Alignment of singulated workpieces

Abstract

A workpiece aligner comprising: a base; the driving assembly comprises a first rotary driver, a second rotary driver and a third rotary driver, each rotary driver drives a corresponding cam type rotor, and when the cam type rotors rotate, the supporting part moves relative to the base; the drive assembly is selectively operable to move the support portion to cause translation of the support portion parallel to a plane, rotation of the support portion about an axis orthogonal to the plane, or a combination of the translation and the rotation.

Description

Technical Field

[0001] The present invention relates to a workpiece aligner, an alignment assembly, and a mounting for supporting one or more workpiece aligners thereon. Background Technology

[0002] Industrial screen printing machines typically apply a conductive printing medium (such as solder paste or conductive ink) onto a planar workpiece (e.g., a circuit board) by using angled blades or squeegees to apply the conductive printing medium (such as solder paste or conductive ink) onto a pattern of holes in a printing screen (sometimes called a foil or stencil). When the area of ​​the pattern is relatively small relative to the area of ​​the screen, multiple patterns can be contained within the screen, allowing multiple areas or multiple boards of a single board to be printed simultaneously using the same screen. Alternatively, multiple relatively small screens can be used within the same printing machine to enable the simultaneous printing of multiple areas or multiple boards of a single board using their respective screens.

[0003] The preferred technology currently is to pre-separate or "single-cut" the boards before the printing process. The advantage of this process is that any defective boards can be identified and immediately rejected before printing, thus printing only defect-free boards. While this process is relatively efficient, it also introduces several complexities. In particular, it is difficult to support and align relatively small individual boards for simultaneous (or sequential) printing.

[0004] Several methods have been developed to address these issues. For example, GB 2484373 A describes a method for placing individual boards separately, but this method can only sequentially print one substrate at a time. JP-2009-248551 describes a method for individually checking the position of each board and using a repositioning arm to sequentially reposition each board. While this technique can print all boards on a panel simultaneously, it requires additional equipment (such as a positioning arm), and moving the arm between workpieces is very time-consuming. WO2014 / 166956 describes an alternative device in which all boards can be simultaneously aligned using a reference screen and then printed simultaneously. This solution works well, but it becomes unsuitable if the incoming unprinted board is too far from its correct position.

[0005] EP3693168A1 describes a workpiece support assembly capable of supporting and individually aligning multiple (at least one) relatively small workpieces (commonly referred to as "single-cut" workpieces). Figure 1An example of such a component 1 is schematically shown, comprising a 2×4 array of individual support “towers” ​​2. Each tower 2 has a support surface 3 at its top, on which the workpiece (not shown) can be supported during the printing operation. Furthermore, each tower 2 can be individually driven to move along orthogonal directions X and Y (typically in the horizontal plane) and can also rotate about an orthogonal Z-axis (which typically extends vertically), thus achieving so-called θ correction. As described in EP3693168A1, this movement can be advantageously provided by using a parallel motion drive system within each tower. Of course, other arrays of larger or smaller dimensions are also possible. This system has been published by ASMPT under the name “MASS” and provides a very fast and accurate printing scheme. In a further extension of the “MASS” method, GB2619961A describes how to use support surfaces of different heights on each MASS tower to reduce the minimum spacing of workpieces printed in a single printing operation by staggering the alignment of the workpieces. While MASS may be considered the "gold standard" for single-cut systems, using such individually driven towers is technically complex and requires a minimum spacing between towers so that they can move relative to each other without the risk of collision, and provides the physical space required for the hardware. Summary of the Invention

[0006] This invention aims to provide an alternative device for aligning single-cut workpieces that is robust, fast-running, highly accurate, and relatively low in technical complexity. Furthermore, this invention aims to provide an alignment device capable of aligning single-cut substrates with an extremely small pitch (approximately 31.6 mm), significantly smaller than that achievable with conventionally available alignment devices. Another object of this invention is to provide such a device in a modular manner.

[0007] According to the present invention, this objective is achieved by a novel drive system comprising a rotary drive device that drives individual cam-type rotors. The resulting workpiece aligner is compact, robust, and can be modularly mounted on a mounting component.

[0008] According to a first aspect of the present invention, a workpiece aligner is provided for aligning a workpiece supported thereon, comprising:

[0009] Base;

[0010] Support portion for supporting the workpiece thereon; and

[0011] Drive component for moving the support.

[0012] in,

[0013] The drive assembly includes first, second, and third rotary drivers, each driving a corresponding cam-type rotor. As the cam-type rotor rotates, it causes the support portion to move relative to the base.

[0014] So that the drive assembly can be selectively operated to move the support, thereby causing the support to translate parallel to the plane, rotate about an axis orthogonal to the plane, or a combination of the translation and the rotation.

[0015] According to a second aspect of the invention, an alignment assembly is provided for aligning a plurality of unicast substrates, the assembly comprising a plurality of workpiece aligners, each workpiece aligner conforming to a first aspect of the invention.

[0016] According to a third aspect of the invention, a mounting member is provided for supporting one or more workpiece aligners thereon, the mounting member including an upper surface having one or more mating portions for removably and repeatedly accommodating a corresponding workpiece aligner.

[0017] Each docking section includes electrical contacts for exchanging electrical signals with a corresponding workpiece aligner, and a vacuum port that aligns with the vacuum aperture of the workpiece aligner when the docking section accommodates the corresponding workpiece aligner.

[0018] The mounting includes a pneumatic manifold for providing at least a partial vacuum to each workpiece aligner supported thereon via a corresponding vacuum port.

[0019] Other specific aspects and features of the invention are set forth in the appended claims. Attached Figure Description

[0020] The invention will now be described with reference to the accompanying drawings (not to scale), in which:

[0021] Figure 1 An isometric view of a known workpiece support assembly is schematically shown.

[0022] Figure 2 An isometric view of a workpiece aligner according to an embodiment of the present invention is schematically shown;

[0023] Figure 3 Intentionally showed Figure 2 A top view of the cross-section of the workpiece alignment device shown;

[0024] Figure 4 schematically shown Figure 2 The top view of the head of the workpiece aligner shown;

[0025] Figure 5 It shows Figure 4 The top-view isometric view of the head shown.

[0026] Figure 6 A schematic top view of a cross-section of a workpiece aligner according to a second embodiment of the present invention is shown.

[0027] Figure 7A and 7B A side view of a portion of a drive assembly according to a third embodiment of the present invention is shown schematically;

[0028] Figure 8A and 8B A side view of a portion of a drive assembly according to a fourth embodiment of the present invention is shown schematically;

[0029] Figure 9 A schematic top view of a cross-section of a workpiece aligner according to a fifth embodiment of the present invention is shown.

[0030] Figure 10 A top view schematically showing a cross-section of the workpiece aligner head according to a sixth embodiment of the present invention is shown.

[0031] Figure 11 A top view schematically showing a cross-section of the workpiece aligner head according to a seventh embodiment of the present invention is shown.

[0032] Figure 12 A schematic top view of a cross-section of the workpiece aligner head according to an eighth embodiment of the present invention is shown.

[0033] Figure 13 A top view schematically showing a cross-section of the workpiece aligner head according to a ninth embodiment of the present invention is shown.

[0034] Figure 14 An isometric view schematically shown of the drive assembly of the workpiece aligner according to a tenth embodiment of the present invention;

[0035] Figure 15 schematically shown Figure 14 A top view of the drive component shown;

[0036] Figure 16 A partial sectional side view of the workpiece aligner according to the tenth embodiment is schematically shown;

[0037] Figure 17 schematically shown Figure 16 Exploded top view of the various parts of the workpiece alignment device shown;

[0038] Figure 18 An isometric view of a portion of the alignment assembly according to the invention is shown schematically;

[0039] Figure 19 schematically shown Figure 18 The isometric view of the cross-section of the aligned assembly shown; and

[0040] Figure 20 A side cross-sectional view of the alternative alignment assembly is schematically shown.

[0041] Explanation of reference numerals in the attached figures:

[0042] 1-Workpiece support assembly

[0043] 2-Tower

[0044] 3-Support Surface

[0045] 10-Workpiece Aligner

[0046] 12-Base

[0047] 14-Head

[0048] 15-Head

[0049] 16-Support section

[0050] 17-Head

[0051] 18A, 18B, 18C - Rotary actuators

[0052] 19-Head

[0053] 20-axis

[0054] 21-Head

[0055] 22A, 22B, 22C - Cam-type rotor

[0056] 24 – Stopping Components

[0057] 26-Cavity

[0058] 28-Sidewall

[0059] 30-Permanent magnet

[0060] 32-Public Passage

[0061] 34-First Vacuum Channel

[0062] 36-Second Vacuum Channel

[0063] 37-Opening

[0064] 38-First Vacuum Hole

[0065] 40-Second Vacuum Hole

[0066] 42-Spring-loaded contact pin

[0067] 50-Workpiece Aligner

[0068] 52A-52C-Cam-type Rotor

[0069] 54-Step section

[0070] 56, 58 - Cam-type rotor

[0071] 60-bearing

[0072] 62-Cam section

[0073] 64-Threaded portion

[0074] 66-Cam Follower

[0075] 68-Guide Pin

[0076] 70-Workpiece Aligner

[0077] 72-Horizontal Spring

[0078] 74-Vertical Spring

[0079] 76-Column

[0080] 80-Workpiece Aligner

[0081] 82A-82C Rotary Actuator

[0082] 84A-84C-Cam-type Rotor

[0083] 86-Main Body

[0084] 88-Base

[0085] 90-axis

[0086] 92-Bearing

[0087] 94-Intermediate Layer

[0088] 96-Top Floor

[0089] 98-Linear Bearing

[0090] 100-Alignment Components

[0091] 102-Installation Components

[0092] 104-Dating Section

[0093] 106-Electrical Contact

[0094] 108-First Vacuum Port

[0095] 110-Second Vacuum Port

[0096] 112-First Vacuum Chamber

[0097] 114 - Second Vacuum Chamber

[0098] 116-Bottom Tray

[0099] 118-Intermediate Tray

[0100] 120-Top Cover

[0101] 122-Channel

[0102] 128-shaft

[0103] 130-groove

[0104] 132-groove

[0105] 134A-134C-Cam-type Rotor

[0106] 136-Sidewall

[0107] 138-pores

[0108] 140A-140C-Cam-type Rotor

[0109] 142-Sidewall

[0110] 144-Sidewall

[0111] 146-groove

[0112] 148-groove

[0113] 150-pore

[0114] 160-Installation Part

[0115] 162-Tool Table

[0116] 164-Mounting Base

[0117] 166-Support Plate

[0118] 168 - Through hole. Detailed Implementation

[0119] Figure 2 A workpiece aligner (or "tower") 10 according to a first embodiment of the present invention is schematically shown. The workpiece aligner 10 may form part of the workpiece support assembly 100 (see below for example). Figure 14 The workpiece aligner 10 is suitable for supporting a single cut workpiece (not shown), or even supporting more than one cut workpiece (e.g., if a method similar to that described in GB2619961A is used). For the sake of brevity, in the following discussion, it will be assumed that each workpiece aligner 10 is used to hold the corresponding single cut workpiece.

[0120] The workpiece aligner 10 includes a base 12 that remains stationary during operation and can be placed, for example, on the table of a printing press (not shown) within the mounting 102 (see below for example). Figure 14 The base 12 shown has an approximately square cross-section and is formed by walls surrounding a hollow interior, thus creating a hollow cylinder. The head 14 protrudes above the base 12 and can be positioned... Figure 2 It moves relative to the base 12 within the horizontal (XY) plane shown. Although Figure 2 This is not shown for clarity, but one or more bearings can be placed between the base 12 and the head 14 to ensure smooth relative movement between them. Figure 2 In the diagram, both the base 12 and the head 14 are presented in a transparent form, and are therefore indicated by dashed lines to provide a clearer view of the internal structure of the workpiece aligner 10. The head 14 has an upper surface that serves as a support 16 for the workpiece during use. A drive assembly is located inside the base 12, comprising first, second, and third rotary drivers 18A-18C or motors, each driver driving a corresponding cam rotor 22A-22C via shaft 20. Stepper motors can be conveniently used as each driver 18A-18C. Each rotary driver 18A-18C drives its corresponding cam rotor 22A-22C to rotate about its respective rotation axis, which is perpendicular to the horizontal (XY) plane; therefore, the rotation axis and shaft 20 are aligned parallel to the vertical (Z) axis. Figure 2 In this configuration, the cam rotors 22A-22C have a circular cross-section and are mounted eccentrically relative to the shaft 20. However, these cam rotors 22A-22C can have various shapes, wherein the radial distance between the rotor's driving surface and the rotation shaft varies with its azimuth angle, a fact well known in the art. The cam rotors 22A-22C extend at least partially into the cavity 26 inside the head 14 (see...). Figure 3 The details of which will be described below. Each cam rotor 22A-22C also has a radially extending stop member 24. If a stepper motor is used as the driver 18A-18C, this member is used to stop the stepper motor to obtain a reference position during the calibration procedure. More specifically, each stop member 24 is located inside the body 12 and below the head 14, and is arranged such that the rotational range of motion of each cam rotor 22A-22C is defined by the physical mating of the respective stop member 24 with a stop surface (not shown) formed in or carried by the wall portion of the base 12. Figure 3 schematically shown Figure 2 The workpiece alignment device shown is along Figure 2A top view of the cross-section along line AA, which is located approximately at the midpoint of the vertical thickness of the head 14. For clarity, the rotary actuators 18A-18C have been concealed. In this figure, the eccentricity of each cam rotor 22A-22C with its corresponding shaft 20 is more clearly visible. The internal structure of the head 14 is also more clearly visible. An internal cavity 26 is formed within the head 14, defined by the planar upper surface of the head 14 and the sidewalls 28 (see...). Figure 5 (The structure of the sidewall 28 is clearly visible). The bottom of the cavity 26 is open, allowing the cam rotors 22A-22C to extend upwards and enter it. A biasing device in the form of three permanent magnets 30 is placed within the sidewall 28, each magnet close to its corresponding cam rotor 22A-22C, so that the respective cam rotor 22A-22C (which may be made of a ferromagnetic material, such as steel or iron, or partially composed of a ferromagnetic material) will be attracted by the corresponding permanent magnet 30. In this way, the head 14, more precisely the sidewall 28, maintains contact with each cam rotor 22A-22C, thus moving with them within a certain range of motion, while the sidewall 28 acts as a follower of each cam rotor 22A-22C. Figure 3 It can be seen that when cam rotors 22A and 22C are rotated synchronously while cam rotor 22B is kept stationary, the head 14 will translate parallel to the horizontal Y-axis shown. Rotating cam rotor 22B while keeping cam rotors 22A and 22C stationary will cause the head 14 to translate parallel to the horizontal X-axis shown. The head 14 can rotate about a vertical axis parallel to the Z-axis shown, i.e., about the orientation of the angle θ shown, by, for example, rotating cam rotors 22A and 22B while keeping cam rotor 22C stationary, or by rotating cam rotors 22A and 22C relative to each other (e.g., in opposite directions). Therefore, it can be seen that selective operation of the drive assembly, i.e., selectively rotating each of the cam rotors 22A-22C, will result in a controllable translation of the head (and its support) parallel to the horizontal plane, a rotation of the support about a vertical axis orthogonal to the horizontal plane, or a combination of the translation and the rotation, the magnitude of which is determined by the rotational range of the cam rotors 22A-22C.

[0121] exist Figure 3 The “common passage” 32 can also be seen, running longitudinally through the entire workpiece aligner 10. As previously mentioned, the drive assembly includes three rotary actuators 18A-18C, arranged parallel to each other within a roughly square area. Therefore, a “dead space” exists in the base 12, where no rotary actuators are present in the lower right quadrant of the base 12 (as shown). This dead space, or common passage 32, can be well utilized to accommodate other components. These components include:

[0122] i) Electronic circuitry and / or electrical connections for controlling the rotary drives 18A-18C. In this case, these electrical connections may be connected to electrical contacts (e.g., spring-loaded contact pins (commonly referred to as "Pogo pins")) 42 located at the lower end of the base 12 (see...). Figure 15 These electrical connection devices can carry control signals from external control units (not shown, such as computers, processors, etc.), and can also carry electrical power; and / or

[0123] ii) As shown in the figure, the first vacuum channel 34 and the second vacuum channel 36 extend along the vertical length of the base 12 and are fluidly isolated from each other. More specifically, each of the first vacuum channel 34 and the second vacuum channel 36 may have a corresponding first vacuum hole 38 and second vacuum hole 40 at the lower end of the base 12 (see Figure 1). Figure 15 The vacuum channel 34 is opened at the support 16 to provide at least a partial vacuum, as will be described in more detail below. For example, a first vacuum channel 34 can be used to provide at least a partial vacuum to the upper surface of the support 16 so that the workpiece (not shown) can be reliably secured to the support 16 during use, thereby preventing relative movement between the workpiece and the support 16. For example, a second vacuum channel 36 can be used to selectively provide at least a partial vacuum to the top of the base 12, thereby reducing the fluid pressure between the base 12 and the head 14, which is used to lock the head 14 onto the base 12, thereby preventing relative movement between them. This can be achieved by applying at least a partial vacuum to the interior of the base 12, or more preferably by applying a vacuum through a plurality of openings 37 formed on the wall of the base 12 and located below the side wall 28 of the head 14 (the openings 37 are located at the bottom of the base 12). Figure 3 (These are indicated by dashed lines to show that they are not directly visible in this view) The opening 37 is in fluid communication with the second vacuum channel 36 so that when a vacuum is applied via the second vacuum channel 36 and the opening 37, the sidewall 28 of the head 14 is pulled down and locked onto the base 12. This locking can be enabled after alignment work (i.e., moving the head 14 relative to the base 12 to the desired horizontal position) is completed. To achieve relative movement between the base 12 and the head 14, the first vacuum channel 34 and the second vacuum channel 36 can be formed of a flexible, preferably elastically deformable material (e.g., an elastomer such as rubber or synthetic rubber), which is made into a tubular structure. These tubular structures can also optionally employ a corrugated structure to compensate for relative vertical movement between the base 12 and the head 14.

[0124] from Figure 4 A top view provides a clearer view of the structure of head 14 itself, while Figure 5 This shows a top-view isometric view of head 14. Figure 5In the middle, the internal structure of the head 14 (i.e., the sidewalls 28 and the magnet 30) is marked with dashed lines.

[0125] Figure 6 A schematic top view of a cross-section of a workpiece aligner (or tower) 50 according to a second embodiment of the invention is shown. Many components are similar to those described in the first embodiment, and therefore the same reference numerals are used where possible.

[0126] In this second embodiment, the cam rotors 52A-52C take another form, consisting of rotors with a variable radius around a central point. Therefore, a stepped portion 54 is formed on the circumferential surface of each cam rotor 52A-52C, the radius of which changes abruptly. This cam rotor design has the advantage that the displacement of the head 14 relative to the base 12 can be rapidly changed by moving the stepped portion 54 through the contact point of the head sidewall 28. For example, such cams can be manufactured with very high precision using methods such as electrical discharge machining.

[0127] For clarity, Figure 6 The stop components are omitted, but these components can also be provided, for example, by attaching them to the shaft 20 below the cam rotor (at a lower Z value), and their function is the same as that described in the first embodiment.

[0128] Figure 7A and 7B A side view of a portion of a drive assembly according to a third embodiment of the present invention is schematically shown, wherein Figure 7A and 7B The cam rotor 56 in the drive assembly is shown at different rotational positions.

[0129] A rotary actuator (e.g., rotary actuator 18A is shown in this example) functions to rotate shaft 20 about a vertical axis of rotation (i.e., parallel to the Z-axis shown). Bearings 60 may be provided at both ends of shaft 20 to assist rotation and ensure that shaft 20 remains vertical throughout its rotation. The bearings 60 may also act as stops, thereby defining the range of motion of the cam rotor 56.

[0130] The cam rotor 56 is mounted on the shaft 20 and rotates with it, but can also move perpendicularly (parallel to the Z-axis) along the shaft 20, for example, by providing an external spline (not shown) on the shaft 20, located in an internal spline or groove (not shown) within the cam rotor 56. The cam rotor 56 has two connecting parts: an upper cam portion 62 and a lower threaded portion 64. The cam portion 62 has a vertically oriented external cam surface that is helical in shape, so its radius varies with the azimuth angle around the axis of rotation and also with its vertical range. The threaded portion 64 has a constant radius and is externally threaded.

[0131] A guide pin 68, fixedly mounted on the base 12 (not shown), engages with the threads of the threaded portion 64. Therefore, rotation of the cam rotor 56 causes it to rise or fall relative to the base 12. A cam follower 66, mounted on the head 14 (not shown), engages with the outer cam surface of the cam portion 62. The rising or falling of the cam rotor 56 causes horizontal movement of the cam follower 66, which in turn causes horizontal movement of the head 14.

[0132] Figure 8A and 8B A side view of a portion of a drive assembly according to a fourth embodiment of the present invention is schematically shown, wherein Figure 8A and 8B The cam rotor 58 in the drive assembly at different rotational positions is shown.

[0133] The function of the rotary actuator (e.g., only rotary actuator 18A is shown in this example) is to rotate shaft 20 about a vertical axis of rotation (i.e., parallel to the Z-axis shown). Bearings 60 may be provided at both ends of shaft 20 to assist rotation and ensure that shaft 20 remains vertical throughout its rotation. The bearings 60 may also act as stops, thereby defining the range of motion of the cam rotor 58.

[0134] The cam rotor 58 is mounted on the shaft 20 and rotates with the shaft 20, but it can also move vertically (parallel to the Z-axis) along the shaft 20, for example, by providing an external spline (not shown) on the shaft 20, which is located in an internal spline or groove (not shown) within the cam rotor 58.

[0135] The cam rotor 58 has a vertically oriented external cam surface with a helical shape, so its radius varies with the azimuth angle around the axis of rotation and also with its vertical range. The cam surface is threaded to accommodate a cam follower 66. This follower is both mounted on the head 14 (not shown) and fixed in the Z direction, meaning it is restricted from moving in the vertical direction.

[0136] The rotation of the cam rotor 58 causes the cam rotor 58 to rise or fall relative to the base 12. The rise or fall of the cam rotor 58 causes the cam follower 66 to move horizontally, which in turn causes the head 14 to move horizontally.

[0137] Figure 9 A schematic top view of a cross-section of a workpiece aligner (or tower) 70 according to a fifth embodiment of the present invention is shown. This embodiment is related to... Figure 6 The illustrated embodiment is similar, except that in this embodiment, a tension spring (instead of a magnet) is used as a biasing device to bring the head 14 into contact with the cam rotors 52A-52C. More specifically, a plurality of (three here) horizontal springs 72 are connected between the base 12 and the head 14, which push the head 14 and the cam rotors 52A-52C closer together in the horizontal (XY) plane. Furthermore, a plurality of (two here) vertical springs 74 are connected between the base 12 and the head 14 at different vertical heights, which push the head 14 and the base 12 closer together in the vertical (Z) direction. Both ends of each spring 72, 74 are connected to a post 76 fixed to the head 14 or the base 12. For the horizontal springs 72, the post located at the base 12 can be conveniently formed on the shaft 20 shown. Using spring 72 may cause wear on the sidewall 28 of head 14. Therefore, if necessary, a hardening plate or similar component (not shown) can be fixed to the sidewall 28 near the cam rotors 52A-52C to make contact with it, thereby reducing such wear.

[0138] The above embodiments use a device such as a magnet or spring to cause the head to contact the cam-type rotor. The following four embodiments (refer to each) Figures 10 to 14 (For illustrative purposes) This biasing device is avoided by using an alternative form of head, which includes at least one recess sized to accommodate at least one cam-type rotor, such that the one or more recesses can act as cam followers. In each case, the recess includes elastically deformable sidewalls to ensure good contact between the recess and the corresponding cam-type rotor. In all these figures, the cam-type rotor is located within the recess. Although common channels are omitted for clarity, it should be understood that such channels can be provided in a manner similar to those described above.

[0139] Figure 10A schematic top view of a cross-section of a workpiece aligner head 15 according to a sixth embodiment of the present invention is shown. As shown, the head 15 includes two recesses 130, 132 formed therein, wherein recess 130 accommodates two cam rotors 134A, 134B, and recess 132 accommodates a third cam rotor 134C, each cam rotor 134A-134C being driven and rotating about its respective shaft 128. In this sixth embodiment, the cam rotors 134A-134C have a non-circular cross-section. The sidewalls 136 adjacent to each cam rotor 134A-134C are elastically deformable, which can be conveniently created by forming a gap 138 (e.g., a hollowed-out area) near the corresponding recesses 130, 132 next to each sidewall 136, so that the sidewalls 136 between them are thin and flexible.

[0140] Figure 11 A schematic top view of a cross-section of the workpiece aligner head 17 according to a seventh embodiment of the present invention is shown. This embodiment is similar to... Figure 10 The embodiments shown are very similar, except that each cam rotor 140A-140C adopts a mirrored linear design. These cam rotors 140A-140C exhibit particularly excellent performance when placed within the recesses 130, 132.

[0141] Figure 12 A schematic top view of a cross-section of the workpiece aligner head 19 according to an eighth embodiment of the present invention is shown. This head 19 is... Figure 11 The head 17 is very similar, except that here, one end of the sidewall 142 is connected only to the rest of the head 19, so the associated opening 138 is open to the associated grooves 130, 132. This form of head 19 is particularly advantageous because it simplifies the manufacturing process, thus allowing for wire cutting manufacturing processes in which the opening 138 and its associated grooves 130, 132 are formed simultaneously.

[0142] Figure 13 A schematic top view of a cross-section of the workpiece aligner head 21 according to a ninth embodiment of the present invention is shown. This head 21 is related to... Figure 11 and Figure 12 The head shown is largely similar, except that the sidewall 144 here includes protrusions extending into the associated grooves 146, 148, and a gap 150 is formed behind the sidewall 144. This type of sidewall offers greater flexibility and allows for control over the degree of elasticity exhibited by the sidewall.

[0143] The aforementioned workpiece alignment device employs the principle of parallel kinematics to achieve the alignment mechanism. However, the present invention can also provide a non-parallel kinematic mechanism.

[0144] Figures 14 to 17 The tenth embodiment of the invention employing this non-parallel mechanism is illustrated schematically; Figure 14 An isometric view of the drive assembly of the workpiece aligner 80 is shown; Figure 15 It shows Figure 14 A top view of the drive component shown; Figure 16 A partial sectional side view of the workpiece aligner 80 is shown; Figure 17 An exploded top view of the various parts of the workpiece aligner 80 is shown.

[0145] In this embodiment, three separate rotary actuators 82A-82C are used again, each of which can rotatably drive a corresponding cam rotor 84A-84C. However, here, each cam rotor 84A-84C is engaged with a separate alignment member, and each alignment member can move in a specific direction.

[0146] like Figure 14 and 16 As clearly shown, rotary actuators 82A-82C are located at different heights, with rotary drive 82A inverted relative to rotary drives 82B and 82C, such that its shaft 20 and cam rotor 84A are close to the base of workpiece aligner 80.

[0147] Rotary actuators 82A and 82B are both mounted on the main body 86 (see...) Figure 16 The main body is rotatably mounted on the base 88 via a shaft 90, and a bearing 92 accommodates the shaft 90. A cam rotor 84A engages with the surface of the base 88. A cam rotor 84B, driven by a rotary actuator 82B, engages with the surface of the intermediate layer 94. A rotary actuator 82C is mounted on the intermediate layer 94 and is dependent on it. A cam rotor 84C, driven by the rotary actuator 82C, engages with a top layer 96, which has a support portion 16 for supporting a workpiece (not shown) thereon.

[0148] The top layer 96, the middle layer 94, and the main body 86 are separated by linear bearings, with only the linear bearing 98 between the top layer 96 and the middle layer 94 being separate. Figure 17 As can be seen in the diagram, the top layer 96 and the middle layer 94 can move relative to each other along a direction parallel to the Y-axis. The linear bearing between the middle layer 94 and the main body 86 is arranged perpendicular to the linear bearing 98, thereby enabling the middle layer 94 and the main body 86 to move relative to each other along a direction parallel to the X-axis.

[0149] Therefore, the base 88, the intermediate layer 94, and the top layer 96 act as separate alignment members, each driven by a corresponding rotary actuator 82A-82C. As in the previous embodiments, this drive assembly can be selectively operated to move the support 16, resulting in a translation of the support 16 parallel to the horizontal (XY) plane, a rotation of the support about a vertical axis orthogonal to the horizontal plane, or a combination of the translation and the rotation.

[0150] Base 88 can be, for example, via mounting (e.g., 102, see...) Figure 18 Placed on the workbench (not shown).

[0151] Other functions of the workpiece aligner 80 are similar to those described previously, such as electrical signals and vacuum supply functions.

[0152] Figure 18 An isometric view schematically shown of a portion of the alignment assembly 100 according to the invention, while Figure 19 An isometric view of a cross-section of the alignment assembly 100 is schematically shown. The alignment assembly 100 includes a plurality of workpiece aligners 10, 50, 70, and 80 as previously described, however... Figure 18 For clarity, only a single workpiece aligner 10 is shown. Conveniently, each of the plurality of workpiece aligners 10 can be repeatedly mounted to and removed from the support mount 102, thus each workpiece aligner 10 includes a replaceable module. The mount 102 includes an upper surface thereon on which a plurality of mating portions 104 are formed, wherein the mating portions removably and repeatedly accommodate the corresponding workpiece aligner 10. The mechanical engagement of each workpiece aligner 10 with its mating portion 104 (to ensure its vertical orientation) can be achieved in various ways (e.g., by a tight interference fit between the edge of the mating portion 104 and the workpiece aligner 10, or by providing additional mechanical support portions (not shown)). Each mating portion 104 includes electrical contacts 106 that contact spring-loaded contact pins 42 located at the lower part of each workpiece aligner 10 (see [link to documentation]). Figure 19 These contacts are used to exchange electrical signals with the corresponding workpiece aligners 10. Each docking portion 104 also includes at least one vacuum port, which aligns with the vacuum aperture of the workpiece aligner 10 when the docking portion accommodates the corresponding workpiece aligner 10. In the illustrated embodiment, each docking portion 104 includes a first vacuum port 108 and a second vacuum port 110, which are aligned with the first vacuum aperture 38 and the second vacuum aperture 40 of the associated workpiece aligner 10, respectively.

[0153] Mounting member 102 includes corresponding pneumatic manifolds for providing at least partial vacuum to each of the vacuum ports 108, 110, the respective pneumatic manifolds being fluidly isolated. This can be easily achieved by configuring mounting member 102 as a hollow structure comprising mutually isolated first vacuum chamber 112 and second vacuum chamber 114, wherein the first vacuum chamber 112 is in fluid communication with each first vacuum port 108, and the second vacuum chamber 114 is in fluid communication with each second vacuum port 110. As shown, mounting member 102 is structured from three stacked components: a bottom tray 116, a middle tray 118, and a top cover 120, wherein the first vacuum chamber 112 is formed between the top cover 120 and the middle tray 118, and the second vacuum chamber 114 is formed between the middle tray 118 and the bottom tray 116. A channel 122 is formed in the middle tray 118 to fluidly communicate the second vacuum chamber 114 with the second vacuum port 110.

[0154] For example, at least partial vacuum can be provided to the first vacuum chamber 112 and the second vacuum chamber 114 respectively through holes (not shown) extending through the bottom tray 116 and engaging with corresponding holes formed in the tool table, and a second hole in said hole is fluidly connected to the first vacuum chamber 112 by an additional channel (not shown). For example, as described in patent EP3895895A, the holes in the tool table can also be connected to one or more vacuum sources. Furthermore, the mounting piece can be mechanically secured to the tool table in various ways (e.g., by magnetic attraction or by a separate locating pin).

[0155] Figure 20 A schematic side cross-sectional view of the alternative alignment assembly is shown. In this embodiment, multiple workpiece aligners 10 (e.g., similar to...) Figure 2 Each of the workpiece aligners shown is supported in a suspended structure by a mounting 160, which can be placed on top of, for example, the worktable 162 of a printing press. The mounting 160 includes a mounting base 164 and a support plate 166 mechanically connected thereto, located directly above the mounting base 164. The support plate 166 includes a plurality of through holes 168 therethrough, each sized to accommodate a corresponding workpiece aligner 10, such that each workpiece aligner 10 is supported by the support plate 166 within a corresponding through hole 168 located near the upper end of its base 12. Thus, the base 12 rests downward against the support plate 166, and its respective support portion 16 (i.e., the upper surface of the corresponding head 14) protrudes upward from the support plate 166. In this configuration, as shown, the entire head 14 protrudes above the support plate 166, thus preventing the support plate 166 from obstructing its lateral movement. Although Figure 20 Not shown in the diagram, but the electrical and pneumatic connections required for the workpiece aligner 10 can be easily wired through the interior of the mounting 160. Figure 19 Compared to the previously described embodiments, this embodiment has a significant advantage because it ensures the vertical positioning of all workpiece aligners 10.

[0156] The above embodiments are merely exemplary, and other possibilities and alternatives within the scope of this invention will be apparent to those skilled in the art. For example, the drive components of each of the embodiments described above can be inverted. Thus, taking the first embodiment as an example, the rotary driver can be disposed in the head, while the cam rotor protrudes downward into a cavity formed on the base.

[0157] exist Figures 3 to 9 In the illustrated embodiment, the sidewall acts as a follower, and its form is relatively simple, thus contacting each cam-type rotor near the periphery of the head. However, the invention is not so limited, and other follower configurations (e.g., contacting other sides of the cam-type rotor) can also be employed. For example, the follower may have a... Figure 10 The sidewall 136 shown has a similar layout. In this case, the position of the biasing device (such as a spring, etc.) is (see...) Figure 9 ) or magnet (see Figure 6 Adjustments will be needed to ensure proper contact.

[0158] Cam rotors can take various forms. For example, a "gentler" cam ramp (i.e., the cam surface radius changes relatively slowly with the rotation angle) may provide higher resolution, thus improving positioning accuracy. Conversely, a "steeper" cam ramp (i.e., its radius changes sharply with the rotation angle) will provide a larger range of positional movement, but at the cost of reduced resolution / accuracy. The "steepness" of a cam rotor can be selected based on the specific application requirements. As an alternative, a cam rotor can be equipped with "gradually increasing slope" or variable slope cams, where the radius of the cam surface changes non-linearly with the rotation angle. For example, a relatively gentle cam ramp can be set in the central part of the rotation range to provide high resolution in that area; while relatively steep cam ramps can be set at the ends of the rotation range, allowing for alignment of atypical large or "abnormal" workpieces requiring large translations using the same alignment assembly. In fact, Figure 3 A cam rotor with a circular cross-section and eccentric mounting may already provide this variable slope effect. Another simple way to achieve this is to use a cam rotor with an elliptical, lens-shaped, or similar cross-section.

[0159] In the above embodiments, the head is typically square when viewed from above. However, the head may have other shapes to support workpieces of different shapes (e.g., rectangular, circular, etc.).

[0160] For all alignment components in this invention, the individual workpiece aligners can be calibrated in various ways. A preferred calibration process is performed inside the printing press, using an existing reference camera to determine the alignment of the workpiece at the reference position. This calibration can be performed as needed, or after a predetermined number of alignment / printing operations, or even after each alignment operation.

Claims

1. A workpiece aligner for aligning a workpiece supported thereon, comprising: a base; a support for supporting the workpiece thereon; and a drive assembly for moving the support, wherein the drive assembly comprises first, second and third rotary drives each driving a respective cam rotor, the cam rotors when rotated causing the support to move relative to the base so that the drive assembly is selectively operable for causing the support to move to cause the support to translate parallel to a plane, the support to rotate about an axis normal to the plane, or a combination of the translation and the rotation. Each rotary drive drives its corresponding cam rotor to rotate about a respective rotation axis normal to the plane.

2. The workpiece aligner of claim 1, wherein, The support is on a head, each cam rotor is in engagement with the head to cause the support to move by parallel kinematics principles.

3. The workpiece aligner of claim 1, wherein, The head comprises a cavity bounded by a side wall, and the cam rotors are in engagement with the side wall.

4. The workpiece aligner of claim 3, wherein, Biasing means for biasing the head into contact with the cam rotors, the biasing means optionally comprising magnets or springs.

5. The workpiece aligner of claim 3, comprising: The head comprises a recess dimensioned to accommodate at least one cam rotor so that the recess acts as a cam follower.

6. The workpiece aligner of claim 3, wherein, The recess comprises a resiliently deformable side wall.

7. The workpiece aligner of claim 6, wherein, A plurality of relatively movable alignment members, wherein each relatively movable alignment member is in engagement with at least one cam rotor.

8. The workpiece aligner of claim 2, comprising: The drive assembly is between two alignment members, and wherein the support is fixed to one of the plurality of alignment members.

9. The workpiece aligner of claim 8, wherein, A pneumatic line extending from the base to an upper surface of the support for providing at least partial vacuum to the upper surface to secure a workpiece to the upper surface in use.

10. The workpiece aligner of claim 1, comprising: Locking means for locking the support relative to the base after alignment is complete, the locking means optionally comprising a vacuum lock.

11. The workpiece aligner of claim 1, comprising: A plurality of workpiece aligners, each workpiece aligner according to any one of claims 1 to 11.

12. An alignment assembly for aligning a plurality of singulated substrates, comprising: The plurality of workpiece aligners are provided on a mounting.

13. The alignment assembly of claim 12, wherein, The mounting comprises a pneumatic manifold for providing at least partial vacuum to each of the workpiece aligners.

14. The alignment assembly of claim 13, wherein, The mounting comprises a plurality of docking portions, and each workpiece aligner comprises a module that is repeatedly mountable and demountable to the docking portions.

15. The alignment assembly of claim 13, wherein, The mounting comprises a mounting base and a support plate mechanically connected to the mounting base, the support plate being vertically disposed above the mounting base, wherein the support plate comprises a plurality of through-holes dimensioned to accommodate respective workpiece aligners so that each workpiece aligner is supported by the support plate in a respective through-hole near an upper end of its base; the base depends downwardly from the support plate and its respective support projects upwardly from the support plate.

16. The alignment assembly of claim 13, wherein, 17. A mounting for supporting one or more workpiece aligners thereon, the mounting comprising an upper surface having one or more docking portions for releasably and repeatedly accommodating respective workpiece aligners, ​ Each docking portion includes electrical contacts for exchanging electrical signals with the respective workpiece aligner, and a vacuum port that aligns with a vacuum aperture of the workpiece aligner when the docking portion contains the respective workpiece aligner, and wherein The mount includes a pneumatic manifold for providing at least partial vacuum to each workpiece aligner supported thereon via the respective vacuum port.

18. The mount of claim 17, wherein, Each docking portion includes a second vacuum port that aligns with a second vacuum aperture of the workpiece aligner when the docking portion contains the respective workpiece aligner, wherein the mount includes a second pneumatic manifold for providing at least partial vacuum to each workpiece aligner supported thereon via the respective second vacuum port, and wherein the pneumatic manifold is fluidically isolated from the second pneumatic manifold.

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