EP1070151B1 - Positioning arm for positioning and assembling systems and method for producing positioning arms - Google Patents

Positioning arm for positioning and assembling systems and method for producing positioning arms Download PDF

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Publication number
EP1070151B1
EP1070151B1 EP99917748A EP99917748A EP1070151B1 EP 1070151 B1 EP1070151 B1 EP 1070151B1 EP 99917748 A EP99917748 A EP 99917748A EP 99917748 A EP99917748 A EP 99917748A EP 1070151 B1 EP1070151 B1 EP 1070151B1
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EP
European Patent Office
Prior art keywords
positioning
ceramic
core
positioning arm
outer layer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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EP99917748A
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German (de)
French (fr)
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EP1070151A1 (en
Inventor
Mohammad Mehdianpour
Peter Drexel
Bernd-Friedrich Scholl
Helmut Macht
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Siemens AG
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Siemens AG
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    • C—CHEMISTRY; METALLURGY
    • C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
    • C22C—ALLOYS
    • C22C1/00—Making non-ferrous alloys
    • C22C1/08—Alloys with open or closed pores
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F7/00—Manufacture of composite layers, workpieces, or articles, comprising metallic powder, by sintering the powder, with or without compacting wherein at least one part is obtained by sintering or compression
    • B22F7/002—Manufacture of composite layers, workpieces, or articles, comprising metallic powder, by sintering the powder, with or without compacting wherein at least one part is obtained by sintering or compression of porous nature
    • B22F7/004—Manufacture of composite layers, workpieces, or articles, comprising metallic powder, by sintering the powder, with or without compacting wherein at least one part is obtained by sintering or compression of porous nature comprising at least one non-porous part
    • B22F7/006—Manufacture of composite layers, workpieces, or articles, comprising metallic powder, by sintering the powder, with or without compacting wherein at least one part is obtained by sintering or compression of porous nature comprising at least one non-porous part the porous part being obtained by foaming
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D19/00—Casting in, on, or around objects which form part of the product
    • B22D19/16—Casting in, on, or around objects which form part of the product for making compound objects cast of two or more different metals, e.g. for making rolls for rolling mills
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D25/00—Special casting characterised by the nature of the product
    • B22D25/005—Casting metal foams
    • C—CHEMISTRY; METALLURGY
    • C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
    • C22C—ALLOYS
    • C22C21/00—Alloys based on aluminium
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F2999/00—Aspects linked to processes or compositions used in powder metallurgy
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T428/00—Stock material or miscellaneous articles
    • Y10T428/12—All metal or with adjacent metals
    • Y10T428/12479—Porous [e.g., foamed, spongy, cracked, etc.]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T428/00—Stock material or miscellaneous articles
    • Y10T428/12—All metal or with adjacent metals
    • Y10T428/12486—Laterally noncoextensive components [e.g., embedded, etc.]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T428/00—Stock material or miscellaneous articles
    • Y10T428/249921—Web or sheet containing structurally defined element or component
    • Y10T428/249953—Composite having voids in a component [e.g., porous, cellular, etc.]
    • Y10T428/249955—Void-containing component partially impregnated with adjacent component
    • Y10T428/249956—Void-containing component is inorganic

Definitions

  • positioning and placement systems e.g. SMD (surface mounted device) - placement machine must have the positioning unit can be moved in the X and Y direction.
  • Y positioning axes becomes a space-saving portal construction preferred, in which a positioning arm itself, for example is movable in the X direction, while one in the horizontal Area of the positioning arm arranged slide unit the movement of the positioning unit attached to it in the Y direction.
  • the positioning arms which can also be designed as a portal, high accelerations to achieve with low drive or braking power, the moving mass must be kept as low as possible. on the other hand however, there is a need to move the positioning arms, to be resistant to bending and torsion.
  • Bending and torsion-resistant positioning arms for positioning and Placement systems are mostly used as welded constructions, as a stainless steel investment casting construction or as a composite of stainless steel investment casting and welded parts. Furthermore aluminum extrusions, aluminum castings and Ceramic materials as well as fiber composites such as glass fiber or carbon fiber reinforced laminates are used.
  • Models In the manufacture of the bending and torsion-resistant positioning arms by investment casting are first appropriate Models are provided, these so-called “lost” Models mostly made of waxes, thermoplastic materials, Urea or mixtures thereof exist.
  • CH 686 251 describes a process for producing light, portals resistant to bending and torsion, in particular from Portals in placement machines, known, from which one fusible, releasable and / or burnable material a model is produced, which is then coated with a ceramic slip and then drying is provided with a ceramic shell. After removal of the model, for example by melting it out, becomes the portal finished by burning.
  • Disadvantageous when using ceramic materials are the lack of suitable, inexpensive joining techniques of ceramic workpieces with each other and with workpieces on another for example metallic material base and the other high brittleness of ceramic material under load can easily break a portal.
  • a component for the chassis is one Motor vehicle and a method for producing such Known component, the component made of die-cast aluminum exists and has a cavity profile, in the cavity there is a core made of aluminum foam.
  • the invention has for its object a positioning arm as well as a flexible process for the production of positioning arms specify, these positioning arms on the one hand the highest possible bending and torsional rigidity and on the other hand have the lowest possible weight should.
  • the method is intended in particular for production lighter, bending and torsion-resistant positioning arms be suitable for positioning and placement systems.
  • the task is accomplished by a positioning arm and placement system and their manufacture according to the characteristics of claims 1 to 30 solved.
  • the method according to the invention also offers the possibility of optimal design, in particular the design requirements for high bending and torsional rigidity can be taken into account.
  • Both cores made of metal or ceramic foam are are surrounded with non-foamed material as well as cores made of non-foamed material Core covered with a layer of metal or ceramic foam are surrounded, realizable, resulting in great flexibility in the design of the positioning arms leads.
  • Semi-finished products are at least according to claims 5 and 18 or claims 12 and 27 partially arranged in the non-foamed material. Thereby there is a firm connection of the semi-finished product in the positioning arm and thus are simple connections of the positioning arm can be realized with other workpieces. So you can For example, cast threads, which are then used for screw connections are used or tubular semi-finished products as simple implementation of cable bushings when in use in placement machines for power and data supply of placement heads attached to the positioning arm.
  • the use of aluminum or aluminum alloys as metal foam and / or non-foamed material according to one of claims 29 or 30 leads to particularly light positioning arms due to the low specific weight of aluminum.
  • the elastic modulus of aluminum foam materials is lower with approx. 5 GPa than for aluminum (69 GPa), ceramic (approx. 300 GPa) or steel (approx. 210 GPa), due to its low density (300-1000 kg / m 3 ) compared to the other materials (aluminum: 2700 kg / m 3 , ceramics: approx. 4000 kg / m 3 , steel approx. 8000 kg / m 3 ), there is a high specific bending stiffness, which is further improved by combination with other materials becomes.
  • Figure 1 it is shown as part of a positioning arm a positioning and placement system 1 from a core 2
  • Metal or ceramic foam made with a cladding layer 3 is cast around a metallic or ceramic material, is constructed.
  • a low-pressure casting process is used for casting used.
  • a core 2 made of aluminum foam with aluminum or an aluminum alloy cast around. Due to the lower density of the Aluminum foam is a weight reduction compared to massive Positioning arms made of aluminum.
  • Process the cores in the positioning arm which is the manufacture simplified.
  • are suitable as ceramic foam for example aluminum silicate processed by the vacuum suction process Aluminum oxide fibers or alkaline earth silicate fibers.
  • the method can be varied for example by several cores 2 made of aluminum foam material together with a metallic or ceramic Material 3 are cast. This creates between the cores 2 partitions 3a made of metallic or ceramic Material 3, which has a higher rigidity of the positioning arm to ensure.
  • cores 2 made of aluminum foam material together with a metallic or ceramic Material 3 are cast.
  • This creates between the cores 2 partitions 3a made of metallic or ceramic Material 3, which has a higher rigidity of the positioning arm to ensure.
  • Convention casting processes with Such cores cannot be made from sand cores because the Sand cores can be removed through holes after casting have to.
  • a core 3 from a non-foamed Material such as a semi-finished product or a Metal casting or metal extrusion from a cladding layer 3 is surrounded by metal or ceramic foam, which again with a further layer 4 made of a metallic or cast ceramic material.
  • Suitable as semi-finished products for example threaded inserts or bodies with mounting surfaces, those for connecting the positioning arms to others Serve components.
  • 5a, 5b and 5c three possibilities are shown Arrange semi-finished products in positioning arms.
  • 5a is shown like a semifinished product 5 surrounded by metal or ceramic foam 6 is.
  • This embodiment has the disadvantage that due to the low surface adhesion between metal or Ceramic foam 6 and semi-finished 5 often do not connect is sufficiently resilient.
  • Higher loads are achieved by the embodiment according to FIG. 5b, in which the semi-finished product 5th both of the core 2 made of metal or ceramic foam and the cladding layer 3 made of metallic or ceramic material is surrounded.
  • the embodiment according to FIG. 5c too the semifinished product 5 in a known manner from the cladding layer 3 from metallic or ceramic material is surrounded and none Contact with the core 2 made of metal or ceramic foam is suitable to withstand high loads.
  • tubular semi-finished products 7 Surrounding tubular semi-finished products 7, as shown in FIG. 6 is shown, allows the inclusion of cables in the tubular semi-finished products from one end of the positioning arm can be led to the other without the risk of Confusing cables when moving the positioning arm.
  • the positioning arm 1 is made of cores 2 and a cladding layer 3 shown how it is used in an automatic placement machine Commitment comes.
  • the positioning arm 1 is in the X direction movable on a rail 10.
  • a carriage 11 is attached, which is in the Y direction is proceeded.
  • the carriage 11 is a placement head 12 connected, the plurality of pipettes 13 along of its scope.
  • the suction pipettes 13 are used for Transport of components 14 from feed units, not shown to the desired position of the components 14 a circuit board 15, as shown in Fig. 8.
  • the Placement head 13 is rotatably mounted, so that overall for example, with twelve suction pipettes 13, initially twelve components 13 are removed from the feed units before these twelve components 13 one after the other on the circuit board 15 can be set.
  • the invention includes all other possible combinations of metal foams with metallic and / or ceramic Materials that are not shown in detail here but are obvious to the expert. So you can layered Structures, for example, by surrounding metallic or ceramic cores with metal or ceramic foam and subsequent further casting with metallic and / or ceramic materials.
  • the described methods are particularly suitable for implementation of positioning arms in automatic placement machines that are special are subjected to strong acceleration forces. Also for highly accelerated components on machines, their decay behavior strong influence on positioning time and positioning accuracy the procedure is suitable.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Materials Engineering (AREA)
  • Metallurgy (AREA)
  • Organic Chemistry (AREA)
  • Composite Materials (AREA)
  • Manufacturing & Machinery (AREA)
  • Manufacture Of Alloys Or Alloy Compounds (AREA)
  • Laminated Bodies (AREA)
  • Ceramic Products (AREA)
  • Molds, Cores, And Manufacturing Methods Thereof (AREA)
  • Manipulator (AREA)

Abstract

Positioning arms (1) for positioning and assembling systems are subjected to high accelerations and must therefore be designed so as to be lightweight but resistant to bending and twisting. Positioning arms (1) which are lightweight although very resistant can be obtained through the use of composite materials made of metallic or ceramic foams and non expanded materials for positioning arms (1) in positioning and assembling systems. Semi-finished products (5) are placed in a non expanded material where linking between the semi-finished product (5) and the material (1) is better than in the metallic or ceramic foam.

Description

Bei Positionier- und Bestücksystemen, wie z.B. SMD (surface mounted device)- Bestückautomaten muß die Positioniereinheit in X- und Y-Richtung verfahren werden. Für die X-, Y- Positionierachsen wird hierbei eine raumsparende Portalbauweise bevorzugt, bei welcher ein Positionierarm selbst beispielsweise in X-Richtung verfahrbar ist, während eine im horizontalen Bereich des Positionierarms angeordnete Schlitteneinheit das Verfahren der daran befestigten Positioniereinheit in Y-Richtung ermöglicht. Um für derartige Positionierarme, die auch als Portal ausgebildet sein können, hohe Beschleunigungen mit geringen Antriebs- bzw. Bremsleistungen zu erreichen, ist die bewegte Masse möglichst gering zu halten. Andererseits ergibt sich jedoch die Notwendigkeit, die Positionierarme, biege- und verwindungssteif zu gestalten.For positioning and placement systems, e.g. SMD (surface mounted device) - placement machine must have the positioning unit can be moved in the X and Y direction. For the X, Y positioning axes becomes a space-saving portal construction preferred, in which a positioning arm itself, for example is movable in the X direction, while one in the horizontal Area of the positioning arm arranged slide unit the movement of the positioning unit attached to it in the Y direction. In order for such positioning arms, which can also be designed as a portal, high accelerations to achieve with low drive or braking power, the moving mass must be kept as low as possible. on the other hand however, there is a need to move the positioning arms, to be resistant to bending and torsion.

Biege- und verwindungssteife Positionierarme für Positionierund Bestücksysteme werden meist als Schweißkonstruktionen, als Edelstahl-Feinguß-Konstruktion oder als Verbund aus Edelstahl-Feinguß- und Schweißteilen hergestellt. Des weiteren werden Aluminium-Strangpreßprofile, Aluminium-Gußteile und Keramikwerkstoffe sowie Faserverbundstoffe wie glasfaseroder kohlefaserverstärkte Laminate eingesetzt.Bending and torsion-resistant positioning arms for positioning and Placement systems are mostly used as welded constructions, as a stainless steel investment casting construction or as a composite of stainless steel investment casting and welded parts. Furthermore aluminum extrusions, aluminum castings and Ceramic materials as well as fiber composites such as glass fiber or carbon fiber reinforced laminates are used.

Bei der Herstellung der biege- und verwindungssteifen Positionierarme durch Feingießen werden zunächst entsprechende Modelle bereitgestellt, wobei diese sogenannten "verlorenen" Modelle meist aus Wachsen, thermoplastischen Werkstoffen, Harnstoff oder deren Gemischen bestehen.In the manufacture of the bending and torsion-resistant positioning arms by investment casting are first appropriate Models are provided, these so-called "lost" Models mostly made of waxes, thermoplastic materials, Urea or mixtures thereof exist.

Aus CH 686 251 ist ein Verfahren zur Herstellung von leichten, biege- und verwindungssteifen Portalen, insbesondere von Portalen in Bestückautomaten, bekannt, bei dem aus einem schmelzbaren, auslösbaren und/oder ausbrennbaren Werkstoff ein Modell hergestellt wird, das anschließend durch Beschichten mit einem Keramikschlicker und anschließendes Trocknen mit einer keramischen Schale versehen wird. Nach Entfernung des Modells, beispielsweise durch Ausschmelzen, wird das Portal durch Brennen fertiggestellt. Nachteilig beim Einsatz von keramischen Werkstoffen sind zum einen der Mangel an geeigneten, preiswerten Verbindungstechniken von keramischen Werkstücken untereinander sowie mit Werkstücken auf einer anderen beispielsweise metallischen Materialbasis und zum anderen die hohe Sprödigkeit von keramischen Material, die unter Belastung leicht zum Zerbrechen eines Portals führen kann.CH 686 251 describes a process for producing light, portals resistant to bending and torsion, in particular from Portals in placement machines, known, from which one fusible, releasable and / or burnable material a model is produced, which is then coated with a ceramic slip and then drying is provided with a ceramic shell. After removal of the model, for example by melting it out, becomes the portal finished by burning. Disadvantageous when using ceramic materials are the lack of suitable, inexpensive joining techniques of ceramic workpieces with each other and with workpieces on another for example metallic material base and the other high brittleness of ceramic material under load can easily break a portal.

Leichte, biegefeste Materialien auf der Basis von Metallschäumen sind ebenfalls bekannt. Aus DE 42 06 303 ist ein Verfahren zur Herstellung von Metallschaumkörpern bekannt, bei dem ein Metallpulver mit einem Treibmittelpulver gemischt wird, das Pulvergemisch in einem Rezipienten auf eine erhöhte Temperatur gebracht und durch eine Matrize hindurch stranggepreßt wird. Nachfolgend wird das Strangpreßteil durch Erwärmen unter Zersetzung des Treibmittelpulvers aufgeschäumt und als fertiger Schaumkörper abgekühlt.Light, rigid materials based on metal foams are also known. From DE 42 06 303 is a Process for the production of metal foam bodies known where a metal powder is mixed with a blowing agent powder the powder mixture in a recipient to an increased Brought to temperature and extruded through a die becomes. Subsequently, the extrusion is made by heating foamed with decomposition of the blowing agent powder and cooled as a finished foam body.

Aus DE 195 01 508 ist ein Bauteil für das Fahrwerk eines Kraftfahrzeuges und ein Verfahren zur Herstellung eines solchen Bauteils bekannt, wobei das Bauteil aus Aluminiumdruckguß besteht und ein Hohlraumprofil aufweist, in dessen Hohlraum sich ein Kern aus Aluminiumschaum befindet.From DE 195 01 508 a component for the chassis is one Motor vehicle and a method for producing such Known component, the component made of die-cast aluminum exists and has a cavity profile, in the cavity there is a core made of aluminum foam.

Durch die schaumartige Struktur der Werkstücke ist es allerdings schwierig, lösbare Verbindungen zwischen diesen Werkstücken und anderen Werkstücken zu realisieren. In den Metallschaum eingearbeitete Halbzeuge halten im allgemeinen eine starke Zug- oder Verwindungsspannung nicht aus, da aufgrund der Struktur des Metallschaums die Kontaktfläche zum Halbzeug reduziert ist. However, due to the foam-like structure of the workpieces difficult, detachable connections between these workpieces and other workpieces. In the metal foam incorporated semi-finished products generally hold one strong tensile or torsional stress is not sufficient because of the structure of the metal foam the contact surface to Semi-finished product is reduced.

Der Erfindung liegt die Aufgabe zugrunde, einen Positionierarm sowie ein flexibles Verfahren zur Herstellung von Positionierarmen anzugeben, wobei diese Positionierarme einerseits eine möglichst hohe Biege- und Verwindungssteifigkeit und andererseits ein möglichst geringes Gewicht aufweisen sollen. Das Verfahren soll dabei insbesondere für die Herstellung leichter, biege- und verwindungssteifer Positionierarme für Positionier- und Bestücksysteme geeignet sein.The invention has for its object a positioning arm as well as a flexible process for the production of positioning arms specify, these positioning arms on the one hand the highest possible bending and torsional rigidity and on the other hand have the lowest possible weight should. The method is intended in particular for production lighter, bending and torsion-resistant positioning arms be suitable for positioning and placement systems.

Die Aufgabe wird durch einen Positionierarm und Bestücksystem und deren Herstellung gemäß den Merkmalen der Ansprüche 1 bis 30 gelöst.The task is accomplished by a positioning arm and placement system and their manufacture according to the characteristics of claims 1 to 30 solved.

Wie das Feingießen bietet auch das erfindungsgemäße Verfahren die Möglichkeit zu optimalem Gestalten, wobei insbesondere die konstruktiven Erfordernisse für eine hohe Biege- und Verwindungssteifigkeit berücksichtigt werden können.Like the investment casting, the method according to the invention also offers the possibility of optimal design, in particular the design requirements for high bending and torsional rigidity can be taken into account.

So ist ein Positionierarm aus dem Verbundmaterial: Metalloder Keramikschaum/ metallisches oder keramisches Material nicht hohl, wie Gußteile aus Stahl, Aluminium oder Keramik, sondern als Vollmaterial zu betrachten und besitzt daher eine hohe Verwindungssteifigkeit und federt bei Beschleunigungen nicht nach.So is a positioning arm made of the composite material: metal or Ceramic foam / metallic or ceramic material not hollow, like castings made of steel, aluminum or ceramic, but to be considered as full material and therefore has one high torsional stiffness and cushions when accelerating not after.

Dabei sind sowohl Kerne aus Metall- oder Keramikschaum, die mit nicht geschäumtem Werkstoff umgeben sind als auch Kerne aus nicht geschäumten Werkstoff als Kern, die mit einer Mantelschicht aus Metall- oder Keramikschaum umgeben sind, realisierbar, was zu einer großen Flexibilität in der Gestaltung der Positionierarme führt. Both cores made of metal or ceramic foam are are surrounded with non-foamed material as well as cores made of non-foamed material Core covered with a layer of metal or ceramic foam are surrounded, realizable, resulting in great flexibility in the design of the positioning arms leads.

So sehen die Ausgestaltungen nach Anspruch 3 und nach Ansprüche 9, 16 und 24 vor, statt einem Kern mehrere Kerne gemeinsam mit der Mantelschicht zu umgeben, was eine flexiblere Gestaltung des Positionierarms unter Beibehaltung einer Standardform für Kerne erlaubt. Außerdem entstehen zwischen den Kernen Trennwände aus Vollmaterial, wodurch die Steifigkeit des Positionierarms erhöht wird. Bei herkömmlich Sandgußverfahren sind solche Trennwände nicht realisierbar, da der Sand nach dem Guß wieder entfernt werden muß.So see the configurations according to claim 3 and according to claims 9, 16 and 24 before, instead of one core several cores together with to surround the cladding layer, resulting in a more flexible design of the positioning arm while maintaining a standard shape for Cores allowed. Partition walls are also created between the cores Made of solid material, which increases the stiffness of the positioning arm is increased. In conventional sand casting processes such partitions not feasible because the sand after the Casting must be removed again.

Die vorteilhafte Ausgestaltung des Positionierarms nach Ansprüche 4 und 17 und des Herstellungsverfahrens nach Ansprüche 13 und 28 erlaubt eine weitere Flexibilität in der Gestaltung des Positionierarms durch die Verwendung von Mehrschichtstrukturen, wobei sich Metall- oder Keramikschäume und nicht geschäumte Werkstoffe abwechseln.The advantageous embodiment of the positioning arm according to claims 4 and 17 and the manufacturing method according to claims 13 and 28 allowed further flexibility in the design of the positioning arm through the use of multilayer structures, with metal or ceramic foams and not foamed Alternate materials.

Halbzeuge sind nach Ansprüche 5 und 18 bzw. Ansprüche 12 und 27 zumindest teilweise im nicht geschäumten Werkstoff angeordnet. Dadurch ergibt sich eine feste Verbindung vom Halbzeug im Positionierarm und damit sind einfache Verbindungen des Positionierarms mit weiteren Werkstücken realisierbar. So lassen sich beispielsweise Gewinde umgießen, die dann für Schraubverbindungen eingesetzt werden oder auch rohrförmige Halbzeuge als einfache Realisierung von Kabeldurchführungen, die beim Einsatz in Bestückautomaten für die Strom- und Datenversorgung von am Positionierarm angebrachten Bestückköpfen dienen.Semi-finished products are at least according to claims 5 and 18 or claims 12 and 27 partially arranged in the non-foamed material. Thereby there is a firm connection of the semi-finished product in the positioning arm and thus are simple connections of the positioning arm can be realized with other workpieces. So you can For example, cast threads, which are then used for screw connections are used or tubular semi-finished products as simple implementation of cable bushings when in use in placement machines for power and data supply of placement heads attached to the positioning arm.

Der Einsatz von Aluminium oder Aluminiumlegierungen als Metallschaum und/oder nicht geschäumten Werkstoff nach einem der Ansprüche 29 oder 30 führt durch das geringe spezifische Gewicht von Aluminium zu besonders leichten Positionierarmen. Das Elastizitätsmodul von Aluminium-Schaumwerkstoffen ist mit ca. 5 GPa zwar geringer als für Aluminium (69 GPa), Keramik (ca. 300 GPa) oder Stahl (ca. 210 GPa), aufgrund seiner geringen Dichte (300-1000 kg/m3) im Vergleich zu den anderen Materialien (Aluminium: 2700 kg/m3, Keramik: ca. 4000 kg/m3, Stahl ca. 8000 kg/m3) ergibt sich eine hohe spezifische Biegesteifigkeit, die durch Kombination mit anderen Materialien noch verbessert wird.The use of aluminum or aluminum alloys as metal foam and / or non-foamed material according to one of claims 29 or 30 leads to particularly light positioning arms due to the low specific weight of aluminum. The elastic modulus of aluminum foam materials is lower with approx. 5 GPa than for aluminum (69 GPa), ceramic (approx. 300 GPa) or steel (approx. 210 GPa), due to its low density (300-1000 kg / m 3 ) compared to the other materials (aluminum: 2700 kg / m 3 , ceramics: approx. 4000 kg / m 3 , steel approx. 8000 kg / m 3 ), there is a high specific bending stiffness, which is further improved by combination with other materials becomes.

Aufgrund seiner hohen Steifigkeit eignet sich in vorteilhafter auch ein keramischer Werkstoff als nicht geschäumter Werkstoff nach Anspruch 6, 21 oder 11 und 26.Due to its high rigidity, it is more advantageous also a ceramic material as not foamed Material according to claim 6, 21 or 11 and 26.

Ausführungsbeispiele der Erfindung sind in der Zeichnung dargestellt und werden im folgenden näher beschrieben.Embodiments of the invention are shown in the drawing and are described in more detail below.

Es zeigen

  • Fig.1a einen Kern aus einem Metall- oder Keramikschaum mit einer Mantelschicht aus einem nicht geschäumten Werkstoff,
  • Fig.1b und 1c einen Kern aus einem Metall- oder Keramikschaum, der mit einer Mantelschicht aus einem nicht geschäumten Werkstoff umgeben ist, im Längs- und im Querschnitt
  • Fig. 2a einen Teil eines Positionierarms, welches durch Umgießen mehrerer Kerne entstanden ist,
    mit dem dazugehörigen Längs- und Querschnitt in Fig. 2b und 2c,
  • Fig 3 eine geschichtete Struktur aus Metall- oder Keramikschaum und nicht geschäumten Werkstoffen,
  • Fig. 4 einen Teil eines Positionierarms mit einer Schichtstruktur um einen Kern
  • Fig. 5a den Querschnitt eines Halbzeuges in einem Teil eines Positionierarms auf Metall- oder Keramikschaumbasis,
  • Fig. 5b und 5c im Querschnitt zwei Möglichkeiten ein Halbzeug in einem Positionierarm auf der Basis eines umgossenen Metall- oder Keramikschaums anzuordnen,
  • Fig. 6 einen Teil eines Positionierarms mit umgossenen rohrförmigen Halbzeugen,
  • Fig. 7 eine Draufsicht auf einen Positionierarm mit einem Bestückkopf im Einsatz in einem Bestückautomaten und
  • Fig. 8 einen Schnitt entlang der Linie II-II der Fig. 7.
    • Show it
  • 1a a core made of a metal or ceramic foam with a covering layer made of a non-foamed material,
  • Fig.1b and 1c a core made of a metal or ceramic foam, which is surrounded with a cladding layer made of a non-foamed material, in longitudinal and in cross section
  • 2a a part of a positioning arm, which was created by casting several cores,
    with the associated longitudinal and cross-section in Fig. 2b and 2c,
  • 3 shows a layered structure made of metal or ceramic foam and non-foamed materials,
  • Fig. 4 shows a part of a positioning arm with a layer structure around a core
  • 5a shows the cross section of a semifinished product in part of a positioning arm based on metal or ceramic foam,
  • 5b and 5c in cross section two ways to arrange a semi-finished product in a positioning arm on the basis of a cast metal or ceramic foam,
  • 6 shows a part of a positioning arm with cast tubular semi-finished products,
  • Fig. 7 is a plan view of a positioning arm with a placement head in use in a placement machine and
  • 8 shows a section along the line II-II of FIG. 7.

    • In Fig.1 ist dargestellt, wie ein Teil eines Positionierarms eines Positionier- und Bestücksystems 1 aus einem Kern 2 aus Metall- oder Keramikschaum, der mit einer Mantelschicht 3 aus einem metallischen oder keramischen Material umgossen ist, aufgebaut ist. Zum Umgießen wird dabei ein Niederdruckgußverfahren verwendet. In einer bevorzugten Ausführungsform wird ein Kern 2 aus Aluminiumschaum mit Aluminium oder einer Aluminium-Legierung umgossen. Aufgrund der geringeren Dichte des Aluminiumschaums wird eine Gewichtsreduzierung gegenüber massiven aus Aluminium bestehenden Positionierarmen erzielt. Gegenüber bekannten Verfahren zur Gewichtsreduzierung durch Umgießen von auslösbaren Kernen verbleiben im erfindungsgemäßen Verfahren die Kerne im Positionierarm, was die Herstellung vereinfacht. Als Keramikschaum eignen sich beispielsweise durch das Vakuumsaugverfahren bearbeitete Aluminiumsilikatoder Aluminiumoxidfasern bzw. Erdalkalisilikatfasern.In Figure 1 it is shown as part of a positioning arm a positioning and placement system 1 from a core 2 Metal or ceramic foam made with a cladding layer 3 is cast around a metallic or ceramic material, is constructed. A low-pressure casting process is used for casting used. In a preferred embodiment a core 2 made of aluminum foam with aluminum or an aluminum alloy cast around. Due to the lower density of the Aluminum foam is a weight reduction compared to massive Positioning arms made of aluminum. Across from known methods for weight reduction by casting of releasable cores remain in the invention Process the cores in the positioning arm, which is the manufacture simplified. Are suitable as ceramic foam, for example aluminum silicate processed by the vacuum suction process Aluminum oxide fibers or alkaline earth silicate fibers.

    Wie in Fig.2 dargestellt ist, läßt sich das Verfahren variieren, indem beispielsweise mehrere Kerne 2 aus Aluminium-Schaumwerkstoff gemeinsam mit einem metallischen oder keramischen Werkstoff 3 umgossen werden. Dadurch entstehen zwischen den Kernen 2 Trennwände 3a aus dem metallischen oder keramischen Werkstoff 3, die eine höhere Steifigkeit des Positionierarms sicherstellen. Bei herkömmlichen Gußverfahren mit Sandkernen sind solche Trennwände nicht herstellbar, da die Sandkerne nach dem Guß wieder durch Löcher entfernt werden müssen.As shown in Figure 2, the method can be varied for example by several cores 2 made of aluminum foam material together with a metallic or ceramic Material 3 are cast. This creates between the cores 2 partitions 3a made of metallic or ceramic Material 3, which has a higher rigidity of the positioning arm to ensure. With conventional casting processes with Such cores cannot be made from sand cores because the Sand cores can be removed through holes after casting have to.

    Durch mehrmaliges Anwenden der Verfahren Umgießen und Umgeben mit Metall- oder Keramikschaum werden geschichtete Strukturen möglich, wie in Fig. 3 exemplarisch dargestellt ist. Hier ist ein Kern 2 aus Metall- oder Keramikschaum mit einem metallischen oder keramischen Material 3 umgossen worden, welches anschließend von einer weiteren Schicht 4, beispielsweise aus einem weiteren Metall- oder Keramikschaum umgeben ist, der besonders gut Aufprallenergie absorbiert. Repeatedly using the casting and surrounding methods with metal or ceramic foam layered structures possible, as exemplified in Fig. 3. Here is a core 2 made of metal or ceramic foam with a metallic or ceramic material 3, which then from another layer 4, for example is surrounded by another metal or ceramic foam that absorbs impact energy particularly well.

    In Fig. 4 ist dargestellt, wie ein Kern 3 aus einem nicht geschäumten Material, wie beispielsweise ein Halbzeug oder ein Metall-Gußteil oder Metall-Strangpreßteil von einer Mantelschicht 3 aus Metall- oder Keramikschaum umgeben ist, welcher wiederum mit einer weiteren Schicht 4 aus einem metallischen oder keramischen Werkstoff umgossen ist. Als Halbzeuge eignen sich beispielsweise Gewindeeinsätze oder Körper mit Montageflächen, die zur Verbindung der Positionierarme mit anderen Bauteilen dienen.In Fig. 4 it is shown how a core 3 from a non-foamed Material such as a semi-finished product or a Metal casting or metal extrusion from a cladding layer 3 is surrounded by metal or ceramic foam, which again with a further layer 4 made of a metallic or cast ceramic material. Suitable as semi-finished products for example threaded inserts or bodies with mounting surfaces, those for connecting the positioning arms to others Serve components.

    In den Fig. 5a, 5b und 5c sind drei Möglichkeiten gezeigt, Halbzeuge in Positionierarmen anzuordnen. In Fig. 5a ist gezeigt wie ein Halbzeug 5 von Metall- oder Keramikschaum 6 umgeben ist. Diese Ausführungsform hat den Nachteil, daß aufgrund der geringen Oberflächenhaftung zwischen Metall- oder Keramikschaum 6 und Halbzeug 5 die Verbindung häufig nicht ausreichend belastbar ist. Höhere Belastungen werden erzielt durch die Ausführungsform nach Fig. 5b, in der das Halbzeug 5 sowohl vom Kern 2 aus Metall- oder Keramikschaum als auch von der Mantelschicht 3 aus metallischem oder keramischem Material umgeben ist. Auch die Ausführungsform nach Fig. 5c, wobei das Halbzeug 5 in bekannter Weise von der Mantelschicht 3 vom metallischen oder keramischen Werkstoff umgeben ist und keinen Kontakt mit dem Kern 2 aus Metall- oder Keramikschaum aufweist, ist geeignet, hohe Belastungen auszuhalten.5a, 5b and 5c, three possibilities are shown Arrange semi-finished products in positioning arms. 5a is shown like a semifinished product 5 surrounded by metal or ceramic foam 6 is. This embodiment has the disadvantage that due to the low surface adhesion between metal or Ceramic foam 6 and semi-finished 5 often do not connect is sufficiently resilient. Higher loads are achieved by the embodiment according to FIG. 5b, in which the semi-finished product 5th both of the core 2 made of metal or ceramic foam and the cladding layer 3 made of metallic or ceramic material is surrounded. The embodiment according to FIG. 5c, too the semifinished product 5 in a known manner from the cladding layer 3 from metallic or ceramic material is surrounded and none Contact with the core 2 made of metal or ceramic foam is suitable to withstand high loads.

    Das Umgeben von rohrförmigen Halbzeugen 7, wie es in Fig. 6 dargestellt ist, ermöglicht die Aufnahme von Kabeln, die in den rohrförmigen Halbzeugen von einem Ende des Positionierarms zum anderen geführt werden können, ohne die Gefahr eines Verwirrens von Kabeln beim Bewegen des Positionierarms.Surrounding tubular semi-finished products 7, as shown in FIG. 6 is shown, allows the inclusion of cables in the tubular semi-finished products from one end of the positioning arm can be led to the other without the risk of Confusing cables when moving the positioning arm.

    In Fig. 7 ist der Positionierarm 1 aus Kernen 2 und Mantelschicht 3 dargestellt, wie er in einem Bestückautomaten zum Einsatz kommt. Der Positionierarm 1 ist dabei in X-Richtung an einer Schiene 10 verfahrbar. Im horizontalen Bereich des Positionierarms 1 ist ein Schlitten 11 angebracht, der in Y-Richtung verfahren wird. Mit dem Schlitten 11 ist ein Bestückkopf 12 verbunden, der mehrere Saugpipetten 13 entlang seines Umfangs aufnimmt. Die Saugpipetten 13 dienen zum Transport von Bauelementen 14 von nicht dargestellten Zuführeinheiten zu der gewünschten Position der Bauelemente 14 auf einer Leiterplatte 15, wie es in Fig. 8 dargestellt ist. Der Bestückkopf 13 ist dabei drehbar gelagert, so daß insgesamt beispielsweise mit zwölf Saugpipetten 13 zunächst zwölf Bauelemente 13 aus den Zuführeinheiten entnommen werden, bevor diese zwölf Bauelemente 13 nacheinander auf die Leiterplatte 15 gesetzt werden.In Fig. 7 the positioning arm 1 is made of cores 2 and a cladding layer 3 shown how it is used in an automatic placement machine Commitment comes. The positioning arm 1 is in the X direction movable on a rail 10. In the horizontal area of the Positioning arm 1, a carriage 11 is attached, which is in the Y direction is proceeded. With the carriage 11 is a placement head 12 connected, the plurality of pipettes 13 along of its scope. The suction pipettes 13 are used for Transport of components 14 from feed units, not shown to the desired position of the components 14 a circuit board 15, as shown in Fig. 8. The Placement head 13 is rotatably mounted, so that overall for example, with twelve suction pipettes 13, initially twelve components 13 are removed from the feed units before these twelve components 13 one after the other on the circuit board 15 can be set.

    Im Querschnitt in Fig. 8 ist die Verbindung zwischen dem Schlitten 11 und dem Positionierarm 1 zu erkennen, die durch ein gemäß dem erfindungsgemäßen Verfahren eingebrachtes Halbzeug 5 gewährleistet ist.In cross section in Fig. 8 is the connection between the Carriage 11 and the positioning arm 1 to be recognized by a semi-finished product introduced according to the inventive method 5 is guaranteed.

    Die Erfindung umfaßt alle weiteren denkbaren Kombinationen von Metallschäumen mit metallischen und/oder keramischen Werkstoffen, die hier nicht im einzelnen dargestellt sind, aber für den Fachmann naheliegend sind. So lassen sich geschichtete Strukturen beispielsweise auch durch Umgeben von metallischen oder keramischen Kernen mit Metall- oder Keramikschaum und anschließendes weiteres Umgießen mit metallischen und/oder keramischen Werkstoffen realisieren.The invention includes all other possible combinations of metal foams with metallic and / or ceramic Materials that are not shown in detail here but are obvious to the expert. So you can layered Structures, for example, by surrounding metallic or ceramic cores with metal or ceramic foam and subsequent further casting with metallic and / or ceramic materials.

    Die geschilderten Verfahren eignen sich besonders zur Realisierung von Positionierarmen in Bestückautomaten, die besonders starken Beschleunigungskräften ausgesetzt sind. Auch für hoch beschleunigte Bauteile an Maschinen, deren Ausschwingverhalten starken Einfluß auf Positionierdauer und Positioniergenauigkeit haben, ist das Verfahren geeignet.The described methods are particularly suitable for implementation of positioning arms in automatic placement machines that are special are subjected to strong acceleration forces. Also for highly accelerated components on machines, their decay behavior strong influence on positioning time and positioning accuracy the procedure is suitable.

    Der Einsatz von Aluminium oder Aluminiumlegierungen als Metall- oder Keramikschaum und/oder nicht geschäumten Werkstoff führt, wie bereits erwähnt, durch das geringe spezifische Gewicht von Aluminium zu besonders leichten Positionierarmen.The use of aluminum or aluminum alloys as metal or ceramic foam and / or non-foamed material leads, as already mentioned, through the low specific weight from aluminum to particularly light positioning arms.

    Claims (30)

    1. Positioning arm (1) for positioning and assembling systems based on ceramic materials, characterized in that the positioning arm (1) comprises at least one core (2) and an outer layer (3) enclosing the core (2), the core (2) consisting of a ceramic foam and the outer layer (3) consisting of a non-expanded material.
    2. Positioning arm (1) for positioning and assembling systems based on ceramic materials, characterized in that the positioning arm (1) comprises at least one core (2) and an outer layer (3) enclosing the core (2), the core (2) consisting of a non-expanded material and the outer layer (3) consisting of a ceramic foam.
    3. Positioning arm (1) for positioning and assembling systems according to one of Claims 1 or 2, characterized in that a plurality of cores (2) are jointly enclosed by the outer layer (3).
    4. Positioning arm for positioning and assembling systems according to one of Claims 1, 2 or 3, characterized in that further layers (4) of ceramic foam and non-expanded materials are arranged in alternation around the outer layer (3).
    5. Positioning arm (1) for positioning and assembling systems according to one of Claims 1 to 4, characterized in that semifinished products (5) are at least partly arranged in the non-expanded material.
    6. Positioning arm (1) for positioning and assembling systems according to one of Claims 1 to 5, characterized in that the non-expanded material consists of a ceramic material.
    7. Method for producing a positioning arm (1) for positioning and assembling systems based on ceramic materials, characterized in that at least one core (2) is produced from a ceramic foam, and in that the at least one core (2) is surrounded by an outer layer (3) of non-expanded material.
    8. Method for producing a positioning arm (1) for positioning and assembling systems based on ceramic materials, characterized in that at least one core (2) is produced from a non-expanded material, and in that the least one core (2) is surrounded by an outer layer (3) of a ceramic foam.
    9. Method for producing a positioning arm (1) for positioning and assembling systems according to one of Claims 7 or 8, characterized in that a plurality of cores (2) are produced, and in that the cores (2) are jointly surrounded by the outer layer (3).
    10. Method for producing a positioning arm (1) for positioning and assembling systems according to one of Claims 7 to 9, characterized in that a metallic material is used as the non-expanded material and in that the cores (2) are surrounded by the metallic material by means of a diecasting method.
    11. Method for producing a positioning arm (1) for positioning and assembling systems according to one of Claims 7 to 10, characterized in that a ceramic material is used as the non-expanded material, and in that the ceramic material is subsequently fired.
    12. Method for producing a positioning arm (1) for positioning and assembling systems according to Claim 10, characterized in that semifinished products (5) have the metallic material cast around them together with the cores (2).
    13. Method for producing a positioning arm (1) for positioning and assembling systems according to one of Claims 7 to 12, characterized in that the outer layer (3) is surrounded by further layers (4) of metal or ceramic foam and non-expanded materials in alternation.
    14. Assembling system with a positioning arm (1) based on metallic or ceramic materials, characterized in that the positioning arm (1) comprises at least one core (2) and an outer layer (3) enclosing the core (2), the core (2) consisting of a metal or ceramic foam and the outer layer (3) consisting of a non-expanded material.
    15. Assembling system with a positioning arm (1) based on metallic or ceramic materials, characterized in that the positioning arm (1) comprises at least one core (2) and an outer layer (3) enclosing the core (2), the core (2) consisting of a non-expanded material and the outer layer (3) consisting of a metal or ceramic foam.
    16. Assembling system according to one of Claims 14 or 15, characterized in that a plurality of cores (2) are jointly enclosed by the outer layer (3).
    17. Assembling system according to one of Claims 14, 15 or 16, characterized in that further layers (4) of metal or ceramic foam and non-expanded materials are arranged in alternation around the outer layer (3).
    18. Assembling system according to one of Claims 14 to 17, characterized in that semifinished products (5) are at least partly arranged in the non-expanded material.
    19. Assembling system according to one of Claims 14 to 18, characterized in that the metal foam consists of aluminium foam or the foam of an aluminium alloy.
    20. Assembling system according to one of Claims 14 to 19, characterized in that the non-expanded material consists of aluminium or an aluminium alloy.
    21. Assembling system according to one of Claims 14 to 20, characterized in that the non-expanded material consists of a ceramic material.
    22. Method for producing an assembling system with a positioning arm (1) based on metallic or ceramic materials, characterized in that at least one core (2) is produced from a metal or ceramic foam, and in that the at least one core (2) of the positioning arm is surrounded by an outer layer (3) of non-expanded material.
    23. Method for producing an assembling system with a positioning arm (1) based on metallic or ceramic materials, characterized in that at least one core (2) of the positioning arm is produced from a non-expanded material, and in that the at least one core (2) is surrounded by an outer layer (3) of a metal or ceramic foam.
    24. Method for producing an assembling system according to one of Claims 22 or 23, characterized in that a plurality of cores (2) are produced, and in that the cores (2) are jointly surrounded by the outer layer (3).
    25. Method for producing an assembling system according to one of Claims 22 or 24, characterized in that a metallic material is used as the non-expanded material and in that the cores (2) are surrounded by the metallic material by means of a diecasting method.
    26. Method for producing an assembling system according to one of Claims 22 to 25, characterized in that a ceramic material is used as the non-expanded material, and in that the ceramic material is subsequently fired.
    27. Method for producing an assembling system according to Claim 24, characterized in that semifinished products (5) have the metallic material cast around them together with the cores (2).
    28. Method for producing an assembling system according to one of Claims 22 to 27, characterized in that the outer layer (3) is surrounded by further layers (4) of metal or ceramic foam and non-expanded materials in alternation.
    29. Method for producing an assembling system according to one of Claims 22 to 28, characterized in that aluminium foam or a foam based on an aluminium alloy is used as the metal foam.
    30. Method for producing an assembling system according to one of Claims 22 to 25 or 27 to 29, characterized in that aluminium or an aluminium alloy is used as the non-expanded material.
    EP99917748A 1998-03-17 1999-02-17 Positioning arm for positioning and assembling systems and method for producing positioning arms Expired - Lifetime EP1070151B1 (en)

    Applications Claiming Priority (3)

    Application Number Priority Date Filing Date Title
    DE19811612 1998-03-17
    DE19811612A DE19811612C1 (en) 1998-03-17 1998-03-17 Portal elements for positioning and mounting systems
    PCT/DE1999/000438 WO1999047717A1 (en) 1998-03-17 1999-02-17 Positioning arm for positioning and assembling systems and method for producing positioning arms

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    EP1070151A1 EP1070151A1 (en) 2001-01-24
    EP1070151B1 true EP1070151B1 (en) 2003-05-02

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    EP (1) EP1070151B1 (en)
    JP (1) JP2002506744A (en)
    KR (1) KR20010041889A (en)
    CN (1) CN1293715A (en)
    DE (2) DE19811612C1 (en)
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    DE59905334D1 (en) 2003-06-05
    DE19811612C1 (en) 1999-02-25
    CN1293715A (en) 2001-05-02
    KR20010041889A (en) 2001-05-25
    WO1999047717A1 (en) 1999-09-23
    US6428907B1 (en) 2002-08-06
    EP1070151A1 (en) 2001-01-24

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