Planar component placement using master-slave manipulator control - involves transmission of Cartesian coordinates and orientation from pattern via pantograph to pick=and=place device

摘要

The support (3) to which components are assembled from a magazine (4) is set up in a tray (1) alongside an enlarged pattern (2) from which movements of a pin (13) are reproduced to a smaller scale by pantograph (5). At the opposite vertex of the parallelogram (8,10-12) a component holder and placer (14) is installed for picking a specified component from the magazine (4) and placing it on the support (3) at a location corresp. to that of the pin (13), which can rotate to represent angular orientation (phi) of the component. USE/ADVANTAGE - With surface mount devices small and medium numbers of components can be mounted without inaccuracies and reject rates associated with manual assembly. Setting-up is accelerated, fatigue is avoided and precision of placement is independent of operator.