Support pins for supporting a substrate in an assembly area of ​​an automatic assembly machine and an automatic assembly machine

Abstract

The present invention relates to a support pin (10) for supporting a substrate (80) in an assembly area of ​​an automatic assembly machine (100), an automatic assembly machine (100) having at least one assembly head (101), a magazine (104) having a plurality of such support pins (10), and an assembly plate (103).

Description

Technical Field

[0001] The invention relates to a supporting pin for supporting a substrate in an assembly area of ​​an automatic assembly machine and to an automatic assembly machine having a magazine with a plurality of such supporting pins. Background Art

[0002] In assembly technology, substrates, primarily printed circuit boards, are assembled with components using an automatic assembly machine. For this purpose, an assembly head of the automatic assembly machine, which can be moved by a positioning system, picks up the components from a feed device, transfers them to the assembly area of ​​the automatic assembly machine, where the substrate to be assembled is provided and the components are placed at predefined assembly positions on the substrate. During the assembly process, the substrate is usually fixed laterally in its edge region.

[0003] Since the components are pressed onto the substrate with a certain assembly force, for example in order to maintain adhesion to a viscous medium (e.g. solder paste, adhesive or flux), the assembly head presses the substrate downwards via the held components. In particular, large-area substrates tend to bend here, which has a negative impact on the positioning accuracy of the components on the substrate and should therefore be avoided. For these reasons, so-called substrate supports are used, in particular for larger substrates. This involves one or more support pins oriented perpendicular to the substrate plane, which are arranged on the assembly plate below the substrate to be assembled, in order to largely avoid bending of the substrate during the assembly process.

[0004] DE 11 2012 003 311 T5 discloses a support pin with a lifting chamber and a piston sliding therein. The piston has a magnetic element. The piston and the magnetic element can be raised and lowered relative to the bottom receiving base part by the negative pressure in the lifting chamber, wherein the magnetic element is fixed to the bottom receiving base part by a magnetizing force. The support pin with the lifting chamber and the piston is relatively complex in design, expensive and requires a relatively large space, so the size of the support pin must be relatively large. Summary of the invention

[0005] The object of the present invention is to provide an alternative supporting pin for supporting a substrate in the assembly area of ​​an automatic assembly machine which does not have the disadvantages of the prior art and in particular can be designed in a simple, cost-effective manner and requires little space.

[0006] The above-mentioned objects are achieved by the subject matter of the patent claims. In particular, the objects are achieved by a support pin according to claim 1, a support pin according to claim 7 and an automatic assembly machine according to claim 15. Further advantages and details of the invention can be derived from the dependent claims, the description and the drawings. The features and details disclosed here in conjunction with the support pin according to the invention naturally also apply to the automatic assembly machine according to the invention and vice versa, so that reference can always be made alternately to the disclosure of the various aspects of the invention.

[0007] According to a first aspect of the present invention, the purpose is therefore achieved by a support pin for supporting a substrate in an assembly area of ​​an automatic assembly machine. The support pin has an upper section, which is designed to support the substrate and can be releasably accommodated by the assembly head of the automatic assembly machine. In addition, the support pin has a lower section with at least one permanent magnet, which is used for magnetic coupling to the assembly plate in the assembly area. In addition, the support pin has a middle section extending between the upper section and the lower section. And the support pin has a fluid channel extending in the upper section, the middle section and the lower section along the Z axis of the support pin. The lower section has a bellows, the fluid channel extends in the bellows and at least one permanent magnet is connected to the bellows, so that at least one permanent magnet moves between a coupling position and a non-coupling position along the Z axis by means of the bellows by generating and interrupting negative pressure in the fluid channel. When the support pin is on the assembly plate, at least one permanent magnet can be magnetically coupled to the assembly plate in the coupling position, and can be magnetically decoupled (magnetic decoupling) from the assembly plate in the non-coupling position.

[0008] Accordingly, the support pin according to the first aspect of the invention is provided with a bellows, which is arranged in the lower section and connected to the fluid channel so that it can be compressed and stretched by means of negative pressure control. The permanent magnet can also be moved along the Z axis by means of the bellows, so that it can be selectively magnetically coupled and magnetically decoupled with the assembly plate. Here, the bellows is a particularly cheap and lightweight solution due to its simple manufacture and its material (such as elastomer). The space requirement of such a bellows is also small, and the support pin is technically easy to manufacture and design. For example, by selecting the number of folds of the bellows, the distance between the folds and the length of the bellows, the coupled position and the uncoupled position can be easily adjusted.

[0009] In particular, the bellows can be fastened in the lower section such that the bellows is compressed when transitioning from the coupled position to the uncoupled position and is extended when transitioning from the uncoupled position to the coupled position. Alternatively, compression can also be described as contraction of the bellows. Alternatively, extension can also be described as the bellows being pulled apart.

[0010] Furthermore, the fluid channel can be closed in a vacuum-tight manner by the bellows. In other words, the fluid channel can be sealed by the bellows. The sealing can be performed in particular relative to the housing wall in the lower section. This avoids a loss of negative pressure and ensures that the negative pressure transmitted from the upper section can be fully exerted on the lower section and thus on the bellows in order to correspondingly move the at least one permanent magnet.

[0011] At least one permanent magnet can be fastened in particular at the end of the bellows close to the lower side of the lower section. The end close to the lower side is further away from the upper section than the end of the bellows far from or opposite to the lower side, wherein the two ends approach each other when the bellows is compressed and move away from each other when the bellows is stretched. Due to the proximity of the at least one permanent magnet to the lower side of the lower section, a simple magnetic coupling and decoupling with the mounting plate can be ensured, so that when the support pin is placed on the mounting plate or reaches near it, the mounting plate approaches or contacts the lower side.

[0012] The at least one permanent magnet can be fastened to the bellows in a material-fitting and / or form-fitting manner. For example, the at least one permanent magnet can be glued to the bellows. Alternatively or additionally, the at least one permanent magnet can be accommodated, for example, in a section of the bellows corresponding to its geometry, in particular in a pocket, which can be arranged at the end close to the underside of the lower section for this purpose. Material-fitting and form-fitting fastening can be produced particularly simply and reliably.

[0013] At least one ventilation hole may be formed in the bottom of the lower section. The underside of the lower section may be formed on the bottom of the lower section. The ventilation hole enables ventilation of the space or volume between the bellows and the bottom of the lower section so as to enable unimpeded expansion or extension and contraction or compression of the bellows.

[0014] According to a second aspect of the present invention, the purpose mentioned at the beginning is achieved by another support pin for supporting a substrate in an assembly area of ​​an automatic assembly machine. This other support pin also has an upper section, which is designed to support the substrate and can be releasably accommodated by the assembly head of the automatic assembly machine. This other support pin also has a lower section with at least one permanent magnet, which is used to magnetically couple to the assembly plate in the assembly area. In addition, the support section also has a middle section extending between the upper section and the lower section. In this support pin, at least one permanent magnet can be rotated relative to the bottom of the lower section by means of the rotation axis of the support pin, wherein the bottom has at least one coupling area and at least one non-coupling area, so that at least one permanent magnet can be moved between a coupling position and a non-coupling position by rotating relative to the bottom, in which the at least one permanent magnet is opposite to the at least one coupling area, and in the non-coupling position, the at least one permanent magnet is opposite to the at least one non-coupling area. When the support pin is on the assembly plate, at least one permanent magnet can be magnetically coupled to the assembly plate in the coupling position, and can be magnetically decoupled from the assembly plate in the non-coupling position.

[0015] Accordingly, the support pin according to the second aspect of the invention is provided with a rotation axis, which enables at least one permanent magnet to be rotated relative to the base for magnetic coupling and magnetic decoupling with the mounting plate. Here, due to its simple functional principle, the rotation axis is a particularly inexpensive and lightweight solution. In addition, the space required for such a rotation axis and the corresponding base is small, because the rotation axis can be integrated in the existing elongated structure of the support pin, and the existing base can be easily equipped with coupling and decoupling zones. As a result, the support pin is technically simple to manufacture and design.

[0016] In particular, at least one coupling region can be formed of a magnetizable material, and at least one non-coupling region can be formed of a non-magnetizable material. Accordingly, magnetic coupling or magnetic enhancement between at least one permanent magnet and the coupling region can occur via the magnetizable material, and magnetic decoupling or magnetic weakening between at least one permanent magnet and the non-coupling region can occur via the non-magnetizable material.

[0017] At least one non-coupling zone can be formed by a recess in the bottom. This is a particularly simple way to provide at least one non-coupling zone. In this case, the non-coupling zone is formed by air or air space in the recess as a non-magnetizable material. Alternatively, the bottom can consist of a material mixture, wherein the non-coupling zone can be made of a non-magnetizable material, such as plastic, and the coupling zone can be made of a magnetizable material.

[0018] It is also possible that the bottom has at least two or at least three coupling zones and at least two or at least three non-coupling zones. The number of permanent magnets can correspond to the number of coupling zones and / or non-coupling zones. Accordingly, for example, at least two or at least three permanent magnets can be attached to the rotation axis. They can be arranged, for example, on a disk or a rotating plate, which can be rotated relative to the bottom by means of the rotation axis.

[0019] In this case, the coupling zones can be formed symmetrically to one another. As an alternative or in addition to this, the non-coupling zones can be formed symmetrically to one another. Compared to coupling zones and non-coupling zones and an asymmetrical arrangement, a symmetrical design with a plurality of coupling and non-coupling zones and a plurality of permanent magnets advantageously allows the support pin to be distributed on the bottom surface of the support pin or the bottom and thus to stand on the mounting plate particularly safely due to the magnetic force of the permanent magnets.

[0020] The support pin can have a rotating device, which is coupled to the rotating shaft and connected to the fluid channel extending in the upper section of the support pin. The rotating device can be arranged to rotate the rotating shaft relative to the bottom by generating a negative pressure in the fluid channel or supplying compressed air. Such a rotating device allows the rotating shaft to be rotated particularly easily by generating a negative pressure or supplying compressed air that can be adjusted by the assembly head. Usually, the assembly head already has a negative pressure generating device and / or a compressed air supply device, which can be used for this purpose in a simple type and manner. The fluid channel can be fluidically connected to the assembly head in this regard to allow a rotation mechanism of the rotating shaft.

[0021] The lower section can be designed as a housing surrounding at least one permanent magnet. Thus, at least a part of the mechanism for moving the permanent magnet according to the first aspect of the invention in the Z direction or twisting or rotating relative to the bottom can be positioned safely and protected in the housing. In particular, the housing can surround the at least one permanent magnet on all sides or almost all sides, except for the bottom, in which the at least one ventilation hole already mentioned can be arranged.

[0022] The housing can be designed as a support. This enables the support pin to be placed safely and stably on the mounting plate. The support can be formed by corresponding feet protruding from the bottom of the lower section or the housing. The feet can extend or be arranged at the edge or periphery of the bottom. For example, two or more feet can be provided, which are separated from each other by interruptions. The feet can be formed in particular by a peripheral wall on the periphery of the bottom, in particular by an interruption.

[0023] According to a third aspect of the invention, the purpose mentioned at the beginning is also achieved by an automatic assembly machine having at least one assembly head, a magazine with a plurality of support pins according to the first aspect of the invention and / or according to the second aspect of the invention and an assembly plate. At least one assembly head can move, in particular move, between the magazine and the assembly plate, and at least one assembly head is designed to take the support pins out of the magazine and place them on the assembly plate.

[0024] On the contrary, the assembly head can certainly also be used to pick up the support pins from the assembly plate and return them to the magazine, in particular to place them there. As already mentioned, the assembly head can accordingly have a vacuum generator and / or a compressed air supply, which is fluidically connected to the fluid channel in the support pin when the assembly head accommodates the support pin.

[0025] The accommodation of the support pins on the assembly head can be carried out by means of corresponding segments or assembly segments on the assembly head, which are often also referred to as transfer tubes. The transfer tubes accordingly have fluid channels, which can then be connected to the fluid channels of the support pins in order to suck the support pins. Additionally or alternatively, the transfer tube can have a mechanical clamping device in order to mechanically clamp and thus pick up the support pins. The assembly head can in principle have a plurality of such segments or transfer tubes, which can be used not only to accommodate the support pins, but also to later assemble the substrate with components, because after the substrate has been placed on the support pins in the desired position on the assembly board, they receive the components and place the components on the substrate. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The invention is explained in more detail below based on embodiments with reference to the accompanying drawings. All features, including structural details, derived from the claims, the description or the drawings are essential to the invention itself and in any different combination. In the drawings:

[0027] Figure 1 shows schematic diagrams of support pins according to two embodiments;

[0028] Figure 2 Shown through Figure 1 A cross-sectional view of a support pin, wherein the support pin is designed according to the first embodiment and is located in the coupling position,

[0029] Figure 3 Shows Figure 2 A cross-sectional view of a support pin of the assembly head being held by a transfer tube, wherein the support pin is in an uncoupled position;

[0030] Figure 4 Shown through Figure 1 A cross-sectional view of a support pin, wherein the support pin is designed according to the second embodiment and is in a non-coupled position,

[0031] Figure 5 Shown through Figure 4 A cross-sectional view of the bottom of the support pin with the support pin in the uncoupled position,

[0032] Figure 6 Shown through Figure 5 A cross-sectional view of the bottom of the support pin of FIG. 1 , except that the support pin is in the coupling position,

[0033] Figure 7 Shows that there is Figure 1 Schematic diagram of an automatic assembly machine for a support pin magazine.

[0034] Components with the same function and mode of action are Figures 1 to 7 The same reference numerals are provided in the same figure. Figures 1 to 7If a component is shown more than once in one of the drawings, it is also provided with the same reference numeral, but is numbered consecutively to ensure that it can be distinguished from other identical elements. The sequential number and the reference numeral are separated by a period.

[0035] Description of reference numerals:

[0036] 10Support pin

[0037] 20 upper section

[0038] 21 support zone

[0039] 22 Clamping area

[0040] 30 middle

[0041] 31 axis

[0042] 40 lower section

[0043] 41 Shell

[0044] 42 bellows

[0045] 43 permanent magnet

[0046] 44 bottom, lower side

[0047] 45 Ventilation holes

[0048] 46 inside

[0049] 47 feet

[0050] 50 fluid channels

[0051] 51 first fluid section

[0052] 52 second fluid section

[0053] 53 Third fluid section

[0054] 60 Rotating device

[0055] 61 Rotation axis

[0056] 62 rotating disk

[0057] 63.1-63.3 non-coupling area

[0058] 64.1-64.3 coupling area

[0059] 70 transfer

[0060] 71 Fluid Space

[0061] 80 Substrate, printed circuit board

[0062] 100 automatic assembly machines

[0063] 101 Assembly Head

[0064] 102 Assembly Arm

[0065] 103 assembly board

[0066] 104 magazine

[0067] RRotation direction. DETAILED DESCRIPTION

[0068] Figure 1 A support pin 10 is shown which may be used in an automated assembly machine 100 (see Figure 7 ) of the assembly area to support the substrate 80 (see Figure 7 ) , for example a printed circuit board 80, on which the components are to be placed. The support pin 10 has an upper section 20 in the upper region and a lower section 40 opposite to the upper section 20 in the lower region. Between the upper section 20 and the lower section 40 there is a middle section 30, which in the present embodiment is designed as an axis 31 or an axis shape.

[0069] Figure 2 1 shows a view of the interior of the support pin 10 according to the first embodiment. The upper section 20 has a support area 21, which in the present embodiment is configured as a tip or a tip shape so that it can be mounted on the mounting plate 103 (see Figure 7 ) on a predetermined position on the substrate 80 together with another support pin 10 and supported at a predetermined position on the substrate 80. In addition, the upper section 20 has an optional clamping area 22 in this embodiment, which can be transferred by a corresponding transfer tube 70 (see Figure 3 , Figure 7 ) to be clamped so that the assembly head 101 (see Figure 7 ) Transport the support pin 10 to the assembly plate 103.

[0070] The lower section 40 of the support pin 10 is formed as a housing 41 with a foot 47 on its underside. The housing 41 is thus designed as a kind of bracket so that the support pin 10 can be placed stably on the mounting plate 103. In this first embodiment, a bellows 42 is located in the lower section 40, on which the permanent magnet 43 is arranged, in particular fastened in a material and / or form-fitting manner. The bellows 42 is arranged on the inner side 46 of the lower section 40 and seals the fluid channel 50 of the support pin 10 there.

[0071] The fluid channel 50 extends from the first fluid section 51 in the upper section 20 via the second fluid section 52 in the middle section 30 to the third fluid section 53 in the lower section 40. The third fluid section 53 is formed here by the space or volume enclosed by the bellows 42. The third fluid section 53 is designed in this respect to be compressible and expandable by compressing and stretching the bellows 42.

[0072] like Figure 3 As shown, the first fluid section 51 or the fluid channel 50 can be connected to the fluid space 71 of the transfer tube 70 at its upper section 20. Figure 2 In the position of the permanent magnet 43 shown, the permanent magnet 43 or the support pin 10 occupies a coupling position. If the support pin 10 is placed or is to be placed on a magnetic or magnetizable mounting plate 103 in the mounting area of ​​the automatic mounting machine 100, the permanent magnet 43 magnetically couples the support pin 10 to the mounting plate 103. This creates a coupling position for the support pin 10, such as when it is Figure 7 The same is shown for the support pins 10.1, 10.2, 10.3. In the coupled position, the permanent magnet 43 is located on or near a bottom 44 which is provided with ventilation holes 45 on the underside of the lower section 40 facing the mounting plate 103.

[0073] exist Figure 3 In the figure, the already mentioned transfer tube 70 or the section located on the assembly head 101 is shown as it clamps the clamping area 22 of the support part 10 and is fluidically coupled with its fluid space 71 to the fluid channel 50 at the upper section 20 of the support pin 10. The negative pressure determined by the assembly head 101 via the transfer tube 70 in the fluid space 71 generates a corresponding negative pressure or suction in the fluid channel 50, which is relative to Figure 2 The coupling position in the embodiment of the present invention causes a compression of the bellows 42 along the Z axis shown, along which the support pin 10 extends in the longitudinal direction. The compression of the bellows 42 causes a displacement or movement of the permanent magnet 43 arranged thereon in the Z axis direction and thus with the mounting plate 103 located below or with the magazine 104 (see Figure 7 ) magnetic decoupling, the support pins 10 can be stored in the magazine and can be magnetically coupled in the same type and manner. This negative pressure generation in the fluid channel 50 allows the support pins 10 placed on the assembly plate 103 or in the magazine 104 in a defined manner to be removed or lifted, because the magnetic holding force between the permanent magnet 43 and the assembly plate 103 or the magazine 104 no longer needs to be overcome by the assembly head 101 or the transfer tube 70.

[0074] On the contrary, if the support pin 10 on the mounting plate 103 is to be firmly held in a predetermined position, the coupling position can be established by placing the support pin 10 in the predetermined position by means of a transfer tube 70 and interrupting the generation of negative pressure or not providing negative pressure, whereby the support pin 10 is magnetically held on the mounting plate 103 by means of its permanent magnet 43.

[0075] Figure 4 Compared to the first embodiment, a support pin 10 is shown or a support pin 10 for placing one or in this case more permanent magnets 43.1, 43.2, 43.3 (see Figure 5 ) An alternative embodiment of a mechanism for magnetically coupling and decoupling with the mounting plate 103 or the magazine 104.

[0076] For this purpose, the second embodiment of the support pin 10 has a rotation mechanism formed by a rotation device 60 and a rotation axis 61. The rotation device 60 is shown in the upper section 20 in the present embodiment, but can also be located in the middle section 30 or the lower section 40 in addition or alternatively. The rotation device 60 can be fluidically coupled to the transfer tube 70 (see FIG. 1 ) by means of a fluid channel 50, in particular a fluid section 51. Figure 3 ). A negative pressure can be provided again from the transfer tube 70, which is converted by the rotating device 60 into a rotation or rotation in the rotation direction R of the rotating shaft 61. Alternatively, compressed air can be supplied to the fluid channel 50 and the rotating device 60 via the transfer tube 70. In this case, the rotating device 60 can be configured to achieve the rotation of the rotating shaft 61 by the supplied compressed air. The rotating shaft 61, in particular together with the rotating device 60, can also be referred to as a cylinder, in particular a pneumatic cylinder.

[0077] At one end of the rotating shaft 61, a rotating disk 62 is located in the lower section 40. In this embodiment, three permanent magnets 43.1, 43.2, 43.3 arranged symmetrically to each other are fastened to the rotating plate (see Figure 5 ). These can be rotated relative to the bottom 44 of the lower section 40 by a rotation R imparted by the rotation axis 61. The bottom has Figure 5 Particularly clearly visible are the non-coupling regions 63 . 1 , 63 . 2 , 63 . 3 and the coupling regions 64 . 1 , 64 . 2 , 64 . 3 , which are likewise arranged symmetrically on the base 44 .

[0078] Figure 5 The uncoupled position of the support pin 10 and the mounting plate 103 or magazine 104 is now shown. Figure 5 The section shown in FIG. 4 passes through the bottom 44 and provides a view of the rotating disk 62 located above it, which has permanent magnets 43.1, 43.2, 43.3. Here, the permanent magnets 43.1, 43.2, 43.3 arranged on the rotating disk 62 are located opposite the non-coupling zone 63.1, 63.2, 63.3, which is formed by the recesses 63.1, 63.2, 63.3 in the bottom 44 or in the bottom plate of the lower section 40. The air in the recesses 63.1, 63.2, 63.3 ensures a significant weakening of the magnetic field between the permanent magnets 43.1, 43.2, 43.3 and the magnetic mounting plate 103, so that there is no or only a very small magnetic coupling, which can be understood as a non-magnetic coupling or non-coupling position.

[0079] If the rotating disk 62 is now rotated in the rotation direction R relative to the bottom 44 by compressed air or negative pressure from the transfer tube 70, the permanent magnets 43.1, 43.2, 43.3 attached thereto can also be moved away from the non-coupling areas 63.1, 63.2, 63.3 or the permanent magnets 43.1, 43.2, 43.3 are brought to the position of the magnetic coupling areas 64.1, 64.2, 64.3 between the non-coupling areas 63.1, 63.2, 63.3. In the present embodiment, the coupling areas 64.1, 64.2, 64.3 are formed by corresponding magnetizable materials of the bottom 44, such as ferrite. As a result, the magnetic field between the permanent magnets 43.1, 43.2, 43.3 and the mounting plate 103 is strengthened and a magnetic coupling is established, which is the magnetic coupling position mentioned here.

[0080] Figure 7 Basically, an embodiment of an automatic assembly machine 100 is shown, which can utilize one or two embodiments of the support pins 10. The support pins 10, in this case support pins 10.4, 10.5, 10.6, 10.7, are basically located in the corresponding magazine 104, in which they can be magnetically coupled so as to be located in a defined position.

[0081] In order to be able to assemble components for the substrate 80 using the assembly head 101 with the assembly arm 102 or the robot arm, the substrate 80 must be kept in a defined position. Figure 7 In the embodiment, the assembly head 101 has taken out the support pins 10.1, 10.2, 10.3 from the magazine 104 by means of suitable transfer tubes 70.1, 70.2, 70.3, 70.4, for which it has established the uncoupled position by the above-mentioned mechanism of vacuum generation and / or compressed air supply in the support pins 10.1, 10.2, 10.3. The assembly head 101 then places the support pins 10.1, 10.2, 10.3 at the position on the assembly plate 103 defined for the substrate 80, which assembly plate can be a magnetic or magnetizable lifting table. By placing and removing the transfer tubes 70.1, 70.2, 70.3, 70.4, the support pins 10.1, 10.2, 10.3 can be automatically transferred from the uncoupled position to the coupled position, and can therefore be magnetically held and thus firmly fixed on the assembly plate 103. The substrate 80 is then placed on the support pins 10.1, 10.2, 10.3. Now can carry out the assembly process of assembling the components of substrate 80 or printed circuit board 80 with one or more other magazines (not shown).After the loading process, the support pins 10.1, 10.2, 10.3 can be picked up and placed in the magazine 104 again by the transfer tube 70.1, 70.2, 70.3, 70.4.

Claims

1. A support pin (10) for supporting a substrate (80) in an assembly area of ​​an automatic assembly machine (100), wherein: The support pin (10) comprises an upper section (20) configured to support the substrate (80) and to be releasably received by an assembly head (101) of the automatic assembly machine (100), a lower section (40) having at least one permanent magnet (43) for magnetically coupling to an assembly plate (103) in the assembly area, and a middle section (30) located between the upper section (20) and the lower section (40), and a fluid channel (50) extending in the upper section (20), the middle section (30) and the lower section (40) along the Z axis of the support pin (10), characterized in that the lower section (40) The segment (40) has a bellows (42), the fluid channel (50) extends inside the bellows, and at least one permanent magnet (43) is connected to the bellows, so that the at least one permanent magnet (43) is moved between a coupled position and a non-coupled position along the Z axis with the help of the bellows (42) by generating and interrupting negative pressure in the fluid channel (50), wherein when the support pin (10) stands on the mounting plate (103), the at least one permanent magnet (43) can be magnetically coupled to the mounting plate (103) in the coupled position, and can be magnetically decoupled from the mounting plate (103) in the non-coupled position.

2. The support pin (10) according to claim 1, wherein: The bellows (42) is fixed in the lower section (40) in such a way that the bellows (42) is compressed when transitioning from the coupled position to the uncoupled position and is stretched when transitioning from the uncoupled position to the coupled position.

3. The support pin (10) according to claim 1, wherein: The fluid channel (50) is closed by the bellows (42) in a vacuum-tight manner.

4. The support pin (10) according to claim 1, wherein: The at least one permanent magnet (43) is attached to the end of the bellows (42) near the bottom (44) of the lower section (40).

5. The support pin (10) according to claim 1, wherein: The at least one permanent magnet (43) is attached to the bellows (42) in a materially and / or form-fitting manner.

6. The support pin (10) according to claim 1, wherein: At least one vent hole (45) is formed in the bottom (44) of the lower section (40).

7. A support pin (10) for supporting a substrate (80) in an assembly area of ​​an automatic assembly machine (100), wherein: The support pin (10) comprises an upper section (20) configured to support the substrate (80) and to be releasably received by an assembly head (101) of the automatic assembly machine (100), a lower section (40) having at least one permanent magnet (43) for magnetically coupling to an assembly plate (103) in the assembly area, and a middle section (30) located between the upper section (20) and the lower section (40), characterized in that the at least one permanent magnet (43) is rotatable relative to a bottom section (44) of the lower section (40) by means of a rotation axis (61) of the support pin (10), wherein the bottom section (44) has at least one coupling a coupling region (64) and at least one non-coupling region (63), so that at least one permanent magnet (43) can be moved between a coupling position and a non-coupling position by rotating relative to the base (44), in which the at least one permanent magnet (43) is opposite to the at least one coupling region (64), and in which the at least one permanent magnet (43) is opposite to the at least one non-coupling region (64), wherein when the support pin (10) is on the mounting plate (103), the at least one permanent magnet (43) can be magnetically coupled to the mounting plate (103) in the coupling position, and can be magnetically decoupled from the mounting plate (103) in the non-coupling position; The support pin (10) has a rotating device (60), which is connected to the rotating shaft (61) and connected to the fluid channel (50) extending in the upper section (20) of the support pin (10), and the rotating device is configured to rotate the rotating shaft (61) relative to the bottom (44) by generating negative pressure in the fluid channel (50) or supplying compressed air.

8. The support pin (10) according to claim 7, wherein: The at least one coupling region (64) is formed of a magnetizable material, and the at least one non-coupling region (63) is formed of a non-magnetizable material.

9. The support pin (10) according to claim 7, wherein: The at least one non-coupling region (63) is formed by a recess in the bottom (44).

10. The support pin (10) according to claim 7, wherein: The bottom (44) has at least two or at least three coupling areas (64) and at least two or at least three non-coupling areas (63).

11. The support pin (10) according to claim 10, wherein: The non-coupling regions (63) are formed symmetrically to each other and / or the coupling regions (64) are formed symmetrically to each other.

12. The support pin (10) according to claim 7, wherein: The lower section (40) is designed as a housing (41) surrounding the at least one permanent magnet (43).

13. The support pin (10) according to claim 12, wherein: The housing (41) is designed as a bracket.

14. An automatic assembly machine (100), comprising at least one assembly head (101), a magazine (104) having a plurality of support pins (10) according to any one of claims 1 to 13, and an assembly plate (103), wherein: The at least one assembly head (101) is movable between the magazine (104) and the assembly plate (103), and wherein the at least one assembly head (101) is designed to take the support pin (10) out of the magazine (104) and place it on the assembly plate (103).

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