Part taking and placing system, device and method

Abstract

A component pick-and-place system has a control unit, at least one conveyor line for conveying a plurality of component trays, and at least one transfer line for transferring a plurality of pick-and-place (PnP) devices. Each PnP device in the plurality of PnP devices is provided with a control and valve unit and an automatic spacing conversion unit, and the automatic spacing conversion unit is provided with at least one column / module and at least one row of pickup heads which are located in a parking area and an activity area. The automatic interval conversion unit comprises an X interval conversion mechanism and a Y interval conversion mechanism. The X-pitch conversion mechanism has a first drive motor, a plurality of motion transfer elements for transferring rotational motion of the first drive motor to move a pair of X-pitch belts in a linear direction, and a pair of engagement arms slidably engaged to the X-pitch belts for sequentially engaging a column of pickup heads to move to a desired X-pitch position. The Y-pitch conversion mechanism has a second drive motor, a plurality of motion transmitting elements for transmitting rotational motion of the second drive motor to the pair of Y-pitch arms to move the pair of Y-pitch rods in a linear direction, and a pair of pickup head holders slidably engaged to the Y-pitch rods, the pair of pick-up head holders is used to simultaneously move rows of pick-up heads to a desired Y-pitch position.

Description

Technical Field

[0001] The present invention relates to a processing system for semiconductor component pick-and-place operations, and in particular to a pick-and-place system, device and method having multiple pick-and-place stations and multiple independent pick-and-place devices capable of automatic spacing conversion between X and Y coordinates. Background Art

[0002] The handling and transfer of semiconductor components between different packaging media or workstations is a time-consuming and repetitive process. These processes, including pick-and-place operations, are automated to meet technical and / or efficiency requirements and to provide electrostatic discharge (ESD) protection to avoid physical damage to the components. As the semiconductor component manufacturing and processing market becomes increasingly competitive, there is a continuous demand for speed and throughput improvements in existing component handling systems and pick-and-place devices.

[0003] To increase machine throughput, multiple pick and place heads are used in the pick and place device to pick and place multiple parts at the same time. Different products may use parts of different sizes, so the size of the tray recesses, including the spacing between parts, will also be different. Inspection operations may only allow a specific number of parts to be inspected at the same time. Therefore, the number of pick and place heads and the spacing between them must be configured to meet the different part sizes and the processing capabilities of the machine.

[0004] Traditional pick and place machines are usually designed as a single unit with multiple pick and place heads arranged in a single row. These units are capable of automatic pitch conversion for different products and processing capabilities. However, these units are slow and cannot meet the machine output goals that manufacturers are targeting today.

[0005] Prior art US patent number US 9776334 discloses an automatic spacing conversion device for a pick-and-place head, including two external automatic spacing adjustment stations for adjusting the spacing of the pickers / grippers of the pick-and-place device on the X-coordinate and the Y-coordinate. The device is capable of taking parts from one pallet and transferring the parts to another pallet and / or inspection station. The automatic spacing conversion mechanism located at a pair of automatic spacing adjustment stations is used to adjust the spacing (spacing) of the pick-and-place heads. However, since there is only one pair of automatic spacing adjustment stations, they must be shared among multiple pick-and-place devices. Therefore, when spacing conversion is required, the pick-and-place devices are moved sequentially by the transmission system, for example, only one device is moved to a pair of external automatic spacing adjustment stations at a time to perform spacing conversion.

[0006] In order to solve or alleviate the above-mentioned deficiencies, this article discloses a pick-and-place system, device and method having multiple pick-and-place stations and multiple independent pick-and-place devices capable of automatic spacing conversion in X-coordinates and Y-coordinates to further improve the output of the machine. Summary of the invention

[0007] One aspect of the present disclosure provides a component pick and place system, including a control unit, at least one conveyor line for conveying a plurality of component trays, and at least one conveyor line for conveying a plurality of pick and place (PnP) devices. Each of the plurality of PnP devices includes a control and valve unit and an automatic spacing conversion unit, wherein the automatic spacing conversion unit has at least one column of pick-up heads and at least one row of pick-up heads located in a parking area and an active area. The automatic spacing conversion unit also includes an X spacing conversion mechanism. The X spacing conversion mechanism includes a first drive motor, a plurality of motion transmission elements, and a pair of engagement arms. The plurality of motion transmission elements are used to transmit the rotational motion of the first drive motor so that a pair of X spacing belts move in a linear direction. The pair of engagement arms are slidably engaged to the pair of X spacing belts for sequentially engaging each column of the at least one column of pick-up heads to move to a desired X spacing position. The automatic spacing conversion unit also includes a Y spacing conversion mechanism. The Y spacing conversion mechanism includes a second drive motor, a plurality of motion transmission elements, and a pair of pick-up head holders. The plurality of motion transmission elements are used to transmit the rotational motion of the second drive motor to a pair of Y-pitch arms to move a pair of Y-pitch rods in a linear direction. The pair of pick-up head holders are slidably engaged to the pair of Y-pitch rods for simultaneously moving the at least one row of pick-up heads to a desired Y-pitch position.

[0008] In some embodiments, the X-pitch mechanism includes a first pair of guide rails, and each column of the plurality of columns of pick heads moves sequentially along the first pair of guide rails to the X-pitch position.

[0009] In some embodiments, the X-pitch mechanism further includes a second pair of guide rails spaced apart from the first pair of guide rails, and each column of the plurality of columns of pick heads sequentially moves to the X-pitch position along the second pair of guide rails.

[0010] In some embodiments, each column of the plurality of columns of pick heads moves sequentially along the first pair of rails and then sequentially along the second pair of rails, wherein an X spacing between each column is variable.

[0011] In some embodiments, each of the plurality of pick and place devices is used to pick up a plurality of components from the plurality of component trays along the conveyor line, perform an instant Y pitch conversion, and place the plurality of components in the plurality of component trays along another conveyor line.

[0012] In some embodiments, the multiple Y pitches along the transmission line are different.

[0013] In some embodiments, the component pick and place system further includes a programmable software solution for executing instructions for X-pitch conversion and Y-pitch conversion.

[0014] In some embodiments, the X-pitch conversion mechanism further includes one or more columns of sensors, which are used to determine the actual position of the pickup head in the X-pitch direction, and wherein the Y-pitch conversion mechanism further includes one or more rows of sensors, which are used to determine the actual position of the pickup head in the Y-pitch direction.

[0015] In some embodiments, the suction portion of each pick-up head is configured for removal using a quick release mechanism.

[0016] In some embodiments, each engagement arm of the pair of engagement arms comprises a pin cylinder and a pusher, and wherein the control and valve unit is used to activate the pin cylinder to engage or disengage the pusher with the pair of engagement arms.

[0017] In some embodiments, each of the at least one row of pickup heads is adapted to be slidably attached to the pair of Y-pitch rods such that each of the at least one row of pickup heads moves simultaneously for Y-pitch conversion.

[0018] In some embodiments, the Y-pitch conversion mechanism includes one or more link arms adapted to transmit the rotational motion of the second drive motor to the pair of Y-pitch arms, and wherein the length of the one or more link arms is extendable to increase the number of rows of the pick head.

[0019] In some embodiments, the component picking and placing system further comprises a balancing mechanism, wherein the balancing mechanism is adapted to move synchronously with the Y-pitch conversion mechanism, and the balancing mechanism is connected to the Y-pitch conversion mechanism via a shaft.

[0020] In some embodiments, the automatic pitch conversion unit further comprises a zoom mechanism for keeping the pitches between each row of pickup heads equidistant from each other.

[0021] Another aspect of the present disclosure provides a pick and place (PnP) device for conveying semiconductor components, including a plurality of pick and place (PnP) modules and a conveying mechanism. Each PnP module includes at least three pick and place (PnP) heads. The conveying mechanism is used to move each of the plurality of PnP modules to a component X spacing position above a tray or a workstation. The conveying mechanism includes a first drive motor, a plurality of motion conveying elements, and a pair of engagement arms. The plurality of motion conveying elements are used to convey the rotational motion of the first drive motor so that a pair of X spacing belts move in a linear direction. The pair of engagement arms are slidably engaged to the pair of X spacing belts for sequentially engaging each of the plurality of PnP modules to move to the component X spacing position. The PnP device also includes a spacing adjustment mechanism. The spacing adjustment mechanism is used to adjust the Y spacing of the at least three pick and place heads. The spacing adjustment mechanism includes a second drive motor, a plurality of motion conveying elements, and a pair of pick head holders. The plurality of motion conveying elements are used to convey the rotational motion of the second drive motor to a pair of Y spacing arms so that a pair of Y spacing rods move in a linear direction. The pair of pick head holders are slidably engaged to the pair of Y-pitch rods for simultaneously moving multiple rows of pick heads to desired Y-pitch positions.

[0022] In some embodiments, the transport mechanism includes a first pair of guide rails, and each of the plurality of PnP modules is sequentially moved to the X-pitch position along the first pair of guide rails.

[0023] In some embodiments, the conveying mechanism further includes a second pair of guide rails, and each of the plurality of PnP modules is sequentially moved to the X-pitch position along the second pair of guide rails.

[0024] In some embodiments, each PnP module of the plurality of PnP modules moves sequentially along the first pair of rails and then moves sequentially along the second pair of rails, and wherein the X spacing between each column is variable.

[0025] In some embodiments, the pitch adjustment mechanism further comprises a pair of pick head holders slidably engaged to the pair of Y pitch rods for simultaneously moving the multiple rows of pick heads to desired Y pitch positions.

[0026] In some embodiments, the spacing adjustment mechanism includes one or more linkage arms adapted to transmit the rotational motion of the second drive motor to the pair of Y spacing arms, and wherein the length of the one or more linkage arms is extendable to increase the number of rows of the pick head.

[0027] Another aspect of the present disclosure provides a method for automatic pitch conversion of a component pick and place system, comprising: selecting a component to run with a scheme in a control unit; obtaining tray format or matrix information from the scheme; using the control unit to determine whether the X pitch and the Y pitch of the tray matrix are the same as those of a PnP device; and when it is determined that the X pitch and the Y pitch are different from those of the PnP device, using the control unit to input an instruction to perform an X pitch conversion and / or a Y pitch conversion on the PnP device.

[0028] In some embodiments, the method further comprises moving each column of pick heads to a parking area of ​​the PnP device and then performing a scan to determine an X-pitch position of the pick heads in the parking area.

[0029] In some embodiments, the method further comprises sequentially moving each column of pick heads from the parking area to a correct X-pitch position in the active area.

[0030] In some embodiments, the method further comprises scanning each column of pick heads in the active area to confirm the X-pitch position of the pick heads.

[0031] In some embodiments, the method further includes moving each row of pick heads to an initial position so that a Y spacing between each pick head is minimized.

[0032] In some embodiments, the method further comprises simultaneously moving each row of pick heads to the correct Y pitch position.

[0033] In some embodiments, the method further comprises scanning each row of pick heads to confirm that the pick heads are located at the correct Y-pitch position in the active area.

[0034] In some embodiments, the method further includes the control unit being used to input instructions to perform the X pitch conversion and / or the Y pitch conversion on the pick-and-place device when it is still determined that the X pitch and / or the Y pitch are different from those of the pick-and-place device. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In the drawings, embodiments of the present disclosure are shown by way of example only.

[0036] Figure 1 is a top view showing a plurality of PnP devices and a pick-and-place system of a pallet conveyor line according to an embodiment of the present disclosure;

[0037] Figure 2A is a top view of a PnP device placed across or perpendicular to the longitudinal axis of a JEDEC tray;

[0038] Figure 2Bis a top view of a PnP device placed along or aligned with the longitudinal axis of a JEDEC tray;

[0039] Figure 3 is a schematic block diagram of a control system according to an embodiment of the present disclosure;

[0040] Figure 4 is a perspective view showing a configuration of a PnP device in relation to a tray and a pickup head according to an embodiment of the present disclosure;

[0041] Figure 5 is an exploded view showing the chassis, the control and valve unit and the automatic pitch conversion unit;

[0042] Figure 6 is an enlarged view showing the X and Y pitch conversion mechanisms and the automatic pitch conversion units of the rows A, B, C and columns M, N, O, P, Q of the pick head;

[0043] Figure 7 is a top perspective view of an automatic pitch conversion unit showing an X pitch conversion mechanism;

[0044] Figure 8 is a top oblique view showing an automatic pitch conversion unit of the X pitch conversion mechanism;

[0045] Fig. 9 is a cross-sectional view showing an X-pitch conversion mechanism;

[0046] Fig. 10A is a side view showing details of the X-pitch conversion mechanism;

[0047] Fig. 10B It is shown Fig. 9 A cross-sectional view of a detail of the left commissure arm;

[0048] Fig.11A is a perspective view of the Y-pitch pick-up head in the open position;

[0049] Fig. 11B is a perspective view of the Y-spacing pick-up head in the closed (initial) position;

[0050] Fig. 11C is a perspective view of two PnP columns / modules slidable along respective pairs of rails to sequentially position each PnP module according to another embodiment of the present disclosure;

[0051] Fig.12 is a top perspective view showing the Y-pitch conversion mechanism;

[0052] Fig.13 is a side perspective view showing the Y-pitch conversion mechanism;

[0053] Fig.14is a bottom perspective view showing the Y-pitch conversion mechanism;

[0054] Fig.15 is a top view showing the scalability of a pick head configurable in a Y-pitch column;

[0055] Fig.16 is a schematic flow chart showing a program control system;

[0056] Fig.17 is a schematic flow chart of the pitch conversion of the X pitch of a column of pickup heads;

[0057] Fig.18 It is a schematic flow chart of the configurable pitch conversion of a row of pick heads in the Y direction. DETAILED DESCRIPTION

[0058] The present disclosure is conceived to provide a pick and place system, apparatus and method having multiple pick and place stations and multiple independent pick and place devices capable of automatic pitch conversion in X-coordinates and Y-coordinates. Therefore, this can further improve machine output.

[0059] In order to illustrate the technical solutions of the embodiments of the present disclosure, the embodiments of the present disclosure will be described below in conjunction with the accompanying drawings. It should be understood that the referenced drawings are some examples or embodiments of the present disclosure. Without further creative work, ordinary technicians in this field can apply the present disclosure to other scenarios based on these drawings. For example, although Figure 4 The diagram in FIG. 4 shows a total of 48 pick-up heads, but without inventive effort, a person skilled in the art would be able to apply the present disclosure to any number of pick-up heads in either the X-pitch direction or the Y-pitch direction to achieve the maximum number or machine performance required by the user.

[0060] refer to Figure 1 The pick-and-place system 10 includes a plurality of pick-and-place (hereinafter referred to as PnP) devices 60 and a plurality of trays 100. The plurality of conveyor lines carry the plurality of PnP devices 60 and the plurality of trays 100 along a plurality of independent lines. Figure 1 As shown, the PnP device 60 can be placed on a plurality of pallets 100 positioned along a set of pallet conveyor lines 101, 102. The PnP device 60 can be carried along another set of different PnP device conveyor lines 103, 104, 105, 106 to pick up and / or place components from pallets and / or workstations 110. Likewise, the pallets 100 can be conveyed along the conveyor lines 101, 102 to transfer or deliver the components to another location.

[0061] The number of transmission lines 101, 102, 103, 104, 105, 106 is scalable and limited only by the capacity of the machine space and deployment area. In this way, multiple pitch conversions can occur simultaneously with several PnP devices 60 operating simultaneously. This approach is different from prior art systems in which only a single PnP device along a single axis or direction can be used. Figure 1 In the example shown, a JEDEC tray 100 (or other carrier) moves along lines 101 and 102, while four PnP devices 60(1), 60(2), 60(3), and 60(4) move along lines 103, 104, 105, and 106. Device 60(1) can pick up components from tray 100 at any position along line 101 to a workstation for, for example, visual inspection, and return to its initial position along line 103. Device 60(2) can independently pick up components from tray 100 at any position along line 101 to another position (e.g., another tray or workstation), and return to its initial position along conveyor line 104. Device 60(3) can independently pick up components from tray 100 at any position along conveyor lines 101, 102 and place the picked up components at another position, e.g., another tray or workstation 110, and return to its initial position along conveyor line 105. The device 60 ( 4 ) can individually pick up components from the tray 100 to another workstation 110 and place the picked components at another location (e.g., another tray or workstation) and return to its original position along the conveyor line 106 .

[0062] Although Figure 1 The PnP units and conveyor lines are shown as being perpendicular to one another, but the conveyor / conveyor lines may be arranged at various angles relative to one another to maximize machine space. Each PnP unit 60 may be configured to be moved to any pallet and / or workstation as required. In this manner, the number of PnP operations is limited only by the number of conveyor lines possible in the system 10. Those skilled in the art will appreciate that the axis of the PnP and the axis of the pallet conveyor line may be interchangeable with one another so that the PnP unit may be conveyed along either axis to maintain flexibility in the machine layout. This approach may be advantageous in that the PnP unit 60 may be configured to be moved to any pallet and / or workstation as required. In this manner, the number of PnP operations may be limited only by the number of conveyor lines possible in the system 10. Figure 2A and Figure 2B As shown in , the trays are positioned in directions perpendicular to each other and in a straight line. Therefore, the user can program as many PnP devices 60 as needed to maximize the system configuration, so that the machine can achieve the best output every time the product runs.

[0063] Figure 2A and Figure 2BShown is how JEDEC tray 100 can be placed below PnP device 60 to extract multiple components. Because multiple components are nested in multiple notches (pockets) of fixed position rows and columns, JEDEC tray is also called "matrix" tray. The spacing (pitch) of each component notch (slot) is defined by JEDEC standard. This allows automated PnP machines to locate and pick up components from the tray by size, and place the picked up components on another medium or workstation. In the present disclosure, tray X (transverse) coordinates and Y (longitudinal) coordinates are used as references for X spacing and Y spacing of the PnP device pickup head to ensure the uniqueness of the reference (singularity). Therefore, throughout the present disclosure, Y spacing is described as along the lateral direction of the PnP device, and X spacing is described as along the longitudinal direction of the PnP device 60.

[0064] Figure 3 A schematic block diagram of a control unit 50 is shown. The control unit 50 can control the operation of multiple configurable pallet conveyor lines and PnP conveyor lines, and further provide instructions to the control and valve unit 62 to operate the PnP devices and pick heads. A software recipe 51 and associated sensors 46, 48 are used to execute instructions to the X-pitch motor 1 and the Y-pitch motor 16 to perform column (X-pitch) and row (Y-pitch) conversions. The X-pitch and Y-pitch for different pallet matrices can be easily programmed on the software recipe 51. The control and valve assembly 62 also includes a plurality of control valves for performing pneumatic pick and place operations.

[0065] Figure 4 The configuration of the PnP device 60 in relation to the tray and the pick-up heads is shown. A set of inactive pick-up heads 65 is parked at one end (parking area) of the PnP device 60, while another set of active pick-up heads 65 is positioned at the other end (active area) of the PnP device. The active pick-up heads 65 in the active area are used to pick up items from the tray, such as Figure 2A and Figure 2B , pick and place components from a JEDEC tray 100 shown in FIG. 1 , or pick and place components to a workstation 110 , such as Figure 1 Although Figure 4 A total of 48 pick-up heads are shown, but the number of pick-up heads is limited only by the maximum number or machine performance required by the user. No matter in the X-pitch direction or the Y-pitch direction, any number of pick-up heads 65 is possible.

[0066] like Figure 2A and Figure 2BAs shown, the number of pick-up heads 65 includes three pick-up heads 65 in three rows A, B, and C, and the three pick-up heads 65 are arranged in a row at an equal distance from each other (Y spacing) in the Y spacing direction. However, although the present disclosure shows three rows of pick-up heads 65, the number of rows is variable and can be configured from one row to any number of rows as needed by the user during the initial configuration or changeover of the product operation. Since each column or each module can be individually moved to a position corresponding to the X spacing position above the tray or workstation, the pick-up heads in each column can also be referred to as a pick-and-place module. Figure 4 As shown, the pick-up heads 65 in each module can therefore be configured to move from the parking area to the assembly of the X-pitch position of the active area. For the Y-pitch conversion, for the three pick-up head configuration, the pick-up head 65 in row B, which is located in the center of the row or module, is in a fixed position, while the other two pick-up heads (row A and row C) can move toward or away from the pick-up head in row B to change the Y-pitch. In the following of this disclosure, the terms "row" and "module" will be used interchangeably. However, for ease of explanation, the term "row" will be used when describing the pitch conversion mechanism.

[0067] In the X-pitch direction, the PnP device 60 can accommodate any number of pick-up heads 65 arranged in columns M, N, O, P, Q, etc. Each of the columns M, N, O, P, Q can be moved to a "parking area" or "active area" along the X-direction. Therefore, only the pick-up heads 65 in the "active area" will be used to pick up components, while the pick-up heads in the "parking area" will not be used. For pitch conversion in the X-pitch direction, each group of columns (or modules) M, N, O, P, Q can be moved to a pitch position along the X-pitch direction. In addition, during the operation of the device 60, a quick release mechanism 66 ( Fig. 9 As shown) to remove the adsorption portion of any one of the pickup heads 65, so as to further change the operation configuration of the active pickup head 65 according to the needs of the user.

[0068] Figure 5A configurable PnP device 60 is shown, which includes an automatic pitch conversion unit 61 and a control and valve unit 62 attached to a chassis 63. Vacuum suction is provided by an air tube 64 connected between the control and valve unit 62 and the automatic pitch conversion unit 61, so that a pick head 65 is configured with vacuum suction to pick up and hold electronic components from, for example, a JEDEC tray 100 or other component carrier to another tray or inspection station 110. The control and valve unit 62 can be directly attached to the PnP device 60 to reduce response time, but can also be set away from the PnP device 60 to reduce the weight of the assembly. When the control and valve unit 62 is set away from the PnP device 60, the control and valve unit 62 can be set beside (on top, adjacent to, or at the bottom of) the PnP device 60. Although this arrangement reduces the weight and size of the PnP device and can save power, the disadvantage is that the tube will be long and require internal routing using a cable chain to connect to the control and valve unit 62. As a result, response time is increased and system throughput is reduced. Therefore, the flexibility of the assembly is left to the user and / or machine performance to determine.

[0069] Figure 6 Shows Figure 5 The automatic pitch conversion unit 61 is shown, and an X pitch conversion mechanism 70 and a Y pitch conversion mechanism 80 are shown. There can be as many columns of M, N, O, P, Q (and so on) of movable pickup heads ( Figure 6 The number of pick-up heads 65 grouped on the right side of the automatic pitch conversion unit 61 is limited only by the machine performance and user requirements. This means that when the machine is running, the movable pick-up heads 65 of the columns M, N, O, P, Q are flexible and can be easily configured along the X pitch direction according to the tray matrix or the inspection matrix. The X pitch conversion mechanism 70 includes a drive motor 1 and a plurality of drive elements to drive a plurality of engagement arms 71 to move the columns M, N, O, P, Q to their desired positions in the X pitch direction (see Figure 7 The Y pitch conversion mechanism 80 includes a drive motor 16 and a plurality of drive elements to move a pair of rods 42 for Y pitch conversion of rows A, B, and C in the Y pitch direction (see Fig.12 ).

[0070] X-spacing conversion mechanism

[0071] like Figure 7 to Figure 1 0, the X-pitch drive motor 1 transmits motion via a plurality of motion transmission elements (synchronous pulley 3, synchronous belt 2, synchronous pulley 4 located on the drive motor 1) connected to the drive synchronous pulley 6A. Figure 7As shown, the plurality of motion transmission elements of the drive motor 1 are located at the right end portion of the automatic pitch conversion unit 61. In this way, when the drive motor 1 rotates in a clockwise or counterclockwise direction, the drive timing pulley 6A can move the timing belt 37A in a linear motion (from left to right or vice versa).

[0072] The transmission drive shaft 38 is rotatably attached to the synchronous pulley 4 to transmit the movement of the drive motor 1 to the right end portion (from the right end portion) of the automatic pitch conversion unit 61. Figure 7 In this way, when the drive motor 1 rotates in a clockwise or counterclockwise direction in synchronization with the timing belt 37A, the timing pulley 6B can move the timing belt 37B in a linear motion (from left to right or vice versa).

[0073] The right engagement arm 71A and the left engagement arm 71B are fixedly attached to a pair of timing belts 37A and 37B by means of a clamp 33A and a clamp 33B, respectively (see Figure 7 and Figure 8 ). The right engagement arm 71A and the left engagement arm 71B are slidably attached to the corresponding pair of guide rails 32A and 32B so that the pair of timing belts 37A, 37B can move the right engagement arm 71A and the left engagement arm 71B along the guide rails 32A, 32B. The right engagement arm 71A and the left engagement arm 71B are opposite to each other and are located on a common axis K (see Fig. 9 In this way, the right engagement arm 71A and the left engagement arm 71B can be synchronously moved from one end to the other end of the automatic pitch conversion unit 61 in the X pitch direction to move each pickup head array M, N, O, P, Q relative to the rotation of the drive motor 1.

[0074] Engagement / disengagement procedures for mobile columns M, N, O, P, Q

[0075] Fig. 10A and Fig. 10B 71A, 71B. The engagement arms 71A, 71B are identical to each other and include pneumatic pin cylinders 5A, 5B, pushers 7A, 7B with fingers 8A, 8B, and slide rails 19A, 19B. When a command is sent from the control and valve unit 62, the cylinders 5A, 5B will synchronously activate the pushers 7A, 7B so that the fingers 8A, 8B can move forward along the slide rails 19A, 19B to engage or move backward to disengage the pick-up head holders 25A, 25B. In this way, the engagement arms 71A, 71B can be controlled to engage / disengage the pick-up head holders 25A, 25B during the X-pitch conversion.

[0076] Fig. 10B71A. A pair of upper locking shaft rods and lower locking shaft rods 36 are adjacent to the left engaging arm 71A. The pair of locking shaft rods 36 are arranged in parallel up and down, and are respectively attached to the left and right side walls of the automatic spacing conversion unit 61. The pickup head holder 25A is slidably retained between the pair of locking shaft rods 36. Similarly, a pair of upper locking shaft rods and locking shaft rods 36 are adjacent to the right engaging arm 71B. The pickup head holder 25B is slidably retained between the pair of locking shaft rods 36. The two pickup head holders 25A and 25B are respectively joined to the two sides of the pickup head columns M, N, O, P, and Q, namely, the pickup head row A and the pickup head row C (see Figure 2A , Figure 2B and Figure 6 ). The pickup head holder 25A, 25B includes a pair of friction blocks 29A, 29B for locking the lock shaft rod 36 and / or unlocking the engagement with the lock shaft rod 36.

[0077] like Fig. 10B As shown, when the X-pitch conversion mechanism 70 is activated, the spring-loaded push finger 8A will be inserted into the pick-up head holder 25A to release the friction block 29 from the lock shaft rod 36. This action allows, for example, the pick-up head column M held by the pick-up head holder 25 to move to the desired X-pitch position along the guide rails 32A, 32B in the X direction. The pick-up head holders 25A and 25B all have sensors for determining the coordinates of each pick-up head 65 of the columns M, N, O, P, Q and rows A, B, C, etc. When the desired X-pitch position is reached, the push finger 8 will be released, and the pick-up head column M will be locked in the X-pitch position by the lock shaft rod 36 and the friction block 29.

[0078] This process is repeated for the pick heads in column N and other columns according to the programming of the control unit 50. Since the operation of X-pitch conversion is performed on a column-by-column basis, the X-pitch between the pick heads in each column can be the same or different (i.e., variable). For example, the spacing between column M and column N can be adjusted to X-pitch 1, while the spacing between column N and column O can be X-pitch 1 or X-pitch 2, etc. Variable spacing adjustment advantageously allows the user to freely configure as many formats / matrices as possible depending on the type of use of the PnP device, for transferring parts to other types of carriers and / or workstations with different formats / matrices.

[0079] Fig.11A and Fig. 11B A pair of bearing blocks 24A, 24B are shown attached to respective pick-up head holders 25A, 25B. Pick-up head trains M, N, O, P, Q are guided along a pair of guide rails 23A, 23B ( Fig. 11C) is slidably movable in the X-pitch direction, and the pair of guide rails 23A, 23B extends longitudinally beyond the length of the pitch conversion unit 61. Linear motion slides (e.g., linear motion guides including guide rails and bearing blocks) are commonly used for this purpose because they are easy to obtain and inexpensive to use. However, such off-the-shelf components include bearing blocks with a minimum pitch length (e.g., 15.6 mm), which is the closest dimension at which the bearing blocks contact each other and prevent further movement. This minimum pitch length may not be able to meet smaller X-pitch dimensions (e.g., 8 mm). Therefore, an alternating arrangement of pick head columns M, N, O, P, Q can be used to overcome this limitation.

[0080] Fig. 11C Shown is a configuration according to another embodiment with two pairs of guide rails 23A, 23B and 23C, 23D. These two pairs of guide rails 23A, 23B, 23C, 23D can be arranged in a parallel manner, and extend longitudinally beyond the length of the spacing conversion unit 61. The first pair of guide rails 23A, 23B and the second pair of guide rails 23C, 23D are spaced apart. The bearing blocks 24A, 24B and 24C, 24D attached to corresponding pick-up head holders 25A, 25B and 25C, 25D are slidably attached to guide rails 23A, 23B and 23C, 23D respectively. In this way, the pick-up head column 24 can be carried by the first group of pick-up head holders 25A, 25B slidably attached to the first group of bearing blocks 24A, 24B. Similarly, the pick-up head of the second row N can be carried by the second group of pick-up head holders 25C, 25D that are slidably attached to the second group of bearing blocks 24C, 24D. In this way, row M and row N operate independently of each other, so that row N can be used to move to the X spacing position when it is smaller than row M and row N attached to the same guide rail 23A, 23B. Those skilled in the art will easily understand the benefits of this arrangement, so that the X spacing can be adjusted to the smallest possible value. This alternate pick-up head row arrangement can also be expanded to include multiple pairs of alternate guide rails, to further reduce the X spacing size.

[0081] Y-direction spacing conversion mechanism

[0082] Fig.11A A column M comprising three pick-up heads is shown in an open position, while Fig. 11B The pick-up head 65 is shown in a closed position (initial position) in the Y-pitch direction. The pick-up head array assembly is held by a pick-up head holder 25A, 25B resting on a pair of slidable guide rails 24A, 24B (see FIG. Figure 7 and Fig. 10B ).

[0083] like Fig.12 , Fig.13 and Fig.14As shown, the Y pitch conversion mechanism 80 includes a Y pitch motor 16 for transmitting motion to a pair of pitch rods 42A, 42B along a guide rail 41A (on the right side of the automatic pitch conversion unit 61) and a guide rail 41B (on the left side of the automatic pitch conversion unit 61), thereby moving rows A and C of the pickup head columns M, N, O, P, Q to the desired Y pitch.

[0084] The Y-pitch conversion mechanism 80 includes a drive motor 16 that drives a set of motion transmission elements (a worm gear 10, a pinion gear 11, a timing pulley 9, and a timing belt 12 located on the drive motor 16) to drive a drive pulley 13A. The drive pulley 13A in turn moves the Y-pitch arms 14A and 14B via a link arm 39. The link arm 39A is rotatably pivoted at the center position of its longitudinal length, so that clockwise / counterclockwise rotation of the drive pulley 13A causes the end of the link arm 39 to slide along the slot between the Y-pitch arms 14A, 14B to the drive pulley 13A, and the link arm 39A is slidably attached to the Y-pitch arms 14A and 14B via a rotatable bearing (not shown), thereby converting the rotational motion of the drive pulley 13A into a linear motion to push the Y-pitch arms 14A and 14B away from or toward each other to provide pitch distance adjustment (Y-pitch conversion). It should be noted that in the three-row pickup head assembly, row B of rows A, B, and C will be fixed in position along the center line CL (see Fig. 9 ). An optional elastic member (not shown) such as a tension spring may further be used to pull the Y-spacing arms 14A, 14B to the closed position (initial position).

[0085] The left end of the automatic pitch conversion unit 61 is equipped with a balancing mechanism 90, which has a set of motion transmission elements corresponding to the transmission elements (the synchronous pulley 3, the synchronous belt 2, and the synchronous pulley 4 located at the drive motor 1). Fig.13 and Fig.14 As shown, the driving pulley 13A transmits motion to another driving pulley 17A via a timing belt 18, transmits motion to a transmission shaft 43 linked to the driving pulley 17A to transmit the rotational motion from the driving motor 16 to the driving pulley 17B at the left end of the automatic pitch conversion unit 61, and transmits to the Y-pitch arms 14C, 14D of the balancing mechanism, wherein the Y-pitch arms 14C, 14D are slidably attached to the guide 41B via the same link arm 39B. The balancing mechanism 90 will move synchronously with the main Y-pitch conversion mechanism 80 to ensure balance and stability during the Y-pitch conversion operation.

[0086] Again, see Figures 11 to Fig.14Each row of pick heads A, B, C is slidably attached to the spacing rods 42A, 42B via the bearing mount 21. During the Y-direction spacing conversion, the spacing rods 42A, 42B move the pick head rows A and C in the linear direction of the Y direction under the guidance of the rails 41A, 41B. All columns M, N, O, P, Q move simultaneously for Y-spacing conversion, that is, whether in the parking area or in the active area, the columns M, N, O, P, Q move at the same time.

[0087] The foregoing disclosure describes a configuration of three pick-up head rows. However, the number of active pick-up heads 65 can vary, and its number is scalable and can be further adjusted according to a JEDEC tray or other type of carrier matrix. The number of pick-up heads 65 in each column M, N, O, P, Q of the PnP device 60 is not limited. Fig.15 Layout examples for different numbers of pickup heads 65 that can be configured by the user are shown. For conversion, when the number is an odd number (1, 3 or 5), the center position CL (see also Fig. 9 ) is fixed, while the pickup heads on the left and right sides of the center position can move along the Y pitch direction to achieve pitch conversion. When the number of pickup heads is an even number (2, 4), all pickup heads can move along the Y pitch direction with the center position CL as the reference position. The suction part of the pickup head can also be released by the user using the quick release mechanism 66 (see Fig. 9 ) for manual removal to enable other pick head configurations for inspection etc.

[0088] like Fig.11A and Fig. 11B As shown, the number of rows of pickup heads in each column can be increased from a single row to Fig.15 The same number of rows as shown. Spacing conversion can be similarly applied by increasing the length of the link arms 39A, 39B and the number of spacing rods 42A, 42B. As will be appreciated by those skilled in the art, other mechanisms, such as a pantograph mechanism, can also be used to ensure that the spacing between the pick head rows D, C, B, A, E is equidistant from each other.

[0089] Furthermore, after the Y and X pitch conversion of the product is completed, the Y and X pitch can still be changed after the part is picked up by the PnP device and before it is placed on another tray (with different X and Y pitches) or before it is inspected at another workstation. However, such on-the-fly conversion may be undesirable for X pitch conversion because the required X pitch processing time may be too long and thus reduce machine output. Therefore, such conversion should only be performed when it is absolutely necessary, for example, when there is an initial format error or input error. On the other hand, Y pitch conversion can be easily accomplished using different Y pitch trays or inspection stations in similar situations. On-the-fly pitch conversion can be as follows: Figure 1 1, where the Y pitch in the tray along line 101 may be different from the Y pitch in the tray along line 102. In this example, PnP device 60(3) may pick up components from JEDEC tray 100 (or other carrier) along line 101, perform a Y pitch conversion on the fly, and place the picked components on JEDEC tray 100 (or other carrier having a different pitch than line 101) along line 102.

[0090] Operation / Procedure

[0091] like Fig.16 As shown, if the X spacing and Y spacing are the same between the tray matrix and the PnP device, production will start. If the spacing of the PnP device and the tray matrix is ​​different, automatic spacing conversion will start. The control system 50 will start as follows Fig.17 The X spacing is converted as shown, and then Fig.18 The Y spacing is converted as shown.

[0092] Fig.17 2 shows the procedure for X pitch conversion. The control system 50 first identifies the pick-up head positions for all columns M, N, O, P, Q and rows A, B, C. This identification task is performed by the slot sensor 46, which is, for example, equipped with a sensor flag attached to the pick-up head holder 25A for column M (the pick-up head holder 25B is used as the sensor flag to save space). The position of the sensor 46 and the sensor flag 25B is shown as follows. Fig. 9 As shown. The sensor 46 uses the right engagement arm 71B and the left engagement arm 71A as reference in the X pitch direction to determine the position of the pick-up head positions of the columns M, N, O, P, Q. If an X pitch conversion is required, the left engagement arm 71A and the right engagement arm 71B will advance to the pick-up head 65 of each column M, N, O, P, Q, unlocking one column at a time and moving it to the "parking area" of the automatic pitch conversion unit 61 in turn.

[0093] In the "parking area", the control system 50 rescans and reconfirms the position of the columns M, N, O, P, Q. After confirming the position, the left engagement arm 71A and the right engagement arm 71B engage the pick head holders 25A, 25B (or if an alternating configuration is used, the pick head holders 25C, 25D) and move each column M, N, O, P, Q to the desired position in the "active area" in sequence, i.e. according to the matrix of the tray or carrier. Before disengaging the engagement arms 71A, 71B and moving to the next column of pick heads, the control system 50 scans each column M, N, O, P, Q again and confirms all positions when the pitch position is met. After the X pitch conversion is completed, the program performs the Y pitch conversion.

[0094] The procedure for automatic spacing conversion in the Y direction is as follows Fig.18 The positions of rows A, B, and C are first confirmed by slot sensors 48A and sensor marks 49A. The positions of slot sensors 48A and sensor marks 49A are shown in FIG. Fig.14 As shown. Before switching to the correct spacing position according to the tray or carrier matrix, the control system 50 first moves rows A and C to the initial position (closed position). When the Y spacing position is reached, the control system 50 scans each row A, B, C again and reconfirms all Y spacing positions.

[0095] After the X and Y spacing conversion is completed, the control system 50 will issue a production operation instruction to the system 10. When different products (different trays or inspection matrices) are introduced, the following will be repeated. Fig.16 , Fig.17 and Fig.18 Automatic pitch conversion procedure shown.

[0096] The procedural steps for automatic spacing conversion are described as follows.

[0097] Fig.16 An overall process flow 200 for automatic pitch conversion of PnP devices is shown.

[0098] Step 201: The user uses the program 51 in the control unit 50 to select a product to be run.

[0099] Step 202 : The software of the control unit 50 obtains the tray format / matrix information from the scheme 51 .

[0100] Step 203: Determine if the PnP device is the same as the tray format / matrix. If the PnP device is the same as the tray format / matrix, the process proceeds to step 206 to run production.

[0101] Step 204: If the PnP device and the tray format / matrix are not the same, the control unit 50 will input a command to perform an X-pitch and / or Y-pitch conversion on the PnP device.

[0102] Step 205: After step 204 is completed, the control unit 50 will again determine whether the PnP device format / matrix is ​​the same as the tray format / matrix. If the PnP device and tray formats / matrix are not the same, the program steps will return to step 204.

[0103] Step 206: If the PnP device is the same as the tray format / matrix, the system 10 will proceed to run production.

[0104] As will be well understood by those skilled in the art, while the procedural steps refer to a tray format / matrix, similar procedures will apply to a workstation format / matrix.

[0105] Fig.17 A program flow 210 for automatic X-spacing conversion is shown.

[0106] Step 211: The control unit 50 inputs an instruction for X-spacing conversion.

[0107] Step 212: The control unit 50 determines whether the X spacing is the same as the tray matrix. If the X spacing is the same, proceed to step 219.

[0108] Step 213: If the X spacing is not the same as the tray matrix, the control unit 50 scans the X positions of multiple columns of pickup heads.

[0109] Step 214: Move the pick heads of all columns M, N, O, P, and Q to the parking area.

[0110] Step 215: Scan and confirm the positions of all picking head columns M, N, O, P, Q in the parking area.

[0111] Step 216: Move each column of pick heads in turn to correct the X pitch position in the active area.

[0112] Step 217: Scan the pickup heads of all columns M, N, O, P, Q of the active area.

[0113] Step 217: Confirm that the X-pitch position of the pick-up heads of rows M, N, O, P, Q is correct in the active area. If the X-pitch is incorrect, proceed to step 214.

[0114] Step 219: If all X-pitch positions of the pickup heads of columns M, N, O, P, Q are correct, then a Y-pitch conversion is performed.

[0115] Fig.18 A program flow 220 for automatic Y-spacing conversion is shown.

[0116] Step 221: The control unit 50 inputs a Y-spacing conversion instruction.

[0117] Step 222: Scan and confirm the Y spacing position of the pick-up head in rows A, B, and C. If the Y spacing of the pick-up head is the same as the tray matrix, proceed to step 226 to run production.

[0118] Step 223: If the Y spacing is not the same as the tray matrix, move rows A and C to the initial position (minimum spacing).

[0119] Step 224: Move row A and row C to calibrate the Y spacing position.

[0120] Step 225: Scan and confirm that the Y spacing of the pickup heads of rows A, B, and C is correct in the active area. If the Y spacing is incorrect, proceed to step 223.

[0121] Step 226: If the Y spacing is correct, run production.

[0122] The present invention provides several advantages. First, the PnP device can be located anywhere in the machine. Second, the number of conveyor lines for the tray, the number of conveyor lines for the PnP device, and the number of pick heads are scalable. These advantages effectively eliminate the maintenance requirements of multiple different conversion kits required for traditional PnP devices. In addition to the instantaneous pitch conversion capability, the dual X and Y pitch conversion mechanism integrated in the PnP device also provides a fast response time if a pitch conversion is required during product changeover. These advantages together increase the throughput of the system 10.

[0123] It is apparent that the pick and place system, apparatus and method with multiple pick and place stations and independent pick and place devices capable of automatic spacing conversion in X and Y coordinates have been described in the specification with sufficient specificity to be understood by those of ordinary skill in the art. In addition, it is apparent to those of ordinary skill in the art that various modifications, variations, substitutions and equivalents exist for the features of the apparatus without substantially departing from the scope of the invention.

[0124] Those skilled in the art will further appreciate that variations and combinations of the above features, rather than replacement or substitution, may be combined to form yet another embodiment falling within the intended scope of the present invention.

Claims

1. A component pick-and-place system, comprising: Control unit; at least one conveyor line for conveying a plurality of component pallets; as well as at least one conveyor line for conveying a plurality of pick and place (PnP) devices; Each of the plurality of PnP devices comprises: Control and valve units; The automatic pitch conversion unit has at least one column of pickup heads and at least one row of pickup heads located in the parking area and the active area, and the automatic pitch conversion unit also includes: X-spacing conversion mechanism, including: a first drive motor; a plurality of motion transmitting elements for transmitting the rotational motion of the first drive motor to move the pair of X-pitch belts in a linear direction; a pair of engagement arms slidably engaged to the pair of X-pitch bands for sequentially engaging each of the at least one column of pick heads to move to a desired X-pitch position; Y spacing conversion mechanism, including: a second drive motor; a plurality of motion transmission elements for transmitting the rotational motion of the second drive motor to a pair of Y-spaced arms, To move a pair of Y spacing rods in a linear direction; A pair of pick head holders are slidably engaged to the pair of Y-pitch rods for simultaneously moving the at least one row of pick heads to a desired Y-pitch position.

2. The system according to claim 1, characterized in that The X-pitch mechanism includes a first pair of guide rails, and each column of the plurality of columns of pick heads moves sequentially to the X-pitch position along the first pair of guide rails.

3. The system according to claim 1 or 2, characterized in that: The X-pitch mechanism further includes a second pair of guide rails spaced apart from the first pair of guide rails, and each column of the plurality of columns of pick heads sequentially moves to the X-pitch position along the second pair of guide rails.

4. The system according to claim 3, characterized in that Each column of the plurality of columns of pick heads moves sequentially along the first pair of guide rails and then sequentially along the second pair of guide rails, wherein the X spacing between each column is variable.

5. System according to any one of the preceding claims, characterized in that Each of the plurality of PnP devices is used to pick up a plurality of components from the plurality of component trays along the conveyor line, perform an instant Y-pitch conversion, and place the plurality of components in the plurality of component trays along another conveyor line.

6. The system according to claim 5, characterized in that The Y spacings along the transmission line are different.

7. The system of claim 1, further comprising a programmable software solution for executing instructions for X-pitch conversion and Y-pitch conversion.

8. System according to any one of the preceding claims, characterized in that The X-pitch conversion mechanism further comprises one or more columns of sensors, and the one or more columns of sensors are used to determine the actual position of the pickup head in the X-pitch direction, and wherein the Y-pitch conversion mechanism further comprises one or more rows of sensors, and the one or more rows of sensors are used to determine the actual position of the pickup head in the Y-pitch direction.

9. System according to any one of the preceding claims, characterized in that The suction portion of each pick-up head is used for removal using a quick release mechanism.

10. System according to any one of the preceding claims, characterized in that Each engagement arm of the pair of engagement arms comprises a pin cylinder and a pusher, and wherein the control and valve unit is used to activate the pin cylinder to engage or disengage the pusher with the pair of engagement arms.

11. System according to any one of the preceding claims, characterized in that Each of the at least one row of pickup heads is adapted to be slidably attached to the pair of Y-pitch rods so that each of the at least one row of pickup heads moves simultaneously for Y-pitch conversion.

12. A system according to any one of the preceding claims, characterised in that The Y-pitch conversion mechanism includes one or more link arms adapted to transmit the rotational motion of the second drive motor to the pair of Y-pitch arms, and wherein the length of the one or more link arms is extendable to increase the number of rows of the pick-up head.

13. A system according to any one of the preceding claims, characterised in that The system further comprises a balancing mechanism, wherein the balancing mechanism is adapted to move synchronously with the Y-pitch conversion mechanism, and the balancing mechanism is connected to the Y-pitch conversion mechanism via a shaft.

14. A system according to any one of the preceding claims, characterised in that The automatic pitch conversion unit further comprises a zoom mechanism for keeping the pitches between each row of pickup heads equidistant from each other.

15. A pick and place (PnP) device for transferring semiconductor components, comprising: a plurality of pick and place (PnP) modules, each PnP module including at least three pick and place (PnP) heads; A conveying mechanism for moving each of the plurality of PnP modules to a component X spacing position above a tray or a workstation, the conveying mechanism comprising: a first drive motor; a plurality of motion transmission elements for transmitting the rotational motion of the first drive motor to move a pair of X-pitch belts in a linear direction; and a pair of engagement arms slidably engaged to the pair of X-pitch belts for sequentially engaging each of the plurality of PnP modules to move to a component X-pitch position; and A spacing adjustment mechanism is used to adjust the Y spacing of the at least three pick-and-place heads, and the spacing adjustment mechanism includes: a second drive motor; a plurality of motion transmission elements for transmitting the rotational motion of the second drive motor to a pair of Y-pitch arms to move a pair of Y-pitch rods in a linear direction; and a pair of pick head holders slidably engaged to the pair of Y-pitch rods for simultaneously moving multiple rows of pick heads to desired Y-pitch positions.

16. The PnP device according to claim 15, characterized in that: The conveying mechanism includes a first pair of guide rails, and each of the plurality of PnP modules is sequentially moved to the X-pitch position along the first pair of guide rails.

17. The PnP device according to claim 16, characterized in that: The conveying mechanism further includes a second pair of guide rails, and each of the plurality of PnP modules is sequentially moved to the X-pitch position along the second pair of guide rails.

18. The PnP device according to claim 17, characterized in that: Each of the plurality of PnP modules moves sequentially along the first pair of rails and then moves sequentially along the second pair of rails, and wherein an X spacing between each column is variable.

19. The pick and place (PnP) device according to claim 15, characterized in that The pitch adjustment mechanism also includes a pair of pick head holders slidably engaged to the pair of Y pitch rods for simultaneously moving the multiple rows of pick heads to a desired Y pitch position.

20. The pick and place (PnP) device according to claim 15, characterized in that The pitch adjustment mechanism includes one or more link arms adapted to transmit the rotational motion of the second drive motor to the pair of Y-pitch arms, and wherein the length of the one or more link arms is extendable to increase the number of rows of the pick-up head.

21. A method for automatic pitch conversion of a component pick-and-place system, the method comprising the following steps: (a) selecting components to operate with the scheme in the control unit; (b) obtaining tray format or matrix information from the protocol; (c) determining, using the control unit, whether the X-spacing and Y-spacing of the tray matrix are the same as the PnP device; and (d) when it is determined that the X pitch and the Y pitch are different from those of the PnP device, inputting a command using the control unit to perform X pitch conversion and / or Y pitch conversion on the PnP device.

22. The method according to claim 21, further comprising the steps of: Each column of pick heads is moved to a parking area of ​​the PnP device and then scanned to determine the X-pitch position of the pick heads in the parking area.

23. The method according to claim 22, further comprising the steps of: Each column of pick heads is moved in turn from the parking area to the correct X-pitch position in the active area.

24. The method according to claim 23, further comprising the steps of: Each column of pick heads in the active area is scanned to determine the X-pitch position of the pick heads.

25. The method according to claim 24, further comprising the steps of: Move each row of pick heads to the initial position so that the Y spacing between each pick head is minimized.

26. The method according to claim 25, further comprising the steps of: At the same time, move each row of pick heads to the correct Y spacing position.

27. The method according to claim 26, further comprising the steps of: Each row of pick heads is scanned to confirm that the pick heads are at the correct Y-pitch position in the active area.

28. The method according to any one of claims 23 or 26, characterized in that The control unit is used to input a command to perform the X pitch conversion and / or the Y pitch conversion on the PnP device when it is still determined that the X pitch and / or the Y pitch are different from those of the pick-and-place device.

Images