Supply unit mass damper

Abstract

The supply system includes a frame, a support, a supply unit assembly, and a gantry. The gantry supports the supply unit assembly and moves the supply unit assembly in the x-axis and y-axis directions. The supply unit assembly includes a support bracket fixed to the gantry and a movable bracket rotatably coupled to the support bracket, the movable bracket rotatable about a first axis relative to the support bracket, and the supply unit is rotatably coupled to the movable bracket, allowing the supply unit to rotate about a second axis generally perpendicular to the first axis relative to the movable bracket. A mass damper assembly is coupled to the movable bracket and reduces vibration of the supply unit during operation.

Description

[Technical Field]

[0001] The present disclosure relates generally to an apparatus and method for dispensing viscous materials onto a substrate, such as a printed circuit board, and more particularly to a method and apparatus for dispensing material onto a substrate with less vibration and more accuracy. [Background technology]

[0002] There are several types of dispensing systems used to dispense precise amounts of liquid or paste for various applications. One such application is the assembly of integrated circuit chips and other electronic components onto circuit board substrates. In this application, automated dispensing systems are used to dispense dots of liquid epoxy or solder paste, or some other related material, onto printed circuit boards. Automated dispensing systems are also used to dispense lines of underfill and encapsulant material, which can be used to mechanically secure components to printed circuit boards. Exemplary dispensing systems described above include those manufactured and marketed by Illinois Tool Works Electronic Assembly Equipment (ITWEAE), Inc., located in Hopkinton, Massachusetts.

[0003] In a typical dispensing system, a dispensing unit is mounted on a motion assembly or gantry for moving the dispensing unit along three mutually orthogonal axes (x-axis, y-axis, and z-axis) using servo motors controlled by a computer system or controller. To dispense a dot of liquid to a desired location on a printed circuit board or other substrate, the dispensing unit is moved along coplanar, horizontal x- and y-axis directions until it is positioned above the desired location. The dispensing unit is then lowered along a vertical z-axis, oriented vertically, until the nozzle / needle of the dispensing unit and dispensing system is at the appropriate dispensing height above the substrate. The dispensing unit dispenses a dot of liquid, then is raised along the z-axis, moved along the x- and y-axes to a new location, and lowered along the z-axis to dispense the next dot of liquid. For applications such as encapsulating or dispensing underfill as described above, the dispensing unit is typically controlled to dispense a line of material as it is moved in the x- and y-axes along the desired path of the line. For some types of dispensing units, such as injection pumps, z-axis movement before and after the dispensing operation may not be required.

[0004] When designing a dispensing unit or head, it is desirable to accurately place the viscous material on the substrate. Reducing vibrations is of particular interest. Summary of the Invention

[0005] One aspect of the present disclosure relates to a feeding system for feeding a viscous material onto an electronic substrate. In one embodiment, the feeding system includes a frame, a support coupled to the frame for receiving and supporting the electronic substrate during a feeding operation, a feeding unit assembly for feeding the viscous material, and a gantry coupled to the frame for supporting the feeding unit assembly and for moving the feeding unit assembly in x- and y-axis directions. The feeding unit assembly includes a support bracket fixed to the gantry, a movable bracket rotatably coupled to the support bracket, the movable bracket rotatable about a first axis relative to the support bracket, a feeding unit rotatably coupled to the movable bracket, the feeding unit rotatable about a second axis substantially perpendicular to the first axis relative to the movable bracket, and a mass damper assembly coupled to the movable bracket, the mass damper assembly reducing vibrations of the feeding unit during operation.

[0006] Embodiments of the feeding system may further include the mass damper assembly comprising a mass damper coupled to the movable bracket by at least one isolator. The mass damper assembly may further comprise a mounting plate attaching the mass damper to the movable bracket. The mass damper may further comprise at least one bumper preventing at least one sidewall of the mass damper from engaging the movable bracket. The mass damper assembly may comprise approximately 25% to 50% by weight of the feeding unit. The mass damper assembly may comprise approximately 10% by weight of the feeding unit assembly. The movable bracket may be configured to rotate up to a full 360 degrees relative to the support bracket, and the feeding unit may be configured to rotate up to a full 360 degrees relative to the movable bracket. The gantry may include a z-axis drive mechanism coupled to the feeding unit to effect movement of the feeding unit along the z-axis. The gantry may further include a beam configured to move in the y-axis direction and a carriage coupled to the beam and configured to move in the x-axis direction. The carriage includes a z-axis mechanism for effecting the z-axis movement of the supply unit. The support bracket may be an L-shaped structure having a first portion coupled to the gantry and a second portion extending perpendicularly from the first portion, the first portion of the support bracket being fixed to the z-axis drive mechanism to effect the z-axis movement of the supply unit. The supply system may further include a vision system coupled to one of the frame and the gantry and configured to capture at least one image of the electronic board. The supply system may further include a controller for controlling the supply unit assembly, the gantry, and the vision system to perform a supply operation on the electronic board.

[0007] Another aspect of the present disclosure relates to a method for dispensing a viscous material onto an electronic substrate. In one embodiment, the method includes delivering an electronic substrate to a dispensing location, capturing at least one image of the electronic substrate, analyzing the at least one image of the electronic substrate to determine a position of the electronic substrate, and performing a dispensing operation by rotating a dispensing unit coupled to a support bracket by a movable bracket. The movable bracket is rotatably coupled to the support bracket, allowing the movable bracket to rotate relative to the support bracket about a first axis. The dispensing unit is rotatably coupled to the movable bracket, allowing the dispensing unit to rotate relative to the movable bracket about a second axis generally perpendicular to the first axis. The dispensing unit includes a mass damper assembly coupled to the movable bracket, the mass damper assembly reducing vibrations of the dispensing unit during operation.

[0008] Embodiments of the method may further include the mass damper assembly comprising a mass damper coupled to the movable bracket by at least one isolator. The mass damper assembly may further include a mounting plate attaching the mass damper to the movable bracket. The mass damper may further include at least one bumper preventing at least one side wall of the mass damper from engaging the movable bracket. The mass damper assembly may comprise approximately 25% to 50% by weight of the supply unit. The mass damper assembly may comprise approximately 10% by weight of the supply unit assembly. The movable bracket may be configured to rotate up to 360 degrees relative to the support bracket, and the supply unit may be configured to rotate up to 360 degrees relative to the movable bracket. The method may further include moving the supply unit in a z-axis direction.

[0009] Various aspects of at least one embodiment are discussed below with reference to the accompanying drawings, which are not intended to be drawn to scale. The drawings are included to provide illustration and a further understanding of the various aspects and embodiments, and are incorporated into and constitute a part of this specification, but are not intended as a definition of the limitations of any particular embodiment. The drawings, together with the remainder of the specification, serve to explain the principles and operation of the described and claimed aspects and embodiments. In the drawings, each identical or nearly identical component shown in various figures is represented by a like reference numeral. For clarity, not every component is labeled in every figure. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram of a supply system. [Figure 2] FIG. 1 is a perspective view of a dispensing system with its outer casing removed to disclose a dispensing system configured to operate a single dispensing unit. [Figure 3] FIG. 3 is a perspective view of the supply system shown in FIG. 2 with the supply unit removed. [Figure 4] FIG. 1 is an enlarged perspective view of a supply unit including a mass damper according to one embodiment of the present disclosure. [Figure 5] FIG. 5 is an enlarged side view of the supply unit with the mass damper of FIG. 4. [Figure 6] FIG. 10 is an enlarged perspective view of a supply unit including a mass damper according to another embodiment of the present disclosure. [Figure 7] FIG. 7 is an enlarged side view of the supply unit with the mass damper of FIG. 6. [Figure 8] FIG. 8 is an exploded perspective view of a supply unit equipped with the mass damper shown in FIGS. [Figure 9] FIG. 10 is a perspective view of a threaded elastomeric standoff of the mass damper. DETAILED DESCRIPTION OF THE INVENTION

[0011] Various embodiments of the present disclosure relate to a viscous material dispensing system, a device including the dispensing system, and a technique for dispensing material onto an electronic substrate by a dispensing system that includes a dispensing unit configured to tilt and rotate to dispense the material onto the electronic substrate and to eliminate undesired vibrations during the dispensing process.

[0012] By way of example only, and not by way of limitation, the present disclosure will now be described in detail with reference to the accompanying drawings. The present disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The principles described in this disclosure may be used in other embodiments and may be practiced or carried out in various ways. Furthermore, the phraseology and terminology used herein are for purposes of description and should not be considered limiting. Any reference herein to system and method examples, embodiments, components, elements, or operations in the singular can also encompass embodiments that include the plural, and any reference herein to any embodiment, component, element, or operation in the plural can also encompass embodiments that include only the singular. References in the singular or plural are not intended to limit the systems or methods, their components, operations, or elements disclosed herein. The use herein of the terms "including," "comprising," "having," "containing," "with," and variations thereof, is meant to encompass the item previously described, as well as equivalents thereof and additional items. References to "or / or" may be construed as inclusive such that any term described with "or / or" may include any of one, one or more, and all of the described terms. Additionally, in the event of an inconsistency in the usage of a term between this specification and a document incorporated herein by reference, the usage of the term in the document incorporated herein is supplementary to the usage herein, and in the event of an inconsistency resulting in a conflict, the usage of the term in this specification shall control.

[0013] FIG. 1 schematically illustrates a dispensing system, generally designated 10, according to one embodiment of the present disclosure. Dispensing system 10 is used to dispense a viscous material (e.g., adhesive, encapsulant, epoxy, solder paste, underfill material, etc.) or a semi-viscous material (e.g., solder flux, etc.) onto an electronic substrate 12, such as a printed circuit board or semiconductor wafer. Dispensing system 10 may alternatively be used in other applications, such as for applying automotive gasket material, certain medical applications, or for applying conductive ink. It should be understood that references to a viscous or semi-viscous material as used herein are intended to be exemplary and non-limiting. In one embodiment, dispensing system 10 includes a first dispensing unit and a second dispensing unit, generally designated 14 and 16, respectively, and a controller 18 that controls operation of the dispensing system. It should be understood that the dispensing units may also be referred to herein as dispensing pumps and / or dispensing heads. While two dispensing units are shown, it should be understood that a single or multiple dispensing units may be used.

[0014] The feeding system 10 may also include a frame 20 having a base or support 22 for supporting the electronic boards 12, a feeding unit gantry 24 movably coupled to the frame 20 for supporting and moving the feeding units 14, 16, and a weight measuring device or scale 26 for weighing the dispensed amount of viscous material and providing weight data to the controller 18, e.g., as part of a calibration procedure. Other transport mechanisms, such as a conveyor system (not shown) or walking beam, may also be used in the feeding system 10 to control the movement of electronic boards into and out of the feeding system. The gantry 24 may be moved using a motor under the control of the controller 18 to position the feeding units 14, 16 at predetermined positions above the electronic boards. The feeding system 10 may also include a display unit 28 connected to the controller 18 for displaying various information to an operator. An optional second controller may also be provided for controlling the feeding units. Each feeding unit 14, 16 may also be configured with a z-axis sensor to detect the height at which the feeding unit is positioned above the electronic board 12 or above a feature mounted on the electronic board. The z-axis sensor is coupled to the controller 18 and relays information acquired by the sensor to the controller.

[0015] Before performing a dispensing operation, the electronic board, e.g., a printed circuit board, must be aligned or otherwise positioned relative to the feed unit of the dispensing system. The dispensing system further includes a vision system 30, which in one embodiment is coupled to a vision system gantry 32, which is movably coupled to the frame 20 for supporting and moving the vision system. In another embodiment, the vision system 30 may be mounted on the feed unit gantry 24. As noted above, the vision system 30 is utilized to verify the location of landmarks or components, known as fiducials, on the electronic board. Once located, the controller can be programmed to manipulate the movement of one or more of the feed units 14, 16 to dispense material onto the electronic board.

[0016] The systems and methods of the present disclosure relate to dispensing material onto electronic substrates, such as printed circuit boards. The system and method descriptions provided herein refer to an exemplary electronic substrate 12 (e.g., a printed circuit board) supported on a support 22 of a dispensing system 10. In one embodiment, dispensing operations are controlled by a controller 18, which may include a computer system configured to control the material dispensing units. In another embodiment, the controller 18 may be operator-operated. The controller 18 is configured to manipulate the movement of the vision system gantry 32 to move the vision system to acquire one or more images of the electronic substrate 12. The controller 18 is further configured to manipulate the movement of the dispensing unit gantry 24 to move the dispensing units 14, 16 to perform the dispensing operations.

[0017] Embodiments of the present disclosure relate to a harmonic gear drive assembly configured to tilt and rotate a feed unit of a feeding system, providing alternative and comparable means to simultaneously and accurately feed one or more electronic boards, or two or more patterns associated with a single electronic board. The methods disclosed herein further support the use of various types of feed units, including, but not limited to, auger, piston, and jet pumps.

[0018] Referring to FIGS. 2 and 3, a feed system is generally indicated at 40. As shown, feed system 40 includes a frame 42 that supports the major subassemblies of the feed system. The feed system 40 further includes a gantry system, generally indicated at 44, configured for movement in the x- and y-axes. The feed system 40 further includes a feed unit assembly, generally indicated at 46, supported by the gantry system 44. FIG. 2 illustrates the feed system 40 with the feed unit assembly 46, while FIG. 3 illustrates the feed system 40 without the feed unit assembly. As shown, the feed unit assembly includes a single feed unit 48. A conveyor system (not shown) may be used within feed system 40 to control the movement of substrates, e.g., electronic boards 12, into and out of the feed system support 50. The gantry system 44 may use motors under the control of a controller, similar to the controller 18 of feed system 10, to move the feed unit assembly 46 in the x- and y-axes to position the electronic board at a desired location.

[0019] 2 and 3 , the gantry system 44 can be configured to include a left side rail 52, a right side rail 54, and a beam 56 extending between the two side rails. The beam 56 is configured to move in the y-axis direction along the side rails 52, 54 to effect y-axis movement of the feed unit assembly 46. The gantry system 44 further includes a carriage 58 coupled to the beam 56 and configured to move along the length of the beam to effect x-axis movement of the feed unit assembly 46. Specifically, the carriage 58 supports the feed unit assembly 46 and moves in the x-axis direction along the length of the beam to move the feed unit 48 above a desired location of an electronic board 12 positioned on the support 50 of the feed system 40. In certain embodiments, movement of the gantry system 44 (i.e., movement of the beam 56 and carriage 58) in the x-y plane can be achieved by employing ball-screw mechanisms driven by respective motors, as is well known in the art.

[0020] In one embodiment, the exemplary delivery system described herein may embody the Camalot™ delivery system sold by ITWEAE, Inc. of Hopkinton, Massachusetts.

[0021] The feed unit assembly 46 moves the feed unit 48 in the z-axis direction via a z-axis drive mechanism 60, shown in FIG. 2 . The amount of z-axis movement can be determined by measuring the distance between the tip of a needle (not shown) of the feed unit 48 and the electronic board 12. During movement, the feed unit 48 can be positioned at a nominal clearance height above the electronic board 12. The clearance height can be maintained at a relatively consistent height above the electronic board 12 as it moves from one feed position to another. Upon reaching the predetermined feed position, the z-axis drive mechanism 60 lowers the feed unit 48 toward the electronic board 12, thereby completing the dispensing of material onto the electronic board.

[0022] 2 and 3 , the feeding unit 48 moves above the electronic board 12 as the feeding unit performs the feeding operation. However, before feeding, the position of the electronic board 12 relative to the feeding unit 48 is determined so that accurate feeding can be performed. Specifically, in one embodiment, the carriage 58 can be configured with an optical element or camera designed to capture an image of the electronic board 12. While the camera is shown mounted on the carriage 58, it should be understood that it can be separately mounted to the beam 56 or an independent gantry. Herein, the camera can be referred to as a “vision system” or “imaging system.” To align the electronic board 12 with the feeding unit 48 and the gantry system 44, the camera captures images of at least two fiducials provided on the electronic board 12. If the electronic board 12 is misaligned, the gantry system 44 can be operated to take into account the actual position of the electronic board. In one embodiment, the camera can be calibrated to determine a camera-to-needle offset distance for the feeding unit 48.

[0023] In another embodiment, visual alignment and clearance height sensing can be accomplished using a laser or other calibrated distance measuring device.

[0024] The feed system typically has a feed unit oriented vertically, and thus perpendicular to the horizontally fixed substrate. In some applications, it is advantageous to tilt the feed unit 48 from the vertical to deposit the material being fed into locations that are otherwise inaccessible from the vertical orientation. As the tilting feed unit 48 articulates to various desired orientations, it may be advantageous to change not only the feed unit's angle from the vertical, but also the direction in which the feed unit is tilted, in some cases depositing material on the bottom edge of a part along two or more sides.

[0025] As those skilled in the art of moving structures will appreciate, the mechanisms used to tilt and rotate the supply unit 48 add mass and reduce structural stiffness because the additional mechanisms introduce additional compliance. As the supported mass increases and the structural stiffness decreases, the natural frequency of the assembly decreases. Therefore, it is up to the designer to provide the necessary degrees of freedom with the stiffest possible structure, with a minimal increase in mass. Furthermore, given the structure, it is natural that unwanted vibrations will occur with the added mass of the tilt and rotate design.

[0026] An embodiment of the presently disclosed feed system 40 achieves this goal by incorporating a very compact, highly integrated rotary actuator that includes a motor, a strain-wave harmonic reduction gearbox, and a high-stiffness rotary cross-roller bearing, such as those available from Harmonic Drive, Inc., Beverly, Massachusetts. The high level of integration in a wave gearbox actuator helps minimize added mass and compliance. Wave gearboxes have the added benefit of very low backlash. The integrated motor, bearing, and gearbox assembly also helps minimize the number of parts that must be purchased, assembled, and tested.

[0027] Referring to FIG. 4 , the feed unit assembly 46 includes a drive assembly that supports the feed unit 48. The feed unit 48 is shown in FIG. 4 in an operating position. The feed unit assembly 46 can be removed from the components of the feed unit assembly that support the feed unit. As shown, the feed unit assembly 46 includes a support bracket 62 having an L-shaped configuration. A first portion 64 of the support bracket is fixed to the z-axis drive mechanism 60 of the carriage 58, and a second portion 66 extends perpendicularly from the first portion. The feed unit assembly 46 further includes a movable bracket 68 that is rotatably coupled to the support bracket 62 at the second portion 66 of the support bracket by a first strain wave gear system 70. In the illustrated embodiment, the movable bracket 68 is configured to rotate relative to the support bracket 62 about a generally vertical axis A.

[0028] The movable bracket 68 includes a second harm gear system 72 that supports the feed unit 48. The second harm gear system 72 may include a mounting plate that receives and supports the feed unit 48 when the feed unit is in an operating position. The second harm gear system 72 is configured to rotate and tilt the feed unit 48 to a desired position during a feed operation about an axis B that is generally perpendicular to axis A. In one embodiment, the first harm gear system 70 is configured similarly, if not identically, to the second harm gear system 72.

[0029] It should be understood that the orientation of the movable bracket 68 relative to the support bracket 62 about axis A and the orientation of the supply unit 48 relative to the movable bracket can be varied to suit a particular application. For example, the movable bracket 68 can be rotatably coupled to the support bracket 62 about a generally horizontal axis, and the supply unit can be rotatably coupled to the movable bracket about a generally vertical axis.

[0030] Embodiments of the present disclosure relate to systems and methods for damping vibrations of a cantilevered load on a gantry-driven feed unit 48. In some embodiments, the load on the feed unit 48 can cause sustained vibrations that are detrimental to feed unit performance. These vibrations can be of sufficient magnitude and / or duration to affect the accuracy of feed material placement and required settling time, adversely affecting overall cycle time.

[0031] One objective of the systems and methods of the present disclosure is to provide vibration reduction to the feed unit 48 to obtain accurate feed placement with minimal settling time.

[0032] Embodiments of the damper systems and methods disclosed herein can be used in the multiple application of cantilever loads to the feed unit 48 of the automated feed system 40 .

[0033] Embodiments of the mass damper systems and methods disclosed herein provide improved feed placement accuracy and reduced settling time, and such systems and methods allow for very close feed without reducing the likelihood of contact with parts due to vibration.

[0034] 5 , while it is known to address vibrations by using vibration-damping mass dampers within machines, in the case of a feed system used to feed viscous materials, a mass damper assembly, generally designated 80, is provided herein to reduce vibrations of the feed unit 48 during operation of the feed unit. In one embodiment, the mass damper assembly 80 is mounted to the cantilevered articulating (moving) bracket 68. The mass damper assembly 80 is configured to reduce inaccuracies in the feeding of material resulting from the mounting of the feed unit 48 by a cantilevered mounting system. While the cantilevered mounting system used herein can be a source of undesirable vibrations, the provision of the mass damper system 80 is provided herein to allow other features of the feed system 40 to function properly.

[0035] In the illustrated embodiment, the mass damper assembly 80 is a tuned mass damper that utilizes a predetermined weight and includes a mass damper 82 attached to the top of a threaded elastomeric standoff or isolator 84, one end of which is rigidly attached to the bottom of the movable bracket 68 and the other end of which supports the mass damper. The predetermined weight of the mass damper 82 and threaded elastomeric standoff 84 can be changed if the frequency of the sinusoidal vibration changes by having a different load.

[0036] 6-8 , another embodiment of a mass damper assembly is generally designated 90. As shown, the mass damper assembly 90 includes a generally U-shaped mass damper 92 that spans and is secured to the bottom of the movable bracket 68, and a mounting plate 94 that is provided for securing the mass damper to the movable bracket with suitable fasteners. The mass damper 92 includes two side walls 96, 98 that are connected to one another by a bottom wall 100. The mass damper assembly 90 further includes a pair of threaded elastomeric standoffs, each designated 102, for damping the connection of the mass damper 92 to the bottom of the movable bracket 68. Additionally, two bumpers, each designated 104, are provided on each side wall 96, 98 of the mass damper 92 to dampen collisions of the mass damper side walls with the bottom of the movable bracket 68 when the supply unit 48 is moved quickly. The bumpers 104 further prevent noise generation during movement of the supply unit 48.

[0037] 9, the threaded elastomeric standoff 102 has an externally threaded portion that mounts to a threaded opening in the bottom of the moving bracket 68. The threaded elastomeric standoff 102 also has an internally threaded portion that receives threaded fasteners to secure the mounting plate 94 and mass damper 92 to the bottom of the moving bracket 68. The external and internal threaded portions are inserts provided in an elastomeric material.

[0038] In one embodiment, the mass damper assembly 90 weighs 0.5 pounds (lbs), which is approximately 50% of the weight of a 1 pound supply unit 48 and approximately 25% of the weight of a 2 pound supply unit. The 0.5 lbs mass damper assembly 90 is approximately 10% by weight of the cantilever weight of the moveable bracket 68, supply unit 48, and associated components, which may total 4.5 lbs to 5.5 lbs. In one particular embodiment, a threaded elastomeric standoff 102 releasably secures the mass damper 92 to the moveable bracket 68 of the supply unit assembly. The mass damper 92 of the mass damper assembly 90 is configured so as not to interfere with the movement of the supply unit 48 during operation.

[0039] Having thus described several aspects of at least one embodiment of this disclosure, it should be understood that various alterations, modifications, and improvements will readily occur to those skilled in the art. Such alterations, modifications, and improvements are intended to be part of this disclosure, and are intended to be within the spirit and scope of the invention. Accordingly, the foregoing description and drawings are by way of example only. Some aspects of the invention are described below. [Aspect 1] 1. A supply system for supplying a viscous material onto an electronic substrate, comprising: The frame and a support coupled to the frame for receiving and supporting the electronic substrate during a feeding operation; a supply unit assembly for supplying a viscous material; a gantry coupled to the frame, supporting the supply unit assembly and moving the supply unit assembly in the x-axis and y-axis directions; The supply unit assembly includes: a support bracket fixed to the gantry; a movable bracket rotatably coupled to the support bracket, the movable bracket configured to be rotatable about a first axis relative to the support bracket; a supply unit rotatably coupled to the movable bracket, the supply unit configured to be rotatable relative to the movable bracket about a second axis substantially perpendicular to the first axis; a mass damper assembly coupled to the movable bracket, the mass damper assembly reducing vibrations of the supply unit during operation. [Aspect 2] The supply system of claim 1, wherein the mass damper assembly includes a mass damper coupled to the movable bracket by at least one isolator. [Aspect 3] 3. The supply system of claim 2, wherein the mass damper assembly further comprises a mounting plate that attaches the mass damper to the movable bracket. [Aspect 4] 3. The supply system of claim 2, wherein the mass damper further comprises at least one bumper that prevents at least one side wall of the mass damper from engaging the movable bracket. [Aspect 5] 2. The supply system of claim 1, wherein the mass damper assembly is approximately 25% to 50% by weight of the supply unit. [Aspect 6] The supply system of claim 1, wherein the mass damper assembly is approximately 10% by weight of the supply unit assembly. [Aspect 7] The supply system of claim 1, wherein the movable bracket is configured to rotate a maximum of 360 degrees relative to the support bracket, and the supply unit is configured to rotate a maximum of 360 degrees relative to the movable bracket. [Aspect 8] A feeding system as described in embodiment 1, wherein the gantry includes a z-axis drive mechanism coupled to the feeding unit to effect z-axis movement of the feeding unit. [Aspect 9] A supply system as described in embodiment 8, wherein the gantry further includes a beam configured to move in a y-axis direction and a carriage coupled to the beam and configured to move in an x-axis direction, the carriage including a z-axis mechanism that causes the z-axis movement of the supply unit. [Aspect 10] A supply system as described in aspect 9, wherein the support bracket is an L-shaped structure having a first portion connected to the gantry and a second portion extending vertically from the first portion, and the first portion of the support bracket is fixed to the z-axis drive mechanism to cause the z-axis movement of the supply unit. [Aspect 11] The feeding system of embodiment 1 further comprising a vision system coupled to one of the frame and the gantry to capture at least one image of the electronic board. [Aspect 12] 12. The feeding system of claim 11, further comprising a controller that controls the feeding unit assembly, the gantry, and the vision system to perform feeding operations on the electronic boards. [Aspect 13] 1. A method for dispensing a viscous material onto an electronic substrate, comprising: delivering an electronic board to a supply location; capturing at least one image of the electronic board; analyzing the at least one image of the electronic board to determine a location of the electronic board; performing a feeding operation by rotating a feeding unit coupled to the support bracket by a movable bracket; the movable bracket is rotatably coupled to the support bracket, and the movable bracket is configured to be rotatable relative to the support bracket about a first axis; the supply unit is rotatably coupled to the movable bracket, and the supply unit is configured to be rotatable relative to the movable bracket about a second axis that is substantially perpendicular to the first axis; The supply unit includes a mass damper assembly coupled to the movable bracket, the mass damper assembly reducing vibrations of the supply unit during operation. [Aspect 14] 14. The method of claim 13, wherein the mass damper assembly includes a mass damper coupled to the movable bracket by at least one isolator. [Aspect 15] 15. The method of claim 14, wherein the mass damper assembly further comprises a mounting plate that attaches the mass damper to the movable bracket. [Aspect 16] 14. The method of claim 13, wherein the mass damper further comprises at least one bumper that prevents at least one sidewall of the mass damper from engaging the movable bracket. [Aspect 17] 14. The method of claim 13, wherein the mass damper assembly is about 25% to 50% by weight of the supply unit. [Aspect 18] 14. The method of claim 13, wherein the mass damper assembly is about 10% by weight of the supply unit assembly. [Aspect 19] 14. The method of claim 13, wherein the movable bracket is configured to rotate up to 360 degrees relative to the support bracket, and the supply unit is configured to rotate up to 360 degrees relative to the movable bracket. [Aspect 20] 14. The method of claim 13, further comprising moving the supply unit in a z-axis direction. [Explanation of symbols]

[0040] 10 12 14 10 Supply System 12 Electronic board 14 Supply Unit 16 Supply Unit 18 Controllers 20 frames 22 Support 24 Supply Unit Gantry 26 Measuring instrument 28 Display Unit 30 Visual System 32 Vision System Gantry 40 Automated Supply System 42 frames 44 Gantry System 46 Supply unit assembly 48 Supply Unit 50 Support 52 Left side rail 54 Right side rail 56 Beam 58 Carriage 60 Z-axis drive mechanism 62 Support bracket 64 First Part 66 Second Part 68 Movable bracket 70 First Strain Wave Gear System 72 Second Strain Wave Gear System 80 Mass damper assembly 82 Mass Damper 84 Elastomer Standoff 90 Mass damper assembly 92 Mass Damper 94 Mounting Plate 96 Side wall 98 Side wall 100 bottom wall 102 Threaded Elastomer Standoff 104 Bumper

Claims

1. 1. A supply system for supplying a viscous material onto an electronic substrate, comprising: The frame and a support coupled to the frame for receiving and supporting the electronic substrate during a feeding operation; a supply unit assembly for supplying a viscous material; a gantry coupled to the frame, supporting the supply unit assembly and moving the supply unit assembly in the x-axis and y-axis directions; The supply unit assembly includes: a support bracket fixed to the gantry; a movable bracket rotatably coupled to the support bracket, the movable bracket configured to be rotatable about a first axis relative to the support bracket; a supply unit rotatably coupled to the movable bracket, the supply unit configured to be rotatable relative to the movable bracket about a second axis substantially perpendicular to the first axis; a mass damper assembly coupled to the movable bracket, the mass damper assembly reducing vibrations of the supply unit during operation; The mass damper assembly includes a mass damper coupled to the movable bracket by at least one isolator.

2. The supply system of claim 1 , wherein the mass damper assembly further comprises a mounting plate that attaches the mass damper to the movable bracket.

3. 10. The delivery system of claim 1, wherein the mass damper further comprises at least one bumper that prevents at least one side wall of the mass damper from engaging the movable bracket.

4. 2. The supply system of claim 1, wherein the mass damper assembly is between 25% and 50% by weight of the supply unit.

5. 2. The supply system of claim 1, wherein the mass damper assembly is 10% by weight of the supply unit assembly.

6. 2. The feeding system of claim 1, wherein the movable bracket is configured to rotate a maximum of 360 degrees relative to the support bracket, and the feeding unit is configured to rotate a maximum of 360 degrees relative to the movable bracket.

7. The feeding system of claim 1 , wherein the gantry includes a z-axis drive mechanism coupled to the feeding unit to effect z-axis movement of the feeding unit.

8. 8. The supply system of claim 7, wherein the gantry further includes a beam configured to move in a y-axis direction and a carriage coupled to the beam and configured to move in an x-axis direction, the carriage including a z-axis mechanism that effects the z-axis movement of the supply unit.

9. 9. The supply system of claim 8, wherein the support bracket is an L-shaped structure having a first portion coupled to the gantry and a second portion extending perpendicularly from the first portion, the first portion of the support bracket being fixed to the z-axis drive mechanism to effect the z-axis movement of the supply unit.

10. The feeding system of claim 1 , further comprising a camera coupled to one of the frame and the gantry to capture at least one image of the electronic board.

11. The feeding system of claim 10 , further comprising a controller that controls the feeding unit assembly, the gantry, and the camera to perform feeding operations on the electronic board.

12. 1. A method for dispensing a viscous material onto an electronic substrate, comprising: Providing a delivery system according to claim 1; delivering an electronic board to a supply location; capturing at least one image of the electronic board; analyzing the at least one image of the electronic board to determine a position of the electronic board; The method includes performing a feeding operation by rotating the feeding unit coupled to the support bracket by the movable bracket.

13. The method of claim 12 , wherein the mass damper assembly further comprises a mounting plate that attaches the mass damper to the movable bracket.

14. The method of claim 12 , wherein the mass damper further comprises at least one bumper that prevents at least one side wall of the mass damper from engaging the movable bracket.

15. The method of claim 12, wherein the mass damper assembly is between 25% and 50% by weight of the supply unit.

16. 13. The method of claim 12, wherein the mass damper assembly is 10% by weight of the feed unit assembly.

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

18. The method of claim 12, further comprising moving the supply unit in a z-axis direction.

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