Modular-design component handling device with component gripping tools protruding from a rotation axis

Abstract

A holding and drive device including a frame; a rotation structure which is attached to the frame in such a manner that it can rotate around a rotation axis; a rotation drive for rotating the rotation structure around the rotation axis; and a rotation structure interface attached to or formed on the rotation structure, to which a tool device including a plurality of sleeves can be detachably attached, which are configured for the detachable attachment of a respective component holding device protruding from the rotation axis with a radial direction component or of another tool element. A corresponding tool device, a corresponding supplementary tool device, and a component handling device constructed from these components.

Claims

1. A holding and drive device comprising: a frame; a rotation structure which is attached to the frame in such a manner that the rotation structure can rotate around a rotation axis; a rotation drive for rotating the rotation structure around the rotation axis; and a rotation structure interface attached to or formed on the rotation structure, to which a tool device can be detachably attached such that in use the tool device rotates around the rotation axis driven by the rotation drive, the tool device having a central axis that coincides with the rotation axis and comprising a plurality of sleeves circumferentially arranged about the rotation axis, which are configured for the detachable attachment of a respective component holding device protruding orthogonally from the rotation axis with a radial direction component or of another tool element, wherein the rotation structure interface is set up to transfer data or energy between the holding and drive device and the tool device, the energy comprising directly transferred electrical energy for an electrical actuator for rotation or radial displacement of a sleeve of the plurality of sleeves, or pneumatic energy, and a displacement drive which is attached to the frame or to the rotation drive and which is configured to displace the rotation structure along and parallel to the rotation axis.

2. The holding and drive device of claim 1, wherein the rotation structure interface is configured for accurately repeatable positioning and/or fixing of the tool device on the holding and drive device.

3. The holding and drive device of claim 1, further comprising: a control unit.

4. The holding and drive device of claim 3, wherein the control unit is for controlling the rotation drive.

5. The holding and drive device of claim 3, wherein the control unit is for controlling actuators of the holding and drive device or of the tool device.

6. The holding and drive device of claim 1, further comprising: a reading unit for detection of an identification element of the tool device.

7. A device for handling electronic components, for equipping component carriers with electronic components, the device comprising: a holding and drive device according to claim 1, and the tool device, the tool device comprising: a support structure; the plurality of sleeves which are attached to the support structure so that they protrude from a central axis of the support structure with a radial direction component, wherein the sleeves each comprise an end distant from the central axis of the support structure, on which end a component holding device for receiving a respective electronic component or a respective tool element can be attached; and a support structure interface attached to or formed on the support structure, which is configured so that the tool device can be detachably attached to the holding and drive device, wherein the holding and drive device and the tool device are coupled to one another via the rotation structure interface and the support structure interface.

8. The device according to claim 7, comprising: the tool device; a supplementary tool device for the tool device having a supplementary tool support structure comprising: a supplementary support structure; a plurality of supplementary sleeves which are attached to the supplementary support structure so that they protrude from a supplementary central axis of the supplementary support structure with a radial direction component, wherein the supplementary sleeves in each case have an end distant from the supplementary central axis, on which end a supplementary component holding device can be attached for receiving in each case a respective electronic component or a respective tool element, and a supplementary support structure interface attached to or formed on the supplementary support structure, which is configured so that the supplementary tool device can be detachably attached to the tool device, wherein the tool device further comprises: an additional support structure interface which is configured so that an additional tool device can be attached to the support structure, and wherein the tool device and the supplementary tool device are connected to one another via the additional support structure interface and the supplementary support structure interface.

Description

BRIEF DESCRIPTION OF THE DRAWING

(1) FIG. 1 shows a component handling device with a holding and drive device, a tool device attached thereto, and a supplementary tool device attached to the tool device.

(2) FIGS. 2A to 2D show different embodiments of a tool device for a component handling device,

DETAILED DESCRIPTION

(3) It is pointed out that, in the following detailed description, features and components of different embodiments which are identical or at least functionally identical to the corresponding features and components of another embodiment are provided with the same reference numerals or reference numerals whose last two digits are identical to the reference numerals of corresponding identical or at least functionally identical features or components. In order to avoid unnecessary repetitions, features and components already explained in reference to a previously described embodiment are not explained in detail later on.

(4) Furthermore, pointed out that the embodiments described below represent merely a limited selection of possible embodiment variants of the invention. In particular, it is possible to combine the features of individual embodiments in an appropriate manner with one another, so that for the person skilled in the art, by way of the embodiment variants explicitly represented here, a plurality of different embodiments should be considered to be obviously disclosed.

(5) In addition, it is pointed out that space-related terms such as, for example, front and rear, top and bottom, left and right, etc., are used in order to describe the relationship of an element with respect to another element or to other elements as illustrated in the figures. Accordingly, the space-related terms can apply to orientations which differ from the orientations represented in the figures. However, it should be understood as obvious that, for the sake of the simplicity of the description, all such space-related terms relate to the orientation represented in the drawings and are not necessarily limiting, since the respective represented device, component, etc., when in use, can assume orientations which can be different from the orientations represented in the drawing.

(6) FIG. 1 shows a component handling device 100 according to an exemplary embodiment of the invention. The component handling device 100 comprises a holding and drive device 110, a tool device 150 attached thereto, and a supplementary tool device 170 attached to the tool device 150. The whole consisting of tool device 150 and supplementary tool device 170 is referred to as tool system 170 in this document.

(7) The holding and drive device 110 has a frame 112 as basic structure. Furthermore, the holding and drive device 110 comprises a rotation structure 116, on which a rotation structure interface 120 is attached or formed. Suitable bearing elements, not described in further detail, make it possible for the rotation structure 116 to be rotated by means of a rotation drive 114 around a rotation axis 116a and displaced along the rotation axis 116a by means of a displacement drive 118 designed as linear motor. The corresponding rotation movement is illustrated in FIG. 1 on the left side with the arrow 116b. The corresponding displacement movements are illustrated by the part 116c.

(8) The tool device 150 can be coupled to the rotation structure interface 120. For this purpose, the tool device 150 comprises a carrier structure interface 160, which is attached to or formed on a carrier structure 156 of the tool device 150. The earner structure interface 160 is complementary to the rotation structure interface 120 and enables a position-accurate attachment of the tool device 150 on the holding and drive device 110. The carrier structure 156 and the tool device 150 have a central axis 156a which coincides with the rotation axis 116a in the assembled state of the component handling device 100.

(9) As tool elements, the tool device 150 has a plurality of component holding devices 190, wherein in each case a component holding device 190 is fit onto the radially outer end of a sleeve 158. The component holding devices 190, which are preferably so-called suction pipettes, are used in a known manner for the pneumatic picking-up of in each case an electronic component to be handled. The pneumatic picking-up here also occurs in a known way by the application of a low pressure in a suction channel of the respective suction pipette.

(10) During operation, the tool device 150 with its suction pipettes 190 radially protruding from the central axis 156a requires operating resources such as, for example, electrical energy and/or a low pressure in the suction channels of the suction pipettes 190. These operating resources are first made available, according to the exemplary embodiment represented here, to the holding and drive device 110 via an operating resources connection 136. By the operating resource connection 136, the operating resource (electrical) energy and low pressure are made available via a suitable operating resource line 137 to an operating resource interface portion 122 of the rotation structure interface 120. A complementary interface portion of the carrier structure interface 160 is not shown for reasons pertaining to the clarity of the representation of FIG. 1.

(11) Furthermore, according to the exemplary embodiment represented here, the holding and drive device 110 comprises a data connection 138, via which data can be transferred to an external higher-level data processing device (not represented). For example, data can be transferred via a communication connection, not represented, to and from a control unit 130 which controls the operation of the component handling device 110 based, for example, on coordinating control signals of an external higher-level data processing device. An optional data transfer between the data connection 138 and the tool device 150 can occur via a data line 139 and a data interface portion 124 of the rotation structure interface 120. An interface portion, complementary to the data interface portion 124, of the carrier structure interface 160 is again not shown for reasons pertaining to clarity in FIG. 1.

(12) In order to identify the tool device 150 attached to the holding and drive device 110, according to the exemplary embodiment represented here, the tool device 150 comprises an identification element 162 which is automatically acquired by a reading unit 132 of the holding and drive device 110 as soon as the tool device 150 is attached. The corresponding information on the current configuration of the component handling device 100 can then be passed on via the data connection 138 to an external data processing device which uses this data for a coordination of the operation of the component handling device 100.

(13) According to the exemplary embodiment represented here, the tool device 150 moreover comprises an additional carrier structure interface 165 which is attached to or formed on the opposite side of the carrier structure 156 with respect to the carrier structure interface 160. As can be seen from FIG. 1, this additional carrier structure interface 165 is used to make it possible for an additional tool device 170, also referred to as supplementary tool device 170 in this document, to be attached to the tool device 150. Thereby, the productivity of the component handling device 100 and/or the flexibility of the component handling device 100 with a view to different applications can be increased. This applies particularly if different types of tool devices are held ready tool device 150 and/or the supplementary tool device 170.

(14) According to the exemplary embodiment, represented here, the supplementary tool device 170 has a very similar structure with respect to the tool device 150. Accordingly, the supplementary tool device 170 comprises a supplementary carrier structure 176 which has a supplementary central axis 176a. In the assembled state of the tool system 140 or of the component handling device 100, the supplementary central axis 176a coincides with the central axis 156a and with the rotation axis 116a. A supplementary carrier structure interface 180 which is complementary to the additional carrier structure interface 165 of the tool device 150 is attached to or formed on the supplementary carrier structure 176. Furthermore, on the supplementary carrier structure 176, an additional supplementary carrier structure interface 185 is attached or formed, via which a possible additional supplementary tool device, not show can be attached, so that, in this special case, the tool system 140 comprises a total of three tool devices.

(15) The sleeves of the supplementary tool device 170, which are referred to as supplementary sleeves in this document, are provided with reference numeral 178 in FIG. 1. Just as the tool device 150 comprises an identification element 162, the supplementary tool device 170 in a corresponding manner and for the same purpose comprises a supplementary identification element 182.

(16) FIGS. 2A to 2D show different embodiments of a tool device for a component handling device 170.

(17) The tool device 250a represented in FIG. 2A, which corresponds to the tool device 150 represented in FIG. 1, comprises a total of eight sleeves 158, of which only five can be seen, for perspective reasons. The (radial ends of the) sleeves 158 or the outer tips of the component holding devices 190 attached thereto, which are designed as suction pipettes, define a tool plane 258a. In the case of a displacement of the rotation structure 116 represented in FIG. 1 by the displacement drive 118, this tool plane 258a is displaced along its normal. Thereby, the tool device 250a can be positioned at least along one direction with respect to other functional elements of a placement machine or of a component supply device (both are not represented) or with respect to placement positions.

(18) The tool device 250b represented in FIG. 2b differs from the tool device 250a only in that it has a total of four sleeves 158. Of these four sleeves, three can be seen in FIG. 2b.

(19) The tool device 250c represented in FIG. 2c has two tool planes, a tool plane 258a and an additional tool plane 278a. According to the exemplary embodiment represented here, a total of eight sleeves 158 or eight additional sleeves 258 as well as a corresponding number of component holding devices 190 are associated with each tool plane 258a, 278a.

(20) The tool device 250d represented in FIG. 2d differs from the tool device 250a in that the sleeves are formed in each case as a tool storage 268 on which a tool element 190, for example, a component holding device or an ejector tool for a wafer, can be held ready for other functional units. If the tool storages 268 are receiving places for component holding devices, then they are held ready in reversed orientation in comparison to the component holding devices 190 which are attached to the tool devices 250a, 250b and 250c. A transfer of a tool element 190 formed as component holding device from the tool device 250d to another functional device, in particular to another tool device, then occurs in that the tool device 250d and the other tool device are positioned with respect to one another in such a way that, in a common transfer position, the tool element 190 in question can be transferred to a sleeve of the other tool device. In the same way, tool elements 190 formed as ejector tools are transferred.

(21) From the above disclosure apparent that the component handling device 100 represented in FIG. 1, due to its modular design, can be configured specifically for different applications in the electronics production by a suitable selection of the type of the tool device 150 coupled to the holding and drive device 110 and optionally by a suitable selection of the supplementary tool device 170 coupled to the tool device 150. Below, a clear description is provided of a method for the configuration of a tool system for a component handling device and of a method for the adapting of a component handling device. In addition, a method for the automatic detection of a configured tool system or of a tool device is described.

(22) (A) A method for the configuration of a tool system can comprise the following steps:

(23) Provision of at least one tool device as a module for the tool system or the component handling device. Provision of the respective necessary type and number of tool elements (component holding devices, ejector tools, etc.) to be attached on (the sleeves) of the tool device. In the case of several tool devices: assembly of the tool device and supplementary tool device modules to form complete tool system. The connection between the two modules occurs via the above described interfaces. Attachment of the tool elements in the respective necessary type and quantity and in a predetermined sequence on the sleeves of the tool devices. Optionally: storing of the type and quantity of the tool elements attached to the sleeves in a storage area, provided for this purpose, of the respective tool device. As needed, a local control unit or a data processing device (for example, of a placement machine) can access this storage area. Here, in addition, a reference to a coding of the tool device in question can be produced, so that the control unit or the data processing device can establish a connection with the tool device.

(24) (B) A method for the adapting of a component handling device comprise the following steps: Provision of an above-described holding and drive device. Provision of a tool system as configured above under point (A). Positioning of the rotation axis of the holding and drive device in positions provided for the tool system, by a control component of the modular component handling tool or of the placement machine. Attachment of the tool system on the holding and drive device via the rotation structure interface and the support structure interface. Placing of a mechanical fixation between the rotation structure interface and the carrier structure interface (initiated manually or automatically by a control component of the modular component handling device or of the placement machine).

(25) (C) A method for automatic detection of a configured tool system or of a tool device can comprise the following steps: A control component of the modular component handling device and/or of another functional unit (for example, of the placement machine) as higher-level control is configured automatically after a tool system has been configured. By the automatic configuration, parameters which are necessary for the controlling of the modular component handling device, of the placement machine and/or of another functional unit can be automatically adapted. Parameters can be, example, the design of the tool system and/or calibration factors. Optionally, information the configuration of the modular component handling device can be displayed on a use interface for an operator. To the extent that the modular component handling device comprises a reading unit and the tool device(s) of the tool system (in each case) comprise(s) an unequivocal identification element (hereafter also referred to as module ID), an automatic identification by a control component of the component, handling device or of the placement machine can occur, after a tool system has been coupled to the holding and drive device. For this purpose, the tool devices in each case can have a module ID which contains data or an unequivocal coding for the identification. The module ID can be read optically (barcode, QR code, etc.), electronically (for example, EEPROM) of electromagnetically (RFID) and can be set up for the storage of additional data (for example, calibration data, tool fitting). A corresponding reading unit can be integrated in the modular component handling device. Alternatively, the module IDs of the tool devices can also be acquired and evaluated with already present sensors. For example, for optical coding, an existing camera system of the placement machine can be used.

LIST OF REFERENCE NUMERALS:

(26) 100 Component handling device

(27) 110 Holding and drive device

(28) 112 Frame

(29) 114 Rotation drive

(30) 116 Rotation structure

(31) 116a Rotation axis

(32) 116b Rotation movement

(33) 116c Displacing movement

(34) 118 Displacement drive/linear motor

(35) 120 Rotation structure interface

(36) 122 Operating resources interface portion

(37) 124 Data interface portion

(38) 130 Control unit

(39) 132 Reading unit

(40) 136 Operating resources connection

(41) 137 Operating resources line

(42) 138 Data connection

(43) 139 Data line

(44) 140 Tool system

(45) 150 Tool device

(46) 156 Support structure

(47) 156a Central axis

(48) 158 Sleeves

(49) 160 Support structure interface

(50) 162 Identification element

(51) 165 Supplementary support structure interface

(52) 170 Supplementary tool device/Additional tool device

(53) 176 Supplementary support structure

(54) 176a Supplementary central axis

(55) 178 Supplementary sleeves

(56) 180 Supplementary support structure interface

(57) 182 Supplementary identification element

(58) 185 Additional supplementary support structure interface

(59) 190 Tool element/component holding device (suction pipette) or ejector tool

(60) 250a Tool device

(61) 250b Tool device

(62) 250c Tool device

(63) 250d Tool device

(64) 258a Tool plane

(65) 268 Tool storage

(66) 278a Additional tool plane