WO1988009601A1 - Manually operated surface component assembler - Google Patents
Manually operated surface component assembler Download PDFInfo
- Publication number
- WO1988009601A1 WO1988009601A1 PCT/SE1988/000259 SE8800259W WO8809601A1 WO 1988009601 A1 WO1988009601 A1 WO 1988009601A1 SE 8800259 W SE8800259 W SE 8800259W WO 8809601 A1 WO8809601 A1 WO 8809601A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- component
- manipulator arm
- manually
- assembler device
- braking force
- Prior art date
Links
Classifications
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/0053—Arrangements for assisting the manual mounting of components, e.g. special tables or light spots indicating the place for mounting
Definitions
- the present invention relates to a manually operated surface component assembler including a manipulator arm being manually movable relative to a two-dimensional coordinate system and carrying a manually actuable picking tool for transferring individual components from stores to a predetermined position on a substructure, e.g. a printed circuit board, on which the component is to be assembled.
- a substructure e.g. a printed circuit board
- Su-ch surface component assemblers are known, and are used for assembling such as electrical circuit components on printed circuit boards.
- a manipulator arm with a picking tool, which can be manually moved from a store carrying a supply of circuit components to the position on the circuit board where the circuit component is to be assembled.
- the picking tool has a pneumatically function ⁇ ing suction nozzle which picks up the circuit component from the store and places it on the circuit board.
- the nozzle is rotatable for adjusting the position of the circuit component.
- the known apparatus has substantially facilitated the work of assembling the often very small circuit components intended here.
- the manipulator arm in the surface component assembler in accordance with the invention is actuable by a braking force, which is arranged to counteract any further manual displacement of the manipulator arm past the pre- determined position where the circuit component is to be assembled on the circuit board. In such a way the operator notices that the right position is reached above the circuit board for the actual component.
- the means generating the braking force can be a friction lock, or preferably electrical motors which are coupled to the manipulator arm. In the mentioned- pre ⁇ determined position the voltage supply to the electrical motors gives rise to a force counteracting the manual displacement. Other means are also conceivable, such as voltage-supplied solenoids, stepping motors and the like_
- a programmable microcomputer is arranged to regulate the position of the pre-determined position relative to the circuit board, so that after assembly of a circuit component an automatic movement to the next following assembly position takes place.
- the programmable microprocessor can also be utilized for advancing the stores when provided with a plurality of individual cups for different circuit component types and when another circuit component type is to be the sub ⁇ ject of assembling in- the following assembly position.
- Figure 2 shows a coordinate system to illustrate the function of the assembler device.
- a surface component assembler includes a slide 2 carrying a manipulator arm 3.
- the manipulator arm 3 is movably mounted in the slide 2 such that it can be moved in a direction A at right angles to the direction B in which the slide 2 can move.
- the operator 1 operates the assembler device by holding the thumb wheel 6 and manually moving the manipulator arm 3 and slide 2 from a supply 15, 16, 17 of circuit components to the position where the component which has been picked up shall be assembled and vice versa.
- the supply of circuit components may comprise a carousel plate 16, which has one, two or more rows of cups 8 intended for different component types.
- the carousel plate 16 is rotatable by a means 11 so that the cup 8 in question can be advanced to a pickding position. Examples of other supplies are shown in form of the component plate 15 having cups 8 and in form of the store 17 for tape stored components.
- the slide 2 includes an electrical motor for acting on the manipulator arm 3 and is acted on itself by a second electrical motor 13.
- the motors are voltage supplied in such a way that when a pre-determined assembly position, determined by a coordinate system, has been arrived at a braking force is generated. Due to the generation of counteracting torque in the electrical motors at the pre-determined position the slide 2 and manipulator arm 3 will be sluggish or have their movement past the assembly position completely inhibited.
- the assembly position is the point on such as a circuit board 9 where a component is to be assembled.
- the counteracting force defining the position is obtained from the electrical motors by feeding them by encoded pulse train signals.
- pairs of such pulse train signals it is also possible to have a direction definition in that the mutually phase positions of the pulse train signals are related to the movement, i.e. if the movement is directed to or from the pre- determined' assembly position.
- Fig. 2 the function of the manually operated surface component assembler device according to the invention is shown by a coordinate system.
- a component is to be transferred from the cup 8 to the assembly position 9'.
- the operator 1 after having picked the component up from the cup 8 with the suction nozzle 5 manually displace the manipulator arm 3 (according to Fig. 1) from the cup 8 in the direction of the arrow P.
- the assembly position 9' is mainly ⁇ i ⁇ the origin of the coordinate system.
- the manipulator arm 3 is manually moved in the direction of the arrow P it will hit the Y-axis of the coordinate system.
- the electrical motor acting on the manipulator arm 3 will generate a braking force as the pulse train signals fed to the motor at that moment are in phase with each other just before hitting the Y- axis but get a changed mutual relation after having passed the Y-axis.
- the braking force obtained is percepted by the operator as a stop but the Y-axis may be passed if the operator is forcing the manipulator arm 3 further.
- the electric motor counter force will return the manipulator arm 3 automatically to the position P" at the Y-axis.
- the manual moving action from the cup 8 to the assembly position 9' must not of course follow the arrow P but can follow every direction components which together is ending in the origin of the coordinate system. If the operator 1 try manually to move the manipulator arm 3 along a direction component away from origin, e.g. as shown by the dashed arrow S, immediately a counter force is generated by the electrical motors due to the pairs of pulse train signals fed to them. It is determined that one of the two pulse train signals in a pair has to be leading when the manipulator arm 3 is manually moved in the direction of origin otherwise the counter forces are generated by the electrical motors.
- One of the signals of the pair of pulse train signals fed to the electrical motor is a reference signal.
- the other one of the pair of pulse train signals is generated in dependence of the manual movement of the manipulator arm 3.
- Each one of the two electrical motors detects and is acted on by the mutual relation between the two pulse train signals in such a way that a movement in the direction to the origin does not generate any braking force but a movement directed away from the origin will generate a counter force.
- a passing over the X- or Y-axis causes a braking and returning force to be generated by the electrical motors.
- This will be understood by the operator as if the system has some type of spring action with automatic return to X- and Y-axes respectively when trespassing thereof.
- a substructure which is to be provided with different components is placed in a frame means 10, in this case the substructure is printed circuit boards 9.
- the frame means 10 defines a coordinate system, the origin of which is the position on the respective circuit boards 9 where the next component is to be assembled.
- the frame means 10 can be movable such as to successively take the different assembly positions to the origin.
- the slide 2 can be dispensed with and the braking force of the manipulator arm 3 can be achieved in its simplest form by a mechanical abutment.
- a programmable microcomputer 14 may be used for controlling the slide 2 and the braking forces of the manipulator arm 3, i.e. at the point, the assembly position, where the voltage direction of the electrical motors shall be changed.
- this movement is regulatable with the aid of the microcomputer 14 for the mentioned successive setting of the assembly positions at the origin of the coordinate system.
- the microcomputer 14 can also be connected to the moving means 11 for rotating the carousel plate 16 so that the right cup 8 is put into the picking position for the next assembly operation.
- a semiautomatic surface component assembler can be achieved by computer controlled regulation of the switching of the braking force of the electrical motors and/or the movement of the frame means 10 to put the assembly positions at the origin.
- the electrical motors can be replaced by solenoids provided with friction braking means. The embodiments described above are therefore not to be regarded as restricting the scope of the invention .
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Manipulator (AREA)
- Supply And Installment Of Electrical Components (AREA)
Abstract
A manually operated surface component assembler including a manipulator arm (3) being manually movable relative a two-dimensional coordinate system and carries a manually actuable picking tool (4) for transferring individual components from stores (15-17) to a pre-determined position on a printed circuit board (9). The manipulator arm is actuable by a braking force generated by such as electrical motors for counteracting any further manual movement of the manipulator arm at the pre-determined position.
Description
Manually Operated Surface Component Assembler
DESCRIPTION
Technical Field
The present invention relates to a manually operated surface component assembler including a manipulator arm being manually movable relative to a two-dimensional coordinate system and carrying a manually actuable picking tool for transferring individual components from stores to a predetermined position on a substructure, e.g. a printed circuit board, on which the component is to be assembled. Background Art
Su-ch surface component assemblers are known, and are used for assembling such as electrical circuit components on printed circuit boards. In the apparatus in question there is a manipulator arm with a picking tool, which can be manually moved from a store carrying a supply of circuit components to the position on the circuit board where the circuit component is to be assembled. The picking tool has a pneumatically function¬ ing suction nozzle which picks up the circuit component from the store and places it on the circuit board. The nozzle is rotatable for adjusting the position of the circuit component. The known apparatus has substantially facilitated the work of assembling the often very small circuit components intended here. However, it has still been found troublesome and tiring to get these very small circuit components in the right position on the circuit board, particularly since it is a question of several tens of such circuit components on each circuit board and a relatively long series of circuit boards wh ch are to be assembled but still being unsuitable for automatic component assemblers of robot type due to too short
manufacture series to be profitable in use of such complicated assemblers. Disclosure of Invention
For improving the known apparatus and still further facilitating the operatorrs work, the manipulator arm in the surface component assembler in accordance with the invention is actuable by a braking force, which is arranged to counteract any further manual displacement of the manipulator arm past the pre- determined position where the circuit component is to be assembled on the circuit board. In such a way the operator notices that the right position is reached above the circuit board for the actual component.
The means generating the braking force can be a friction lock, or preferably electrical motors which are coupled to the manipulator arm. In the mentioned- pre¬ determined position the voltage supply to the electrical motors gives rise to a force counteracting the manual displacement. Other means are also conceivable, such as voltage-supplied solenoids, stepping motors and the like_ In a semi-automatic embodiment of the inventive surface component assembler a programmable microcomputer is arranged to regulate the position of the pre-determined position relative to the circuit board, so that after assembly of a circuit component an automatic movement to the next following assembly position takes place. The programmable microprocessor can also be utilized for advancing the stores when provided with a plurality of individual cups for different circuit component types and when another circuit component type is to be the sub¬ ject of assembling in- the following assembly position. Preferred Embodiments
The present invention will now be described in more detail in connection with a preferred embodiment, which are depicted on the accompanying drawings, where
Figure 1 shows a manually operated surface component assembler device according to the present invention, and
Figure 2 shows a coordinate system to illustrate the function of the assembler device.
As shown in Figure 1 a surface component assembler includes a slide 2 carrying a manipulator arm 3. The manipulator arm 3 is movably mounted in the slide 2 such that it can be moved in a direction A at right angles to the direction B in which the slide 2 can move. There is a picking tool 4 situated at the free end of the manipulator arm 3, the tool including a pneumatic suction nozzle 5, which can be turned by a thumb wheel 6.
The operator 1 operates the assembler device by holding the thumb wheel 6 and manually moving the manipulator arm 3 and slide 2 from a supply 15, 16, 17 of circuit components to the position where the component which has been picked up shall be assembled and vice versa. The supply of circuit components may comprise a carousel plate 16, which has one, two or more rows of cups 8 intended for different component types. The carousel plate 16 is rotatable by a means 11 so that the cup 8 in question can be advanced to a pickding position. Examples of other supplies are shown in form of the component plate 15 having cups 8 and in form of the store 17 for tape stored components.
The slide 2 includes an electrical motor for acting on the manipulator arm 3 and is acted on itself by a second electrical motor 13. The motors are voltage supplied in such a way that when a pre-determined assembly position, determined by a coordinate system, has been arrived at a braking force is generated. Due to the generation of counteracting torque in the electrical motors at the pre-determined position the slide 2 and manipulator arm 3 will be sluggish or have their movement past the assembly position completely inhibited. The
assembly position is the point on such as a circuit board 9 where a component is to be assembled.
The counteracting force defining the position is obtained from the electrical motors by feeding them by encoded pulse train signals. By using pairs of such pulse train signals it is also possible to have a direction definition in that the mutually phase positions of the pulse train signals are related to the movement, i.e. if the movement is directed to or from the pre- determined' assembly position.
In Fig. 2 the function of the manually operated surface component assembler device according to the invention is shown by a coordinate system. A component is to be transferred from the cup 8 to the assembly position 9'. The operator 1 after having picked the component up from the cup 8 with the suction nozzle 5 manually displace the manipulator arm 3 (according to Fig. 1) from the cup 8 in the direction of the arrow P. As is made clear in Fig. 2 the assembly position 9' is mainly ~iπ the origin of the coordinate system. When the manipulator arm 3 is manually moved in the direction of the arrow P it will hit the Y-axis of the coordinate system. At that instance the electrical motor acting on the manipulator arm 3 will generate a braking force as the pulse train signals fed to the motor at that moment are in phase with each other just before hitting the Y- axis but get a changed mutual relation after having passed the Y-axis. The braking force obtained is percepted by the operator as a stop but the Y-axis may be passed if the operator is forcing the manipulator arm 3 further. In the case he has manually forced the manipulator arm 3 some way P1 on the opposite side of the Y-axis and if then he will leave the manipulator arm free the electric motor counter force will return the manipulator arm 3 automatically to the position P" at the Y-axis.
When the operator noticed the braking force obtained when the manipulator arm 3 hit the Y-axis he goes on the manual movement in the down-ward direction in Fig. 2 to the X-axis, i.e. to the origin of the coordinate system. When arriving at the position of the X-axis again a braking force is generated, now by the electrical motor connected to the slide 2. Thus, the operator once more percept the braking force generation as a stopping action. Just as the case was by the Y-axis described above the braking force at the X-axis may be .traversed by the operator forcing the manipulator arm 3 over the X-axis position. If then the manipulator arm 3 is left free it will be returned automatically to the X-axis by the motor counter force. The manual moving action from the cup 8 to the assembly position 9' must not of course follow the arrow P but can follow every direction components which together is ending in the origin of the coordinate system. If the operator 1 try manually to move the manipulator arm 3 along a direction component away from origin, e.g. as shown by the dashed arrow S, immediately a counter force is generated by the electrical motors due to the pairs of pulse train signals fed to them. It is determined that one of the two pulse train signals in a pair has to be leading when the manipulator arm 3 is manually moved in the direction of origin otherwise the counter forces are generated by the electrical motors. One of the signals of the pair of pulse train signals fed to the electrical motor is a reference signal. The other one of the pair of pulse train signals is generated in dependence of the manual movement of the manipulator arm 3. Each one of the two electrical motors detects and is acted on by the mutual relation between the two pulse train signals in such a way that
a movement in the direction to the origin does not generate any braking force but a movement directed away from the origin will generate a counter force.
A passing over the X- or Y-axis causes a braking and returning force to be generated by the electrical motors. This will be understood by the operator as if the system has some type of spring action with automatic return to X- and Y-axes respectively when trespassing thereof. In a preferred embodiment of the surface component assembler in accordance with the invention, a substructure which is to be provided with different components is placed in a frame means 10, in this case the substructure is printed circuit boards 9. The frame means 10 defines a coordinate system, the origin of which is the position on the respective circuit boards 9 where the next component is to be assembled.
The frame means 10 can be movable such as to successively take the different assembly positions to the origin. In this embodiment with a movable frame means 10 and with positionable supplies 15, 16, the slide 2 can be dispensed with and the braking force of the manipulator arm 3 can be achieved in its simplest form by a mechanical abutment. A programmable microcomputer 14 may be used for controlling the slide 2 and the braking forces of the manipulator arm 3, i.e. at the point, the assembly position, where the voltage direction of the electrical motors shall be changed. In the case where the frame means 10 Is movable, this movement is regulatable with the aid of the microcomputer 14 for the mentioned successive setting of the assembly positions at the origin of the coordinate system.
The microcomputer 14 can also be connected to the moving means 11 for rotating the carousel plate 16
so that the right cup 8 is put into the picking position for the next assembly operation.
As will be seen from the description given above, a semiautomatic surface component assembler can be achieved by computer controlled regulation of the switching of the braking force of the electrical motors and/or the movement of the frame means 10 to put the assembly positions at the origin. Of course, other variations and modi ications are conceivable within the scope of the invention. For example, the electrical motors can be replaced by solenoids provided with friction braking means. The embodiments described above are therefore not to be regarded as restricting the scope of the invention .
Claims
1. A manually operated surface component assembler device including a manipulator arm (3) being manually movable relative to a two-dimensional coordinate system and carrying a manually actuable picking tool (4) for transferring individual components from stores (15 - 17) to a predetermined position on a substructure (8), e.g. a printed circuit board, on which the component is to be assembled, characterized in that the manipulator arm (3) is actuable by a braking force arranged to counteract the manually displacement of the manipulator arm past the pre-determined position such that the operator notices that the right position is reached at for the actual component.
2. The assembler device as claimed in claim 1, characterized in that the braking force is generated by a settable friction lock.
3. The assembler device as claimed in claim T, characterized in that the braking force is generated by electromechanical means, e.g. electrical motors being connected to the manipulator arm (3), and by voltage supply at said position generating a force counteracting the manually displacement, said counteracting force being noticed by the operator as the said braking force.
4. The assembler device as claimed in any one of the preceding claims, characterized in that the sub¬ structure (9) is settable against a frame means (10) for determining the pre-determined position, where said frame means is forming the said coordinate system, the origin of which constitutes said position.
5. The assembler device as claimed in any one of the preceding claims, characterized by a programmable microcomputer (14) for displacing said pre-determined position such that it automatically adjusts itself according to the assembly of a component in progress.
6. The assembler device as claimed in claims 3 and 5, characterized in that the microcomputer (14) is adapted for controlling the voltage supply to the electrical motors.
7. The assembler device as claimed in claims 4 and 5, characterized in that the microcomputer (14) is arranged for regulating the displacement of the frame means (10) such that after assembly of a component the substructure is automatically moved to the next successive assembly position.
8. The assembler device as claimed in any one of claims 5 - 7, and where the stores (15 - 17) is formed with a plurality of individual cups (8) intended for different component types, the stores being movable for positioning of the cup containing a component tyjpe about to be assembled, characterized in that the stores (15 - 17) has a displacing means (11) settable by the programmable microcomputer.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE8702153A SE461511B (en) | 1987-05-22 | 1987-05-22 | YTMONTERINGSANORDNING |
SE8702153-1 | 1987-05-22 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1988009601A1 true WO1988009601A1 (en) | 1988-12-01 |
Family
ID=20368622
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/SE1988/000259 WO1988009601A1 (en) | 1987-05-22 | 1988-05-19 | Manually operated surface component assembler |
Country Status (2)
Country | Link |
---|---|
SE (1) | SE461511B (en) |
WO (1) | WO1988009601A1 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3813096A1 (en) * | 1988-04-19 | 1989-11-02 | Adalbert Fritsch | DEVICE FOR EQUIPPING AND / OR SOLDERED OR. ADHESIVE ELECTRONIC COMPONENTS, ESPECIALLY SMD COMPONENTS, ON PCB |
WO1994013125A1 (en) * | 1992-11-27 | 1994-06-09 | Adalbert Fritsch | Process and apparatus for printing a printed circuit board |
FR2840763A1 (en) * | 2002-06-10 | 2003-12-12 | Bernard Andriot | Electronic surface mounted component placement mechanism having table and x/y plane openings providing x/y plane movements with second plane having component raising/positioning mechanism. |
FR2875967A1 (en) * | 2004-09-24 | 2006-03-31 | Bernard Andriot | Surface mounted electronic component positioning device for forming electronic circuit, has positioning unit for positioning support board on base such that support board is positioned between arm, base wall and side walls |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3852865A (en) * | 1973-10-30 | 1974-12-10 | Universal Instruments Corp | Semi automatic electronic component assembler |
EP0109252A1 (en) * | 1982-11-10 | 1984-05-23 | Litton U.K. Limited | Braking element for movable arm assembly |
GB2132790A (en) * | 1980-09-05 | 1984-07-11 | Heinz Hossdorf | Method and device for shaping a surface of a workpiece |
-
1987
- 1987-05-22 SE SE8702153A patent/SE461511B/en not_active IP Right Cessation
-
1988
- 1988-05-19 WO PCT/SE1988/000259 patent/WO1988009601A1/en unknown
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3852865A (en) * | 1973-10-30 | 1974-12-10 | Universal Instruments Corp | Semi automatic electronic component assembler |
GB2132790A (en) * | 1980-09-05 | 1984-07-11 | Heinz Hossdorf | Method and device for shaping a surface of a workpiece |
EP0109252A1 (en) * | 1982-11-10 | 1984-05-23 | Litton U.K. Limited | Braking element for movable arm assembly |
Non-Patent Citations (1)
Title |
---|
IBM TECHNICAL DISCLOSURE BULLETIN, Vol. 23, No. 2, A.E. CHRISTY and K.B. MAYNARD, July 1980, pages 455-457. * |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3813096A1 (en) * | 1988-04-19 | 1989-11-02 | Adalbert Fritsch | DEVICE FOR EQUIPPING AND / OR SOLDERED OR. ADHESIVE ELECTRONIC COMPONENTS, ESPECIALLY SMD COMPONENTS, ON PCB |
WO1994013125A1 (en) * | 1992-11-27 | 1994-06-09 | Adalbert Fritsch | Process and apparatus for printing a printed circuit board |
FR2840763A1 (en) * | 2002-06-10 | 2003-12-12 | Bernard Andriot | Electronic surface mounted component placement mechanism having table and x/y plane openings providing x/y plane movements with second plane having component raising/positioning mechanism. |
FR2875967A1 (en) * | 2004-09-24 | 2006-03-31 | Bernard Andriot | Surface mounted electronic component positioning device for forming electronic circuit, has positioning unit for positioning support board on base such that support board is positioned between arm, base wall and side walls |
Also Published As
Publication number | Publication date |
---|---|
SE8702153L (en) | 1988-11-23 |
SE8702153D0 (en) | 1987-05-22 |
SE461511B (en) | 1990-02-26 |
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