Methods of positioning a component in a desired position on a board, pick and place machines, and sensors for such pick and place machines

{
  "publication_number": "US10517199B2",
  "country": "US",
  "kind": "B2",
  "title": "Methods of positioning a component in a desired position on a board, pick and place machines, and sensors for such pick and place machines",
  "abstract": "A method of positioning a component in a desired position on a board is provided. The method includes the steps of: (a) picking up the component with a nozzle of a movable placement unit of a pick and place machine; (b) transporting the component towards the board as a function of the desired position; (c) obtaining sensor data about an orientation of the component with respect to the nozzle with a sensor of the placement unit; (d) obtaining in the sensor rotational data about the orientation of the nozzle with respect to the placement unit; (e) combining in the sensor the sensor data and the rotational data into a data set; (f) sending the data set from the sensor to a stationary computer and computing a correction instruction in the stationary computer; and (g) placing the component on the board as a function of the correction instruction from the stationary computer.",
  "claims": [
    "1. A method of positioning a component in a desired orientation and position on a board, the method comprising the steps of: (a) picking up the component with a nozzle of a movable placement unit of a pick and place machine, the moveable placement unit including (i) a sensor for use in providinf a correction instruction for alignment of the component with respect to the board, (ii) an actuator for rotating the nozzle and the component attached thereto, the actuator including a rotational encoder; (b) transporting the component towards the board as a function of the desired position; (c) obtaining image sensor data about an orientation of the component with respect to the nozzle with an imaging device of the sensor; (d) obtaining rotational encoder data about the orientation of the nozzle with respect to the placement unit from the encoder; (e) combining in the sensor (i) the image sensor data from the imaging device, and (ii) the rotational encoder data from the encoder, into a data set; (f) sending the data set from the sensor to a stationary computer and computing the correction instruction in the stationary computer; and (g) placing the component on the board as a function of the correction instruction from the stationary computer.",
    "2. The method of claim 1, wherein the steps (d) and (e) are performed at a number of different rotational positions of the nozzle with respect to the pick and place machine, wherein a number of the data sets of image sensor data and corresponding rotational encoder data are sent to the stationary computer and the correction instruction is computed in the stationary computer based on the number of data sets.",
    "3. The method of claim 2, wherein the image sensor data is obtained at equidistant rotational positions.",
    "4. The method of claim 2, wherein the method further comprises the step of storing the data sets in the stationary computer, and computing the correction instruction after at least a number of data sets have been received in the stationary computer.",
    "5. A method of claim 1, wherein the method comprises the step of pre-processing the image sensor data in the sensor to compress the image sensor data into compressed image sensor data, and combining the compressed image sensor data and the rotational encoder data into the data set."
  ],
  "description_excerpt": "The invention relates to methods of positioning components in desired positions on a board, whereby a component is picked up with a nozzle of a movable placement unit of a pick and place machine. The invention also relates to pick and place machines, and sensors for such pick and place machines.\n\nUsing a pick and place machine, a component is rotatable with a nozzle (about a rotation axis of the nozzle) in and opposite to a φ-direction, and movable with the nozzle in (i) an XY-plane extending perpendicular to the rotation axis, and (ii) in a Z-direction extending parallel to the rotation axis. Several methods are known to determine the orientation of a component with respect to a nozzle and/or the pick and place machine. The word “orientation”, used with respect to the component, will be used throughout this document to comprise both the angular position of the component with respect to a nominal φ reference as well as the (x, y) position of the component with respect to a nominal (x, y) reference. Such nominal φ reference may be the reference of rotation axis of the nozzle (e.g., an index position), whilst the nominal (x, y) reference may be the Y-plane extending perpendicular to the rotation axis, centered to the rotation point of the rotational axis. However, other references in the pick and place machine may be used as well.\n\nBy a prior art method, sensor data of a sensor is sent to a stationary alignment processing unit. From an actuator for rotating the nozzle, encoder data is also sent to the stationary alignment processing unit.",
  "cpc": [
    "H05K 13/0408",
    "B25J 15/065",
    "B25J 9/1633",
    "G01B 11/00",
    "G05B 2219/49314",
    "G05B 2219/49363",
    "H05K 13/0413",
    "H05K 13/0813"
  ],
  "ipc": [
    "H05K 13/04",
    "H05K 13/08"
  ],
  "assignees": [
    "ASSEMBLEON BV"
  ],
  "inventors": [
    "HORIJON JOSEPH L"
  ],
  "filing_date": "2016-12-09",
  "publication_date": "2019-12-24",
  "grant_date": "2019-12-24",
  "priority_date": "2015-12-17",
  "application_number": "US-201615374501-A",
  "family_id": "59067303",
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}