Patent Publication Number: US-11382248-B2

Title: Dispensing head

Description:
RELATED APPLICATIONS 
     This application claims priority to U.S. patent application Ser. No. 16/969,751, filed Aug. 13, 2020, entitled “Dispensing Head, Nozzle and Method,” which claims priority to International Patent Application No. PCT/US2018/019753, filed Feb. 26, 2018, entitled “Dispensing Head, Nozzle and Method,” the disclosures of which are hereby incorporated by reference to the extent that is it not inconsistent with the present disclosure. 
     BACKGROUND 
     Assembly machines include complex robots that have dispensing heads that move along one or more axis to assemble an unfinished product. Dispensing heads may be capable of picking, placing, providing material to a component or surface, manipulating, screwing, or otherwise dispensing of a task or material. In pick-and-place assembly machines, for example, dispensing heads are often configured to receive multiple different spindle and nozzle assemblies in order to pick, place, and assemble various different parts efficiently. Dispensing heads must often include a spindle assembly for creating rotation in a nozzle, along with the ability to move the nozzle in the Z-axis. As a result of these requirements, dispensing heads for pick-and-place machines are often heavy and have a large volume. 
     Further, assembly machines may include multi-spindle or multi-nozzle dispensing heads. These dispensing heads may be configured to, for example, pick up multiple components from one or more feeder banks, and then move to a placement location to place the multiple components. This reduces assembly time compared to having a single spindle or single nozzle. This is because single spindle and nozzle arrangements will typically require the back and forth movement between the feeder banks and the placement location with each placed component. However, with additional spindles and nozzle receivers located on a dispensing head, the size, volume and engineering complexity of the head is often increased. Further, if one spindle or nozzle breaks or begins functioning improperly, the entire dispensing head may be compromised until such a problem is fixed. 
     Moreover, present dispensing heads for pick-and-place systems are typically controlled by machine level processors or control systems. These systems preclude the creation of an independent motion control profile for each individual spindle on a multi-spindle dispensing head. Rather, motion control profiles are created on a dispensing head level. 
     Thus, improved assembly machines, dispensing heads, spindles, spindle mounting modules and spindle banks to alleviate or reduce one or more of the above limitations would be well received in the art. 
     BRIEF DESCRIPTION 
     According to one embodiment, a spindle for a pick-and-place machine comprises: a shaft including a length extending between a first end and a second end, the shaft including an outer body and a hollow interior; a nozzle tip disposed at the first end of the shaft, the nozzle tip configured to contact an electronic component for manipulation of the electronic component; and a theta gear disposed on the shaft, the theta gear configured to engage with a motor of a pick-and-place head, wherein the spindle is configured to be removably attachable from the pick-and-place head. 
     According to another embodiment, a method of assembly comprises: providing a pick-and-place machine having a pick-and-place head; providing a spindle for the pick-and-place machine, the spindle including: a shaft including a length extending between a first end and a second end, the shaft including an outer body and a hollow interior; a nozzle tip disposed at the first end of the shaft; a theta gear disposed on the shaft; attaching the spindle to the pick-and-place head of the pick-and-place machine; engaging, by the theta gear, with a motor of the pick-and-place head; contacting, by the spindle, an electrical component; manipulating, by the spindle, the electrical component; and removing the spindle from the pick-and-place head of the pick-and-place machine. 
     According to another embodiment, a dispensing head comprises: a body structure including a receiving location; a z-axis motor; a theta motor; a spindle received in the receiving location, the spindle comprising: a shaft including a length extending between a first end and a second end, the shaft including an outer body and a hollow interior; a nozzle tip disposed at the first end of the shaft, the nozzle tip configured to contact an electronic component for manipulation of the electronic component; and a theta gear disposed on the shaft, the theta gear configured to engage with the theta motor such that the theta motor is configured to rotate the theta gear. 
     According to another embodiment, a spindle bank for a pick-and-place machine comprises: a base including a plurality of mount locations, each of the plurality of mount locations configured to receive a mountable spindle module including at least one pick-and-place spindle and nozzle; and a bearing system attachable to a movement axis of a pick-and-place machine such that the spindle bank is movable along the movement axis. 
     According to another embodiment, a pick-and-place machine comprises: a feeder location configured to present electronic components for picking; a placement location configured to receive an unfinished product to place the electronic components; a first movement axis; and a spindle bank including: a base including a plurality of mount locations, each of the plurality of mount locations configured to receive a mountable spindle module including at least one pick-and-place spindle and nozzle; and a bearing system attachable to the first movement axis such that the spindle bank is movable along the first movement axis. 
     According to another embodiment, a method of assembly comprising: providing a pick-and-place machine having a first movement axis; providing a spindle bank for a pick-and-place machine including: a base including a plurality of mount locations; and a bearing system attachable to the first movement axis of a pick-and-place machine such that the spindle bank is movable along the axis; and mounting, on each of the plurality of mount locations, a mountable spindle module including at least one pick-and-place spindle and nozzle; and assembling, by the received mountable spindle modules, at least one unfinished product. 
     According to another embodiment, a pick-and-place spindle module comprises: a modular body structure including a first receiving location configured to receive a spindle; a first z-axis motor configured to move a spindle received in the first receiving location in a z-axis; a first theta motor configured to rotate a spindle received in the receiving location; an air distribution system including an air distribution port, the air distribution system configured to deliver received air from the air distribution port to a spindle received in the first receiving location; an electrical distribution system including an electrical distribution port, the electrical distribution system configured to deliver received electricity from the electricity distribution port to the first z-axis motor and the first theta motor; and a mechanical attachment mechanism, the mechanical attachment mechanism configured to facilitate attachment of the modular body structure to a spindle bank such that the air distribution port is connected to receive air from the spindle bank and the electrical distribution port is configured to receive electricity from the spindle bank. 
     According to another embodiment, a method of assembly comprises: providing a pick-and-place machine having a first movement axis; providing a spindle bank attached to the pick and place machine such that the spindle bank is movable along the first movement axis: providing a first pick-and-place spindle module including: a modular body structure including a first receiving location; a first z-axis motor; a first theta motor; an air distribution system including an air distribution port; an electrical distribution system including an electrical distribution port; and a mechanical attachment mechanism; attaching, using the mechanical attachment mechanism, the first pick-and-place spindle module to the spindle bank such that the air distribution port is connected to receive air from an element of the spindle bank and the electrical distribution port is connected to receive electricity from an element of the spindle bank; receiving, by the receiving location of the modular body structure, a first spindle; moving, by the first z-axis motor, the received first spindle in a z-axis; rotating, by the first theta motor, the received first spindle; delivering, by the air distribution system, received air from the air distribution port to the received first spindle; delivering, by the electrical distribution system, received electricity from the electrical distribution port to the received first spindle; moving the spindle bank along the first movement axis; and at least partially assembling, by the attached first pick-and-place spindle module, at least one unfinished product. 
     According to another embodiment, a pick-and-place machine comprises: a feeder location configured to present electronic components for picking; a placement location configured to receive an unfinished product to place the electronic components; a first movement axis; a spindle bank movable along the first movement axis; and a pick-and-place spindle module attached to the spindle bank including: a modular body structure including a first receiving location configured to receive a spindle; a first z-axis motor configured to move a spindle received in the first receiving location in a z-axis; a first theta motor configured to rotate a spindle received in the receiving location; an air distribution system including an air distribution port, the air distribution system configured to deliver received air from the air distribution port to a spindle received in the first receiving location; an electrical distribution system including an electrical distribution port, the electrical distribution system configured to deliver received electricity from the electricity distribution port to the first z-axis motor and the first theta motor; and a mechanical attachment mechanism, the mechanical attachment mechanism attaching the modular body structure to the spindle bank such that the air distribution port is connected to receive air and the electrical distribution port is configured to receive electricity. 
     According to another embodiment, a pick-and-place spindle module comprises: a modular body structure including a first receiving location configured to receive a spindle; a first z-axis motor configured to move a spindle received in the first receiving location in a z-axis; a first theta motor configured to rotate a spindle received in the receiving location; a first motion control chip each attached to the body structure, the first motion control chip configured to control the first z-axis motor and the first theta motor; and a mechanical attachment mechanism, the mechanical attachment mechanism configured to facilitate attachment of the modular body structure to a spindle bank. 
     According to another embodiment, a pick-and-place spindle bank comprises: a base including a plurality of mount locations; a bearing system attachable to an axis of a pick-and-place machine such that the spindle bank is movable along the axis; and a first pick-and-place spindle module mounted to a first of the plurality of mount locations, the first pick-and-place spindle module including: a modular body structure including a first receiving location configured to receive a spindle; a first z-axis motor configured to move a spindle received in the first receiving location in a z-axis; a first theta motor configured to rotate a spindle received in the first receiving location; a first motion control chip each attached to the modular body structure, the first motion control chip configured to control the first z-axis motor and the first theta motor; and a mechanical attachment mechanism attaching the modular body structure to the base. 
     According to another embodiment, a pick-and-place head comprises: a body structure; a plurality of z-axis motors attached to the body structure, each configured to move a spindle in a z-axis; a plurality of theta motors attached to the body structure each configured to rotate a spindle; and a plurality of motion control chips each attached to the body structure, each of the plurality of motion control chips configured to control a single one of the plurality of z-axis motors and a single one of the plurality of theta motors. 
     According to another embodiment, a method of assembly comprises: providing a pick-and-place head that includes: a body structure; a plurality of z-axis motors attached to the body structure, each configured to move a spindle in a z-axis; a plurality of theta motors attached to the body structure each configured to rotate a spindle; and a plurality of motion control chips each attached to the body structure, controlling, with each of the plurality of motion control chips, a single one of the plurality of z-axis motors and a single one of the plurality of theta motors; and at least partially assembling, with the pick and place head, an unfinished product. 
     According to another embodiment, a pick-and-place dispensing head comprises: a body structure including a first z-axis motor attachment location, a second z-axis motor attachment location, a first linear track and a second linear track; a first z-axis motor attached to the body structure at the first z-axis motor attachment location; a second z-axis motor attached to the body structure at the second z-axis motor attachment location; a first body attached to the first linear track and operably connected to the first z-axis motor such that the first body moves along the first linear track when the first z-axis motor is actuated; a second body attached to the second linear track and operably connected to the second z-axis motor such that the second body moves along the second linear track when the second z-axis motor is actuated; a first theta motor operably connected to the first body; a second theta motor operably connected to the second body; a first receiving location operably connected to the first body, the first receiving location configured to receive a pick-and-place spindle, wherein the first theta motor is configured to rotate a pick-and-place spindle received in the first receiving location; and a second receiving location operably connected to the second body, the second receiving location configured to receive a pick-and-place spindle, wherein the second theta motor is configured to rotate a pick-and-place spindle received in the second receiving location, wherein the first linear track and the second linear track are attached to the body structure with a set screw extending between a first nut and a second nut. 
     According to another embodiment, a pick-and-place dispensing head comprises: a body structure extending in an x-axis, a y-axis perpendicular to the x-axis, and a z-axis perpendicular to the x-axis and the y-axis, the body structure including a first z-axis motor attachment location, a second z-axis motor attachment location, a first linear track extending along the z-axis and a second linear track extending along the z-axis; a first z-axis motor attached to the body structure at the first z-axis motor attachment location, the first z-axis motor configured to exact movement in the z-axis; a second z-axis motor attached to the body structure at the second z-axis motor attachment location, the second z-axis motor configured to exact movement in the z-axis; a first body attached to the first linear track and operably connected to the first z-axis motor such that the first body moves along the first linear track when the first z-axis motor is actuated; a second body attached to the second linear track and operably connected to the second z-axis motor such that the second body moves along the second linear track when the second z-axis motor is actuated; a first theta motor operably connected to the first body; a second theta motor operably connected to the second body; a first receiving location operably connected to the first body, the first receiving location configured to receive a pick-and-place spindle, wherein the first theta motor is configured to rotate a pick-and-place spindle received in the first receiving location; and a second receiving location operably connected to the second body, the second receiving location configured to receive a pick-and-place spindle, wherein the second theta motor is configured to rotate a pick-and-place spindle received in the second receiving location, wherein the first receiving location and the second receiving location are spaced apart along the x-axis and located at a same location along the y-axis, wherein the first z-axis motor and the second z-axis motor are spaced apart along the x-axis and spaced apart on the y-axis. 
     According to another embodiment, a pick-and-place dispensing head comprises: a body structure having a z-axis motor attachment location and a linear track; a z-axis motor attached to the body structure at the axis motor attachment location, the z-axis motor configured to exact movement in a z-axis; a body attached to the linear track and operably connected to the z-axis motor such that the body moves along the linear track when the z-axis motor is actuated; a theta motor operably connected to the first body; a receiving location operably connected to the body, the receiving location configured to receive a pick-and-place spindle such that the pick-and-place spindle is configured to move relative the body in the z-axis when an upward z-axis force is applied to the pick-and-place spindle, the receiving location including a spring mechanism configured to return the spindle to a start position after actuation by the z-axis motor, and wherein the first theta motor is configured to rotate a pick-and-place spindle received in the first receiving location and remain engaged with the pick-and-place spindle during z-axis movement of the pick-and-place spindle; and an optical detector extending from the first body configured to detect upward z-axis movement of a received pick-and-place spindle relative to the body. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Some embodiments of this invention will be described in detail, with reference to the following figures, wherein like designations denote like members, wherein: 
         FIG. 1  depicts a perspective view of an assembly machine in accordance with one embodiment; 
         FIG. 2A  depicts a perspective view of the assembly machine of  FIG. 1  with covers removed in accordance with one embodiment; 
         FIG. 2B  depicts a perspective view of a portion of the assembly machine of  FIG. 2A  enlarged at circle A in accordance with one embodiment; 
         FIG. 3  depicts a perspective view of a spindle module in accordance with one embodiment; 
         FIG. 4  depicts a perspective view of a body structure of the spindle module in accordance with one embodiment; 
         FIG. 5  depicts a front view of the body structure of  FIG. 4  in accordance with one embodiment; 
         FIG. 6  depicts a partially exploded view of the spindle module of  FIG. 3  in accordance with one embodiment; 
         FIG. 7A  depicts a side view of the spindle module of  FIG. 3  in accordance with one embodiment; 
         FIG. 7B  depicts a cross sectional view of the spindle module of  FIG. 7A  taken at arrows A-A in accordance with one embodiment; 
         FIG. 8  is a perspective view of a spindle nozzle in accordance with one embodiment; 
         FIG. 9  is a side view of the spindle nozzle of  FIG. 12  in accordance with one embodiment; 
         FIG. 10  depicts a side cutaway view of the spindle module of  FIG. 3  in accordance with one embodiment; 
         FIG. 11  depicts a front view of the spindle module of  FIG. 3  with the first z-axis motor actuated in accordance with one embodiment; 
         FIG. 12A  depicts a perspective view of the spindle module of  FIG. 3  with the first z-axis motor actuated in accordance with one embodiment; 
         FIG. 12B  depicts a perspective view of a portion of the spindle module of  FIG. 12A  enlarged at circle B in accordance with one embodiment; 
         FIG. 13A  depicts a perspective view of the spindle module of  FIG. 3  with the first z-axis motor actuated in accordance with one embodiment; 
         FIG. 13B  depicts a perspective view of a portion of the spindle module of  FIG. 13A  enlarged at circle C in accordance with one embodiment; 
         FIG. 14  is a perspective view of a spindle bank in accordance with one embodiment; and 
         FIG. 15  is a perspective view of the spindle bank of  FIG. 14  with a plurality of spindle modules attached in accordance with one embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     A detailed description of the hereinafter described embodiments of the disclosed apparatus and method are presented herein by way of exemplification and not limitation with reference to the Figures. 
     Referring to  FIG. 1 , an assembly machine  10  is shown. The assembly machine  10  is a pick-and-place machine configured to assemble printed circuit boards (PCB&#39;s) in the embodiment shown. For example, the assembly machine may be an advanced packaging assembly machine, a component assembly machine, or the like. In other embodiments, the features described herein may be applied to various other assembly machines such as odd form assembly machines (OFA), or the like. The Assembly machine  10  includes a frame  12  providing structure a body  14  having covers  16   a ,  16   b . The frame  12  may include a plurality of legs upon which the assembly machine  10  is configured to stand. The assembly machine  10  includes a plurality of feeder banks  18   a ,  18   b . A plurality of feeders  20  are disposed (shown in  FIG. 2A ), attached, or otherwise mounted to each of the feeder banks  18   a ,  18   b . The feeders  20  may each include a plurality of electronic components that the assembly machine  10  is configured to pick-and-place onto a PCB to assemble or at least partially assemble the PCB. The assembly machine  10  further includes a board handling opening  22 . A board handling track  24  may extend within the body  14  of the assembly machine  10  extending between the opening  22  and another opening on the opposing side of the assembly machine (not shown). The board handling track  24  may be configured to receive a PCB or another unfinished product and transport the PCB to a placement location within the body of the assembly machine  10  for assembly. The assembly machine  10  is shown further including operator interface and control displays  26   a ,  26   b , one on each side. The display  26  may be configured to receive user or operator inputs and display information necessary or useful to a user or operator. While the features of the assembly machine  10  shown are one exemplary embodiment, aspects of the invention described herein are applicable to various other types of assembly machines as will be apparent to those skilled in the art. 
     Referring now to  FIG. 2A , the assembly machine  10  is shown with the covers  16   a ,  16   b  removed exposing an interior  28  of the assembly machine  10 . The assembly machine  10  includes two additional feeder banks  18   c ,  18   d  disposed on the opposite side of the body  14  as the feeder banks  18   a ,  18   b . The board handling track  24  may be located between the feeder banks  18   a ,  18   b  and  18   c ,  18   d . The board handling track  24  may be configured to provide an unfinished product such as a PCB to a placement station  30  located along the track  24 . 
     The assembly machine  10  may facilitate movement of components in three movement axes: an x-axis, a y-axis and a z-axis. Hereinafter, the x-axis may be an axis extending parallel to the board handling track  24 . The y-axis may be perpendicular to the x-axis and the board handling track  24 . The z-axis may be an up and down or vertical axis. The assembly machine  10  may include a plurality of movement axes  32 ,  34 ,  36 ,  38  for facilitating movement in the x-axis and the y-axis. In particular, the assembly machine  10  may include a first movement axis  32  and a second movement axis  34  that are configured to facilitate movement in the y-axis. The assembly machine  10  may include a third movement axis  36  and a second movement axis  38  that are configured to facilitate movement in the x-axis. The first and the second movement axis  32  may extend along a depth of the machine between a first side  40  and a second side  42 . The first side  40  is the side of the assembly machine  10  proximate the first and second feeder banks  18   a ,  18   b . The second side  42  is the side of the assembly machine  10  proximate the third and fourth feeder banks  18   c ,  18   d . The third and fourth movement axes  36 ,  38  are shown connected to the first and second movement axes  32 ,  34  and extend there between. During operation of the assembly machine  10 , the third and fourth movement axes  36 ,  38  are configured to each independently move along the first and second movement axes  32 ,  34  to provide for movement in the y-axis. A spindle bank  100   a ,  100   b  is shown movably attached to each of the third and fourth movement axes  36 ,  38 , respectively. The spindle banks  100   a ,  100   b  may each be configured to move along the x-axis by moving along the respective third and fourth movement axes  36 ,  38 . In other embodiments, the assembly machine  10  may be a single-moveable axis machine. For example, there may be a single x-axis and a single y-axis connectable to the assembly machine, rather than two of each as shown in the embodiment in the Figures. 
     With the movement axes  32 ,  34 ,  36 ,  38 , the spindle banks  100   a ,  100   b  within the assembly machine  10  are configured for both x-axis and y-axis freedom of operation within the interior  28 . This allows the spindle banks  100   a ,  100   b  to move back and forth to and from the feeder banks  18   a ,  18   b ,  18   c ,  18   d  and the placement station  30 . This is accomplished by both the movement of the spindle banks  100   a ,  100   b  along the respective third and fourth movement axes  36 ,  38 , and the movement of the third and fourth movement axes  36 ,  38  along the first and second movement axes  32 ,  34 . Other forms of x-axis and y-axis movement within the assembly machine  10  are contemplated and the movement axes shown are for exemplary purposes. 
     Referring now to  FIG. 2B , a perspective view of a portion of the assembly machine  10  enlarged at circle A (from  FIG. 2A ) is shown. The enlarged portion shows the spindle bank  100   a  having a base  110  and a bearing system  112 . The base  110  may be a body, housing, structure or the like. The base  110  may include a plurality of mount locations  114   a ,  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h  each configured to receive a spindle module  200   a ,  200   b ,  200   c ,  200   d ,  200   e ,  200   f ,  200   g ,  200   h , respectively. The spindle modules described herein may be pick-and-place spindle modules particularly configured for receiving spindle and nozzle combinations that are configured to pick, place, or otherwise manipulate electronic components for printed circuit board assembly and picking and placement processes. The spindle modules described herein may also be utilized for other assembly processes where one or more rotatable and/or descendible manipulating spindles are necessary to perform at least a portion of an assembly process for assembling an unfinished product. 
     The bearing system  112  may be a system that provides for movement of the spindle bank  100   a  along the third movement axis  36 . The bearing system  112  may include wheels to facilitate movement between the spindle bank  100   a  and the movement axis  36 . In other embodiment, the bearing system  112  may include magnets to facilitate magnetic movement between the spindle bank  100   a  and the third movement axis  36 . The third movement axis  36  may include a track structure on the underside (not shown) that may cooperate with a track structure bearing system of the spindle bank  100   a . For example, the spindle bank  100  may include track runner bearings configured to cooperate with a track of the third movement axis  36 . A motor or other movement creating mechanism may provide for controlled powered movement of the spindle bank  100  along the third movement axis  36 . The motor may be located on the spindle bank itself  100 , or may be located on the third movement axis  36 . Thus, the spindle bank  100  may include one or more electrical ports, connectors or the like to connect to an electrical system of the assembly machine  10  to thereby provide electrical power to the spindle bank  100 . The spindle bank  100  may utilize this electricity to power a motor or otherwise provide motion, movement, or acceleration of the spindle bank  100  relative to the third movement axis  36 . 
     The mount locations  114   a ,  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h  may provide for modularity in the spindle bank  100   a  such that the spindle bank  100   a  may be operable with each of the spindle modules  200   a ,  200   b ,  200   c ,  200   d ,  200   e ,  200   f ,  200   g ,  200   h  attached or with a single one of the spindle modules. In other words, the spindle bank  100   a  may be operable no matter how many of the spindle modules  200   a ,  200   b ,  200   c ,  200   d ,  200   e ,  200   f ,  200   g ,  200   h  are installed into the mount locations  114   a ,  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h . If one of the spindle modules  200   a ,  200   b ,  200   c ,  200   d ,  200   e ,  200   f ,  200   g ,  200   h  breaks or is need of repair, the spindle bank  100   a  may be operable. Further, while the spindle modules  200   a ,  200   b ,  200   c ,  200   d ,  200   e ,  200   f ,  200   g ,  200   h  shown are all the same or similar, the mount locations  114   a ,  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h  may each be configured to receive different types of spindle modules with different types of spindles, nozzles and the like. The mount locations  114   a ,  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h  may each have the same physical mounting properties such that the spindle modules  200   a ,  200   b ,  200   c ,  200   d ,  200   e ,  200   f ,  200   g ,  200   h  may each include the same mounting properties, making each module interchangeably attachable to any mount location. In other embodiments, the spindle bank  100   a  may include mount locations that have different physical attachment properties to provide for attachment of modules having different attachment mechanisms or properties than other modules attachable in other mount locations on the spindle bank  100   a.    
     Referring now to  FIG. 3 , a spindle module  200  is shown. The spindle module may be the same as one of the spindle modules  200   a ,  200   b ,  200   c ,  200   d ,  200   e ,  200   f ,  200   g ,  200   h  shown in  FIG. 2B . The spindle module  200  is shown including a modular body structure  210 . The modular body structure may include a first body structure  212  and a second body structure  214  mounted or attached to the first body structure  212 . The second body structure  214  includes a first receiving location  216  configured to receive a first spindle  300   a , and a second receiving location  218  configured to receive a second spindle  300   b.    
     The spindle module  200  further includes a first z-axis motor  220  and a second z-axis motor  222 , each mounted to the second body structure  214 . The first z-axis motor  220  may be configured to move the first spindle  300   a  in the z-axis direction. Similarly, the second z-axis motor  222  may be configured to move the second spindle  300   b  in the z-axis direction. The spindle module  200  further includes a first theta motor  224  and a second theta motor  226 . The first theta motor  224  may be configured to rotate the first spindle  300   a  in a theta (θ) rotational axis. The second theta motor  226  may be configured to rotate the second spindle  300   b  in the theta (θ) rotational axis. The first and second theta motors  224 ,  226  may be configured to provide theta axis rotation in either directions. Thus, the spindle module  200  may provide for movement in the z-axis and rotational movement in the theta (θ) rotational axis. The spindle module  200  may provide for independent movement for each of the first and second spindles  300   a ,  300   b.    
     The spindle module  200  may further include an air distribution system that includes one or more valves  228 ,  230 , first and second air distribution ports  232 ,  234  (shown in  FIGS. 12A and 13A ), along with two airflow tubes  236  (one shown), each providing vacuum generating airflow to the first and second spindles  300   a ,  300   b . The air distribution system may further include a pneumatic connector  256  (one shown) on each side. The first and second air distribution ports  232 ,  234  may each be configured to receive air from an air distribution system of the assembly machine  10  and deliver the received air to the first and second spindles  300   a ,  300   b . After receiving the air at the air distribution ports  232 ,  234 , internal airflow tubes (not shown) may provide this airflow to the pneumatic connectors  256 . The airflow tubes  236  may connect to the pneumatic connectors  256  by elongating the airflow tubes or using another tube that connects the pneumatic connectors  256  to the airflow tubes  236 , respectively. In the embodiment shown, the first valve  228  is housed within a widened portion of the first body structure  214 , and may provide for air-kiss forward air pressure. The second valve  230  is also shown to be housed within a widened portion of the first body structure  214 , and may be a valve for providing vacuum pressure for picking up a component with the first and second spindles  300   a ,  300   b.    
     The spindle module  200  may have a first outer body  238   a  and a second outer body  238   b  mounted to the first body structure  212  with several screws. The outer bodies  238   a ,  238   b  may be a first circuit board and a second circuit board. As shown, the spindle module  200  includes an electrical distribution system including a second circuit board assembly  251  containing a plurality of electrical distribution ports  242   a ,  242   b  configured to receive electricity from the assembly machine  10  and/or the spindle bank  100   a  or  100   b  when attached and deliver the received electricity to the first and second z-axis motors  220 ,  222  and the first and second theta motors  224 ,  226 . When the spindle module  200  is attached to the assembly machine  10 , each of the electrical distribution ports  242   a  and  242   b  may be attached to electrical connectors of the assembly machine  10  or spindle bank  100   a  or  100   b.    
     In one embodiment, the ports  240   a ,  240   b  may be configured to deliver electricity from the distribution ports  242   a  and  242   b  to the circuit board assembly  238   a  and  238   b  and to electrical connectors  252 ,  254 ,  257 . It should be understood that duplicate electrical connectors to the electrical connectors  252 ,  254  and  257  are found on the opposite side of the outer body  238   a . Thus, electricity may travel through the port  242   a  through  240   a  and  238   a  and through the electrical connector  257 , and through a cable (not shown) to the first z-axis motor  220 . Similarly, electricity may travel through the port  242   a , through  240   a  and  238   a  through the electrical connector  252  and through a cable (not shown) to the first theta motor  224 . Connector  254  may be used to connect to a spindle module optical detector  550  (described herein below, cable not shown) to the motion control chip  250  located on  238   a . This electrical arrangement may be duplicated on the other side with respect to the printed circuit board second outer body  238   b.    
     The spindle module  200  may include one or more mechanical attachment mechanisms to facilitate attachment of the spindle module  200  to the assembly machine  10 , for example to a spindle bank such as one of the spindle banks  100   a ,  100   b . In the embodiment shown, the mechanical attachment mechanisms comprise a first threaded screw  246   a  and a second threaded screw  246   b . In one embodiment, the mechanical attachment mechanism may be capable of attachment with only a non-powered hand tool such as a screw driver, Allen wrench, wrench, or the like. In the embodiment shown, the first and second threaded screws  246   a ,  246   b  may be turned by an Allen wrench at bolt heads  248   a ,  248   b  (shown in  FIG. 5 ). Further, the tightening of the threaded screws  246   a ,  246   b  may be the only procedure or step required to attach the spindle module  200  to one of the spindle banks  100   a ,  100   b . Similarly, the loosening of the threaded screws  246   a ,  246   b  may be the only procedure or step required to unattach or remove the spindle module  200  from one of the spindle banks  100   a ,  100   b.    
     The attachment of the spindle module  200  may be completed, executed or performed such that the air distribution ports are connectable to receive air from the assembly machine  10  and/or the spindle bank  100   a  or  100   b , and the electrical distribution port is configured to receive electricity from the assembly machine  10  and/or the spindle bank  100   a  or  100   b . The spindle module  200  may not be attachable directly to any movement axis of the assembly machine  10 , such as the first, second, third or fourth movement axes  32 ,  34 ,  36 ,  38 . Instead, the spindle module  200  may be attachable to one of the spindle banks  100   a ,  100   b  which in turn may be attachable to one or more of the first, second, third or fourth movement axes  32 ,  34 ,  36 ,  38 . 
     The spindle module  200  may further include a first motion control chip  250  attached to the first body structure  212  proximate the second body structure  214  and the motors  220 ,  222 ,  224 ,  226 . An opposite side of the first body structure  212  may include a second motion control chip (not shown) in a mirrored location as the first motion control chip  250 . The first motion control chip  250  may each be configured to control the first z-axis motor  220  and the first theta motor  224 . The motion control chip  250  may thus be a dedicated control chip, processor, or the like, configured to control only one of the two spindles  300   a ,  300   b  contained in the spindle module  200 , in particular the first spindle  300   a . The second motion control chip may be a dedicated control chip, processor, or the like configured to control the second spindle  300   b . Each of the first motion control chip  250  and the second motion control chip may be configured to control speed, acceleration and position of the respective first and second z-axis motors  220 ,  222  and the first and second theta motors  224 ,  226 . Further, each of the first motion control chip  250  and the second motion control chip may be configured to create an independent and/or separate motion control profile for each of the first and second spindles  300   a ,  300   b , respectively. 
     Referring now to  FIGS. 4 and 5 , a perspective view and side view, respective, of the second body structure  214  is shown prior to attachment with the first body structure  212 . The second body structure  214  includes a middle structural portion  258 , an upper structural portion  260  and a lower structural portion  262 . The second body structure  214  may be a machined metallic component consistent with the dimensions shown. The second body structure  214  may be configured to receive for attachment the first and second z-axis motors  220 ,  222 , and may include the support structure to allow for moveable attachment along the z-axis of the first and second theta motors  224 ,  226 , as described in more detail herein below. 
     The middle structural portion  258  may include an opening  263  or bore configured to receive the second threaded screw  246   b  and the head  248   b  thereof. The middle structural portion  258  may include a square or rectangular cross section extending in the direction of the opening  263  and surrounding the opening  263 . A back end of the middle structural portion  258  may include extending support flanges  264   a ,  264   b  configured for supporting the second body structure  214  when mounted to the first body structure  212 . 
     The upper structural portion  260  extends upward from the middle structural portion  258 . The upper structural portion  260  includes a depth extending from a front end  269  along the y-axis. The upper structural portion  260  includes an upper rectangular removed portion  274  configured to reduce the weight of the second body structure  214 . The upper structural portion  260  includes a first z-axis motor mount face  266  and a second z-axis motor mount face  268 . The first z-axis motor mount face  266  is shown flush to the front end  269  of the upper structural portion  260  while the second z-axis motor mount face  268  extends from a middle point along the depth of the upper structural portion, the middle point being closer to the front end  269  than the opposing rear end. The first z-axis motor mount face  266  and the second z-axis motor mount face  268  may be spaced apart along both the x-axis and the y-axis. Further, the first z-axis motor mount face  266  may be facing a first direction while the second z-axis motor mount face  268  may be facing a second direction that is opposite the first direction. The first and second z-axis mount faces  266 ,  268  may each include a removed portion  276   a ,  276   b  configured to reduce the weight of the second body structure  214 . 
     In one embodiment, the first and second mount faces  266 ,  268  may be located such that when mounted the vertical z-axes of first and second z-axis motors  220 ,  222  are spaced at least 18 mm apart. In other embodiments, the first and second mount faces  266 ,  268  may be located such that when mounted the vertical z-axes of first and second z-axis motors  220 ,  222  are spaced no more than 18 mm apart. In yet other embodiments, the first and second mount faces  266 ,  268  may be located such that when mounted the vertical z-axes of the first and second z-axis motors  220 ,  222  are spaced at least 16 mm apart. In one embodiment, the first and second mount faces  266 ,  268  may be located such that when mounted the vertical z-axes of the first and second z-axis motors  220 ,  222  are spaced at least 18 mm apart in total and at least 10 mm apart along the x-axis. Thus, the first and second mount faces  266 ,  268  may be located such that when mounted the vertical z-axes of the first and second z-axis motors  220 ,  222  are spaced on a diagonal relative the x-axis and the y-axis. 
     Extending to the top of the upper structural portion  260  is an upper stanchion  270 , post, or the like configured to provide for a second attachment location. The upper stanchion  270  may include another opening  272  or bore configured to receive the first threaded screw  246   a  and the head  248   a  for attachment of the combined modular body structure  210  to the spindle bank  100   a ,  100   b.    
     The lower structural portion  262  extends downward from the middle structural portion  258 . The lower structural portion  262  includes a depth extending from a front end  277  along the y-axis. The lower structural portion  262  includes a lower rectangular removed portion  273  configured to reduce the weight of the second body structure  214 . The lower structural portion  262  may be a U-shaped structure extending from the middle portion  258 . The front end  277  of the U-shaped structure of the lower structural portion  262  includes a first linear track  278  mounted or otherwise attached to a front surface and a second linear track  280  mounted or otherwise attached to an opposing back surface such that the first linear track  278  and the second linear track  280  each extend along the z-axis. 
     A first body  282  is shown attached to the first linear track  278  and a second body  284  is shown attached to the second linear track  280 . As shown in  FIGS. 7-8  and described herein below, the first body  282  is operably connected to the first z-axis motor  220  such that the first body  282  moves along the first linear track  278  when the first z-axis motor  220  is actuated. Similarly, the second body  284  is operably connected to the second z-axis motor  222  such that the second body  284  moves along the second linear track  280  when the second z-axis motor  222  is actuated. The first and second bodies  282 ,  284  may each be linear bearing systems configured to integrate with the first and second linear tracks  278 ,  280 , respectively. In one embodiment, the first and second bodies  282 ,  284  may be configured to slidably move along the first and second linear tracks  278 ,  280 , respectively. In other embodiments, the first and second bodies  282 ,  284  may house rollers or wheels configured to facilitate movement along the first and second tracks  278 ,  280 . To attach the first and second bodies  282 ,  284  to the first and second tracks  278 ,  280 , respectively, the first and second bodies  282 ,  284  may be slid into the track from the bottom. Once the first and second bodies  282 ,  284  are operably connected to the first and second z-axis motors  220 ,  222 , respectively, the downward z-axis motion of the first and second bodies  282 ,  284  may be restricted by the movement of the first and second z-axis motors  220 ,  222  in order to securably attach the first and second bodies  282 ,  284  onto the first and second tracks  278 ,  280 . 
     Referring now to  FIG. 6 , a partially exploded view of the second body structure  214  is shown having the first z-axis motor  220  and the second z-axis motor  222  already attached, the first theta motor  224  and the second theta motor  226  disassembled from the second body structure  214 , and the first and second spindles  300   a ,  300   b  disassembled from the first and second receiving locations  216 ,  218 , respectively. A third body structure  286  is shown attached to the first body  282  and a fourth body structure  288  is shown attached to the second body  284 . The third and fourth body structures  286 ,  288  are shown attached to the first and second bodies  282 ,  284  through screws or bolts  290   a ,  290   b  which may be threadably received by openings  291   a ,  291   b  (shown in  FIG. 4 ) in the first and second bodies  282 ,  284 . The third and fourth body structures  286 ,  288  may be configured for attaching the first and second theta motors  224 ,  226  to the movable first and second bodies  282 ,  284 . In this manner, the first and second theta motors  224 ,  226  may be operably connected to the first and second bodies  282 ,  284 , respectively. The third and fourth body structures  286 ,  288  may include the first and second receiving locations  216 ,  218 , respectively for receiving the first and second spindles  300   a ,  300   b . Further, the third and fourth body structures  286 ,  288  may include a location at the top that interfaces with and/or otherwise attaches to an extending portion of the z-axis motor  220 ,  222 . 
     Each of the third and fourth body structures  286 ,  288  may include a theta motor attachment location  292 ,  294  configured to receive the first and second theta motors  224 ,  226 , respectively. The theta motor attachment locations  292 ,  294  may each be semi-circular in shape. The theta motor attachment locations  292 ,  294  may be offset from the receiving locations  292 ,  294 , respectively, such that motor drive gears  295 ,  296  of the first and second theta motors  224 ,  226  may be meshed with theta gears  310  of the spindle  300   a ,  300   b . In one embodiment, the first receiving location  216  and the second receiving  218  location spaced apart by a spacing S equal to or less than 10 mm. In other embodiments, the spacing S may be equal to or less than 8 mm. In still other embodiments, the spacing may be equal to or less than 12 mm. 
     Referring now to  FIGS. 7A and 7B , a mechanism and method for connecting the first and second linear tracks  278 ,  280  to the second body structure  214  is shown. In particular,  FIG. 7A  shows a side view of the spindle module  200 .  FIG. 7B  shows a cross sectional view of the second body structure  214  of the spindle module  200  at a location where the first and second linear tracks  278 ,  280  are connected, taken at arrows A-A. As shown in  FIG. 7B , the first linear track  278  and the second linear track  280  are attached to the lower structural portion  262  of the second body structure  214  of the modular body structure  210  of the spindle module  200  with a set screw  297  extending between a first nut  298   a  and a second nut  298   b . The set screw  297  may include exterior threads as shown. Each of the first and second nuts  298   a ,  298   b  may include an internally threaded nut body  299   a ,  299   b  configured to receive the exterior threads of the set screw  297 . 
     The first and second linear tracks  278 ,  280  may include bores  289   a ,  289   b , configured to receive a heads  293   a ,  293   b , respectively, of the first and second nuts  298   a ,  298   b . In particular, the first linear track  278  may include the first bore  291   a  configured to receive the first head  293   a  of the first nut  298   a  when tightened such that the first nut  298   a  does not interfere with movement of the first body  282  on the first linear track  278 . Similarly, the second linear track  280  may include a second bore  291   b  configured to receive the second head  293   b  of the second nut  298   b  when tightened such that the second nut  293   b  does not interfere with movement of the second body  284  on the second linear track  280 . 
     To connect the first and second linear tracks  278 ,  280  to the second body structure  214 , the process includes inserting the set screw  297  into an opening in each of the first and second linear tracks  278 ,  280  while aligned with an opening of the second body structure  214 , then inserting the nuts  298   a ,  298   b  such that the internally threaded nut body  299   a ,  299   b  engages with the external threads of the set screw  297 . Next, the process includes tightening the first and second nuts  298   a ,  298   b  until tight. In one embodiment, only a single set screw and nut combination may be required to fully attach the first and second linear tracks  278 ,  280 . In another, a second set screw may extend between a third nut and a fourth nut at a spaced apart location from the first set screw  297 , the first nut  298   a , and the second nut  298   b . An embodiment having two set screws is shown in the Figures (e.g.  FIG. 4 ) where two heads  293   a  of the set screws are shown recessed in the track, one at a top of the linear track  278  and one at the bottom of the linear track  278 . 
     Referring now to  FIGS. 8 and 9 , a spindle  300  is shown. In particular,  FIG. 8  shows a perspective view of the spindle  300  and  FIG. 9  shows a side view of the spindle. The spindle  300  may include the same features as the spindles  300   a ,  300   b . The spindle  300  includes a theta gear  310 , a shaft  312  and a nozzle tip  314 . The spindle  300  may extend between a first lower end  328  and a second upper end  330 . 
     The spindle  300  may be considered a spindle-nozzle combination. The nozzle tip  314  is configured to contact an electronic component for manipulation of the electronic component. Additionally, the spindle  300  may include the rotatable shaft  312  and the theta gear  310  to facilitate rotation. The spindle  300  may be configured for interchangeability on, or removably attachable to, a dispensing or pick-and-place head (such as the spindle bank  100  and the spindle module  200  combination). The spindle  300  may be found in a nozzle bank of the assembly machine  10  when it is not attached to the spindle module  200  and/or spindle bank  100 . 
     The spindle  300  may be configured to provide vacuum suction to the electronic component through the nozzle tip  314  to allow for the picking up, or other manipulation, of electronic components by the nozzle tip  314 . To provide airflow or a vacuum force to the nozzle tip  314 , the shaft  312  may include an outer body  316  having a hollow interior  318 . The spindle  300  may be configured to provide an airkiss outward airflow through the nozzle tip  314  to the electronic component to facilitate placement of electronic components. In other embodiments, other types of nozzles may be contemplated for the spindle  300 , such as nozzles configured to provide a material to an unfinished product. 
     The theta gear  310  may be disposed onto the shaft  312 . The theta gear  310  may include a plurality of teeth  320  evenly disposed about the circumference of the theta gear  310 . The teeth  320  of the theta gear  310  may be configured to engage with a theta motor such as one of the theta motors  224 ,  226 . For example, the teeth  320  may be configured to engage with a motor drive gear, such as one of the motor drive gears  295 ,  296 , of the theta motors  224 ,  226 . 
     The shaft  312  may be cylindrical in shape. The theta gear  310  may be secured to, attached to, or otherwise integrated with, the shaft  312  such that rotation of the theta gear  310  by a motor drive gear also rotates the shaft  312 . In some embodiments, the theta gear  310  may be a separately manufactured component from the shaft  312 . The theta gear  310  may include a circular inner opening configured to receive the shaft  312 . 
     The outer body  316  of the rotatable shaft  312  includes a first opening  322  configured to receive airflow into the hollow interior  318 . For example, the airflow tube  236  of the spindle module  200  may be configured to deliver airflow through the first opening  322  into the hollow interior. The outer body  316  of the rotatable shaft  312  includes a second opening  324  configured to receive airflow into the hollow interior  318 . The airflow tube  236  of the spindle module  200  may be configured to deliver airflow through the second opening  324  into the hollow interior. The second opening  324  may be disposed on an opposite side of the rotatable shaft  312  than the first opening  322 . While the embodiment shown in  FIGS. 8 and 9  includes two openings  322 ,  324 , more or less openings are contemplated. As shown, the each of the first and second openings  322 ,  324  may be disposed about the outer body  316  of the rotatable shaft  312  at a point along a length of the shaft. 
     The theta gear  310  may further include an upper surface  326  facing the second upper end  330 , and a lower surface  332  facing the first lower end  328 . The theta gear  310  may include an outer circumference with the teeth  320  disposed along the outer circumference. The theta gear  310  may further include a circumferential ridge  334  extending from the upper surface  326  toward the first lower end  328 . The circumferential ridge  334  may be a ring, protrusion, or the like, and may be located between the outer circumference of the theta gear  310  and the shaft  312 . 
     The theta gear  310  may further include a lower base  336  and an upper base  338 . The lower base  336  may extend from the lower surface  332  toward the first lower end  328  of the spindle  300 . The lower base  336  may be located proximate the opening of the theta gear  310  and may extend along a length of the opening of the theta gear  310  and along a length of the shaft  312 . The lower base  336  and the upper base  338  may be configured to provide support for the attachment of the theta gear  310  to the shaft  312 . 
     In one embodiment, the shaft  312  may be made of a magnetic material to facilitate magnetic attachment of the spindle  300  to a receiving location, such as one of the receiving locations  216 ,  218 , of a dispensing head or pick-and-place head such as the spindle module  200  and/or the spindle bank  100 . The magnetic material may provide for removable attachment of the spindle  300  to the dispensing head or pick-and-place head, as described hereinbelow. 
     The spindle  300  is shown as a spindle-nozzle combination that includes a toothed arrangement for being driven by a tooth drive gear. However, the spindle  300  may also be a spindle-nozzle combination where the theta gear is a magnetic gear rather than a toothed gear. A magnetic theta gear may be driven by a magnetic theta motor. Whatever drive mechanism utilized the spindle  300  may include a nozzle and an integrated means to provide for rotation of the nozzle. 
     Referring now to  FIG. 10 , a side cutaway view of the spindle module  200  of  FIG. 3  is shown. In particular,  FIG. 10  shows the attachment of the first z-axis motor  220  to the third body structure  286 . It should be understood that the features that are described hereinbelow as shown with respect to the first z-axis motor  220  and the third body structure  286  may be applicable to the second z-axis motor  222  connecting to the fourth body structure  288 . 
     Each of the first and second z-axis motors  220 ,  222  includes a movable shaft  516   a ,  516   b , respectively, each configured to move relative to the body of the motor. Each of the first and second z-axis motors  220 ,  222  includes a spring  518   a ,  518   b  proximate a cap  520   a ,  520   b . The springs  518   a ,  518   b  may be configured to return the movable shaft  516   a ,  516   b  to the start position after actuation by the z-axis motor  220 ,  222 . The top end of each of the shafts  516   a ,  516   b  is connected to the respective caps  520   a ,  520   b  by a threaded feature of the cap being inserted into a threaded bore of the shafts  516   a ,  516   b . A threaded set screw  514  may be located at the bottom of each of the shafts  516   a ,  516   b  connecting the shaft to the third and fourth body structures  286 ,  288 , respectively. Thus, when the z-axis motors  220 ,  222  are actuated and the shafts  516   a ,  516   b  displace downward, so do the respective attached body structures, which includes the respective nozzles  300   a ,  300   b , and the respective theta motors  224 ,  226 . 
     Furthermore, the first receiving location  216  is shown after having received the first spindle  300   a  into a bore of the first receiving location  216 . The first receiving location  216  and the shaft  312  of the first spindle  300   a  may include a relatively tight tolerance to allow for z-axis sliding and rotation of the shaft  312  without other movement. The shaft  312  of the first spindle  300   a  may be magnetic and may be attracted to a magnet  510  located or disposed within the third body structure  286 . This may create a holding force to retain the first spindle  300   a  within the first receiving location  216 . However, this holding force may be overcome by a greater force if it is desired for the first spindle  300   a  to be removed from the first receiving location  216 . In this manner, the first spindle  300   a  may be removably attachable to the first receiving location  216 . As shown a spindle spring  512  may be housed within the third body structure  286 . This spindle spring  512  may provide a small amount of spring movement at the moment of pickup and/or placement of a component by the spindle  300   a , when the spindle  300   a  is resisted by the upward force from the unmovable feeder bank (during pickup) and unfinished product or PCB (during placement. In other embodiments not shown, the spindle spring  512  may be replaced by a magnet that provides a resistive magnetic force on a corresponding magnet of the spindle  300   a.    
       FIG. 11  depicts a front view of the spindle module  200  with the first z-axis motor  220  actuated. As shown, the second z-axis motor  222  remains in the upward and non-actuated position. When actuated, the shaft  516   a  and spring  518   a  are compressed. When actuated, the shaft  518   a  then protrudes from the bottom of the body of the z-axis motor  220 . An attachment location  522   a  between the shaft  518   a  and the third body structure  286  is thereby moved down, moving down the first body  282 , the first theta motor  224 , the first receiving location  216  and the first spindle  300   a . Meanwhile, an attachment location  522   b  between the shaft  518   b  and the fourth body structure  288  remains stationary, along with the second body  284 , the second theta motor  226 , the second receiving location  218  and the second spindle  300   b.    
       FIG. 12A  depicts a perspective view of the spindle module  200  with the first z-axis motor  220  actuated and having a circle B drawn around a portion of the spindle  300   a .  FIG. 12B  depicts a perspective view of a portion of the spindle module  200  enlarged at the circle B. The enlarged view from  FIG. 12B  shows a spindle module optical detector  550  extending from the third body structure  282  attached to the first body  282 . The optical detector  550  may be configured to detect upward movement of the received first spindle  300   a  relative to the first body  282  and the third body structure  282 . It should be understood that the spindle module  200  may include a second optical detector positioned in the same manner detecting movement of the second received spindle  300   b.    
     As shown in  FIG. 12B , the spindle  300   a  is in a resting downward position before the spindle  300   a  contacts an electronic component for picking up, or before the spindle  300   a  contacts the PCB or other unfinished product during placement. During this resting position, the teeth  320  of the spindle  300   a  mesh with the teeth of the first theta motor drive gear  295 . Further, the circumferential ridge  334  of the first spindle  300   a  does not extend into an opening  552  located between a first end  554  and a second end  556  of the optical sensor  550 . The first end  554  of the optical sensor  550  may include an optical light beam generator  558  and the second end  556  of the optical sensor  550  may include an optical light detector. When the circumferential ridge  334  is positioned in the opening  552 , the circumferential ridge  334  may break the beam. This may be configured to immediately detect when touchdown has occurred during pickup and/or placement. 
       FIG. 13A  depicts a perspective view of the spindle module  200  with the first z-axis motor  220  actuated and having a circle C drawn around a portion of the spindle  300   a .  FIG. 13B  depicts a perspective view of a portion of the spindle module  200  enlarged at circle C. As shown in  FIG. 13B , the spindle  300   a  has now been moved upward relative to the first body  282  and the third body structure  282 . Thus, the circumferential ridge  334  is positioned in the opening  552 , thereby breaking the beam of the optical sensor  550 . It should further be noted that the first theta motor drive gear  295  includes a height that is large enough to maintain contact with the teeth  320  of the nozzle  300   a  during motion of the nozzle  300   a  relative to the first theta motor drive gear  295 . In one embodiment, the first theta motor drive gear  295  may include a height that is larger than the maximum movement allowable between the spindle  300   a  and the first body  282  and the third body structure  282 . 
     Referring first to  FIG. 14 , the spindle bank  100  having a single one of the spindle modules  200  attached. The spindle bank  100  includes the base  110  and the mounting locations  114   a ,  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h . In the embodiment shown, the base  110  includes eight of the mounting locations  114   a ,  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h . In other embodiments, more or less mounting locations are contemplated. For example, a spindle bank may have as little as a single mounting location, or as many mounting locations as would, when attached to the spindle bank  100 , span across half the width of the assembly machine, minus half the width of the intended unfinished product the assembly machine is intended to at least partially assemble. Such an arrangement would enable even the left and rightmost spindles in the spindle module to reach each point along the x-axis of the unfinished product. 
     Each of the plurality of mount locations  114   a ,  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h  are configured to receive a mountable spindle module, such as the mountable spindle module  200  as shown. The spindle bank  100 , when combined with one or more spindle modules  200  may be a dispensing head or pick-and-place head for the assembly machine  10 . Unlike typical dispensing heads and pick-and-place heads, the spindle bank  100  may provide a modular design for simple mechanical attachment and removal of individual modular spindle modules, such as the spindle module  200 . The modular nature of the spindle attachment may provide for simpler maintenance when a spindle assembly needs repair. Further, while the spindle module  200  was described hereinabove as an example, various other spindle modules may fit into the spindle bank  100 , such as the spindle module  500 , shown in  FIG. 15 . The modularity of the spindle bank  100  and spindle module combination may provide flexibility to the system. The dispensing head defined by the spindle bank  100  and the spindle modules  200 ,  500  can be easily reconfigured with various spindle modules in whatever configuration needed by an assembly process. 
     In the embodiment shown, the center of each of the mount locations  114   a ,  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h  may be spaced less than 25 mm apart. In other embodiments, the center of each of the mount locations  114   a ,  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h  may be spaced less than 20 mm apart. Any spacing is contemplated for the mount locations  114   a ,  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h , but it may be difficult but desirable to reduce the spacing by making each of the spindle modules  200  as thin as possible in order to reduce the size and weight of the spindle bank  100 . The above described structure of the spindle module includes various features that provide for thin spindle modules  200  such as the spacing of the z-axis motors  220 ,  222 , the features of the modular body structure  210 , and the like. 
     The spindle bank  100  includes a bearing system  112  comprising a first bearing  116  and a second bearing  118  for attaching the spindle bank  100  to the movement axis of an assembly machine, such as the third movement axis  36  or the fourth movement axis  38 . The bearing system  112  may cooperate with a track found in the movement axis  36 ,  38  of the assembly machine  10 . In other embodiments, the bearing system  112  of the spindle bank  100  may include wheels or balls to facilitate movement (not shown). In other embodiments, the bearing system  112  may include other shaped channels for integrating with a track system. In still others, the spindle bank  100  may include a powered bearing system that uses wheels or magnetism to move the spindle bank  100  along the attached movement axis. In others, the axis includes the movement system and the spindle bank  100  is unpowered for the purposes of movement but instead attaches to the axis and is moved by the movement system powered by the axis. In some embodiments, a permanent magnet and coil system may be utilized in which the spindle bank  100  acts as either the permanent magnet(s) or the moveable coil(s), and the axis acts as the other of the permanent magnet(s) or the movable coil(s). The spindle bank  100  may include any system for movably attaching the spindle bank  100  to one or more axis for movement. 
     The spindle bank  100  further includes an air distribution system including a first inlet  122  and a second inlet  124 . The first inlet  122  and the second inlet  124  may each be connected to a tube or other air delivery system from the assembly machine. A channel may extend from the first air inlet  122  with various air outlets  126   a ,  126   b ,  126   c ,  126   d ,  126   e ,  126   f ,  126   g  configured to each deliver air to an air distribution port, such as the first air distribution port  232  of the spindle module  200 . Similarly, a channel may extend from the second air inlet  124  with various air outlets  128   a ,  128   b ,  128   c ,  128   d ,  128   e ,  128   f ,  128   g  configured to each deliver air to an air distribution port, such as the second air distribution port  234  of the spindle module  200 . It should be understood two air outlets of the spindle bank  100  are hidden by the attached spindle module  200  in the embodiment shown in  FIG. 14 . In this manner, the plurality of mount locations  114   a ,  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h  may each be configured to deliver air to each of the mountable spindle modules when the modules are mounted. 
     The spindle bank  100  may further include a power delivery system to delivery electrical power and/or signals to each of the plurality of mount locations  114   a ,  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h . The power delivery system is shown including a set of electrical connectors  132 . The set of electrical connectors  132  may be configured to connect to the electrical distribution ports  242   a ,  242   b  of each of the spindle modules  200 . The spindle bank  100  may include one or more electrical input connectors (not shown) to provide electrical power and/or other signals to the spindle bank  100  that are wired to the electrical connectors  130 ,  132  disposed at the plurality of mount locations  114   a ,  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h.    
     Each of the plurality of mount locations  114   a ,  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h  may include a first threaded attachment location  134  configured to receive the first threaded screw  246   a  of the spindle module  200 . Each of the plurality of mount locations  114   a ,  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h  may include a second threaded attachment location  136  configured to receive the second threaded screw  246   b  of the spindle module  200 . The first threaded attachment locations  134  and the second threaded attachment locations  136  may each be threaded bores. Thus, as described above, each spindle module  200  may be mounted and removed from the spindle bank  200  by the application or removal of two threaded screws. A hand tool, such as a screwdriver, Allen wrench, wrench, or the like may be the only tool necessary for attachment of the spindle modules  200  to the spindle bank  100 . 
       FIG. 15  shows a plurality of spindle modules  200   a ,  200   b ,  200   c ,  200   d ,  200   e ,  200   f ,  200   g  attached, along with the spindle module  500  that is different from the spindle modules  200   a ,  200   b ,  200   c ,  200   d ,  200   e ,  200   f ,  200   g . Thus, the plurality of mount locations  114   a ,  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h  includes a first mount locations  114   a  configured to receive a first mountable spindle module  500 . The plurality of mount locations  114   a ,  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h  may include second mount locations  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h  each configured to receive a second mountable spindle module  200 . In some embodiments, the first mount location  114   a  and the second mount locations  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h  may be structurally the same. In other embodiments, the spindle bank  100  may include structural differences between mount locations. Thus, the first mountable spindle module  500  is different than the second mountable spindle modules  200   a ,  200   b ,  200   c ,  200   d ,  200   e ,  200   f ,  200   g . For example, the first mountable spindle module  500  includes a single spindle and nozzle, while each of the second mountable spindle modules  200   a ,  200   b ,  200   c ,  200   d ,  200   e ,  200   f ,  200   g  include two spindle and nozzles. In accommodating different spindle modules, the first mount location  114   a  may include at least one different physical property than the second mount locations  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h . Spindle banks accommodating various different spindle modules with differences in features or physical properties at the mount locations are contemplated. 
     While not shown, it is also contemplated that the spindle bank  100  includes one or more motion control chips for each of the plurality of mount locations  114   a ,  114   b ,  114   c ,  114   d ,  114   e ,  114   f ,  114   g ,  114   h . The embodiment shown includes the motion control chips  250  attached to each of the attachable spindle modules  200 . However, in other embodiments, these motion control chips may be found on the spindle bank  100 . Whatever the embodiment, the dispensing head or pick-and-place head defined by the combination of the spindle bank  100  and the attached spindle modules  200 ,  500  may include a number of control chips  250  equal to the number of spindles. In other embodiments, each spindle module  200  includes a single one of the control chips  250  dedicated to the two spindles located on the module. 
     Various methods are contemplated for assembling unfinished products, or assembling assembly machines, utilizing the assembly machines, dispensing heads, spindles, spindle mounting modules and spindle banks described hereinabove. 
     For example, a method of assembly may include providing a pick-and-place machine, such as the assembly machine  10 , having a pick-and-place head, such as the combination of the spindle banks  100  and one or more of the spindle modules  200 . The method may include providing a spindle, such as the spindle  300 , for the pick-and-place machine. The method may include attaching the spindle to the pick-and-place head of the pick-and-place machine. The method may include engaging, by a theta gear of the spindle, with a motor, such as the first theta motor  224 , of the pick-and-place head. The method may include contacting, by the spindle, an electronic component, or a portion thereof. The method may include manipulating, by the spindle, the electrical component. The method may include removing the spindle from the pick-and-place head of the pick-and-place machine to a spindle bank of the pick-and-place machine. The method may include receiving, by at least one opening in the shaft of the spindle, air flow into a hollow interior of the spindle from an air delivery system of the pick-and-place head and utilizing the airflow during the manipulating. The method may include picking up, with the nozzle, the electrical component using the airflow, and placing, with the nozzle, the electronic component using the airflow. The method may include rotating, with the motor of the pick-and-place head, the theta gear of the spindle and rotating, by the rotating of the theta gear, the shaft and the nozzle tip of the spindle. The method may include breaking, by a circumferential ridge of the spindle, a beam of an optical sensor, such as the optical sensor  550 , disposed on the pick-and-place head. The method may include sensing, by the optical sensor, movement by the nozzle relative to at least a portion of the pick-and-place head. The method may include rotating, by the motor, the theta gear by a magnetic force. The method may include receiving, by a magnet of a receiving location of the pick and place head, the shaft such that the magnetic material interacts with the magnet of the receiving location. 
     Another method of assembly may include providing a pick-and-place machine, such as the assembly machine  10  having a first movement axis, such as the third movement axis  36  or the fourth movement axis  38 . The method may include providing a spindle bank, such as the spindle bank  100 , for a pick-and-place machine. The method may include mounting, on each of a plurality of mount locations of the spindle bank, a mountable spindle module, such as the spindle module  200 ,  500 , including at least one pick-and-place spindle and nozzle, such as the spindle and nozzle combination  300 . The method may include assembling, by the received mountable spindle modules, at least one unfinished product. The method may include distributing air, by an air distribution system of the assembly machine, to the spindle bank, and distributing the air, by a second air distribution system of the spindle bank, to each of the mountable spindle modules after the mounting. The method may include distributing electrical power, by an electrical power distribution system of the assembly machine, to the spindle bank, and distributing the electrical power, by a second electrical power distribution system of the spindle bank, such as the electrical connectors  130 ,  132 , to each of the mountable spindle modules after the mounting. The method may include receiving, by at least one threaded attachment location of the spindle bank such as the threaded attachment locations  134 ,  136 , at least one threaded attachment component of the at least one of the mountable spindle modules, such as the screws  246   a ,  246   b . The method may include using, by an installer, only a hand tool and attaching the at least one of the mountable spindle modules to a selected one of the plurality of mount locations. The method may include attaching a bearing system of the spindle bank, such as the bearing system  112 , to the first movement axis. The method may include moving the spindle bank along the first movement axis by the pick-and-place machine. The method may include attaching the first movement axis to a second movement axis of the pick-and-place machine, such as the first movement axis  32  and/or the second movement axis  34 , and moving the spindle bank along the second movement axis by the pick-and-place machine. The method may include mounting a first mountable spindle module to a first mount location of the spindle bank and mounting the second mountable spindle module to a second mount location, wherein the second mountable spindle module is different than the first and wherein the second mount location includes different physical properties than the first mount location. 
     Another of assembly may include providing a pick-and-place machine, such as the assembly machine  10 , having a first movement axis, such as the third movement axis  36  or the fourth movement axis  38 . The method may include providing a spindle bank, such as the spindle bank  100  attached to the pick and place machine such that the spindle bank is movable along the first movement axis. The method may include providing a first pick-and-place spindle module, such as the spindle module  200 . The method may include attaching, using a mechanical attachment mechanism such as the screws  246   a ,  246   b , the first pick-and-place spindle module to the spindle bank such that an air distribution port, such as one of the air distribution ports  232 ,  234 , is connected to receive air from an element, such as air outlets  126   a ,  126   b ,  126   c ,  126   d ,  126   e ,  126   f ,  126   g  of the spindle bank and the electrical distribution port, such as the electrical distribution ports  240   a ,  240   b ,  242   a ,  242   b  is connected to receive electricity from an element, such as the electrical connectors  130 ,  132  of the spindle bank. The method may include receiving, by a receiving location of the modular body structure, a first spindle, such as the spindle  300 . The method may include moving, by a first z-axis motor such as the z-axis motor  220 , the received first spindle in a z-axis. The method may include rotating, by a first theta motor such as the first theta motor  224 , the received first spindle. The method may include delivering, by the air distribution system, received air from the air distribution port to the received first spindle. The method may include delivering, by the electrical distribution system, received electricity from the electrical distribution port to the received first spindle. The method may include moving the spindle bank along the first movement axis and at least partially assembling, by the attached first pick-and-place spindle module, at least one unfinished product. The method may include attaching the first pick-and-place spindle module to the spindle bank with a hand tool. The method may include receiving, by a second receiving location of the modular body structure, a second spindle such as the spindle  300 . The method may include moving, by a second z-axis motor such as the second z-axis motor  222 , the received second spindle in the z-axis. The method may include rotating, by a second theta motor such as the second theta motor  226 , the received second spindle. The method may include delivering, by the air distribution system, received air from the air distribution port to the received second spindle and delivering, by the electrical distribution system, received electricity from the electrical distribution port to the received second spindle. The method may include moving, by the first z-axis motor, a first body, such as the first body  282 , along a first linear track, such as the first linear track  278 . The method may include moving, by the second z-axis motor, the second body, such as the second body  284 , along a second linear track, such as the second linear track  280 . The method may include attaching the first linear track and the second linear track to the modular body structure with a set screw, such as the set screw  297  extending between a first nut and a second nut, such as the first and second nuts  298   a ,  298   b.    
     The method may further include controlling, with a first motion control chip of the spindle module, such as the motion control chip  250 , the first z-axis motor and the first theta motor. The method may include controlling, with a second motion control chip, the second z-axis motor and the second theta motor. 
     The method of assembly may also include providing a second pick-and-place spindle module, such as the spindle module  500  or  200 . The method may include attaching, using the mechanical attachment mechanism, the second pick-and-place spindle module to the spindle bank such that the air distribution port of the second pick-and-place spindle module is connected to receive air from an element of the spindle bank and the electrical distribution port of the second pick-and-place spindle module is connected to receive electricity from an element of the spindle bank. The method may include receiving, by a receiving location of a modular body structure of the second pick-and-place spindle module, a spindle. The method may include moving, by the first z-axis motor of the second pick-and-place spindle module, the received spindle of the second pick-and-place spindle module in a z-axis. The method may include rotating, by the first theta motor of the second pick-and-place spindle module, the received spindle of the second pick-and-place spindle module. The method may include delivering, by the air distribution system of the second pick-and-place spindle module, received air from the air distribution port of the second pick-and-place spindle module to the received spindle of the second pick-and-place spindle module. The method may include delivering, by the electrical distribution system of the second pick-and-place spindle module, received electricity from the electrical distribution port of the second pick-and-place spindle module to the received spindle of the second pick-and-place spindle module. The method may include at least partially assembling, by the attached second pick-and-place spindle module, the at least one unfinished product. The method may still further include controlling, with a first motion control chip, the first z-axis motor of the first pick-and-place spindle module and the first theta motor of the first pick-and-place spindle module, and controlling, with a second motion control chip, the first z-axis motor of the second pick-and-place spindle module and the first theta motor of the second pick-and-place spindle module. 
     Methods of assembly may further include providing a pick-and-place head that includes a body structure such as the modular body structure  210  and/or the base  110  of the spindle bank  100 , or any other body for a pick-and-place or dispensing head. The method may include providing a plurality of z-axis motors attached to the body structure, each configured to move a spindle in a z-axis and a plurality of theta motors attached to the body structure each configured to rotate a spindle. The method may include providing a plurality of motion control chips each attached to the body structure. The method may include controlling, with each of the plurality of motion control chips, a single one of the plurality of z-axis motors and a single one of the plurality of theta motors, and at least partially assembling, with the pick and place head, an unfinished product. The method may include controlling, with each of the plurality of motion control chips, speed of a single one of the plurality of z-axis motors and a single one of the plurality of theta motors. The method may include controlling, with each of the plurality of motion control chips, acceleration of a single one of the plurality of z-axis motors and a single one of the plurality of theta motors. The method may include controlling, with each of the plurality of motion control chips, position of a single one of the plurality of z-axis motors and a single one of the plurality of theta motors. The method may still further include creating, with each of the plurality of motion control chips, a separate independent motion control profile for each of the plurality of spindles. 
     Elements of the embodiments have been introduced with either the articles “a” or “an.” The articles are intended to mean that there are one or more of the elements. The terms “including” and “having” and their derivatives are intended to be inclusive such that there may be additional elements other than the elements listed. The conjunction “or” when used with a list of at least two terms is intended to mean any term or combination of terms. The terms “first” and “second” are used to distinguish elements and are not used to denote a particular order. 
     While the invention has been described in detail in connection with only a limited number of embodiments, it should be readily understood that the invention is not limited to such disclosed embodiments. Rather, the invention can be modified to incorporate any number of variations, alterations, substitutions or equivalent arrangements not heretofore described, but which are commensurate with the spirit and scope of the invention. Additionally, while various embodiments of the invention have been described, it is to be understood that aspects of the invention may include only some of the described embodiments. Accordingly, the invention is not to be seen as limited by the foregoing description, but is only limited by the scope of the appended claims.