to be assembled.It is provided with eight element-stop devices for being configured to suction pipe on each rotor. In addition each rotor is equipped with two so-called z- driving devices, by they can make two in eight suction pipes relative to The shell of cylinder-turret is moved along z-axis, which parallelly orients with common rotation axis.By changing one Rotation angle of a rotor relative to another rotor can adjust the first suction pipe of the first rotor and bitrochanteric second suction pipe Between spacing.If the spacing is equivalent to two electronic components to be extracted（It is provided by element-supply system）Away from From then the two elements can be received by cylinder-turret simultaneously.

US20120036711A1 discloses a kind of assembly head with multiple suction pipes, and the spacing of these suction pipes can be mutual It adjusts.When extracting element, which being capable of presetting between two electronic components by element-supply system offer Spacing match.

JP2009295608A discloses a kind of capstan head-assembly head with multiple suction pipes, these suction pipes are arranged at two On different index dials so that the position of suction pipe is equivalent to matrix layout.

DE10006918A1 discloses a kind of assembly head, it has respectively, and there are two the suction pipe modules of suction pipe for two tools.This Two suction pipe modules can move on linear track along the previously given direction of the longitudinal direction by linear track.Cause This, spacing between the two suction pipe modules and the spacing therefore distinguished between two suction pipes can be along previously given sides To being adjusted.

Invention content

The object of the present invention is to create a kind of assembly head, can shorten for collecting & placements-assembling process by it The time interval of process cycles.

This purpose is achieved by the content of independent claims.Having for the present invention is described in the dependent claims The embodiment of profit.

By the first angle of the present invention, a kind of assembly head is described, is used for element automatically assembling element carrier.Institute The assembly head stated has（a）Rack and（b）Rotor, the rotor are rotatably supported relative to rack around rotation axis It.The rotor has：（b1）First module, first module have at least two first tailstock sleeves（Pinolen）, they It movably carries along the direction for being parallel to rotation axis relative to the first module；With（b2）Second module, second mould Block has at least two second tailstock sleeves, they are removable along the direction for being parallel to rotation axis relative to the second module Ground carries, wherein the first tailstock sleeve and the second tailstock sleeve are constituted in this way, can respectively fill element-stop It sets and takes on the end of each tailstock sleeve；And（b3）Linear guides, it is arranged to for guiding the two moulds in the block At least one, to elapse the module in another direction, the other direction is perpendicular to the direction parallel with rotation axis.It should Assembly head also has（c）The rotating driving device in center, it is mechanically coupled with rack and rotor, and is arranged to for driving Rotor, to rotate the rotor around rotation axis relative to rack.

The assembly head is based on following theories, i.e., if the spacing between the two modules can be along vertical Freely adjusted in the direction of rotation axis, then the first tailstock sleeve or first element-stop device for being arranged on it and Spacing between second tailstock sleeve or the second element-stop device being arranged on it is freely adjustable.Rotor Rotation axis can be oriented especially along the inside directions z- of assembly head.The inside directions z- of assembly head more particularly to The directions remaining of automatic assembling machine internal z- are harmonious.In addition, between two tailstock sleeves or element-stop device Angle position between connecting line can be by suitably activating the rotating driving device in center to adjust.It describes in this document Assembly head allows the freely positioning of two element-stop devices, has both been used for scheduled from two of element-supply system simultaneously It extracts position and extracts two elements, be also used for two component placements simultaneously in two preset assembly on component carrier On position.

The Dikal coordinate system system for being used for the assembly head can select in this way, i.e., rotation axis extends along z-axis. Xy- planes normal thereto are stretched tight by x- axis and the y- axis vertical with x- axis.The moving movement of at least one module is in xy- It is carried out in plane, wherein according to the angle position that is determined by central rotating driving device, along x- axis, y- axis or along both having Also the direction with y- components is elapsed x- components.

Intuitively expression is that two tailstock sleeve groups are subordinated to a module respectively in the assembly head.Pass through this Linear movement of at least one of two modules relative to rotor rotation axis, can change the two tailstock sleeve groups Spacing.Therefore, two arbitrary tailstock sleeves（It is originated from one in two tailstock sleeve groups）Between spacing Can purposefully it change.In addition, the two tailstock sleeve groups can rotate together with rotor around rotation axis, its energy Enough refer to the longitudinal axis of the intermediate shank portion of assembly head（Z-axis）.

If assembly head is mounted on tool, there are two degree of freedom（The directions x-, the directions y-）Surface location system on, then this is Uniting has for realizing the total of four degree of freedom needed for parallel extraction and assembly.This four degree of freedom pass through（i）Rack The positions x-,（ii）The positions y- of rack,（iii）The free modulability of the angle position of rotor or two modules and（iv）This two At least one of a module linear displacement provides, which depends on the control of central rotating driving device.

The important advantage of the assembly head is,（i）By the two modules around rotation axis rotatability with And（ii）By the linear movement of at least one module, it is free to adjust the first tailstock sleeve and the second top cover for seat Spatial position of the cylinder in xy- planes.With positioning system used（It is with the assembly head）Moving area compare, by In the positions xy- for changing tailstock sleeve in a wide range, the element-for expanding tailstock sleeve or being arranged on it stops The effective working range of dynamic device.

Rotation axis is preferably provided in the centre of rack or the symmetric points of entire assembly head.The point preferably at least almost with The center of gravity of entire assembly head overlaps.Thus avoid the disequilibrium of assembly head in simple and advantageous manner, if rotor with The two modules are relatively quickly rotated around rotation axis together, then the disequilibrium is particularly disadvantageous.

" electronic component " or " element " this concept can be regarded as all assembling elements in this document, they can It is located on component carrier.Element more particularly to be the two poles of the earth or multipole SMT- elements or other highly integrated planes, circle Shape or other shapes of element, such as ball grid array, bare chip and upside-down mounting welding core.In addition, " element " this concept may be used also Including mechanical part, such as connecting pin, plug, socket or the like body or photoelectricity component, such as light emitting diode or photoelectricity Diode.In addition, " element " this concept also may include the so-called RFID chip for so-called transceiver, it is for so-called Transponder.

" component carrier " this concept can be regarded as various assembling objects, especially circuit board in this document.Member Part carrier can be rigidity or flexibility.In addition, component carrier can both have rigid region, it may have flexure region.

It can refer to " relative to rack " in this document, the corresponding component of assembly head is arranged in rack, and especially sets It sets in the inside of rack.In at least one module moveable on linear guides, which can be in rack Portion is elapsed relative to rack.But " being arranged in rack " also can refer to, and corresponding component is arranged except rack.It is at least one at this On linear guides in moveable module, which can elapse in the outside of rack relative to rack.In addition, this is at least One module that can be elapsed on linear guides can also be according to its current displaced position（i）Positioned at the inside of rack and （ii）Be located locally within the inside and outside of rack or（iii）Positioned at the outside of rack.

The two modules can be arranged on the linear guides.In this case, linear guides are these The common guiding device of two modules.But the assembly head can also have another linear guides, wherein presented hereinbefore is linear Guiding device is subordinated to one in the block of the two moulds, and another linear guides be subordinated to the two moulds it is in the block another.

By the embodiment of the present invention, assembly head also has linear drive apparatus, mechanically in the block extremely with the two moulds A few coupling, and the linear drive apparatus is arranged to for making at least one of the two modules relative to another module It is moved along linear guides.It is preferably able at least two modules being arranged in the inside of rack herein.Therefore, assembly head can It is embodied as compact component.Then when assembly head is run in automatic assembling machine, the important component of assembly head is protected by rack Shield, to avoid the mechanical influence from assembly head ambient enviroment.

The linear drive apparatus can have linear motor.The linear drive apparatus can also have simple rotation Turn motor and gear and mandrel, therefore generates the linear position of at least one module in known manner when activating rotation motor It moves.

By another embodiment of the present invention, linear drive apparatus is coupled by linear-coupling mechanism with two modules, because This two module is able to shift up in another party perpendicular to rotation axis.Between the two linear drive apparatus Linearly-coupling mechanism can be constituted so herein, i.e., the two modules can be synchronously mutually shifted.For two module applications Unique linear drive apparatus, its advantage is that, only unique linear drive apparatus need to be set, so that two can be made in an appropriate manner A module is moved relative to intermediate shank portion.

By another embodiment of the present invention, linear-coupling mechanism is constituted in this way, i.e., when activating linear drive apparatus this Two modules mutually oppositely move.It means that if a module is flat in above-mentioned xy- described above along first direction It is moved in face, another module is moved up in second party not parallel with first direction.Here, the two are mutually in step and reversely Movement can so be sized so that the center of gravity of the two modules remains unchanged.Therefore make in an advantageous manner be entirely The complexity of the control characteristic of system reduces, which includes the assembly head and positioning system, positioning system movement Entire assembly head.The reason is that due to the rotation around the rotation center provided by intermediate shank portion, imbalance is produced Property, and undesirable resistance is also produced by symmetric motion along linear guides when accelerating.

By another embodiment of the present invention, assembly head also has another linear drive apparatus.Linear drive apparatus herein from Belong to the first module, another linear drive apparatus is subordinated to the second module herein.Its advantage is that two modules can completely mutually Independently move.The two certain linear drive apparatus can also control in this way, that is, generate the synchronization of the upper surface of two modules description And may be also reversed moving movement.

By another embodiment of the present invention, assembly head also has（a）At least two first rotating driving devices, wherein first Rotating driving device is subordinated to one in the two first tailstock sleeves respectively, and/or（b）At least two second rotations are driven Dynamic device, wherein the second rotating driving device is subordinated to one in the two second tailstock sleeves respectively.

Each tailstock sleeve can be made to be rotated around its longitudinal axis in known manner by rotating driving device.With regard to this For the assembly head for locating description, the longitudinal axis of each tailstock sleeve can be parallel to rotation axis or be parallel to assembly head herein Z-axis.Therefore the angle position of electronic component can be adjusted so in known manner, i.e., relevant element can be with normal Angle is placed in relative to preset joint face on component carrier, and the electronic component is by being arranged on each tailstock sleeve Element-stop device is fixed.

The rotating driving device of oneself, therefore the angle position of all tailstock sleeves is arranged in preferably each tailstock sleeve Set to change independently of each other.Therefore, each by assembly head receive electronic component rotation angle be placed in it is to be installed It is individually on the spot adjusted before on the component carrier matched.

Herein just note that also setting up common rotating driving device for each tailstock sleeve, it is by suitably revolving Turn-coupling mechanism couples with respective tailstock sleeve, the coupling mechanism is for example comprising one or more friction pulleys.This In the case of, need not be that each module is equipped at least two rotating driving devices.Assembly head can also be by for the two moulds The rotating driving device of block is realized.

Rotation-the coupling mechanism can also be constituted in this way, i.e., it is optionally coupled with one or more tailstock sleeves.? It in this case, can be independently of each other to close although single tailstock sleeve cannot be rotated independently of each other simultaneously Suitable angle rotation.

By another embodiment of the present invention, assembly head has（a）First z- driving devices are subordinated to the first top cover for seat Cylinder at least one of, therefore at least one first tailstock sleeve relative to rack along the direction for being parallel to rotation axis Removable and/or the 2nd z- driving devices, are subordinated at least one of second tailstock sleeve, therefore this is at least one Second tailstock sleeve is removable along the direction for being parallel to rotation axis relative to rack.

By the z- driving devices, single tailstock sleeve and therefore element-stop device also can be along z-axis Mobile, the element-stop device is arranged on tailstock sleeve.This make in known manner will receive electronic component it Preceding purposefully to drop to respective element-stop device on electronic component, which is existed by element-supply system Extraction provides on position.Furthermore it is possible to which respective element-stop device will placed electronic component in known manner Drop to before on component carrier to be assembled.

By another embodiment of the present invention,（a）First z- driving devices pass through the first z- coupling mechanisms and at least two One tailstock sleeve couples, and/or（b）2nd z- driving devices pass through the 2nd z- coupling mechanisms and at least two first dead heads Sleeve couples, which means that each module has at least one Z- driving devices, it is subordinated at least two top cover for seat Cylinder.It is not necessarily each tailstock sleeve in an advantageous manner herein and the Z- driving devices of oneself is set.

Because coupling mechanism is typically lighter than the z- driving devices of respective numbers, the assembly described in this document Head has relatively lighter weight.Therefore, the inertia of the assembly head can be kept smaller, and can by positioning system Realize the simple positioning of entire assembly head.

By another embodiment of the present invention,（a）First z- coupling mechanisms have multiple first coupling elements, wherein first Coupling element is subordinated to the first tailstock sleeve respectively,（b）2nd z- coupling mechanisms have multiple second coupling elements, wherein Second coupling element is subordinated to the second tailstock sleeve respectively,

These coupling elements can be activated individually or failed by suitable executing agency.It " activates " in this context It is meant that corresponding coupling element is in respective tailstock sleeve among interaction.The interaction is for example by machine The engaged element of tool is realized.Due to coupling element（They are subordinated to tailstock sleeve respectively）It can be activated individually, so respectively It can be coupled from the single tailstock sleeve for being subordinated to module with respective coupling element to unrestricted choice.Therefore, it is possible in mould The specific tailstock sleeve in multiple tailstock sleeves is selected in block, is followed by movement of the z- driving devices along z-axis.This Other tailstock sleeves in group are not coupled with z- coupling mechanisms.

First coupling mechanism and/or the second coupling mechanism can realize by multiple common rotatable meshing flakes, There is in different rotary angle positions protuberance or groove respectively.According to the rotary angle position of respective meshing flake, in Z- Coupling is established between driving device and respective tailstock sleeve.

By another embodiment of the present invention, the first module has at least four first tailstock sleeves, they are arranged the In one two-dimensional grid.Alternatively or in combination, the second module has at least four second tailstock sleeves, they are arranged second In two-dimensional grid.

The advantages of two dimensional topology of at least four tailstock sleeves is that multiple tailstock sleeves can be arranged respectively Relative compact.This is particularly suitable for the surface demand in xy- planes, and being provided in xy- planes can push away respectively along the directions z- The tailstock sleeve of shifting.The compact layout of multiple at least four tailstock sleeves also creates such possibility, the first module And/or second module realized with compact and light structural form.Therefore, entire assembly head also can be with compact structural form And it is realized with lighter weight.

The embodiment of description is clicked here, at least four tailstock sleeves respectively are arranged such that them and constitute at least Two row two tailstock sleeves of difference.

In currently seeming especially advantageous embodiment, the assembly head for each module drives at least two Z- Device, though wherein Z- driving devices point are subordinated at least two tailstock sleeve of a row.As already described, the row Tailstock sleeve can optionally be coupled with respective Z- driving devices by coupling mechanism.

By the first angle of the present invention, a kind of automatic assembling machine is described, for automatically assembling element carries with element Body.The automatic assembling machine of description has（a）Frame（b）Positioning system, with stationary parts and movable part, wherein this is static Component is arranged on frame；And（c）The activity in positioning system is arranged in the assembly head of the above-mentioned type, the rack of wherein assembly head On component.

The automatic assembling machine is based on following knowledge, i.e., assembly head recited above has respectively comprising two There is the module of multiple tailstock sleeves, wherein（i）Spacing between two modules can purposefully change and（ii）This Two modules can jointly be rotated around the rotation axis of the rotor of assembly head, the assembly head can be used for being particularly effective and Therefore assembly technology is successfully carried out.By the assembly head（a）Can either receive simultaneously two respectively extraction position on The electronic component of offer, and（b）The electronic component that two are received can also be placed on component carrier to be assembled simultaneously. Here, the two electronic components can be placed in higher precision in xy- planes, it also can be with accurate angle position advance It is placed on the connection gasket of setting on component carrier to be assembled.

In order to which electronic component is placed on component carrier to be assembled by any position on component carrier, positioning system System be preferably so-called surface-positioning system, assembly head by the positioning system can in preset localization region It is moved freely through in xy- planes, rotation axis or z- direction of the xy- planes perpendicular to rotor.However, it will also be understood that if simultaneously Ensure, the component carrier that for use multiple electronic components assemble can be perpendicular to the movement side of straight line-positioning system in period of assembly To movement, then surface-positioning system can also be replaced using simple straight line-positioning system.,

By the embodiment of the present invention, automatic assembling machine also has element-supply system.Element-the supply system has（a） First element-feeding mechanism provides electronic component by it on the first extraction position；And and（b）Second element-supply Device provides electronic component by it on the second extraction position.The two extraction positions be spaced from each other in this way, so as to by Assembly head extracts the first electronic component from the first extraction position, and at the same time extracting the second electronic component from the second extraction position.

If the two element-feeding mechanisms refer to so-called belt conveyor, it will continuously be packed on belt Electronic component is transported to it and extracts position, then at least roughly determines the spacing between the two extraction positions.But because this The inside of a little bag containers of the electronic component typically in being set to each belt has certain gap, so element to be extracted Physical location and preset element-extraction position between it is possible that subtle deviation.This deviation can be by The assembly head balances in a simple and effective way, the first tailstock sleeve of the first module and in the assembly head Spacing between second tailstock sleeve of two modules is free to adjust.It therefore in all cases can be by the first top Sharp cover for seat cylinder extracts first element, and extracts second element by the second tailstock sleeve.

But the assembly head described in this document can also be applied in automatic assembling machine in an advantageous manner, and it includes bands extremely Element-supply system of few two element-feeding mechanisms, these element-feeding mechanisms are respectively structured as so-called bulk Matter-conveyer.In this bulk materials-conveyer only these yuan are individually provided in the inside in specifically extraction region Part, wherein electronic component to be extracted not can determine that in the accurate location in extraction region.As long as electronic component to be extracted Accurate location for example determined by suitable image or image identification system, then can adjust the assembly described in this document Head so that between specific first tailstock sleeve of the first module and specific second tailstock sleeve of the second module Away from the spacing being exactly equal between the element that two specifically provide in different extraction regions.Therefore in bulk materials-conveying In the case of device, also it can ensure to receive two electronic components simultaneously in a manner of simple and reliable simultaneously.

It should be noted here that other than belt-conveyer described above and bulk materials-conveyer, moreover it is possible to apply Other any type of element-feeding mechanisms as element-feeding mechanism, such as so-called Ku Shi-conveyer or bar-it is defeated Send device.Also different types of conveyer can be combined.

By another angle of the present invention, a kind of method is described, is used for by above-mentioned automatic assembling machine and/or above-mentioned Assembly head come with electronic component automatically assembling element carrier.This method has：（a）By the of the first module of assembly head One tailstock sleeve receives the first electronic component from the first extraction position；（b）It is top by the second of the second module of assembly head Cover for seat cylinder receives the second electronic component from the second extraction position；（c）By in the element transmission to assembly area of the two receivings, wait for The component carrier of assembly is located in the assembly area；（d）First electronic component of transmission is placed in the first peace of component carrier On holding position；And（e）Second electronic component of transmission is placed in the second installation site of component carrier.

Based on following knowledge, i.e., both by above-mentioned assembly head the assembly method is（i）Two are received simultaneously The electronic component provided on different extraction positions,（ii）The electronic component that two are received is placed in be assembled simultaneously On component carrier on preset position.The extraction position of each electronic component passes through the class of element-supply system herein Type is pointed out, electronic component is provided in each extraction position or preset extraction region.The installation site of each element It is preset on component carrier by connecting terminal or connection gasket in known manner.This is equally applicable to the electronics placed member The angle position of part.The angle position must be adjusted by the suitable control of assembly head or each rotating driving device, to really Protect the reliable contacts between the electrical interface of each element and the electric connection contacts being arranged on component carrier.

By the embodiment of the present invention, the receiving and the receiving of the second electronic component of the first electronic component are to be carried out at the same time.It is standby Selection of land or in combination, the placement and the placement of the second electronic component of transmission of the first electronic component of transmission are carried out at the same time. At least two elements in time simultaneously from element-supply system extract or receive and at least two elements in time Peace is told on component carrier to be assembled simultaneously, its advantage is that, entire assembly technology can be accelerated.

It is noted that the embodiment of the present invention is described with reference to different invention contents.Particularly depict the present invention's Several embodiments with device claim, and describe the other embodiments with claim to a method of the present invention. It can be appreciated immediately that for professional when reading this application, if not other detailed description, in addition to these Belong to other than the feature combination of this kind of invention content, it is also possible to realize the arbitrary combination of these features, these arbitrary feature groups Conjunction belongs to other types of invention content.

The other advantages and features of the present invention are obtained from the following exemplary description of presently preferred embodiment.The application Single attached drawing only meaning property and ratio be incorrect.

Description of the drawings

Fig. 1 shows the automatic assembling machine with assembly head by the embodiment of the present invention, the assembly head in the perspective It is moveable by surface location system.

Fig. 2 shows the rotor of assembly head in the diagram, tool there are two it is relatively mutually movable, be respectively provided with 8 The module of a tailstock sleeve, these modules are rotatable around rotation axis.

Fig. 3 a and 3b are illustrated（i）The tailstock sleeve selected and the second tailstock sleeve of first tailstock sleeve module The adjusting of spacing between the tailstock sleeve of module selected and（ii）Company between the two tailstock sleeves selected The angular adjustment of wiring.

Fig. 4 a and 4b show the rotor of the assembly head in two Difference angles, and wherein the rotor is in second angle It is fixed to be taken in this way in position so that the spacing between two adjacent tailstock sleeves is equal between adjacent element-extraction position Pitch（Teilungsabstand）.

Fig. 5 shows the assembly head of the embodiment of the present invention in transversal profile figure.

Fig. 6 a and 6b illustrate tailstock sleeve（It is originated from the linear placement of four tailstock sleeves）It is optional along the directions z- Ground is mechanically coupled in common Z- driving devices.

Reference marker inventory

100 automatic assembling machines

101 data processing equipments/processor

102 frames

103 linear guides

104 laterally disposed load bearing arms

105 linear guides

106 load-carrying units

110 elements-supply system

112 elements-feeding mechanism

112a extracts position

115 conveyer belts

120 circuit boards-camera

122 elements-camera

124 assessment units

130 assembly heads

The suction pipe of 144 first elements-stop device/first

The suction pipe of 154 second elements-stop device/second

190 component carriers

192 labels

235 rotors

240 first modules

241 ratch

242 first tailstock sleeves

242aZ- guiding devices

The suction pipe of 244 first elements-stop device/first

244a suction channels

250 second modules

251 ratch

252 second tailstock sleeves

252aZ- guiding devices

The suction pipe of 254 second elements-stop device/second

254a suction channels

The rotation axis of 260a intermediate shank portions 560 and rotor 235

263 gears

270 linear guides

270a tracks

270b sliding blocks

272a first elapses direction

272b second elapses direction

Spacing between the first suction pipes of dx and the second suction pipe

412a elements-belt

412b engaging holes

495 electronic components

495a elements-extraction position

T pitches

532 racks

532a ball bearings

532b ball bearings

545 first rotating driving devices

546 the oneth Z- driving devices

546a bar portions

546b retaining springs

547 engaged elements/fork

547c gears

548 coupling elements

549 sliding bars

555 second rotating driving devices

556 the 2nd Z- driving devices

556a bar portions

556b retaining springs

557 engaged elements/fork

557c gears

558 coupling elements

559 sliding bars

560 intermediate shank portions

560a bearing sections

560b bearing sections

562 internal shanks

565 central rotating driving devices

565a first gears

565b second gears

575 linear drive apparatus

575a first gears

575b second gears

646b cross bars

647a is used for the executing agency of engaged element/fork 557

647b gears

647c gears.

Specific implementation mode

It is noted that the feature or component of different embodiments in the following detailed description（The phase of they and other embodiments It answers feature or component is identical or at least function is identical）It is provided with identical reference marker or different reference markers, it is described Different reference markers is the reference on its first letter with identical or at least functionally identical feature or component Label is different.In order to avoid unnecessary repetition, by previously described embodiment illustrate feature or component later No longer elaborate.

Additionally, it is noted that embodiment described below is to be elected from the possible embodiment of the present invention.Especially It is possible that the feature of single embodiment is combined with each other in the right way, therefore by detailed herein for professional It is apparent disclosed to regard many different embodiments as the embodiment carefully described.

Fig. 1 shows automatic assembling machine 100, and with frame 102, the linear guides 103 of two parallel orientations are arranged On the frame.The two linear guides 103 carry laterally disposed load bearing arm 104, the laterally disposed load bearing arm 104 There are linear guides 105, load-carrying unit 106 to be movably supported on the linear guides for itself.The two linear guides Device 103 extends along the directions y-, and linear guides 105 extend along the directions x-.Assembly head 130 is arranged on load-carrying unit 106, There are two the element-stop devices for being configured to suction pipe, i.e. first element-stop device 144 and second element-for assembly head tool only Dynamic device 154.

First element-stop device 144 is subordinated to together at least another unshowned first element-stop device Unshowned first modules of Fig. 1 of assembly head 130.Second element-stop device 154 at least another unshowned second Element-stop device is subordinated to unshowned second modules of Fig. 1 of assembly head 130 together.The two modules can come around The unshowned rotation axis rotations of Fig. 1, the rotation axis extend along the directions z-.The rotation is marked by double-head arrow, is being filled It is shown before with first 130 lower portion.As illustrated in detail below, the two modules can also be extraly by it Affiliated element-stop device 144,154 is moved relative to rotation axis in xy- mean planes.

Element-stop device 144 and 154 can be by same unshowned promotion actuator in Fig. 1 along z- direction positions It moves.The directions z- both extended perpendicular to the directions x-, were also perpendicularly to the extension of the directions y-.

Automatic assembling machine 100 also has element-supply system 110, it includes at least two elements-feeding mechanism 112.It should Element-feeding mechanism 112 on multiple extraction post-11.2 a for it is so-called " collect & place " assembly technology provides unshowned Electronic component.Here, being capable of supply that similar or inhomogeneous element by different element-feeding mechanisms 112.

In addition, automatic assembling machine 100 includes also conveyer belt 115, component carrier or substrate 190 can be by the conveyer belt bands Into the assembly area of automatic assembling machine 100.Element-stop device 144,154 can pass through the suitable translation of assembly head 130 It moves and xy- plane positionings is parallel in entire assembly section by the suitable rotary motion of two modules of assembly head 130 In domain.

In addition, automatic assembling machine 100 also has processor or data processing equipment 101.It can be real on the processor 101 Be applied to the processing program of automatic assembling machine 100, so as to electronic component come assembling element carrier, therefore automatic assembling machine 100 Element can be worked in a manner of just mutually coordinated, therefore contribute to inerrancy and successfully carried come loading member with element Body 190.

In addition, so-called circuit board-camera 120 is fixed on load-carrying unit 106, which is used for detecting at least One label 192 being arranged on component carrier 190, in this way can be by measuring at least one label 192 in electricity Position within the scope of the picture of road plate-camera 120, to determine the accurate position for taking the component carrier in assembly area 190 to It sets.

In order to measuring cell position and in order to control the element received by assembly head 130, be provided with so-called member Part-camera 122, it click here shown in embodiment be arranged in the fixed position of the frame 102 of automatic assembling machine 100.It is excellent Optically element measures directly after receiving an element or multiple element from element-supply system 110 for choosing.Assembly head 130 Or respective element-stop device 144,154 is located in the picture range of element-camera 122.By element-camera The picture of 122 shootings is assessed in assessment unit 124, and knows the element of receiving relative to each element-stop device herein 144,154 position.

The assessment unit 124 may alternatively be integrated in data processing equipment 101.Here, assessment unit 124 can be by suitable Hardware or realized by suitable software.

It is noted that the present invention is absolutely not confined to the application present invention of automatic assembling machine 100 described herein for example also It can be realized by element-camera, it moves together and be arranged with assembly head to be used for is being transported to dress from receiving positions With the element for measuring receiving during position.

Fig. 2 shows the rotor 235 by the assembly head of the preferred embodiment of the present invention in the diagram.Assembly head has figure 2 unshowned racks.Rotor 235 can be rotated to support on around rotation axis 260a in the rack or in the rack.This turn There are two linear guides 270 for 235 tool of son, it separately includes track 270a and mobilizable sliding block 270b.Shown in clicking here Embodiment is installed with ratch 241 or 251 respectively on two movable sliding block 270b, they are embedded in gear 263.Below Further illustrate the function of gear 263.

The first module 240 is provided on the sliding block 270b of the linear guides 270 shown in the left sides Fig. 2.First module energy The longitudinal direction of enough track 270a together with sliding block 270b along the linear guides on the left side 270 moves.It shows on the right The second module 250 is provided on the sliding block 270b of linear guides 270, it can be together with sliding block 270b along the linear of the right The longitudinal direction of the track 270a of guiding device 270 moves.

First module 270 has a large amount of eight the first tailstock sleeves 242, they can be by z- guiding device 242a phases First module 240 is elapsed perpendicular to drawing along the directions z-.On each first tailstock sleeve 242 in known manner It is provided with element-stop device 244.Embodiment shown in clicking here, first element-stop device are configured to suction pipe 244.? The suction channel 244a that element-stop device 244 is respectively illustrated in Fig. 2, by the fixed unshowned electronics member of suction pipe 244 Part is loaded by the element-stop device with low pressure, and is therefore fixed by suction pipe 244.

Second module 250 has a large amount of eight the second tailstock sleeves 252 in the corresponding way, they can be by z- Guiding device 252a is relative to module 250 perpendicular to drawing（Along the directions z-）Passage.It is separately positioned on the second tailstock sleeve 252 On second element-stop device reference marker 254 indicate.Second element-stop device is also configured such as suction pipe, they distinguish With suction channel 254a.

Gear 263 is rotatable around rotation axis 260a, it is oriented perpendicular to drawing along the directions z-.As above Through as description, gear 263 is embedded in the two ratch 241 and 251.

Assembly head with rotor 235 is also with unshowned linear drive apparatus in fig. 2（It is shown in FIG. 5）, it Still it is arranged in the equally unshowned racks of Fig. 2（It is shown in FIG. 5）On.By the linear drive apparatus, gear 263 can It is rotated around rotation axis 260a.Since gear 263 is embedded in the two ratch 241 and 251, the two modules 240 and 250 Drawing is parallel to always mutually oppositely to move.The movement of the two modules 240 and 250 is indicated by an arrow respectively in fig. 2.Such as Fruit gear 263 extends in a first direction, then the two arrows 272a describes the displacement of the two modules 240 and 250.If Gear 263 extends in a second direction that is opposite the first direction, then the two arrows 272b describes the two 240 Hes of module 250 displacement.

Herein it is noted that the two modules can also be coupled on belt alternatively or in combination.

It is also pointed out that, the two modules all can also be equipped with the linear drive apparatus of oneself herein.The two straight lines Driving device then preferably control in this way, that is, generate reversed movement.

Fig. 3 a illustrate the reversed displacement by two modules 240 and 250（The displacement is marked by two arrow 272b） It can change（i）The first suction pipe of first module marked with reference marker 244 and（ii）Second module 250 uses reference marker Spacing dx between 254 the second suction pipes marked.It is published to be, in the feelings that the two modules 240 and 250 are not mutually shifted Under condition, the spacing dx between the two suction pipes 244 and 254 is minimum.The two modules 240 and 250 are mutually shifted remoter, this two Spacing between a suction pipe 244 and 254 is bigger.

Fig. 3 b show, how by rotor 235 to change the first suction pipe around the rotation of rotation axis 260a 244 and the second connecting line between suction pipe 254 angle position.In fig 3b two illustrative angle positions have been marked with di Between connecting line angle position variation.

Pass through（i）The translational movement of the two modules 240 and 250 and（ii）Rotor 235 comes around rotation axis 260a Rotation stacked, the two suction pipes 244 and the 254 extraction positions that can arbitrarily be located in particular space boundary from two simultaneously It sets by element-supply system extraction.This correspondingly applies to place two electronic components simultaneously, wherein in arbitrary status in specific On rigging position in space boundary, an element is fixed by suction pipe 244 and another element is fixed on component carrier by suction pipe 254 Top side.

It is also disclosed that passing through suitably rotor 235（Obliquity）Or it is movably disposed at the mould above it Block 240 and 250, and particularly by the translational displacement between the two modules 240 and 250, can expansion space region, two Electronic component can be extracted from two extraction positions spaced apart from each other simultaneously from the area of space or two electronic component energy It is enough to be placed on component carrier on two rigging positions spaced apart from each other simultaneously in the spatial position.

Fig. 4 a and 4b show the rotor 235 of the assembly head in two Difference angles.Such as Fig. 2,3a and 3b institute It as showing, but does not mention in affiliated description, is set in array fashion respectively in the two modules 240 and 250 in detail It is equipped with eight suction pipes.Embodiment shown in clicking here, the two arrays are respectively provided with the row of Liang Lan and four.

In the angle position shown in Fig. 4 a of rotor 235, four columns in total of the two arrays are in this way, i.e. different columns Two suction pipes 244 between spacing be equivalent to more times of pitch t between two adjacent extraction position 495a, or be equivalent to More times of the pitch of element-supply system 110 each provide electronic component 495 in the element-supply system.It is i.e. former Can four electronic components 495 be extracted by element-supply system 110 simultaneously on then.

Embodiment shown in clicking here, element-supply system 110 have eight element-supplies not being shown specifically in total Device, they will be delivered to respective extraction position in the electronic component 495 of element-belt 412a packagings in known manner 495a.For this purpose, each element-belt 412a has a row engaging hole 412b on side.Unshowned pin wheel can It is embedded in these engaging holes 412b in known manner, and by element-belt 412a along the side towards each extraction position 495a To conveying.

In the angle position shown in Fig. 4 b, four row in total of two arrays are in this way, i.e. two suction pipes of adjacent column Between spacing be corresponding exactly to pitch t.It i.e. herein in principle can be simultaneously from the corresponding extraction of element-supply system 110 Position 495a extracts four electronic components 495.

Fig. 5 shows assembly head 130 in cross-sectional view.Embodiment shown in clicking here, rotor 253 and assembly head 130 most of component is all located at the inside of the rack 532 of assembly head 130.Rotor 235 has intermediate shank portion, with reference to mark Note 560 indicates.The longitudinal axis of intermediate shank portion 560 is the rotation axis of rotor, and with gear 263 in fig. 2 shown in revolve Shaft axis 260a is overlapped.The intermediate shank portion 560 is coupled by speed changer with central rotating driving device already mentioned before, the change Fast device is made of the first gear 565a and second gear 565b to interweave, which uses 565 table of reference marker herein Show.Therefore, rotor 235 can by rotating driving device 565 inside and relative to rack 532 around intermediate shank portion 560 Longitudinal axis rotation.In order to make to frictionally hold smaller between rotor 235 and rack 532, the intermediate shank portion 560 is by two Ball bearing 532a can be rotated to support on（Static）In rack 532.In addition ball bearing 532b is also set up, it is used for keeping rack 532 and rotor 235 unused reference marker indicate primary element between smaller friction.

The intermediate shank portion 560 includes two bearing sections widened（The bearing section 560b of lower section slightly widened and upper The bearing section 560a that Fang Mingxian widens）.Front is arranged by the linear guides 270 of Fig. 2 descriptions in the two bearing portions On section 560a and 560b, the two modules 240 and 250 can elapse on the linear guides.The two modules 240 and 250 Or the two ratch 241 and 251 are coupled by the speed changer of machinery with linear drive apparatus 575.The speed changer includes two Gear 575a and 575b, internal shank 562 and gear 263.By activating linear drive apparatus 575, the two moulds can be caused The moving movement of block 240 and 250（In the rotary angle position shown in fig. 5 of rotor 235 or intermediate shank portion 560 and perpendicular to Drawing）.By the two symmetric configurations of the ratch 241 and 251 about gear 263, make two modules 240 and 250 displacement fortune Kinetic energy is enough mutually oppositely to be extended.It means that if the first module 240 is shifted out from drawing, the second module 250 moves into In the drawing.

Due to for the cross-sectional view selected by Fig. 5（Its two array in total perpendicular to element-stop device 244,254 Such as the orientation on four column shown in Fig. 4）, in vertical tailstock sleeve of 16 element-stop devices 244,254 or ten in total 242, four element-stop devices 244,254 or four tailstock sleeves 242,252 are only seen in total in 252.

Embodiment shown in clicking here, each tailstock sleeve are equipped with rotating driving device.As shown in figure 5, first Tailstock sleeve 241 is respectively equipped with the first rotating driving device 545, and the second tailstock sleeve 252 is respectively equipped with the second rotation Rotary driving device 555.As already described, these rotating driving devices 545 and 555 are used for adjusting electronic component （It is received by corresponding element-stop device 244,254）Angle position, i.e., relevant electronic component can be with correct Angle position be placed on component carrier to be assembled.

The effect of already described z- guiding devices 242a and 252a is, rotating driving device 545 or 555 with top cover for seat Cylinder 242 or 252 is together along the directions z-（That is, being parallel to the longitudinal axis of intermediate shank portion 260）Passage.

The rotor 235 of embodiment shown in clicking here, assembly head 130 or assembly head 130 have in total there are four z- driving dress 546 are set, wherein Z- driving devices are subordinated to a column tailstock sleeve 242 respectively.As front has illustrated, each module 240,250 two columns, four tailstock sleeves 242 or 252 of difference are respectively provided with.Prolonged in Figure 5 perpendicular to drawing on these columns It stretches, therefore the tailstock sleeve 242,252 being each shown in FIG. 5 belongs to oneself that column.Tailstock sleeve 242 or rotation Optional mechanical couplings between driving device 545 are realized by coupling mechanism, which has（i）Forked nibbles Element 547 or 557 is closed, it is connected by bar portion 546a or 556 with the rotor of z- driving devices 546 or 556, and is had（ii） Coupling element 548 or 558, it is connected by sliding bar 549 or 559 with rotating driving device 545 or 555.

As it is following described by Fig. 6 as, these forked engaged elements 547,557 are stacked setting by two respectively Circular constitute.Pass through the rotation of bar portion 546a or 556a, these circulars（Kreissegmente）Member can be coupled with respective Part 548 or 558 engages.Embodiment shown in clicking here, the rotation of bar portion 546a or 556a pass through the execution being only shown in FIG. 6 Mechanism causes.The executing agency is coupled with forked engaged element 547 or 557 in this way by gear 547c or 557c, that is, is being swashed Corresponding gear 547c, 557c rotate together with corresponding forked coupling element 547 or 557 in the case of executing agency living.? When suitably adjusting forked engaged element 547 or 557, along the directions z- in Z- driving devices 546 or 556 and corresponding coupling element Mechanical couplings are established between 548 or 558, which is fixedly coupled with rotating driving device 545 or 555.In order to will be each From tailstock sleeve 242 or 252 be maintained at top initial position in, each tailstock sleeve 242 or 252 is equipped with only Move spring 546b or 556b, it squeezes corresponding tailstock sleeve 242 or 252 upward.Therefore it need not be driven by respective Z- Device 546 or 556 provides retentivity, which keeps initial position above it by corresponding tailstock sleeve 242 or 252 In.

In the embodiment shown in fig. 5, the tailstock sleeve 242 of two arrays or 252 four columns in total be equipped with altogether Same Z- driving devices 546 or 556.Therefore it is possible that at most two tailstock sleeves of each module 240 and 250（It is i.e. same When at most four tailstock sleeves）It is moved along the directions z-.If the assembly and/or extraction of electronic component for example carry out in couples, Then if first pair of tailstock sleeve sails go back to its home position again, second pair of following tailstock sleeve has been caused Z- is moved.Therefore, it is overlapped by the time of the movement along different z-axis, the power of assembly head 130 can be significantly improved.

Fig. 6 a and 6b illustrate tailstock sleeve 242（It is originated from the linear placement of four tailstock sleeves（Column）Along the side z- To being optionally mechanically coupled in common Z- driving devices 546.As shown in Figure 6 a, common Z- driving devices and pole The system of 546a is connected, these poles are connected to each other by cross bar 646b, and these poles can be elapsed respectively along the directions z- Ground is supported in guiding device.

As shown in Figure 6 a, this four pole 546a coupled with common Z- driving devices 546 rotatably with it is forked Engaged element 547 is connected.The rotatability herein means the rotation of the longitudinal axis around each pole 546a.Forked engaged element 547 angle position can jointly change by executing agency 647a, which is nibbled by speed changer and each forked It closes element 547 to couple, which is made of multiple gear 547c and gear 647b.

As two attached drawing 6a are as shown in 6b, these different forked engaged elements 547 mutually have angle Biasing.Tool is there are four the embodiment of tailstock sleeve 242 shown in clicking here, one of them is by suitably controlling executing agency 647a is coupled with common Z- driving devices 546, and the angle offset between the two adjacent forked engaged elements 547 is at least Close to 90 °.In the tailstock sleeve of other quantity（It should be coupled with common Z- driving devices）In, it is described herein as in reservation Basic structure in the case of change in the corresponding way gear quantity and forked engaged element quantity.In addition, two phases Angle offset between adjacent forked engaged element can adjust accordingly, to which different forked engaged elements be uniformly distributed Angle position.

As shown in Figure 6 b, it is activating executing agency 647a and in the rotation of gear 647b caused by thus, is changing this The angle position of four gear 547c, they are directly or indirectly connected with engaged element 547.Due to different forked engaged elements Therefore above-mentioned angle offset between 547, only coupling element 558 simultaneously only have this tailstock sleeve 242 to be driven respectively with Z- Device 546 couples, which is subordinated to corresponding coupling element 225.By suitably activating executing agency 647a can jointly change the angle position of forked engaged element so that the choosing in total of four tailstock sleeve 242 in this way The tailstock sleeve 242 gone out is coupled with Z- driving devices 546.

The invention described in this document or the embodiment of the present invention can as follows be summarized with intuitive word：

Multiple tailstock sleeves are integrated in module in the assembly head（Tailstock sleeve module）In, these are top Cover for seat cylinder is in the matrix form or similar type is set.Generally speaking, two tailstock sleeve modules, their energy are constituted in this way Enough mutually relatively linear movements, therefore the tailstock sleeve selected by two from one in the block of these tailstock sleeve moulds Between spacing can change.In addition, these tailstock sleeve modules can be rotated around common rotation center.If dress With head and robot or surface location system（It can position assembly head on the directions x and y-）It is connected, then can realizes two The arbitrary positioning for the tailstock sleeve selected.If tailstock sleeve and at least one Z- driving devices coupling that the two are selected It closes, then extracts simultaneously by suction pipe or two electronic components of assembly, there are one be arranged selecting respectively in the two suction pipes On the downside of tailstock sleeve.

Claims (23)

1. a kind of assembly head is used for automatically with electronic component (495) come assembling element carrier, which has Rack (532) and rotor (235), the rotor rotatably supported relative to rack (532) around rotation axis (260a), Wherein the rotor (235) has：First module (240), first module have at least two first tailstock sleeves (242), They movably carry relative to the first module (240) along the direction for being parallel to rotation axis (260a)；

With the second module (250), which has at least two second tailstock sleeves (252), they are relative to second Module (250) movably carries along the direction for being parallel to rotation axis (260a), wherein the first tailstock sleeve (242) It is constituted in this way with the second tailstock sleeve (252), element-stop device (244,254) can be taken to each dead head respectively On the end of sleeve (242,252)；And linear guides (270), it is arranged to for guiding the two modules (240,250) At least one of, to elapse the module (240,250) relative to another module (250,240) in another direction, this is another Direction is perpendicular to the direction parallel with rotation axis (260a)；

Center rotating driving device (565), it is mechanically coupled with rack (532) and rotor (235), and be arranged to for Rotor (235) is driven, to rotate the rotor (235) around rotation axis (260a) relative to rack (532).

2. by the assembly head described in the claims 1, which also has

Linear drive apparatus (575) is mechanically coupled at least one of the two modules (250,240), and this is straight Line driving device is arranged to for making at least one of the two modules (250,240) relative to another module (240,250) It is mobile along linear guides (270).

3. by the assembly head described in any one of the claims 1 to 2, wherein

Linear drive apparatus (575) is coupled by linear-coupling mechanism with two modules (240,250), therefore the two modules (240,250) are able to shift up perpendicular to another party of rotation axis (260a).

4. by the assembly head described in the claims 3, wherein

Linear-the coupling mechanism is constituted in this way, i.e. the two module (240,250) phases when activating linear drive apparatus (575) Mutually oppositely move.

5. by the assembly head described in the claims 2, which also has

Another linear drive apparatus, wherein linear drive apparatus are subordinated to the first module (240), another linear drive apparatus subordinate In the second module (250).

6. by the assembly head described in any one of the claims 1 or 2 or 4 or 5, which also has

At least two first rotating driving devices (545), wherein the first rotating driving device (545) be subordinated to respectively the two One in one tailstock sleeve (242), and/or

At least two second rotating driving devices (555), wherein the second rotating driving device (555) be subordinated to respectively the two One in two tailstock sleeves (252).

7. by the assembly head described in the claims 3, which also has

At least two first rotating driving devices (545), wherein the first rotating driving device (545) be subordinated to respectively the two One in one tailstock sleeve (242), and/or

At least two second rotating driving devices (555), wherein the second rotating driving device (555) be subordinated to respectively the two One in two tailstock sleeves (252).

8. by the assembly head described in any one of the claims 1 or 2 or 4 or 5 or 7, which also has

First z- driving devices (546), are subordinated at least one of first tailstock sleeve (242), thus this at least one A first tailstock sleeve (242) is removable along the direction for being parallel to rotation axis (260a) relative to rack (532)；With/ Or

2nd z- driving devices (556), are subordinated at least one of second tailstock sleeve (252), thus this at least one A second tailstock sleeve (252) is removable along the direction for being parallel to rotation axis (260a) relative to rack (532).

9. by the assembly head described in the claims 3, which also has

First z- driving devices (546), are subordinated at least one of first tailstock sleeve (242), thus this at least one A first tailstock sleeve (242) is removable along the direction for being parallel to rotation axis (260a) relative to rack (532)；With/ Or

2nd z- driving devices (556), are subordinated at least one of second tailstock sleeve (252), thus this at least one A second tailstock sleeve (252) is removable along the direction for being parallel to rotation axis (260a) relative to rack (532).

10. by the assembly head described in the claims 6, which also has

First z- driving devices (546), are subordinated at least one of first tailstock sleeve (242), thus this at least one A first tailstock sleeve (242) is removable along the direction for being parallel to rotation axis (260a) relative to rack (532)；With/ Or

2nd z- driving devices (556), are subordinated at least one of second tailstock sleeve (252), thus this at least one A second tailstock sleeve (252) is removable along the direction for being parallel to rotation axis (260a) relative to rack (532).

11. by the assembly head described in the claims 8, wherein

First z- driving devices (546) are coupled by the first z- coupling mechanisms at least two first tailstock sleeves (242), And/or

2nd z- driving devices (556) are coupled by the 2nd z- coupling mechanisms at least two second tailstock sleeves (252).

12. by the assembly head described in the claims 9 or 10, wherein

First z- driving devices (546) are coupled by the first z- coupling mechanisms at least two first tailstock sleeves (242), And/or

2nd z- driving devices (556) are coupled by the 2nd z- coupling mechanisms at least two second tailstock sleeves (252).

13. by the assembly head described in the claims 11, wherein

First z- coupling mechanisms have multiple first coupling elements (548), wherein the first coupling element (548) is subordinated to respectively First tailstock sleeve (242), and/or

2nd z- coupling mechanisms have multiple second coupling elements (558), wherein the second coupling element (558) is subordinated to respectively Second tailstock sleeve (252).

14. by the assembly head described in the claims 12, wherein

First z- coupling mechanisms have multiple first coupling elements (548), wherein the first coupling element (548) is subordinated to respectively First tailstock sleeve (242), and/or

2nd z- coupling mechanisms have multiple second coupling elements (558), wherein the second coupling element (558) is subordinated to respectively Second tailstock sleeve (252).

15. by the assembly head described in the claims 1 or 2 or 4 or 5 or 7 or 9 or 10 or 11 or 13 or 14, wherein

Wherein the first module (240) has at least four first tailstock sleeves (242), they are arranged in the first two-dimensional grid In；And/or

Wherein the second module (250) has at least four second tailstock sleeves (252), they are arranged in the second two-dimensional grid In.

16. by the assembly head described in the claims 3, wherein

Wherein the first module (240) has at least four first tailstock sleeves (242), they are arranged in the first two-dimensional grid In；And/or

Wherein the second module (250) has at least four second tailstock sleeves (252), they are arranged in the second two-dimensional grid In.

17. by the assembly head described in the claims 6, wherein

Wherein the first module (240) has at least four first tailstock sleeves (242), they are arranged in the first two-dimensional grid In；And/or

Wherein the second module (250) has at least four second tailstock sleeves (252), they are arranged in the second two-dimensional grid In.

18. by the assembly head described in the claims 8, wherein

Wherein the first module (240) has at least four first tailstock sleeves (242), they are arranged in the first two-dimensional grid In；And/or

Wherein the second module (250) has at least four second tailstock sleeves (252), they are arranged in the second two-dimensional grid In.

19. by the assembly head described in the claims 12, wherein

Wherein the first module (240) has at least four first tailstock sleeves (242), they are arranged in the first two-dimensional grid In；And/or

Wherein the second module (250) has at least four second tailstock sleeves (252), they are arranged in the second two-dimensional grid In.

20. one kind is used for electronic component (495) come the automatic assembling machine of automatic assembling element carrier (190), the automatic assembling Machine (100) has：

Frame (102)；

Positioning system (103,104,105,106), with stationary parts (103) and movable part (106), the wherein stationary part Part (103) is arranged on frame (102)；And by the assembly head (130) described in any one of the claims 1 to 19, The rack (532) of middle assembly head (130) is arranged on the movable part (106) of positioning system (103,104,105,106).

21. by the automatic assembling machine described in the claims 20, wherein the automatic assembling machine also has element-supply system (110), have

First element-feeding mechanism (112) provides electronic component (495) by it in the first extraction position (495a)；With And

Second element-feeding mechanism (112) provides electronic component (495) by it in the second extraction position (495a)；Its In

The two extractions position (495a) are spaced from each other in this way, so as to extract position from first by assembly head (130) (495a) extracts the first electronic component (495), and at the same time extracting the second electronic component from the second extraction position (495a) (495)。

22. it is a kind of be used for by by described in any one of claim 20 to 21 automatic assembling machine (100) and/or by by power The method that profit requires the assembly head (130) described in any one of 1 to 19 to use electronic component (495) assembling element carrier (190), This method includes

It is connect from the first extraction position (495a) by the first tailstock sleeve (242) of the first module (240) of assembly head (130) Receive the first electronic component (495)；

It is connect from the second extraction position (495a) by the second tailstock sleeve (252) of the second module (250) of assembly head (130) Receive the second electronic component (495)；

The element (495) of the two receivings is transferred in assembly area, component carrier to be assembled (190) is located at the assembly section In domain；

The first electronic component (495) of transmission is placed in the first installation site of component carrier (190)；And

The second electronic component (495) of transmission is placed in the second installation site of component carrier (190).

23. by the method described in the claims 22, wherein

The receiving of first electronic component (495) is carried out at the same time with the receiving of the second electronic component (495), and/or

The placement and the placement of the second electronic component (495) of transmission of the first electronic component (495) of transmission are carried out at the same time.