Distributing unit mass damper

Abstract

A dispensing system includes a frame, a support, a dispensing unit assembly, and a gantry. The gantry is configured to support the dispensing unit assembly and move the dispensing unit assembly in x- and y-axis directions. The dispensing unit assembly includes a stationary support bracket secured to the gantry and a movable support bracket rotatably connected to the stationary support bracket configured to enable the movable support bracket to rotate relative to the stationary support bracket about a first axis, the dispensing unit assembly having a dispensing unit rotatably connected to the movable support bracket configured to enable the dispensing unit to rotate relative to the movable support bracket about a second axis substantially perpendicular to the first axis. A mass damper assembly is connected with the movable support bracket, the mass damper assembly configured to reduce vibrations of the dispensing unit during operation.

Description

Technical Field

[0001] This disclosure generally relates to apparatus and methods for dispensing adhesive materials on substrates such as printed circuit boards, and more specifically to methods and apparatus for dispensing materials on substrates more accurately and with less vibration. Background Technology

[0002] Several types of dispensing systems are used to dispense precise amounts of liquid or paste for a variety of applications. One such application is assembling integrated circuit chips and other electronic components onto a circuit board substrate. In such applications, automated dispensing systems are used to dispense dots of liquid epoxy resin or solder paste, or some other related materials, onto the printed circuit board. Automated dispensing systems are also used to dispense linear underfill materials and sealants, which can be used to mechanically secure components to the printed circuit board. Exemplary dispensing systems described above include those manufactured and sold by Illinois Tool Works Electronic Assembly Equipment (ITWEAE), which has offices in Hopkinton, Massachusetts.

[0003] In a typical dispensing system, a dispensing unit is mounted on a movable assembly or rack that moves the dispensing unit along three mutually orthogonal axes (x-axis, y-axis, and z-axis) using servo motors controlled by a computer system or controller. To dispense a dotted liquid at a desired location on a printed circuit board or other substrate, the dispensing unit is moved along the coplanar horizontal x- and y-axis directions until it is above the desired location. The dispensing unit is then lowered along the vertically oriented z-axis until the dispensing unit and the nozzle / needle of the dispensing system are at the appropriate dispensing height above the substrate. The dispensing unit dispenses one dotted liquid, is then raised along the z-axis, moved to a new location along the x- and y-axis, and lowered along the z-axis to dispense the next dotted liquid. For applications such as sealing or dispensing underfill as described above, the dispensing unit is typically controlled to dispense linear material as it moves along the x- and y-axis along a desired path of linear material. For some types of dispensing units, such as jet pumps, z-axis movement before and after the dispensing operation may not be necessary.

[0004] When designing dispensing units or heads, it is necessary to accurately place the adhesive material on the substrate. Reducing vibration is of particular interest. Summary of the Invention

[0005] One aspect of this disclosure relates to a dispensing system for dispensing an adhesive material onto an electronic substrate. In one embodiment, the dispensing system includes a frame, a support member connected to the frame, a dispensing unit assembly configured to dispense the adhesive material, and a rack connected to the frame. The support member is configured to receive and support the electronic substrate during dispensing operations. The rack is configured to support the dispensing unit assembly and move the dispensing unit assembly in x- and y-axis directions. The dispensing unit assembly includes a support bracket, a movable bracket, a dispensing unit, and a mass damper assembly. The support bracket is fixed to the rack. The movable bracket is rotatably connected to the support bracket and configured such that the movable bracket can rotate relative to the support bracket about a first axis. The dispensing unit is rotatably connected to the movable bracket and configured such that the dispensing unit can rotate relative to the movable bracket about a second axis substantially perpendicular to the first axis. The mass damper assembly is connected to the movable bracket and configured to reduce vibration of the dispensing unit during operation.

[0006] Implementations of the distribution system may further include a mass damper assembly having a mass damper connected to the movable support via at least one isolator. The mass damper assembly may also include a mounting plate configured to mount the mass damper to the movable support. The mass damper may also include at least one buffer configured to prevent at least one sidewall of the mass damper from colliding with the movable support. The weight of the mass damper assembly may be approximately 25% to 50% of the distribution unit. The weight of the mass damper assembly may be approximately 10% of the distribution unit assembly. The movable support may be configured to rotate a full 360 degrees relative to the support bracket, and the distribution unit may be configured to rotate a full 360 degrees relative to the movable support. The frame may include a z-axis drive mechanism connected to the distribution unit to provide z-axis movement of the distribution unit. The rack may further include a beam configured to move in the y-axis direction and a carriage connected to the beam, the carriage being configured to move in the x-axis direction, the carriage including the z-axis mechanism to provide z-axis movement of the dispensing unit. The support bracket may be structurally L-shaped, including a first portion connected to the rack and a second portion extending perpendicularly from the first portion, the first portion of the support bracket being fixed to the z-axis drive mechanism to provide z-axis movement of the dispensing unit. The dispensing system may further include a vision system connected to one of the frame and the rack to capture at least one image of the electronic substrate. The dispensing system may further include a controller configured to control the dispensing unit assembly, the rack, and the vision system to perform dispensing operations on the electronic substrate.

[0007] Another aspect of this disclosure relates to a method for dispensing an adhesive material onto an electronic substrate. In one embodiment, the method includes: delivering the electronic substrate to a dispensing location; capturing at least one image of the electronic substrate; analyzing the at least one image of the electronic substrate to determine the position of the electronic substrate; and performing a dispensing operation by rotating a dispensing unit connected to a support bracket via a movable bracket. The movable bracket is rotatably connected to the support bracket and configured such that the movable bracket can rotate relative to the support bracket about a first axis. The dispensing unit is rotatably connected to the movable bracket and configured such that the dispensing unit can rotate relative to the movable bracket about a second axis, the second axis being substantially perpendicular to the first axis. The dispensing unit includes a mass damper assembly connected to the movable bracket, the mass damper assembly being configured to reduce vibration of the dispensing unit during operation.

[0008] Implementations of the method may further include a mass damper assembly having a mass damper connected to the movable support via at least one isolator. The mass damper assembly may also include a mounting plate configured to mount the mass damper to the movable support. The mass damper may also include at least one buffer configured to prevent at least one sidewall of the mass damper from colliding with the movable support. The weight of the mass damper assembly may be approximately 25% to 50% of the weight of the distribution unit. The weight of the mass damper assembly may be approximately 10% of the weight of the distribution unit assembly. The movable support may be configured to rotate a full 360 degrees relative to the support bracket, and the distribution unit may be configured to rotate a full 360 degrees relative to the movable support. The method may further include moving the distribution unit along the z-axis. Attached Figure Description

[0009] At least one aspect of each embodiment is discussed below with reference to the accompanying drawings, which are not intended to be drawn to scale. The drawings are provided to illustrate and further understand the aspects and embodiments, and are incorporated in and form part of this specification, but are not intended to define limitations on any particular embodiment. The drawings, together with the remainder of this specification, serve to explain the principles and operation of the described and claimed aspects and embodiments. In the drawings, each identical or substantially identical component is indicated by similar reference numerals in the various figures. For clarity, not every component can be labeled in every figure. In the drawings:

[0010] Figure 1 This is a schematic diagram of the distribution system;

[0011] Figure 2 It is a perspective view of the distribution system, in which the outer shell has been removed to reveal the distribution system configured to manipulate individual distribution units;

[0012] Figure 3 yes Figure 2 The diagram shows a three-dimensional representation of the distribution system, in which the distribution units have been removed.

[0013] Figure 4 This is an enlarged perspective view of the distribution unit of a mass damper having one embodiment of the present disclosure;

[0014] Figure 5 It has Figure 4 An enlarged side view of the distribution unit of the mass damper;

[0015] Figure 6 This is an enlarged perspective view of the distribution unit of a mass damper having another embodiment of the present disclosure;

[0016] Figure 7 It has Figure 6 An enlarged side view of the distribution unit of the mass damper;

[0017] Figure 8 It has Figure 6 and Figure 7 An exploded perspective view of the distribution unit of the mass damper shown; and

[0018] Figure 9 It is a three-dimensional diagram of a threaded elastic column of a mass shock absorber. Detailed Implementation

[0019] Various embodiments of this disclosure relate to adhesive material dispensing systems and apparatus including such dispensing systems. The embodiments disclosed herein relate to techniques for dispensing materials on an electronic substrate using a dispensing system having a dispensing unit configured to tilt and rotate to dispense material onto the electronic substrate and eliminate unwanted vibrations during the dispensing process.

[0020] This disclosure is for illustrative purposes only and does not limit its general applicability. A detailed description of the disclosure will now be provided with reference to the accompanying drawings. The application of this disclosure is not limited to the details of the structure and arrangement of the components set forth in the following description or shown in the drawings. The principles set forth in this disclosure can be used in other embodiments and can be practiced or performed in various ways. Furthermore, the terms and expressions used herein are for descriptive purposes and should not be considered limiting. Any example, instance, component, element, or action of a system or method mentioned herein in the singular may also cover embodiments including a plural, and any instance, component, element, or action mentioned herein in the plural may also cover embodiments including only the singular. References in the singular or plural form are not intended to limit the systems or methods, their components, actions, or elements of this disclosure. The use of “comprising,” “including,” “having,” “containing,” “involving,” and variations thereof herein is intended to cover the items listed thereafter and their equivalents, as well as additional items. References to “or” can be interpreted as inclusive, and therefore any term described using “or” may refer to a single, more than one, or all of the described terms. Furthermore, in the event of any inconsistency between the terminology used in this document and the documents incorporated herein by reference, the terminology used in the incorporated references shall supplement the terminology used in this document; in the case of irreconcilable inconsistencies, the terminology used in this document shall prevail.

[0021] Figure 1A dispensing system according to one embodiment of the present disclosure is schematically illustrated, generally designated 10. Dispensing system 10 is used to dispense viscous materials (e.g., adhesives, sealants, epoxy resins, solder pastes, underfill materials, etc.) or semi-viscous materials (e.g., flux, etc.) onto an electronic substrate 12, such as a printed circuit board or semiconductor wafer. Dispensing system 10 can also be used for other applications, such as for applying automotive sealing materials, for certain medical applications, or for applying conductive inks. It should be understood that references to viscous or semi-viscous materials used herein are exemplary and non-limiting. In one embodiment, dispensing system 10 includes first and second dispensing units, generally designated 14 and 16 respectively, and a controller 18 for controlling the operation of the dispensing system. It should be understood that the dispensing units may also be referred to herein as dispensing pumps and / or dispensing heads. Although two dispensing units are shown, it should be understood that a single dispensing unit or multiple dispensing units may be employed.

[0022] The dispensing system 10 may further include a frame 20, a dispensing unit frame 24, and a weight measuring device or weighing scale 26. The frame 20 has a base or support 22 for supporting the electronic substrate 12. The dispensing unit frame 24 is movably connected to the frame 20 and is used to support and move the dispensing units 14, 16. The weight measuring device or weighing scale 26 is used to weigh the amount of viscous material dispensed, for example as part of a calibration process, and to provide weight data to the controller 18. A conveyor belt system (not shown) or other conveying mechanism such as a moving beam may be used in the dispensing system 10 to control the loading and unloading of the electronic substrates from the dispensing system. The frame 24 is moved using a motor controlled by the controller 18 to position the dispensing units 14, 16 at predetermined positions above the electronic substrates. The dispensing system 10 may include a display unit 28 connected to the controller 18 for displaying various information to the operator. An optional second controller may be provided for controlling the dispensing units. In addition, each distribution unit 14, 16 may be equipped with a z-axis sensor to detect the height at which the distribution unit is positioned above the electronic substrate 12 or above a feature mounted on the electronic substrate. The z-axis sensor is connected to the controller 18 to forward the information obtained by the sensor to the controller.

[0023] Before performing the dispensing operation described above, the electronic substrate (e.g., a printed circuit board) must be aligned or otherwise aligned with the dispensing units of the dispensing system. The dispensing system also includes a vision system 30, which in one embodiment is connected to a vision system rack 32, movably connected to the frame 20, for supporting and moving the vision system. In another embodiment, the vision system 30 may be mounted on a dispensing unit rack 24. As described, the vision system 30 is used to verify the position of landmarks or components on the electronic substrate, referred to as references. Once the position is determined, a controller can be programmed to manipulate the movement of one or more of the dispensing units 14, 16 to dispense material onto the electronic substrate.

[0024] The systems and methods disclosed herein relate to dispensing material onto an electronic substrate, such as a printed circuit board. The description of the systems and methods provided herein refers to an exemplary electronic substrate 12 (e.g., a printed circuit board), which is supported on a support 22 of a dispensing system 10. In one embodiment, the dispensing operation is controlled by a controller 18, which may include a computer system configured to control material dispensing units. In another embodiment, the controller 18 may be operated by an operator. The controller 18 is configured to manipulate the movement of a vision system rack 32 to move the vision system, thereby acquiring one or more images of the electronic substrate 12. The controller 18 is also configured to manipulate the movement of a dispensing unit rack 24 to move dispensing units 14, 16 to perform dispensing operations.

[0025] Embodiments of this disclosure relate to strain wave gear drive assemblies configured as distribution units in tilting and rotating distribution systems. Alternative and competing methods are provided for simultaneously and accurately distributing on one or more electronic substrates or on two or more patterns associated with a single electronic substrate. The methods disclosed herein also support the use of various types of distribution units, including but not limited to augers, pistons, and jet pumps.

[0026] Reference Figure 2 and 3 The distribution system is generally represented by 40. As shown in the figure, the distribution system 40 includes a frame 42, which is configured to support the main sub-components of the distribution system. The distribution system 40 also includes a rack system, generally represented by 44, which is configured to move in the x-axis and y-axis directions. The distribution system 40 also includes distribution unit assemblies supported by the rack system 44, generally represented by 46. Figure 2 A distribution system 40 with a distribution unit component 46 is shown, and Figure 3A distribution system 40 with the distribution unit assembly removed is shown. As shown, the distribution unit assembly includes a single distribution unit 48. A conveyor system (not shown) may be used in the distribution system 40 to control the loading and unloading of substrates, such as electronic substrate 12, from the support 50 of the distribution system. A rack system 44 may be moved in the x and y axes using motors under the control of a controller (in a manner similar to that of the controller 18 of the distribution system 10) to position the distribution unit assembly 46 at a predetermined position above the electronic substrate.

[0027] In one implementation, such as Figure 2 and 3 As shown, the rack system 44 can be configured to include a left side rail 52, a right side rail 54, and a beam 56 extending between the two side rails. The beam 56 is configured to move along the side rails 52, 54 in the y-axis direction to achieve y-axis movement of the dispensing unit assembly 46. The rack system 44 also includes a carriage 58 connected to the beam 56, the carriage 58 being configured to move along the length of the beam to provide x-axis movement of the dispensing unit assembly 46. Specifically, the carriage 58 supports the dispensing unit assembly 46 and is configured to move along the length of the beam in the x-axis direction to move the dispensing unit 48 above a desired position on the electronic substrate 12 located on the support 50 of the dispensing system 40. In one embodiment, as is known in the art, the movement of the rack system 44 in the xy plane (i.e., the movement of the beam 56 and the carriage 58) can be achieved using ball screw mechanisms driven by their respective motors.

[0028] In one implementation, the exemplary distribution system described herein may be sold by ITWEAE in Hopkinton, Massachusetts. Distribution system.

[0029] The allocation unit component 46 is configured to, as shown in the figure Figure 2 The z-axis drive mechanism 60 shown moves the dispensing unit 48 in the z-axis direction. The amount of z-axis movement can be determined by measuring the distance between the end of the nozzle (not shown) of the dispensing unit 48 and the electronic substrate 12. During movement, the dispensing unit 48 can be positioned at a nominal gap height above the electronic substrate 12. This gap height can be maintained at a relatively consistent elevation above the electronic substrate 12 when moving from one dispensing position to another. When a predetermined dispensing position is reached, the z-axis drive mechanism 60 lowers the dispensing unit 48 onto the electronic substrate 12, enabling material to be dispensed onto the electronic substrate.

[0030] Still refer to Figure 2 and 3The dispensing unit 48 moves above the electronic substrate 12 to perform dispensing operations. However, prior to dispensing, the position of the electronic substrate 12 relative to the dispensing unit 48 is determined to allow for accurate dispensing. Specifically, in one embodiment, the carriage 58 may be configured to include an optical element or camera designed to capture images of the electronic substrate 12. While the camera is described as being mounted on the carriage 58, it should be understood that the camera may be mounted separately on the beam 56 or on a separate frame. The camera may be referred to herein as a “vision system” or “imaging system.” To align the electronic substrate 12 with the dispensing unit 48 and the frame system 44, the camera captures images of at least two reference points set on the electronic substrate 12. If the electronic substrate 12 is not in the proper position, the frame system 44 may be manipulated to compensate based on the actual position of the substrate. In one embodiment, the camera may be calibrated to determine the offset distance from the camera to the nozzle for the dispensing unit 48.

[0031] In another embodiment, visual alignment and gap height sensing can be achieved via laser or another calibrated distance measuring device.

[0032] Dispensing systems typically have dispensing units oriented vertically and therefore perpendicular to a horizontally fixed substrate. In some applications, it is advantageous to tilt the dispensing unit 48 relative to the vertical direction to place the dispensed material in a location otherwise inaccessible from the vertical. When the tilted dispensing unit 48 is articulated to various desired orientations, it can be advantageous not only to change the angle of tilt of the dispensing unit relative to the vertical direction but also to change the direction of tilt, perhaps allowing material to be deposited along one side of the part above the bottom edge of the part.

[0033] As those familiar with moving structures will understand, the mechanisms used for tilting and rotating distribution unit 48 add mass and reduce structural stiffness, because any added mechanism introduces additional compliance. Due to the increased supported mass and reduced structural stiffness, the natural frequency of the components decreases. Therefore, it is the designer's responsibility to provide the necessary degrees of freedom with minimal added mass and the highest possible structural stiffness. Furthermore, given this structure, unwanted vibrations are a natural consequence of the added mass from the tilting and rotating design.

[0034] Implementations of the distribution system 40 of this disclosure achieve this goal by introducing a very compact and highly integrated rotary actuator, such as one available from Harmonic Drive in Beverly, Massachusetts, comprising a motor, a strain-wave harmonic reduction gearbox, and a very high-rigidity rotary cross roller bearing. The high integration of the strain-wave gearbox actuator helps minimize added mass and compliance. The strain-wave gearbox also offers the advantage of extremely low backlash. Furthermore, the integrated motor, bearing, and gearbox assembly helps minimize the number of parts that must be purchased, assembled, and tested.

[0035] Reference Figure 4 The allocation unit component 46 includes a drive component configured to support the allocation unit 48, in which the allocation unit 48 is located. Figure 4 The figure shows the dispensing unit assembly 46 in the operating position. The dispensing unit assembly 46 can be removed from the components configured to support the dispensing unit. As shown, the dispensing unit assembly 46 includes a support bracket 62 with an L-shaped structure, wherein a first portion 64 of the support bracket is fixed to the z-axis drive mechanism 60 of the carriage 58, and a second portion 66 extends vertically from the first portion. The dispensing unit assembly 46 also includes a movable bracket 68, which is rotatably connected to the support bracket 62 at the second portion 66 of the support bracket via a first strain wave gear system 70. In the illustrated embodiment, the movable bracket 68 is configured to rotate relative to the support bracket 62 about a generally vertical axis A.

[0036] The movable support 68 includes a second strain wave gear system 72 configured to support the dispensing unit 48. The second strain wave gear system 72 may include a mounting plate configured to receive and support the dispensing unit 48 when it is in its operating position. The second strain wave gear system 72 is configured to rotate and tilt the dispensing unit 48 to a desired position about axis B, which is substantially perpendicular to axis A, during dispensing operation. In one embodiment, the first strain wave gear system 70 has a similar (if not identical) structure to the second strain wave gear system 72.

[0037] It should be understood that the orientation of the movable bracket 68 relative to the support bracket 62 about axis A and the orientation of the distribution unit 48 relative to the movable bracket can be varied to suit a specific application. For example, the movable bracket 68 can be rotatably connected to the support bracket 62 about a generally horizontal axis, and the distribution unit can be rotatably connected to the movable bracket about a generally vertical axis.

[0038] Embodiments of this disclosure relate to a system and method for suppressing vibrations of a cantilever load on a rack-driven dispensing unit 48. In some embodiments, the load on the dispensing unit 48 may cause persistent vibrations, which are detrimental to the performance of the dispensing unit. These vibrations may have sufficiently large amplitudes and / or durations, which will affect the accurate placement of the dispensed material and the required residence time, thereby negatively impacting the overall cycle time.

[0039] One objective of the systems and methods disclosed herein is to reduce vibration on the dispensing unit 48 so as to achieve accurate dispensing placement with minimal dwell time.

[0040] The implementation of the damping system and method disclosed herein can be used for various applications of cantilever loads on the distribution unit 48 of the automatic distribution system 40.

[0041] The embodiments of the mass damper system and method disclosed herein provide improved placement accuracy and reduced dwell time. Furthermore, this system and method allow for very close placement without reducing the chance of contact with vibrating components.

[0042] refer to Figure 5 While known methods exist for eliminating vibration by employing vibration absorption and mass dampers within machine systems, for dispensing systems used to dispense viscous materials, the application of a mass damper assembly (generally indicated by 80) is provided to reduce vibration of the dispensing unit 48 during operation. In one embodiment, the mass damper assembly 80 is mounted to a cantilever joint-connected (movable) bracket 68. The mass damper assembly 80 is configured to mitigate inaccuracies in material dispensing caused by the dispensing unit 48 attached via a cantilever mounting system. Although the cantilever mounting system used herein may be a source of unwanted vibration, the mass damper system 80 is provided in the application to enable other features of the dispensing system 40 to function properly.

[0043] In the illustrated embodiment, the mass damper assembly 80 is a tuned mass damper using a preselected weight, comprising a mass damper 82 mounted on top of a threaded elastomeric column or isolator 82, one end of which is rigidly mounted to the bottom of a movable bracket 68, and the other end of which supports the mass damper. The preselected weight of the mass damper 82 and the threaded elastomeric column 84 can be varied if the frequency of the sinusoidal vibration changes due to different loads.

[0044] Reference Figure 6-8Another embodiment of the mass damper assembly is generally indicated by 90. As shown, the mass damper assembly 90 includes a generally U-shaped mass damper 92 and a mounting plate 94. The mass damper 92 is configured to bridge and be secured to the bottom of a movable bracket 68, and the mounting plate 94 is used to secure the mass damper to the movable bracket using suitable fasteners. The mass damper 92 includes two sidewalls 96, 98, which are connected to each other via a bottom wall 100. The mass damper assembly 90 also includes a pair of threaded elastomeric posts, each post indicated by 102, for damping the connection between the mass damper 92 and the bottom of the movable bracket 68. Two dampers, each indicated by 104, are also provided, with each sidewall 96, 98 of the mass damper 92 having a damper to reduce the impact between the sidewall of the mass damper and the bottom of the movable bracket 68 during rapid movement of the distribution unit 48. The damper 104 further prevents noise during the movement of the distribution unit 48.

[0045] refer to Figure 9 The threaded elastomeric column 102 includes an externally threaded portion that attaches to a threaded opening provided at the bottom of the movable bracket 68. The threaded elastomeric column 102 also includes an internally threaded portion that receives threaded fasteners to secure the mounting plate 94 and the mass damper 92 to the bottom of the movable bracket 92. The externally and internally threaded portions are inserts disposed within the elastic material.

[0046] In one embodiment, the mass damper assembly 90 weighs 0.5 pounds, approximately 50% of the weight of the 1-pound distribution unit 48 and approximately 25% of the weight of the 2-pound distribution unit. The 0.5-pound mass damper assembly 90 is approximately 10% of the cantilever weight of the movable support 68, distribution unit 48, and associated components, the total cantilever weight of which is between 4.5 and 5.5 pounds. In one embodiment, a threaded elastomeric post 102 is configured to releasably secure the mass damper 92 to the movable support 68 of the distribution unit assembly. The mass damper 92 of the mass damper assembly 90 is configured not to interfere with the movement of the distribution unit 48 during operation.

[0047] Having described several aspects of at least one embodiment of this disclosure, it should be understood that various changes, modifications, and improvements will be readily apparent to those skilled in the art. Such changes, modifications, and improvements are part of this disclosure and are within the spirit and scope of the invention. Therefore, the foregoing description and drawings are merely illustrative.

[0048] Claims.

Claims

1. A dispensing system for dispensing an adhesive material onto an electronic substrate, the dispensing system comprising: frame; A support member connected to the frame, the support member being configured to receive and support an electronic substrate during a dispensing operation; A dispensing unit assembly configured to dispense an adhesive material; as well as A rack, connected to the frame, is configured to support the distribution unit assembly and to move the distribution unit assembly in the x- and y-axis directions. The allocation unit component includes The support bracket is fixed to the frame. A movable bracket, rotatably connected to the support bracket, is configured such that the movable bracket can rotate relative to the support bracket about a first axis. A dispensing unit, rotatably connected to the movable support, is configured such that the dispensing unit can rotate relative to the movable support about a second axis substantially perpendicular to the first axis. A mass damper assembly connected to the movable support, the mass damper assembly being configured to reduce vibration of the distribution unit during operation, and wherein the mass damper assembly includes a mass damper connected to the movable support via at least one isolator.

2. The distribution system of claim 1, wherein the mass damper assembly further includes a mounting plate configured to mount the mass damper to the movable bracket.

3. The distribution system of claim 1, wherein the mass damper further comprises at least one buffer configured to prevent at least one sidewall of the mass damper from colliding with the movable support.

4. The distribution system of claim 1, wherein the weight of the mass damper assembly is about 25% to 50% of the weight of the distribution unit.

5. The distribution system of claim 1, wherein the weight of the mass damper assembly is approximately 10% of the weight of the distribution unit assembly.

6. The dispensing system of claim 1, wherein the movable support is configured to rotate 360 ​​degrees relative to the support support, and the dispensing unit is configured to rotate 360 ​​degrees relative to the movable support.

7. The distribution system of claim 1, wherein the rack includes a z-axis drive mechanism connected to the distribution unit to provide z-axis movement of the distribution unit.

8. The dispensing system of claim 7, wherein the frame further comprises a beam configured to move in the y-axis direction, and a carriage connected to the beam, the carriage being configured to move in the x-axis direction, the carriage including the z-axis mechanism to provide the z-axis movement of the dispensing unit.

9. The dispensing system of claim 8, wherein the support bracket is structurally L-shaped, comprising a first portion connected to the frame and a second portion extending vertically from the first portion, the first portion of the support bracket being fixed to the z-axis drive mechanism to provide z-axis movement of the dispensing unit.

10. The dispensing system of claim 1, further comprising a vision system connected to one of the frame and the rack to capture at least one image of the electronic substrate.

11. The dispensing system of claim 10, further comprising a controller configured to control the dispensing unit assembly, the rack, and the vision system to perform dispensing operations on the electronic substrate.

12. A method for dispensing an adhesive material on an electronic substrate, the method comprising: Deliver the electronic circuit board to the distribution location; Capture at least one image of the electronic substrate; Analyze at least one image of the electronic substrate to determine the position of the electronic substrate; as well as The dispensing operation is performed by a rotating dispensing unit connected to a support bracket via a movable bracket. The movable bracket is rotatably connected to the support bracket and configured such that it can rotate relative to the support bracket about a first axis. The dispensing unit is rotatably connected to the movable bracket and configured such that it can rotate relative to the movable bracket about a second axis, which is substantially perpendicular to the first axis. The distribution unit includes a mass damper assembly connected to the movable support, the mass damper assembly being configured to reduce vibration of the distribution unit during operation, and wherein the mass damper assembly includes a mass damper connected to the movable support via at least one isolator.

13. The method according to claim 12, wherein, The mass damper assembly also includes a mounting plate configured to mount the mass damper to the movable bracket.

14. The method of claim 12, wherein the mass damper further comprises at least one buffer configured to prevent at least one sidewall of the mass damper from colliding with the movable support.

15. The method of claim 12, wherein the weight of the mass damper assembly is about 25% to 50% of the weight of the distribution unit.

16. The method of claim 12, wherein the weight of the mass damper assembly is about 10% of the weight of the distribution unit assembly.

17. The method of claim 12, wherein the movable bracket is configured to rotate relative to the support bracket by a full 360 degrees, and the dispensing unit is configured to rotate relative to the movable bracket by a full 360 degrees.

18. The method of claim 12, further comprising moving the distribution unit along the z-axis direction.

19. The distribution system according to claim 1, wherein the distribution unit is a distributor.

20. A distribution system comprising any one of the technical features of claims 1-11 and 19, or any combination thereof.

21. A method for dispensing an adhesive material on an electronic substrate, the method comprising: Provide the distribution system as described in claim 19; The electronic substrate is delivered to the distribution location; Capture at least one image of the electronic substrate; Analyze at least one image of the electronic substrate to determine the position of the electronic substrate; as well as The dispensing operation is performed by rotating the dispenser, which is connected to the support bracket via the movable bracket.

22. The method according to claim 21, wherein, The mass damper assembly also includes a mounting plate configured to mount the mass damper to the movable bracket.

23. The method according to claim 21, wherein, The mass damper also includes at least one buffer configured to prevent at least one sidewall of the mass damper from colliding with the movable support.

24. The method according to claim 21, wherein, The mass damper assembly weighs approximately 25% to 50% of the weight of the distributor.

25. The method according to claim 21, wherein, The mass damper assembly weighs approximately 10% of the weight of the distribution unit assembly.

26. The method of claim 21, wherein the movable support is configured to rotate relative to the support support by a full 360 degrees, and the distributor is configured to rotate relative to the movable support by a full 360 degrees.

27. The method of claim 21, further comprising moving the distribution unit along the z-axis direction.

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