Multi-spindle pick and place method and apparatus

In a method of picking and placing components, the improvement comprising the steps of:

• picking up a group of components simultaneously at a pick station having plural pick sites, each component of said group being picked up from an individual site of said pick station by a corresponding spindle of a multi-spindle head;
• transferring said head from said pick station to a placement station having plural placement sites;
• placing said group of components simultaneously at said placement station, with each component placed at a corresponding site of said placement station;
• and
• compensating for misalignment between actual and nominal patterns of said sites by moving at least a tip of at least one spindle of said multi-spindle head in order to align said spindles with corresponding sites of said actual pattern.

In an apparatus for picking and placing a group of components via a multi-spindle head, the improvement comprising:

• means for forming a group of presequenced components at a sequencing station, said forming means comprising means for selecting various components from a supply and means for arranging said components which are selected into a group of components having a particular sequence, with said selecting and arranging being performed according to a programmable controller by which said sequence is changeable for each said group;
• means, operatively associated with said forming means, for delivering each said group of presequenced components, in turn, from said sequencing station to a pick-up station;
• and
• means, operatively associated with said delivering means, for obtaining each said group of presequenced components as a group from said delivering means at said pick-up station via said multi-spindle head and transferring said group of presequenced components as a group to, and placing said group at, a placement station.

In an apparatus for picking and placing components, the improvement comprising:

• means for picking up a group of components simultaneously at a pick station having plural pick sites, each component of said group being picked up from an individual site of said pick station by a corresponding spindle of a multi-spindle head;
• means, operatively associated with said picking up means, for transferring said head from said pick station to a placement station having plural placement sites;
• means, operatively associated with said transfer means, for placing said group of components simultaneously at said placement station, with each component placed at a corresponding site of said placement station;
• and
• means, operatively associated with said placing means, for compensating for misalignment between actual and nominal patterns of said pick station sites and of said placement station sites by moving at least a tip of at least one spindle of said multi-spindle head in order to align said spindles with corresponding sites of said actual pattern.