Abstract:
The invention relates to a novel method for processing electrical parts, particularly for processing semiconductor chips and electrical components, and a device for carrying out the inventive method.

Description:
BACKGROUND OF THE INVENTION  
       [0001]     The invention relates to a method for processing electrical parts.  
         [0002]     A method is known in the art for the multiple manufacture of semiconductor chips, i.e. on a semiconductor wafer, which then for further processing is releasably fastened to a carrier, i.e. to a carrier foil (blue foil) clamped in a carrier frame. Afterwards, the wafer is separated into the individual semiconductor chips in such a manner that these chips still adhere to the carrier foil.  
         [0003]     The further processing of the semiconductor chips takes place according to the state of the art, for example in so-called die bonders, in such a manner that these chips are picked up individually from the carrier foil by a pick-up element and then placed on a “second” carrier, which for example is formed by a lead frame or a substrate present in this lead frame. For the pick-up element, movement strokes in at least two axis directions are necessary, namely a transport stroke in horizontal direction between the semiconductor wafer and the second carrier and, both at the beginning and end of this transport stroke respectively, a vertical stroke for grasping and picking up a semiconductor chip from the carrier foil or for placing the respective semiconductor chip on the second carrier.  
         [0004]     The processing of one semiconductor wafer, i.e. the transfer of the semiconductor chips present there in a plurality of rows to the second carrier at a high capacity (the number of transferred semiconductor chips per unit of time) is possible according to the prior art only by means of very fast movements of the pick-up element, particularly also considering the relatively long transport stroke, whereby for reasons of mass acceleration alone there is a limit to the increase in capacity that is possible by increasing the working speed.  
         [0005]     The object of the present invention is to present a method and a device which enables the processing of electrical components held releasably on a carrier foil at a significantly higher capacity.  
       SUMMARY OF THE INVENTION  
       [0006]     “Electrical components” according to the invention are particularly semiconductor chips, which are held releasably and by separation of a semiconductor wafer on a carrier foil (blue foil) fastened in a carrier frame, hereby forming an array on the carrier foil that corresponds to the array of the chips in the wafer, namely in a plurality of rows that are parallel to each other and extend in one axis direction.  
         [0007]     “Components” according to the invention are furthermore electrical components, particularly also such components that consist of a semiconductor chip with a housing produced by extrusion, for example a plastic housing and, for example, likewise are manufactured multiply using a common semiconductor wafer and are separated into the individual components after being placed on the carrier foil.  
         [0008]     “Processing” according to the invention means in the simplest sense the transfer of the electrical components from the carrier foil to the second carrier in a pick-and-place operation using a pick-up element, which moves between the carrier foil and the second carrier for this purpose.  
         [0009]     “Second carrier” according to the invention is for example the transport surface of a suitable transport element or also any other suitable carrier on which the components are placed.  
         [0010]     “Processing of the first rows” according to the invention means that the electrical components or the groups of components are removed from the individual rows formed on the carrier foil, preferably such that in the following processing steps or strokes, the components of a new, first row are not transferred until the components of preceding rows have already been transferred completely to the second carrier.  
         [0011]     The special feature of the method according to the invention consists in the fact that in each work stroke several components are removed simultaneously as a group directly from the carrier foil, preferably controlled by an electronic control device, so that the components on the second carrier form at least one second row, in which the components then preferably follow each other at regular intervals. 
     
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0012]     The invention is described below in detail based on exemplary embodiments with reference to the drawings, where:  
         [0013]      FIG. 1  shows a simplified representation in top view of a carrier frame with a carrier foil and with a plurality of components in the form of semiconductor chips arranged on this carrier foil and the semiconductor chips picked up from the carrier foil by means of a pick-up unit and placed in a plurality of rows on a transporter;  
         [0014]      FIG. 2  shows a simplified representation in vertical section of the pick-up unit and the ram unit of a work station for carrying out the method of  FIG. 1 , i.e. for picking up a group of a plurality of semiconductor chips from the carrier foil (blue foil) and for placing this group onto the transport element;  
         [0015]      FIG. 3  shows a vertical section of the work station of  FIG. 2  in a sectional plane extending perpendicular to  FIG. 2 ;  
         [0016]      FIG. 4  shows a component drawing of the pick-up head of the pick-up unit of  FIGS. 2 and 3 ;  
         [0017]      FIG. 5  shows a simplified representation similar to  FIG. 2  of a further possible embodiment of the invention;  
         [0018]      FIG. 6  and  7  show representations similar to  FIGS. 2 and 3  of a further possible embodiment of the invention with a modified ram element as compared with that of  FIGS. 2 and 3 ; and  
         [0019]      FIG. 8  shows a simplified perspective functional view of a work station similar to  FIGS. 2 and 3 , together with the transport element connected to the work station and a further transporter or transport element connected to the first transport element by means of a flipping station. 
     
    
     DETAILED DESCRIPTION OF THE INVENTION  
       [0020]     In the drawings,  1  designates a semiconductor wafer, which is separated into a plurality of semiconductor chips  2  (integrated circuits or components) and arranged on a carrier foil  3 , which in turn is held in a carrier frame  4 .  
         [0021]     By tensioning the carrier foil  3  at its peripheral area held in the carrier frame  4 , the semiconductor chips  2  are at a distance from each other, but form an array on the carrier foil  3  in which the semiconductor chips  2  are arranged in several rows R 1 -Rn and in several columns, corresponding to the original circular disk form of the wafer  1  so that the rows R 1 -Rn and the columns extending perpendicular to these rows each have different lengths, namely in the manner that the length of the columns and rows increases toward the center of the wafer  1  and the chip array.  
         [0022]     By means of a pick-up unit not depicted in  FIG. 1  but generally designated  5 ,  5   a ,  5   b  in the subsequent drawings, the semiconductor chips  2  are picked up from the carrier foil  3  and placed on a transporter generally designated  6  in  FIG. 1 , which is suitable for transporting semiconductor chips and can have a wide variety of designs for this purpose, for example on a transporter, which is formed by a self-adhesive belt-like foil or from a transport belt, on which the semiconductor chips  2  are held by a vacuum, etc. The pick-up unit  5 ,  5   a  or  5   b  is part of a work station  7 . By means of the transport element  6 , the semiconductor chips  2  are transported away from this work station or from the carrier frame  4  with the carrier foil  3  and fed to a further application, as indicated by arrow A.  
         [0023]     For the sake of simplification and better clarity, three spatial axes that extend perpendicular to each other are indicated in the drawings, namely the X-axis, the Y-axis and the Z-axis, of which the X-axis and Y-axis are horizontal axes that define the horizontal X-Y plane, while the Z-axis is the vertical axis.  
         [0024]     The carrier foil  3  and thus also the wafer  1  arranged on this carrier foil are located in the horizontal X-Y plane.  
         [0025]     The transport plane of the transport element  6 , on which the semiconductor chips  2  are arranged, is likewise the horizontal X-Y plane. The transport direction A of the transport element  6  extends parallel to the Y-axis in the depicted embodiment.  
         [0026]     The semiconductor chips  2  are placed on the transport element  6  or on the transport plane located there so that they form several—i.e. in the depicted embodiment a total of seven—rows of semiconductor chips  2  extending parallel to the transport direction A and parallel to each other, preferably closed rows, whereby each semiconductor chip  2  in a row perpendicular to the transport direction, i.e. in the X-axis, is next to a semiconductor chip  2  of an adjacent row, i.e. the semiconductor chips  2  are arranged on the transport element  6  in columns extending in the direction of the X-axis with seven semiconductor chips  2  each. The special feature of the work station  7  or of the method carried out by this station consists, firstly, in that the semiconductor chips  2  are transferred from the wafer  1  to the transport element  6  over a short path, and secondly, in that this transfer takes place so that several semiconductor chips  2  are removed from the carrier foil  3  in a row R 1 -Rn as a group and placed on the transport element  6  in one step, for which the pick-up element  5 ,  5   a ,  5   b  executes at least one back-and-forth motion in the direction of the Y-axis (horizontal stroke Hy) and one vertical stroke (Vz) in the Z-axis for removing the group of semiconductor chips  2  from the carrier foil  3  at the one end of the horizontal stroke Hy, and one vertical stroke (V′z) in the Z-axis for placing the group of semiconductor chips  2  on the transport element  6 . The horizontal stroke Hy is thereby parallel to the transport direction A. In the depicted embodiment, six semiconductor chips  2  are picked up from the carrier foil  3  and then placed on the transport element  6  in each working stroke of the pick-up element  5 .  
         [0027]     The work station  7  comprises for example a holder  8 , in which the carrier frame  4  is located and with which this carrier frame is aligned so that the rows R 1 -Rn do not extend in the Y-axis and the corresponding columns in the X-axis, and also that each row R′ 1 -R′n formed on the transport element  6  has a congruent axis with a row R 1 -Rn on the carrier foil  3 . The alignment of the carrier frame  4  and thus of the wafer  1  is effected by means of a camera system and an electronic unit  9  comprising an image processor. The camera system of the electronic unit  9  measures the configuration of the wafer  1  or the array of the semiconductor chips  2  on the carrier foil  3 . The camera system also measures those semiconductor chips or their position, which is saved in the memory of the electronic unit  9 , determined in a preceding test of the wafer  1  to be not usable and marked accordingly with a marking  10 .  
         [0028]     The movement of the pick-up unit  5  is controlled by means of the electronic control unit  9  so that the groups  2 ′ of semiconductor chips  2  placed on the transport element  6  form the respective closed rows R′ 1 -R′n. In the embodiment depicted in  FIGS. 1-3 , the pick-up unit  5  is designed so that only semiconductor chips  2  of a particular row R 1 -Rn are picked up from the carrier foil  3  by this pick-up unit. In order to form several rows R′ 1 -R′n on the transport element  6 , which continuously moves by strokes in transport direction A, the pick-up unit  5  is designed so that in addition to the horizontal stroke Hy in transport direction A, it can also execute a horizontal stroke Hx crosswise to the transport direction. The marked, defective semiconductor chips  2  in the depicted method are likewise placed on the transport element  6  and not removed until a later process step, initiated by the electronic control unit  9 , in the memory of which the position of the marked, defective semiconductor chips on the transport element  6  is stored.  
         [0029]     In order to form the rows R′ 1 -R′n on the transport element  6  in which (rows) the semiconductor chips  2  adjoin closely despite the different length of the rows R′ 1 -R′n, at least the horizontal stroke Hy has a different length, controlled by the electronic control unit  9 , i.e. the beginning and the end of this stroke Hy upon picking up the group  2 ′ from the carrier foil  3  and upon placing the respective group  2 ′ on the transport element  6  are controlled by the electronic control unit  9 , taking into account the form of the wafer and the array of the semiconductor chips  2  on the carrier foil  3 , resulting in the continuous rows R′ 1 -R′n. The control program of the electronic control unit  9  is, for example, designed so that upon processing of the individual rows R 1 -Rn, the maximum possible number of semiconductor chips  2  is taken from the carrier foil  3  and placed on the transport element  6  in each stroke, followed in a subsequent stroke by the remaining semiconductor chips of the respective rows R 1 -Rn.  
         [0030]     In the depicted embodiment, the holder  8  can furthermore be moved in the X-axis for processing of the individual rows R 1 -Rn.  
         [0031]     The controlled, different length of the stroke Hy takes into account on the one hand that in the work station  7  for processing the rows R 1 -Rn a forward feed B is provided for the carrier frame  4  only in the X-axis and that the rows R 1 -Rn have differing lengths, so that during both the pick-up and placement of the semiconductor chips or the groups  2 ′, the pick-up element in any case must move to different positions in the Y-axis.  
         [0032]     The work station  7  or the pick-up element  5  located there and a corresponding ram element  11 , which is necessary for releasing the individual semiconductor chips  2  from the carrier foil  3  (self-adhesive foil or blue foil), are depicted in more detail in  FIGS. 2 and 3 .  
         [0033]     The pick-up element  5  consists of a pick-up head  12  in which, or in the housing  13  of which, several vacuum holders  14  are present that can move in the direction of the Z-axis, namely with a limited stroke corresponding to the double arrow C.  
         [0034]     The individual vacuum holders  14  have a lamellar design, i.e. they consist of a flat, plate-shaped body  15  with a rectangular form, which is located with its longer sides in the housing  13  parallel to the Z-axis and has a molded-on projection  16  on one lower narrow side, which (projection) with its free end forms a bearing surface  17  located in a plane parallel to the X-Y plane, at which a vacuum channel  18  opens.  
         [0035]     On one long side the body  15  is shaped so that it forms a spring-mounted tongue  19  there, with which the vacuum holder  14  is supported on a surface of the guide  20  formed in the housing  13  for the body  15  of the vacuum holder  14 .  
         [0036]     The vacuum holders  14  are arranged with their bodies  15  adjoined in the form of lamellas in the opening or guide of the housing  13 , namely so that the larger surface sides of the plate-shaped bodies  15  each are located in the X-Z plane. To move the pick-up head  12 , it is fastened on a transport system  21 , which comprises drives not further depicted, for example stepping motors for executing the controlled movements Hx, Hy, Vz, V′z.  
         [0037]     On the pick-up head  12  there is also a vacuum connection, only generally indicated in the drawings as  22  and which is connected with a vacuum source not depicted for supplying the vacuum channels  14 .  
         [0038]     The ram unit  11  consists essentially of a housing  23 , which can move, by means of a motorized drive not depicted and controlled by the electronic control unit  9 , on a frame or base plate  24  of the work station  7  in the direction of the Y-axis by a pre-defined stroke D ( FIG. 3 ). The top of the housing  23  forms a bearing or support surface  25  for the bottom of the carrier foil  3 , namely on a housing section  26 , in which several rams  27  that are tapered to a point at their top end and the axes of which are parallel to the Z-axis, can move axially in the direction of the Z-axis, namely for one movement stroke corresponding to the double arrow E of  FIG. 2 . The rams  27  are offset against each other in the direction of the Y-axis. The number of the rams  27  is the same as the number of the vacuum holders  14 , i.e. one ram  27  is allocated to each vacuum holder  14 . By spring means, which in the depicted embodiment are formed by leaf springs  29 , each ram  27  is pre-tensioned in a lower position, in which the free end of the respective tip  28  is located beneath the support surface  25 . On the housing  23  or on a board  30  located there, a shaft  31  can rotate on bearings on an axis parallel to the Y-axis, rotationally driven by a stepping motor and likewise controlled by the electronic control circuit  9  (arrow F of  FIG. 2 ). On the shaft there are several cam plates  33 , which are axially offset against each other and each of which forms a control cam  34 . The axis of the shaft  31  is located in a Y-Z plane, in which also the axes of the rams  27  are located. Furthermore, the shaft  31  is located beneath the rams  27 . A cam plate  33  is allocated to each ram  27 , so that with each full revolution of the shaft  31 , the respective ram  27  is moved by the control cam  34  located on the cam plate  33  from its starting position against the force of the spring element  29  upward into an upper stroke position, in which the respective ram  27  protrudes with its tip  28  through the carrier foil  4  clearly above the top of the carrier foil and above the level formed by the top of the wafer  1 .  
         [0039]     In the depicted embodiment, six cam plates  33  are provided for, corresponding to the number of rams  27 . The control cams  34  of the individual cam plates  33  are offset at even angle distances on the axis of the shaft  31  so that when the shaft  31  is rotating, the rams  27  are moved upward from their starting position in temporal succession.  
         [0040]     On the housing section  26  there is a ring groove  35  in the proximity of the bearing surface  25  surrounding the array of the rams  27 , which (ring groove) is open on the bearing surface  25  and can be placed under controlled vacuum.  
         [0041]     The special function of the work station  7  can be described as follows:  
         [0042]     To remove a group  2 ′ of semiconductor chips  2 , the carrier frame with the carrier frame holder is first moved in the forward feed direction B so that the row R 1 -Rn to be processed is located in the middle plane M of the ram  27 . This plane is indicated in  FIG. 2  as the middle plane M.  
         [0043]     Afterwards, the pick-up head  12  is moved so that the vacuum holders  14  are located above the semiconductor chips  2  of the respective row R 1 -Rn to be picked up. The ram element  11  also is controlled by the electronic control unit  9  so that one ram  27  is located beneath one chip  2  respectively of the group  2 ′ to be picked up from the carrier foil  3 . Afterwards, the pick-up head  12  is lowered vertically corresponding to the stroke Vz, whereby first each bearing surface  17  of each vacuum holder  14  comes to bear against one semiconductor chip  2  or its top side facing away from the carrier foil  3 . The vacuum holders  14  are located thereby in the lower position of their stroke or sliding movement C relative to the housing  13 . By means of the cam plates  33  located on the rotating shaft  31 , the rams  27  are then moved upward and lowered again in succession. In each upward movement of a ram  27 , the ram penetrates the carrier foil  3  with its tip  28 , releases the corresponding semiconductor chip  2  from the carrier foil  3  and moves this semiconductor chip  2 , which already bears against the bearing surface  17  and is held there by means of vacuum (vacuum channel  18 ), upward, whereby also the vacuum holder  14  in the guide  20  is pressed upward by means of the corresponding ram  27 . By means of the spring-mounted tongue  19 , the respective position of the vacuum holder  14  in the guide  20  is maintained, so that then during the subsequent downward movement of the respective ram  27 , i.e. when the corresponding control cam  34  again releases the lower end of the ram  27 , the corresponding semiconductor chip  2  is held on the bearing surface  17  of the vacuum holder  14  which has been pushed upward. In this way, all semiconductor chips  2  of the group  2 ′ to be removed are released in succession from the carrier foil  3  and moved together with the corresponding vacuum holder  14  into a position above the carrier foil  3 . By means of the pick-up head  12 , the semiconductor chips  2  held on the vacuum holders  14  are then moved as a group  2 ′ to the transport element  6  and then placed there after being lowered (vertical stroke V′z), corresponding to the rows R′ 1 -R′n to be formed, as described above. During the return stroke of the pick-up head  12  for picking up a new group of semiconductor chips  2 , i.e. before the initiation of the next work stroke, the vacuum holders  14  are moved back to their starting position by means of a slide  36  indicated in  FIGS. 2 and 3  by a broken line. Due to the ring groove  35  that can be placed under vacuum, the carrier foil  3  is fixed to the bearing surface  25  during removal of the semiconductor chip  2 , which significantly improves the removal of the semiconductor chip  2 .  
         [0044]     The fact that the raising of the rams  27  takes place in succession enables the efficient removal of each chip  2  from the self-adhesive carrier foil  3 , namely due to the fact that the carrier foil  3  is deformed by the respective tip  28  before being penetrated, so that the carrier foil  3  hereby is completely released from the bottom of the respective semiconductor chip  2  and adheres to the latter only at the point of contact between the tip  28  and the bottom of the semiconductor chip  2 .  
         [0045]      FIG. 5  shows in a depiction similar to  FIG. 2  as a further possible embodiment a work station  7   a , which differs from the work station  7  essentially only in that in each work stroke, semiconductor chips  2  of two adjacent rows R 1 -Rn are picked up as a group  2 ′ from the carrier foil  3 . For this purpose, two rows of vacuum holders  14  are provided for on the pick-up head  12   a  of the pick-up element  5   a , which corresponds in its function to the pick-up element  5 , on both sides of the middle plane M, each of which can be movably guided in a housing  13   a ′ and  13   a ″ in the direction of the Z-axis. Each ram  27   a  corresponding to a ram  27  forms two tips  28 . The distance between the axes of the vacuum holders  14  and their bearing surfaces  17  in the direction of the X-axis is the same as the distance between the axes of the two tips  28  in this X-axis and in the depicted embodiment is the same as the distance between the axes of two rows R 1 -Rn. The tips  28  are arranged in two rows extending in the direction of the Y-axis, namely such that upon removing the semiconductor chips  2  from the carrier foil  3 , the axis of one tip  28  is congruent with each vacuum holder  4 . The function of the work station  7   a  corresponds to the function of the work station  7 , only with the difference that the semiconductor chips  2  of two adjacent rows R 1 -Rn are released in temporal succession from the carrier foil  3  and are lifted above the plane of the wafer  1  with the respective ram  27   a  held on the respective vacuum holder  2 , i.e. the two adjacent semiconductor chips  2  of the two adjacent rows R 1 -Rn in the direction of the X-axis.  
         [0046]      FIG. 6  shows as a further possible embodiment a work station  7   b , which differs from the work station  7  only in that instead of the ram element  11 , a ram element  11   b  is provided for. The latter likewise comprises a plurality of rams  27   b  on the housing  23   b  corresponding to the housing  23 , which (rams) each form a tip  28  and can be moved axially, i.e. in the direction of the Z-axis, by the stroke E. The movement of the rams  27   b  is achieved by a control slide  37 , which, mounted on bearings, can be moved back and forth in the housing  23   b , in the direction of the Y-axis (double arrow I of  FIG. 7 ), controlled by the electronic control unit  9 . The slide  37  is provided with a control curve  38  of a groove  39 , which extends over the majority of its length in the direction of the Y-axis and forms a section  39 ′, in which the control curve  38  rises diagonally in the direction of the Z-axis and then falls off again. A pusher  40  engages with each ram  27   b  in the control groove  39 . With each full movement stroke of the control slide  37  in the one direction or the other direction, all rams  27   b  are moved in temporal succession one time from their starting position, in which the tips  28  are located below the plane of the carrier foil  3 , into a raised position, in which the tips  28  have penetrated the carrier foil  3  and are located above the plane of the wafer  1 , and then moved back into their starting position. In this embodiment, the control slide  37  with the control curve  38  replaces the cam plate  33  with the control cam  34 . Otherwise, the function of the work station  7   b  corresponds to the function of the work station  7 .  
         [0047]      FIG. 8  shows in a simplified perspective representation a work station  7   c , which is designed similar to the work station  7   a , but in the depicted embodiment is used to process electrical components  40 , which consist of a semiconductor chip enclosed in a plastic housing and are arranged on the carrier foil  3  in the carrier frame  4  in the same manner as the semiconductor chips  2 , namely in a rectangular array with several rows and columns. By means of the work station  7   c  or the pick-up element  5   c  located there, in one work stroke, two rows of components  40  are picked up from the carrier foil  3  and placed in rows R′ 1 , R′ 2  on a transport element  6 , which is formed by a rotating transport belt. For this purpose, the pick-up head  12   c  of the pick-up element  5   c  comprises one row of vacuum holders  14  on each of two housings  13   c ′ and  13   c ″, which (vacuum holders) adjoin each other in each housing in the direction of the Y-axis. The two housings  13 ′ and  13 ″ can furthermore be moved relative to each other in the direction of the X-axis, namely by a pre-defined stroke, as indicated by the double arrow G. This not only makes it possible to pick up two rows of components  40  from the carrier foil  3  and place them on the transport element  6   c  in one work step, but also enables a distance between the rows R′ 1  and R′ 2  on the transport element  6   c  that is greater than the distance between the rows of components  40  on the carrier foil  3 .  
         [0048]     By means of a flipping station  41 , which comprises groups of two vacuum holders each offset by 90° on a housing  42  that is driven rotationally in a pulsed cycle on the X-axis, the components  40  of the two rows R′ 1  and R′ 2  are transferred in succession to vacuum holders  44  of a transporter  45 . For this purpose, the vacuum holders  43  can be controlled to move radially to the rotational axis of the housing  41  (X-axis), namely for the removal of the components  40  on the transport element  6 c and for the transfer of two components respectively to the vacuum holders  44  of the transport element  45 .  
         [0049]     In  FIG. 1 , BL designates a reference line extending in the direction of the X-axis and thus perpendicular to the rows R 1 -Rn. The ends of the rows have differing distances from this reference line.  
         [0050]     The invention was described above based on exemplary embodiments. It goes without saying that numerous modifications and variations are possible. It is possible, for example, to eliminate a vertical stroke Vz and/or V′z for the respective pick-up head  12 ,  12   a ,  12   b  for the pick-up elements  5 ,  5   a ,  5   b  and to achieve the corresponding vertical movement for the advance of the vacuum holders  14  to the chips  2  on the carrier foil  3  and for placing the chips  2  on the transport element  6  solely by moving the vacuum holders  14  within the respective pick-up head  12 ,  12   a  or  12   b.    
         [0051]     Furthermore, it is of course also possible to use the work stations  7 ,  7   a  and  7   b  for processing components  40  or, conversely, to use the work station  7   c  for processing semiconductor chips  2 .  
       REFERENCE SYMBOLS  
       [0000]    
       
           1  wafer  
           2  semiconductor chip  
           2 ′ group of semiconductor chips  
           3  carrier foil  
           4  carrier frame  
           5 ,  5   a ,  5   b ,  5   c  pick-up element  
           6 ,  6   c  transport element  
           7 ,  7   a ,  7   b ,  7   c  work station  
           8  holder  
           9  electronic control unit  
           10  marking  
           11 ,  11   a ,  11   b  ram elements  
           12 ,  12   a ,  12   b ,  12   c  pick-up head  
           13 ,  13   a ′,  13   a ″,  13   c ′,  13   c ″ housing  
           14  vacuum holder  
           15  body  
           16  projection  
           17  bearing surface  
           18  vacuum channel  
           19  spring-mounted tongue  
           20  guide  
           21  transport or movement system  
           22  vacuum connection  
           23 ,  23   b  housing  
           24  frame  
           25  bearing surface  
           26  housing section  
           27 ,  27   a ,  27   b  ram  
           28  ram tip  
           29  spring  
           30  board  
           31  shaft  
           32  motor  
           33  cam plate  
           34  control cam  
           35  ring groove  
           36  reset slide  
           37  control slide  
           38  control curve  
           39  control groove  
           39 ′ control groove section  
           40  component  
           41  flipping station  
           42  housing  
           43  vacuum holder  
           44  vacuum holder  
           45  transport element  
          X, Y, Z spatial axis  
          A transport direction  
          B forward feed  
          C, D, E movement stroke  
          F direction of rotation  
          G movement stroke  
          Hx, Hy horizontal stroke  
          Vz, V′z vertical stroke  
          I movement stroke  
          K direction of rotation  
          R 1 , Rn row  
          R′ 1 , R′n row  
          M middle plane