WO2006053815A1

WO2006053815A1 - Device for fitting component supports with components

Info

Publication number: WO2006053815A1
Application number: PCT/EP2005/055567
Authority: WO
Inventors: Robert Conrad; Mohammad Mehdianpour
Original assignee: Siemens Aktiengesellschaft
Priority date: 2004-11-18
Filing date: 2005-10-26
Publication date: 2006-05-26
Also published as: DE102004055719B4; DE102004055719A1; EP1813138A1; CN101061772A

Abstract

The invention relates to a fitting device comprising an assembly head (20) which can be displaced in a two-dimensional manner by means of a surface positioning device. The positioning device comprises a first linear guide (1) whereon a transversal carrier arm (2) can be displaceably mounted. A second linear guide (3) embodied on the carrier arm (2) and the assembly head (20) can be displaceably mounted on the second linear guide. A camera (30) is fixed in a secure manner to the carrier arm (2) and oriented in order to detect the components which are received by the assembly head (20). According to the invention, a pivotable mechanism (10) which is used to modify the angular position of the assembly head (20) is provided. The assembly head (20) can be pivoted between an initial position and a measuring position. A component can then be received by the assembly head (20) when the assembly head (20) is in the initial position. A received component can be detected by the camera (30) when the assembly head (20) is in the measuring position. Also, the components can be collected in a free manner from the component supply device and can placed in a free manner in a fitting area and a collision between the assembly head (20) and the camera (30) is prevented.

Description

Confession

Device for equipping component carriers with components

The invention relates to a device for equipping component carriers with components, which has a placement head which can be positioned within a certain range of movement by means of a surface positioning device. With such a placement head components can be transported from a pickup position of a component feeder towards a placement position and placed at predetermined locations on a component carrier.

In order to achieve high placement accuracy, such placement devices usually comprise a camera with which components picked up by the placement head can be detected. The position of the components relative to the placement is determined with high accuracy. By an appropriate control of the surface positioning device possibly existing position deviations of the aufgenomme¬ NEN components can be compensated and thus an exact placement at the predetermined by corresponding pads installation slots on a component carrier are the guaranteed. Further, the angular position of the recorded components can be detected and changed as needed by the activation of trained on the placement head rotary actuators.

From EP 829 192 Bl a placement device is known, which has a stationary camera for detecting recorded components. The measurement of the recorded components is carried out by a movement of a Bestück¬ head, which is positioned after the recording of the components above the camera, so that the camera the recorded components together with a corresponding

Component holding device detected from below. This type of component measurement has the disadvantage that the travel paths of the placement head are increased, because the mounting head after receiving the components can not be moved directly to the placement position, but must make a detour over the Erfas¬ sungsbereich of the camera. In this way, the placement performance, ie the maximum number of components that can be equipped within a certain time unit, is correspondingly reduced.

From US Pat. No. 5,920,397 a device for equipping component carriers with components is known, which device has a placement head in which a plurality of component holding devices designed as suction pads are arranged parallel to one another. For measuring the recorded components, a sensor device, which can be positioned independently of the placement head by means of its own drive, is provided which has two cameras, each with one associated deflection mirror. In this way, the position of components accommodated at the placement head can be detected, provided that the sensor device is positioned below the respective component during image acquisition. This has the disadvantage that a separate positioning system is required for the sensor device, so that the production costs for a corresponding mounting device are relatively high as a result of the additionally required positioning device.

From EP 1 220 595 A2 (in particular from FIGS. 15 and 17 and the associated description), a placement machine is known which has a placement head with a component holding device and a camera fixedly arranged relative to the placement head, which detects the detection of a recorded component is used. In order to detect the position of the component relative to the placement, a deflection prism is provided, which deflects the beam path between the component and the camera such that the underside of the component can be detected by the arranged next to the placement camera if the placement and the camera located above the deflection prism. The deflecting prism is integrally formed on an elongate support arm, which is mounted senk¬ right to its longitudinal direction displaceable. The placement is displaceably mounted by means of a further guide, which runs parallel to the longitudinal direction of the support arm. In this way, the placement head can be freely positioned within a planar movement range by a suitable combination of mutually perpendicular displacement movements.

The prisms provided for deflecting the beam path in the placement machine have the disadvantage that the movement of the placement head is limited, since neither picking up components from a component feed device nor placing recorded components on a component carrier in the region of the prism can take place , Rather, the placement head must be moved away from the prism both for component recording and for placing components. In the placement operation, this leads to additional movements of the placement head, so that the placement performance is correspondingly reduced.

A further disadvantage of this placement machine is that the support arm must be longer than the longitudinal extent of the piece area, since unimpeded picking up and placement of components is ensured only within the placement area if the deflection prism outside of the Placement area is located. This means that the size of the placement machine is determined by the required length of the support arm.

The invention has for its object to provide a device for equipping component carriers with components, which can be realized in a compact design and allows high placement performance. This object is achieved by a device for fitting component carriers with components having the features of independent claim 1.

The placement device according to the invention comprises a surface positioning device for positioning a placement within a two-dimensional travel range. The surface positioning device comprises a stationary first linear guide, which runs along a y-direction. The surface positioning device further comprises a transverse to the first linear guide support arm, which is slidably mounted on the stationary first linear guide along the y-direction. On the support arm, a second linear guide is provided which extends along an x-direction. The placement head is displaceably mounted on the second linear guide along the x direction and comprises at least one holding device displaceably mounted along a longitudinal axis of the placement head for the temporary picking up of a component. Furthermore, a camera is provided, which is fixedly secured to the carrier arm and which is set up to detect components received on the holding device. According to the invention, a Schwenkmecha¬ mechanism is provided between the placement and the second linear guide, so that the angular position of the placement can be varied.

The invention is based on the finding that unnecessary travel paths of the placement head can be avoided by a pivotable mounting of the placement head for position measurement of recorded components, when the camera for detecting the components in the y-direction is automatically moved with the placement. To avoid collisions between the holding device and the camera, the camera is arranged relative to the placement head such that both the pick-up area and the placement area remains free. To measure a recorded component of the entire placement can be temporarily deflected by a pivoting movement, so that a recorded component enters the detection range of the camera. The detection can take place during a time in which the placement head moves to the placement area after receiving the component. Since the camera is automatically moved in the y-direction with the placement head, thus no additional travel along the y-direction is required and the placement performance is not reduced by the erforder¬ Liche measurement of the components.

Since, according to the invention, the placement head is swung out for component measurement and the camera does not hinder the picking up or placing of components, the length of the support arm is determined only by the travel path of the component head, which is used to pick up and place the components is required. This means that the carrier arm can be comparatively short, since the placement head does not have to be positioned outside the movement range required for picking up and placing components in order to measure picked-up components.

Advantageous developments of the invention will become apparent from the features of the dependent claims.

According to claim 3, the placement head between an initial position and a measuring position is pivotable. The starting position, in which the direction of displacement of the holding device runs parallel to a z-direction, which is preferably oriented perpendicularly both to the x and to the y direction, enables both a free component pickup and a component feed device also a free one

Placing a component on a component carrier, without the risk for a collision between the Haltevorrich¬ device and the camera exists. A detection of a aufgenomme¬ nen device is only possible if the placement is in the measuring position. In the case of component detection, both the exact position and the exact angular position of the recorded position can be determined relative to the placement head Component to be detected. Thus, before placing the component on a component carrier, a possibly existing deviation in the position or in the angular position can be compensated by a corresponding actuation of the surface positioning device or by a corresponding control of a rotary drive associated with the holding device.

According to claim 4, the pivot mechanism on a Federele¬ ment which exerts a restoring force in a deflection of the placement from its initial position on the placement. In this way, the starting position of the placement can be defined accurately in a simple manner by a suitable mechanical stop. In this case, a device for detecting the exact angular position of the placement is not absolutely necessary.

According to claim 5, the pivot mechanism on a Auslenkele¬ ment, with which the placement can ge in the measuring position ge introduced. The deflecting element used can be an eccentrically shaped or mounted element, for example a cam disk, which then ensures the highest accuracy with respect to the measuring position when the measuring position is defined by a dead center of the eccentric element.

According to claim 6, the camera is preferably attached by means of a lightweight realized holding device to the center of the support arm, so that the measurement of a Bauele¬ ment without loss of time during transport of the component from a component component supply device can be made to the respective placement place provided ,

According to claim 7, the camera comprises a line sensor or an area sensor. Suitable sensors are in particular so-called CCD sensors, which have a high sensitivity and are also inexpensive standard electronic components. When using a line sensor, the measurement of a recorded component is effected by a relative movement between the component and the camera. In this case, a plurality of one-dimensional image lines are successively recorded and assembled in an image evaluation unit downstream of the camera to form a two-dimensional image of the component.

When using a surface sensor, the movement of the placement during the image acquisition is stopped briefly, so that a brought into the detection range of the camera device can be detected with a sharp image.

According to claim 8, the placement on a plurality of arranged in a row holding devices. This allows a high placement performance, since at the same time a plurality of components can be picked up by the placement head and transported to the Bestückbe¬ rich.

It should be noted that the holding devices can also be arranged in more than one row, in which case preferably a camera should be equipped with a number of rows corresponding to the number of sensors. Then, in each case two components can be detected simultaneously, which are recorded by two holding devices, which are assigned to adjacent different rows.

According to claim 9, a light deflecting element is additionally provided, which is arranged stationary relative to the camera and to the carrier arm. The light deflection element can mirror, prisms or any other optical elements which influence an optical beam path. In this way, the bottom of the recorded components can be detected without the camera must be mounted below the Haltevor- directions. This allows a compact construction of the sensor device consisting of camera and light deflection element. Further advantages and features of the present invention will become apparent from the following exemplary description of a presently preferred embodiment.

In the drawing, in schematic representations Figure 1 shows a placement device, wherein the pivotally mounted placement head be¬ found in a starting position, and Figure 2 shows the placement device shown in Figure 1, wherein the pivotally mounted placement is in a measuring position.

As can be seen from FIGS. 1 and 2, the placement device comprises a first linear guide running along ay direction, which is provided with the reference numeral 1. On the linear guide 1, a transverse support arm 2 is displaceably mounted along the y-direction, which support arm 2 in turn comprises a second linear guide 3. The linear guide 3 runs parallel to the longitudinal extent of the carrier arm 2 along an x-direction, which preferably runs perpendicular to the y-direction.

On the support arm 2, a placement head 20 is slidably mounted along the x-direction. The placement head 20 comprises a plurality of suction pipettes 21 arranged in parallel for temporarily receiving one component each. The suction pads 21 are individually displaceable along the longitudinal axis of the individual suction pipettes 21 via drives, not shown, so that by means of a corresponding movement of a

Holding device a component picked up by a component feeder, not shown, and after a Trans¬ port can be placed towards a placement position on a component carrier, also not shown, without the entire placement must be moved. The placement head 20 is attached to the support arm 2 via a pivot mechanism 10. The pivot mechanism 10 has a carriage 11 and a pivot plate 12. As can be seen from FIG. 2, the pivot plate 12 can execute a pivoting movement about a pivot axis relative to the carriage 11, which is oriented parallel to the x direction. During a pivoting movement, for example by 30 °, components picked up by the suction pipettes 21 are automatically brought into the detection range of a camera 30. The spatial position of the detection area is determined by the arrangement and the optical properties of a light deflection element 32, which comprises a mirror arrangement, not shown. In this way, even in the case of a camera 30 arranged above the placement head, components picked up from below, ie from the side facing away from the suction pipettes, can be detected. The component detection is then carried out by a movement of the placement along the x-direction, so that subsequently all recorded by the placement 20 components are detected.

It should be noted that in this context it does not matter whether the camera 30 has a flat sensor or a line sensor, since all the components can be detected in succession by a corresponding movement of the placement head. When using a line sensor, the components are detected by a continuous movement of the placement head 20, wherein the individual image lines recorded thereby are combined to form a two-dimensional image in an evaluation unit connected downstream of the camera 30. When using a planar camera sensor, the placement head 20 is moved by means of a clocked movement along the x-direction, so that in each case one of the recorded components is detected for a predetermined exposure time. In the following, the sequence of the assembly of a Bauelemen¬ teträgers with components using the placement head 20 is briefly explained.

The assembly begins with the placement head 20 being moved into the area of a component feeder unit, not shown, wherein the placement head 20 is in the starting position illustrated in FIG. The camera 30 and the Lichtumlenkelement 32 are arranged relative to the placement in the starting position placement head 20 such that an unhindered picking up of components from the component feeder is possible.

Thereafter, the placement head 20 is moved by a traversing movement, inter alia along the x direction, to a placement area above a component carrier (not shown). During this movement, the placement head 20 is temporarily swung out into a measuring position in which the previously described measurement of the components takes place. After component measurement, the placement head 20 is pivoted back into the starting position and positioned by a corresponding movement both along the x-direction and along the y-direction such that the components can be placed at predetermined placement positions on the component carrier, not shown. In this way, the measurement of all components taken auf¬ can be carried out during the period in which the placement head 20 moves from the component feeding device to the placement area.

Some components of the placement device such as an electronic module or some components of a pneumatic device, which is required to provide a negative pressure to the suction pipettes 21, can be arranged on the support arm 2 and must therefore be moved only in the y direction. Thus, the mass and thus the mechanical inertia of the compared to the support arm 2 additional Lich in the x direction movable placement 20 are held low th. This allows a rapid movement of Bestückkop¬ fes 20, so that a high placement performance can be achieved.

In summary, it can be stated that the invention provides a placement device in which a placement head 20 can be moved two-dimensionally by means of a surface positioning device. The positioning device comprises a first linear guide 1, on which a transverse support arm 2 is displaceably mounted. On the support arm 2, a second linear guide 3 is formed, on which the Bestück¬ head 20 is slidably mounted. A camera 30 is fixedly mounted on the support arm 2 and set up to detect components picked up by the placement head 20. According to the invention, a pivot mechanism 10 for changing the angular position of the placement head 20 is provided. The placement head 20 can be pivoted between a starting position and a measuring position. A component can only be picked up by the placement head 20 when the placement head 20 is in the starting position. A recorded component can only be detected by the camera 30 when the placement head 20 is in the measurement position. In this way, it is possible to pick up components from a component feed device and to place the components freely in a placement area and to prevent a collision between the placement head 20 and the camera 30.

LIST OF REFERENCE NUMBERS

1 first linear guide (y-direction)

2 carrier arm 3 second linear guide (x-direction)

10 swivel mechanism

11 sleds

12 Swivel plate 20 Placement head 21 Suction pipette

30 camera

31 bracket

32 light deflecting element

Claims

claims

1. Device for equipping component carriers with components, having • a stationary first linear guide (1) running along a y-direction,

A carrier arm (2) which is transverse to the first linear guide (1) and which is displaceably mounted on the stationary first linear guide (1) along the y-direction, a second linear guide (3) arranged on the carrier arm (2) ) which runs along an x-direction,

A placement head (20),

- Which is slidably mounted on the second linear guide (3) along the x-direction and - which at least one along a longitudinal axis of the Be¬ piece head (20) slidably mounted holding device (21) for temporarily receiving a component, and

• A camera (30), which is fixedly attached to the support arm (2) and

- Which is set up for detecting on the holding device (21) recorded components, between the mounting head (20) and the second linear guide (3) additionally a pivot mechanism (10) for changing the angular position of the placement head (20) is provided.

2. Device according to claim 1, wherein the pivoting mechanism (10) has a pivot axis which is aligned parallel to the x-direction.

3. Device according to one of claims 1 to 2, wherein the pivoting mechanism (10) is arranged such that the placement head (20) is pivotable between a starting position and a measuring position, wherein A component can only be picked up by the placement head (20) when the placement head (20) is in the starting position, and

• A recorded component can only be detected by the camera (30) when the placement head (20) is in the measuring position.

4. Apparatus according to claim 3, wherein the pivoting mechanism (10) has a spring element, which in a deflection of the placement head (20) from its

Starting position on the placement head (20) exerts a restoring force.

5. Device according to one of claims 3 to 4, wherein the pivoting mechanism (10) has a deflecting element, with which the placement head (20) can be brought into the measuring position.

6. Device according to one of claims 1 to 5, wherein the camera (30) is attached to the center of the support arm (2).

7. Device according to one of claims 1 to 6, wherein the camera (30) comprises a line sensor or an area sensor.

8. Device according to one of claims 1 to 7, wherein the placement head (20) comprises a plurality of arranged in a row holding devices (21).

9. Device according to one of claims 1 to 8 in which a light deflection element (32) is additionally provided, wel¬ ches is arranged relative to the camera (30) and to the support arm (2) stationary.