Field of the invention

[0001] The present invention concerns a method of handling components which enables testing and/or processing of components to be performed during the rotation time and/or idle time of a rotatable turret which is used to transport said components. There is further provided an assembly which can be used to perform the method of the present invention.

Background to the invention

[0002] Existing component handling assemblies typically have a rotatable turret having a plurality of component handling heads, each of which can hold a respective component; a plurality of testing stations and/or processing stations are located at the periphery of the turret. To move a component from one testing/processing station to the next, a component handling head picks the component from the current testing/processing station, the turret then rotates so that the component is aligned above the next testing/processing station and the component handling head then delivers the component to said next testing/processing station. Since all of the components are moved by the same turret to the next processing/testing station, the time delay between each iterative rotation of the turret (to move a component to the next station) can only be a short as the longest processing/testing time of all of the processing/testing stations in the assembly. Thus the time between placing a component at a processing/testing station, and the same component being delivered to the next processing/testing station is equal to, or greater than, the time of the longest processing/testing time of all of the processing/testing stations in the assembly, plus the time it takes for the turret to rotate an iteration so that the component handling head carrying said component is aligned over the next processing/testing station, plus the time it takes for the component handling head to deliver the component to said next processing/testing station.

[0003] Accordingly, it is clear that the speed of operation of existing component handling assemblies is limited by the processing/testing times the processing/testing stations located at the periphery of the turret.

[0004] It is an aim of the present invention to obviate or mitigate at least some of the disadvantages associated with existing component handling assemblies.

Summary of the invention

[0005] According to the present invention there is provided a method of handling components which involves carrying out the steps recited in claim 1. The present invention further provides a corresponding assembly which can be used to perform the method of the present invention. The dependent claims recite optional features of preferred embodiments.

Brief description of the drawings [0006] Exemplary embodiments of the invention are disclosed in the description and illustrated by the drawings in which:

Figure 1 shows an assembly according to an embodiment of the present invention, which can be used to perform a method according to the present invention; Figures 2-12 shows the state of the assembly at some of the steps of an embodiment of a method according to the present invention. Detailed description of the drawings

[0007] Figure 1 shows an exemplary embodiment of a component handling assembly 1 according to an exemplary embodiment of the present invention, which can be used to perform a method according to the accord to an exemplary embodiment of the present invention.

[0008] The assembly 1 comprises a rotatable turret 3 which comprises a plurality of component handling heads 5 each of which can selectively hold a component. In this example each of the component handling heads is configured to hold a component by means of a vacuum; although it should be understood that the component handling heads could be configured to hold a component by suitable means.

[0009] A plurality of stations 7 are located at the periphery of the turret 3; each of the stations comprise a means for processing a component and/or a means for testing a component. For example, one of the processing stations 5 may comprise cameras which are used to carry out visual inspection of the component to determine if the component is damaged.

[0010] The turret 3 is configured to rotate iteratively so that components can be transported from one station 7 to the next. Each of the component handling heads 5 may be selectively operated to deliver a component onto a station 7 and/or to pick a component from a station 7. For example, on one single iteration of the turret 3, each of the component handing heads 5 are moved from a position in which they are positioned above one station to a position above they are positioned above the next station; once in this position the component handling heads may be operated to deliver the respective component which they hold to said next station for processing and/or testing, and then pick that component again after processing and/or testing is completed, before the turret is moved another iteration. [0011] The plurality of stations 7 comprises 'n' stations 7a-7d which located at positions adjacent to one another, without another station interposed between any of said 'n' stations. It should be understood that 'n' may be any number greater than Ί'. In this exemplary embodiment 'n' is equal to '4'. Each of these 'n' stations 7a-7d comprise a processing means for processing components and/or a testing means for testing components at that station.

[0012] Each of the 'n' stations 7a-7d can support up to 'm' number of components at any one time, wherein 'm' is greater than Ύ ('m' is the number of components which a station 7a-d is configured to support at any one time; most preferably the stations 7a-d can each support the same number of components at any one time). In this example 'm' is equal to '4' so each of the 'n' stations 7a-7b is configured to support up to '4' components at any one time.

[0013] It should be understood that the 'n' stations 7a-7d may take any suitable form, so long as each station 7a-7b is configured to support more than Ύ component at any one time. In this exemplary embodiment of the assembly 1, each of the 'n' stations comprises a rotatable satellite table 7a- 7d which comprises '4' nests 8a-d (a first nest 8a, a second nest 8b, a third nest 8c, and a fourth nest 8d); each nest 8a-d can support a respective component. Each of the rotatable satellite tables 7a-7d are positioned such that they can be selectively rotated to locate any one of the nest 8a-d of that station at a location where a component handling head 5 on the turret 3 can deliver a component to that nest and/or pick a component from that nest. (However, as mentioned, the present invention is not limited to requiring the 'n' stations 7a-7d to comprises rotatable satellite tables 7a-7d, rather the 'n' station 7a-7d may take any suitable form.)

[0014] Furthermore, each of the 'n' stations 7a-7b further comprise a testing means 12 which is operable to test a component which is supported on that station 7a-d, and/or, processing means 12 which is operable to process a component which is supported on that station 7a-d. In this example after a component has been delivered to a nest 8a-d of a satellite tables 7a-7d that satellite table 7a-7d can be selectively rotated to carry that component to a position where the testing means/processing means 12 at the station 7a-d can assess that component for testing/processing.

[0015] The assembly 1 further comprises a controller 11 which is configured to selectively operate the assembly 1 to carry out a method according to the present invention.

[0016] Preferably the controller 11 is configured so that it can operate the assembly 1 to carry out a method of handling components, which comprises the general steps (denoted step 'a'-'g') of:

[0017] (a) Rotating a turret 3 at least 'n' number of iterations so that a first subset of component handling heads 5 comprising 'n' number of component handling heads, each carrying a respective component 13, are positioned over respective 'n' number of stations, without delivering any of the components held on the 'n' number of component handling heads in the first subset to any of the 'n' stations between any of said 'n' turret iterations;

[0018] (b) Simultaneously delivering the components 13 held on the 'n' number of component handling heads in the first subset to the 'n' stations.

[0019] (c) Rotating the turret an additional 'n' number of iterations so that another subset of component handling heads comprising 'n' number of component handling heads, each carrying a respective component 13, are positioned over the respective 'n' stations, without delivering any of the components held on said 'n' number of component handling heads in said subset to any of the 'n' stations between any of said additional 'n' turret iterations; [0020] (d) Simultaneously delivering the components 13 held on the 'n' number of component handling heads in said other subset to the 'n' stations.

[0021] (e) Repeating steps (c) and (d) 'm-1' times;

[0022] (f) simultaneously picking the components 13 which were delivered to the 'n' stations by the first subset of component handling heads. Most preferably the 'n' number of component handling heads which most recently delivered components to the 'n' station are used to pick the components which were delivered to the 'n' stations by the first subset of component handling heads.

[0023] (g) operating the testing means and/or processing means in the

'n' stations 7a-7b to carry out testing and/or processing of the components 13 which were delivered to the 'n' stations by the first subset of component handling heads at the 'n' stations, during the time between a time instant when step (b) is completed and a time instant before carrying out step (f). Advantageously, since the testing and/or processing of the components 13 is carried out during the time between a time instant when step (b) is completed and a time instant before carrying out step (f), this allows for testing and/or processing to be carried out during the time the turret is rotating and during the time the component handling heads deliver the components 13 they hold to the stations; as a result faster throughput of the assembly 1 can be achieved. Preferably the duration of time the components are tested or processed is greater than, or equal to, the duration of time it takes to rotate the turret 'n' iterations plus the time it takes for 'n' number of component handling heads to deliver the components they hold to the 'n' stations. Most preferably the duration of time the components 13 are tested or processed is equal to the duration of time it takes to rotate the turret 'n' iterations plus the time it takes for 'n' number of component handling heads to deliver the components 13 they hold to the 'n' stations. [0024] In this embodiment n' stations7a-d each comprise a rotatable satellite table 7a-7d comprising 'm' number of nests each of which can support a component; in the preferred embodiment the method further comprises the steps of rotating said '4' rotatable satellite table 7a-7d simultaneously, a single iteration, after step (b) has been performed; and rotating said '4' rotatable satellite table 7a-7d simultaneously, a single iteration, after step (d) has been performed. The '4' rotatable satellite tables 7a-7d are maintained in a fixed position while step (g) is performed.

[0025] Most preferably each of the above-mentioned steps are repeated a plurality of times.

[0026] In the preferred embodiment the controller 11 may be configured to operate the assembly 1 to carry out the following exemplary method comprising the following steps (denoted steps '1'-'31'); for conciseness, Figures 2-12 show the state of the assembly 1 at only some, not all, of the steps of this described method embodiment; it is submitted that the states of the assembly 1 illustrated in the figures provide sufficient information for the reader to readily understand how the state of the assembly 1 at the other steps of the described method embodiment, which are not illustrated in the figures, would be:

[0027] (1) Rotating a turret 3 at least '4' iterations so that a first subset of component handling heads 5 comprising '4' component handling heads, each carrying a respective component 13, are aligned over a respective first nest 8a belonging a respective satellite table 7a-d, without delivering any of the components held on the '4' component handling heads in the first subset to any of the respective satellite tables 7a-d between any of said '4' turret iterations (Figures 2 and 3);

[0028] (2) Simultaneously delivering the components 13 held on the '4' component handling heads in the first subset to the first nest 8a of the respective satellite tables 7a-d (Figure 3). Most preferably, each component handling head in the first subset delivers the component 13 which that component handling head holds, to a respective satellite tables 7a-d. In other words a first of the '4' component handling heads in the first subset delivers the component it holds onto the first nest 8a of a first of the '4' satellite tables 7a-d; a second of the '4' component handling heads in the first subset delivers the component 13 it holds onto the first nest 8a of a second of the '4' satellite tables 7a-d; a third of the '4' component handling heads in the first subset delivers the component 13 it holds onto the first nest 8a of a third of the '4' satellite tables 7a-d; a fourth of the '4' component handling heads in the first subset delivers the component 13 it holds onto the first nest 8a of a fourth of the '4' satellite tables 7a-d; all at the same time.

[0029] (3) Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration (Figure 4). Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration, moves the second nest 8b of each satellite tables 7a-d to the position which was previously occupied by the first nest 8a (i.e. the second nest 8b of each satellite tables 7a-d is now aligned under a respective component handling head belonging to the first subset. It should be noted that at this point each of the component handling head belonging to the first subset are empty as they already delivered the components which they held to the first nest 8a in step (2)).

[0030] (4) Rotating the turret 3 a first additional '4' iterations so that a second subset of component handling heads comprising '4' component handling heads, each carrying a respective component, are aligned over a respective second nest 8b belonging to a respective satellite table 7a-d, without delivering any of the components held on the '4' component handling heads in the second subset to any of the respective satellite tables 7a-d between any of said first additional '4' turret iterations (Figure 5).

[0031] (5) Simultaneously delivering the components held on the '4' component handling heads in the second subset to the second nest 8b of the respective satellite tables 7a-d (Figure 5). Most preferably, each component handling head in the second subset delivers the component which that component handling head holds, to a respective satellite table 7a-d. In other words a first of the '4' component handling heads in the second subset delivers the component it holds onto the second nest 8b of a first of the '4' satellite tables 7a-d; a second of the '4' component handling heads in the second subset delivers the component it holds onto the second nest 8b of a second of the '4' satellite tables 7a-d; a third of the '4' component handling heads in the second subset delivers the component it holds onto the second nest 8b of a third of the '4' satellite tables 7a-d; a fourth of the '4' component handling heads in the second subset delivers the component 13 it holds onto the second nest 8b of a fourth of the '4' satellite tables 7a-d; all at the same time

[0032] (6) Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration (Figure 6). Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration, moves the third nest 8c of each respective satellite table 7a-d to the position which was previously occupied by the second nest 8b (i.e. the third nest 8c of each respective satellite table 7a-d is now aligned under a respective component handling head belonging to the second subset. It should be noted that at this point each of the component handling head belonging to the second subset are empty as they already delivered the components 13 which they held to the second nest 8d of each respective satellite table 7a-d in step (d)). In this example rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration, to move the third nest 8c of each respective satellite table 7a-d to the position which was previously occupied by the second nest 8b, also moves the first nest 8a of each respective satellite table 7a-d into a position at which the processing means and/or testing means at that respective station 7a-d can access the component 13 supported on the first nest 8a to process and/or test those components 13.

[0033] (7) Rotating the turret 3 a second additional '4' iterations so that a third subset of component handling heads comprising '4' component handling heads, each carrying a respective component 13, are aligned over a respective third nest 8c belonging to a respective satellite table 7a-d, without delivering any of the components held on the '4' component handling heads in the third subset to any of the respective satellite tables 7a-d between any of said second additional '4' turret iterations (Figure 7).

[0034] (8) During the time of rotating the turret said second additional '4' iterations, simultaneously testing and/or processing at the '4' stations 7a- d the components 13 which are supported on the respective first nests 8a (i.e. simultaneously testing and/or processing at the '4' stations 7a-d the components which were delivered to the '4' satellite table 7a-d by the first subset of component handling heads) (Figure 7). Most preferably the duration of time the components are tested and/or processed is greater than, or equal to, the duration of time it takes to rotate the turret '4' iterations plus the time it takes for '4' component handling heads, which are aligned above the '4' respective nests 8a-d belonging to respective satellite tables 7a-d, to deliver the components 13 they hold to said '4' nests 8a-d.

[0035] (9) Simultaneously delivering the components held on the '4' component handling heads in the third subset to the third nest 8c of the respective satellite tables 7a-d (Figure 7). Most preferably, each component handling head in the third subset delivers the component which that component handling head holds, to a respective satellite table 7a-d. In other words a first of the '4' component handling heads in the third subset delivers the component 13 it holds onto the third nest 8c of a first of the '4' satellite tables 7a-d; a second of the '4' component handling heads in the third subset delivers the component 13 it holds onto the third nest 8c of a second of the '4' satellite tables 7a-d; a third of the '4' component handling heads in the third subset delivers the component it holds onto the third nest 8c of a third of the '4' satellite tables 7a-d; a fourth of the '4' component handling heads in the third subset delivers the component 13 it holds onto the third nest 8c of a fourth of the '4' satellite tables 7a-d; all at the same time. [0036] (10) Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration (Figure 8). Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration, moves the fourth nest 8d of each respective satellite table 7a-d to the position which was previously occupied by the third nest 8c (i.e. the fourth nest 8d of each respective satellite table 7a-d is now aligned under a respective component handling head belonging to the third subset. It should be noted that at this point each of the component handling head belonging to the third subset are empty as they already delivered the components 13 which they held to the third nest 8c of each respective satellite table 7a-d in step (i)). In this example rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration, to move the fourth nest 8d of each respective satellite table 7a-d to the position which was previously occupied by the third nest 8c, also moves the second nest 8b of each respective satellite table 7a-d into a position at which the processing means and/or testing means at that respective station 7a-d can access the component supported on the second nest 8b to process and/or test that component.

[0037] (11) Rotating the turret 3 a third additional '4' iterations so that a fourth subset of component handling heads comprising '4' component handling heads, each carrying a respective component 13, are aligned over a respective fourth nest 8d belonging to a respective satellite table 7a-d, without delivering any of the components 13 held on the '4' component handling heads in the fourth subset to any of the respective satellite tables 7a-d between any of said third additional '4' turret iterations (Figure 9).

[0038] (12) During the time of rotating the turret said third additional

'4' iterations, simultaneously testing and/or processing at the '4' stations 7a- d the components 13 which are supported on the respective second nests 8d (i.e. simultaneously testing and/or processing at the '4' stations 7a-d the components 13 which were delivered to the '4' satellite tables 7a-d by the second subset of component handling heads) (Figure 9). Most preferably the duration of time the components 13 are tested and/or processed is greater than, or equal to, the duration of time it takes to rotate the turret '4' iterations plus the time it takes for '4' component handling heads, which are aligned above the '4' respective nests 8a-d belonging to respective satellite tables 7a-d, to deliver the components they hold to said '4' nests 8a-d.

[0039] (13) Simultaneously delivering the components 13 held on the '4' component handling heads in the fourth subset to the fourth nest 8c of the respective satellite tables 7a-d (Figure 9). Most preferably, each component handling head in the fourth subset delivers the component which that component handling head holds, to a respective satellite table 7a-d. In other words a first of the '4' component handling heads in the fourth subset delivers the component 13 it holds onto the fourth nest 8d of a first of the '4' satellite tables 7a-d; a second of the '4' component handling heads in the fourth subset delivers the component 13 it holds onto the fourth nest 8d of a second of the '4' satellite tables 7a-d; a third of the '4' component handling heads in the fourth subset delivers the component 13 it holds onto the fourth nest 8d of a third of the '4' satellite tables 7a-d; a fourth of the '4' component handling heads in the fourth subset delivers the component 13 it holds onto the fourth nest 8d of a fourth of the '4' satellite tables 7a-d; all at the same time.

[0040] (14) Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration (Figure 10). Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration, moves the first nest 8a of each respective satellite table 7a-d, to the position which was previously occupied by the fourth nest 8d (i.e. the first nest 8a of each respective satellite table 7a-d is now aligned under a respective component handling head belonging to the fourth subset). The component 13 on the first nest 8a of each respective satellite table 7a-d, are the components 13 which were delivered to the stations 7a-d by the first subset of component handling heads; and these components have already undergone processing and/or testing in step '8'. Also at this point each of the component handling head belonging to the fourth subset are empty as they already delivered the components which they held to the fourth nest 8d of each respective satellite table 7a-d in step Ί3'; since the component handling heads belonging to the fourth subset are empty they can be used to pick the tested/processed components 13 which are supported on the first nest 8a of each of the '4' satellite tables 7a-d.

[0041] (15) Simultaneously, picking the components 13 which are on the first nest 8a of each of the '4' satellite tables 7a-d, using the component handling heads of the fourth subset (Figure 10). Most preferably, each component handling head in the fourth subset picks a component from a respective satellite table 7a-d. In other words a first of the '4' component handling heads in the fourth subset picks the component 13 which is supported on the first nest 8a of a first of the '4' satellite tables 7a-d; a second of the '4' component handling heads in the fourth subset picks the component 13 which is supported on the first nest 8a of a second of the '4' satellite tables 7a-d; a third of the '4' component handling heads in the fourth subset picks the component which is supported on the first nest 8a of a third of the '4' satellite tables 7a-d; a fourth of the '4' component handling heads in the fourth subset picks the component which is supported on the first nest 8a of a fourth of the '4' satellite tables 7a-d; all at the same time. After the components 13 have been picked from the first nest 8a of each satellite tables 7a-d the first nest 8a of each of the satellite tables 7a-d are vacant are again available to receive another component 13.

[0042] (16) Rotating the turret 3 a fourth additional '4' iterations so that a fifth subset of component handling heads comprising '4' component handling heads, each carrying a respective component, are aligned over a respective first nest 8a belonging to a respective satellite table 7a-d, without delivering any of the components held on the '4' component handling heads in the fifth subset to any of the respective satellite tables 7a-d between any of said fourth additional '4' turret iterations (Figure 11).

[0043] (17) During the time of rotating the turret said fourth additional

'4' iterations, simultaneously testing and/or processing at the '4' stations 7a- d the components 13 which are supported on the respective third nests 8c (i.e. simultaneously testing and/or processing at the '4' stations 7a-d the components 13 which were delivered to the '4' satellite tables 7a-d by the third subset of component handling heads) (Figure 11). Most preferably the duration of time the components are tested and/or processed is greater than, or equal to, the duration of time it takes to rotate the turret '4' iterations plus the time it takes for '4' component handling heads, which are aligned above the '4' respective nests 8a-d belonging to respective satellite tables 7a-d, to deliver the components they hold to said '4' nests 8a-d.

[0044] (18) Simultaneously delivering the components13 held on the '4' component handling heads in the fifth subset to the first nest 8c of the respective satellite tables 7a-d (Figure 11). Most preferably, each component handling head in the fifth subset delivers the component 13 which that component handling head holds, to a respective satellite table 7a-d. In other words a first of the '4' component handling heads in the fifth subset delivers the component 13 it holds onto the first nest 8a of a first of the '4' satellite tables 7a-d; a second of the '4' component handling heads in the fifth subset delivers the component 13 it holds onto the first nest 8a of a second of the '4' satellite tables 7a-d; a third of the '4' component handling heads in the fifth subset delivers the component it holds onto the first nest 8a of a third of the '4' satellite tables 7a-d; a fourth of the '4' component handling heads in the fifth subset delivers the component it holds onto the first nest 8a of a fourth of the '4' satellite tables 7a-d; all at the same time.

[0045] (19) Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration (Figure 12). Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration, moves the second nest 8b of each respective satellite table 7a-d, to the position which was previously occupied by the first nest 8d (i.e. the second nest 8b of each respective satellite table 7a-d is now aligned under a respective component handling head belonging to the fifth subset). The component 13 on the second nest 8b of each respective satellite table 7a-d, are the components 13 which were delivered to the stations 7a-d by the second subset of component handling heads; and these components 13 have already under gone processing and/or testing in step Ί2'. Also at this point each of the component handling head belonging to the fifth subset are empty as they already delivered the components 13 which they held to the first nest 8a of each respective satellite table 7a-d in step Ί8'; since the component handling heads belonging to the fifth subset are empty they can be used to pick the tested/processed components 13 which are supported on the second nest 8b of each of the '4' satellite tables 7a-d.

[0046] (20) Simultaneously, picking the components which are on the second nest 8b of each of the '4' satellite tables 7a-d, using the component handling heads of the fifth subset (Figure 12). Most preferably, each component handling head in the fifth subset picks a component from a respective satellite table 7a-d. In other words a first of the '4' component handling heads in the fifth subset picks the component 13 which is supported on the second nest 8b of a first of the '4' satellite tables 7a-d; a second of the '4' component handling heads in the fifth subset picks the component 13 which is supported on the second nest 8b of a second of the '4' satellite tables 7a-d; a third of the '4' component handling heads in the fifth subset picks the component 13which is supported on the second nest 8b of a third of the '4' satellite tables 7a-d; a fourth of the '4' component handling heads in the fifth subset picks the component which is supported on the second nest 8b of a fourth of the '4' satellite tables 7a-d; all at the same time. After the components 13 have been picked from the second nest 8b of each satellite tables 7a-d the second nest 8b of each of the satellite tables 7a-d are vacant and are again available to receive another component.

[0047] (21) Rotating the turret 3 a fifth additional '4' iterations so that a sixth subset of component handling heads comprising '4' component handling heads, each carrying a respective component 13, are aligned over a respective second nest 8a belonging to a respective satellite table 7a-d, without delivering any of the components 13 held on the '4' component handling heads in the sixth subset to any of the respective satellite tables 7a-d between any of said fifth additional '4' turret iterations (Figure 12). [0048] (22) During the time of rotating the turret said fifth additional '4' iterations, simultaneously testing and/or processing at the '4' stations 7a-d the components 13 which are supported on the respective fourth nests 8d (i.e. simultaneously testing and/or processing at the '4' stations 7a-d the components which were delivered to the '4' satellite tables 7a-d by the fourth subset of component handling heads). Most preferably the duration of time the components 13 are tested and/or processed is greater than, or equal to, the duration of time it takes to rotate the turret '4' iterations plus the time it takes for '4' component handling heads, which are aligned above the '4' respective nests 8a-d belonging to respective satellite tables 7a-d, to deliver the components they hold to said '4' nests 8a-d.

[0049] (23) Simultaneously delivering the components 13 held on the '4' component handling heads in the sixth subset to the second nest 8b of the respective satellite tables 7a-d. Most preferably, each component handling head in the sixth subset delivers the component which that component handling head holds, to a respective satellite table 7a-d. In other words a first of the '4' component handling heads in the sixth subset delivers the component 13 it holds onto the second nest 8b of a first of the '4' satellite tables 7a-d; a second of the '4' component handling heads in the sixth subset delivers the component 13 it holds onto the second nest 8b of a second of the '4' satellite tables 7a-d; a third of the '4' component handling heads in the sixth subset delivers the component it holds onto the second nest 8b of a third of the '4' satellite tables 7a-d; a fourth of the '4' component handling heads in the sixth subset delivers the component 13 it holds onto the second nest 8b of a fourth of the '4' satellite tables 7a-d; all at the same time.

[0050] (24) Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration. Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration, moves the third nest 8c of each respective satellite table 7a-d, to the position which was previously occupied by the second nest 8b (i.e. the third nest 8c of each respective satellite table 7a-d is now aligned under a respective component handling head belonging to the sixth subset). The component 13 on the third nest 8c of each respective satellite table 7a-d, are the components 13 which were delivered to the stations 7a-d by the third subset of component handling heads; and these components 13 have already undergone processing and/or testing in step Ί 7'. Also, at this point each of the component handling head belonging to the seventh subset are empty as they already delivered the components 13 which they held to the second nest 8b of each respective satellite table 7a-d in step '23'; since the component handling heads belonging to the seventh subset are empty they can be used to pick the tested/processed components 13 which are supported on the third nest 8c of each of the '4' satellite tables 7a-d.

[0051] (25) Simultaneously, picking the components 13 which are on the third nest 8c of each of the '4' satellite tables 7a-d, using the component handling heads of the sixth subset. Most preferably, each component handling head in the sixth subset picks a component 13 from a respective satellite table 7a-d. In other words a first of the '4' component handling heads in the sixth subset picks the component 13 which is supported on the third nest 8c of a first of the '4' satellite tables 7a-d; a second of the '4' component handling heads in the sixth subset picks the component 13 which is supported on the third nest 8c of a second of the '4' satellite tables 7a-d; a third of the '4' component handling heads in the sixth subset picks the component which is supported on the third nest 8c of a third of the '4' satellite tables 7a-d; a fourth of the '4' component handling heads in the sixth subset picks the component 13 which is supported on the third nest 8c of a fourth of the '4' satellite tables 7a-d; all at the same time. After the components 13 have been picked from the third nest 8c of each satellite tables 7a-d the third nest 8c of each of the satellite tables 7a-d are vacant and are again available to receive another component 13.

[0052] (26) Rotating the turret 3 a sixth additional '4' iterations so that a seventh subset of component handling heads comprising '4' component handling heads, each carrying a respective component 13, are aligned over a respective third nest 8c belonging to a respective satellite table 7a-d, without delivering any of the components 13 held on the '4' component handling heads in the seventh subset to any of the respective satellite tables 7a-d between any of said sixth additional '4' turret iterations.

[0053] (27) During the time of rotating the turret said sixth additional

'4' iterations, simultaneously testing and/or processing at the '4' stations 7a- d the components 13 which are supported on the respective first nests 8a (i.e. simultaneously testing and/or processing at the '4' stations 7a-d the components 13 which were delivered to the '4' satellite tables 7a-d by the fifth subset of component handling heads). Most preferably the duration of time the components are tested and/or processed is greater than, or equal to, the duration of time it takes to rotate the turret '4' iterations plus the time it takes for '4' component handling heads, which are aligned above the '4' respective nests 8a-d belonging to respective satellite tables 7a-d, to deliver the components 13 they hold to said '4' nests 8a-d.

[0054] (28) Simultaneously delivering the components 13 held on the '4' component handling heads in the seventh subset to the third nest 8c of the respective satellite tables 7a-d. Most preferably, each component handling head in the seventh subset delivers the component 13 which that component handling head holds, to a respective satellite table 7a-d. In other words a first of the '4' component handling heads in the seventh subset delivers the component 13 it holds onto the third nest 8c of a first of the '4' satellite tables 7a-d; a second of the '4' component handling heads in the seventh subset delivers the component it holds onto the third nest 8c of a second of the '4' satellite tables 7a-d; a third of the '4' component handling heads in the seventh subset delivers the component 13 it holds onto the third nest 8c of a third of the '4' satellite tables 7a-d; a fourth of the '4' component handling heads in the seventh subset delivers the component 13 it holds onto the third nest 8c of a fourth of the '4' satellite tables 7a-d; all at the same time.

[0055] (29) Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration. Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration, moves the fourth nest 8d of each respective satellite table 7a-d, to the position which was previously occupied by the third nest 8c (i.e. the fourth nest 8d of each respective satellite table 7a-d is now aligned under a respective component handling head belonging to the seventh subset). The component 13 on the fourth nest 8d of each respective satellite table 7a-d, are the components 13 which were delivered to the stations 7a-d by the fourth subset of component handling heads; and these components 13 have already undergone processing and/or testing in step '22'. Also, at this point each of the component handling head belonging to the seventh subset are empty as they already delivered the components 13 which they held to the third nest 8c of each respective satellite table 7a-d in step 28; since the component handling heads belonging to the seventh subset are empty they can be used to pick the tested/processed components 13 which are supported on the fourth nest 8d of each of the '4' satellite tables 7a-d.

[0056] (30) Simultaneously, picking the components 13 which are on the fourth nest 8d of each of the '4' satellite tables 7a-d, using the component handling heads of the seventh subset. Most preferably, each component handling head in the seventh subset picks a component 13 from a respective satellite table 7a-d. In other words a first of the '4' component handling heads in the seventh subset picks the component 13 which is supported on the fourth nest 8d of a first of the '4' satellite tables 7a-d; a second of the '4' component handling heads in the seventh subset picks the component 13 which is supported on the fourth nest 8d of a second of the '4' satellite tables 7a-d; a third of the '4' component handling heads in the seventh subset picks the component 13 which is supported on the fourth nest 8d of a third of the '4' satellite tables 7a-d; a fourth of the '4' component handling heads in the seventh subset picks the component 13 which is supported on the fourth nest 8d of a fourth of the '4' satellite tables 7a-d; all at the same time. After the components 13 have been picked from the fourth nest 8d of each satellite tables 7a-d the fourth nest 8d of each of the satellite tables 7a-d are vacant and are again available to receive another component 13. [0057] (31) Optionally, the above-mentioned steps (1)-(30) can be repeated a plurality of times.

[0058] It should be understood that description above mentions first, second, third, fourth, fifth, sixth and seventh subsets of component handling heads. It should be understood that typically the component handling heads on the turret are equally spaced apart; the subsets are simply the 'n' component handling heads which are located directly adjacent one another on the turret; any selection of 'n' component handling heads which are located directly adjacent one another on the turret can constitute a subset. It should be understood that the component handling heads which make up a subset could also fully or partially make up the component handling heads of another subset; for example, the component handling heads which make up the first subset may be the same as the component handling heads which make up the fourth subset (in the example described above the '4' component handling heads of the first subset may be the very same component handling heads which are in the fourth subset). Or some of the component handling heads which make up the first subset may make up some of component handling heads which make up the fourth subset.

[0059] It should also be understood that the above-mentioned method embodiment comprising steps (1)-(31) describes one embodiment of the invention. The above-mentioned method embodiment comprising steps (1)- (31) contains many non-essential steps; and it should be understood that other, simpler, embodiments are possible without departing from the scope of the present invention. For example, in another more simplified embodiment wherein 'm' is equal to '2' (e.g. wherein each of said stations 7a-d comprise a satellite table 7a-d each comprising only '2' nests 8a, 8b each of which can hold a respective component) the controller 11 is be configured to operate the assembly 1 to carry out the following exemplary method according to a further embodiment of the present invention, comprising the following steps (denoted steps Ί'-Ί3'): [0060] (1) Rotating a turret 3 at least '4' iterations so that a first subset of component handling heads 5 comprising '4' component handling heads, each carrying a respective component, are aligned over a respective first nest 8a belonging a respective satellite table 7a-d, without delivering any of the components held on the '4' component handling heads in the first subset to any of the respective satellite tables 7a-d between any of said '4' turret iterations;

[0061] (2) Simultaneously delivering the components held on the '4' component handling heads in the first subset to the first nest 8a of the respective satellite tables 7a-d. Most preferably, each component handling head in the first subset delivers the component which that component handling head holds, to a respective satellite tables 7a-d. In other words a first of the '4' component handling heads in the first subset delivers the component it holds onto the first nest 8a of a first of the '4' satellite tables 7a-d; a second of the '4' component handling heads in the first subset delivers the component it holds onto the first nest 8a of a second of the '4' satellite tables 7a-d; a third of the '4' component handling heads in the first subset delivers the component it holds onto the first nest 8a of a third of the '4' satellite tables 7a-d; a fourth of the '4' component handling heads in the first subset delivers the component it holds onto the first nest 8a of a fourth of the '4' satellite tables 7a-d; all at the same time.

[0062] (3) Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration. Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration, moves the second nest 8b of each satellite tables 7a-d to the position which was previously occupied by the first nest 8a (i.e. the second nest 8b of each satellite tables 7a-d is now aligned under a respective component handling head belonging to the first subset. It should be noted that at this point each of the component handling head belonging to the first subset are empty as they already delivered the components which they held to the first nest 8a in step (2)) . [0063] (4) Rotating the turret 3 a first additional '4' iterations so that a second subset of component handling heads comprising '4' component handling heads, each carrying a respective component, are aligned over a respective second nest 8b belonging to a respective satellite table 7a-d, without delivering any of the components held on the '4' component handling heads in the second subset to any of the respective satellite tables 7a-d between any of said first additional '4' turret iterations.

[0064] (5) During the time of rotating the turret said first additional '4' iterations, simultaneously testing and/or processing at the '4' stations 7a-d the components which are supported on the respective first nests 8a (i.e. simultaneously testing and/or processing at the '4' stations 7a-d the components which were delivered to the '4' satellite tables 7a-d by the first subset of component handling heads). Most preferably the duration of time the components are tested and/or processed is greater than, or equal to, the duration of time it takes to rotate the turret '4' iterations plus the time it takes for '4' component handling heads, which are aligned above the '4' respective nests 8a-d belonging to respective satellite tables 7a-d, to deliver the components they hold to said '4' nests 8a, 8b.

[0065] (6) Simultaneously delivering the components held on the '4' component handling heads in the second subset to the second nest 8b of the respective satellite tables 7a-d. Most preferably, each component handling head in the second subset delivers the component which that component handling head holds, to a respective satellite table 7a-d. In other words a first of the '4' component handling heads in the second subset delivers the component it holds onto the second nest 8b of a first of the '4' satellite tables 7a-d; a second of the '4' component handling heads in the second subset delivers the component it holds onto the second nest 8b of a second of the '4' satellite tables 7a-d; a third of the '4' component handling heads in the second subset delivers the component it holds onto the second nest 8b of a third of the '4' satellite tables 7a-d; a fourth of the '4' component handling heads in the second subset delivers the component it holds onto the second nest 8b of a fourth of the '4' satellite tables 7a-d; all at the same time. [0066] (7) Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration. Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration, moves the first nest 8a of each respective satellite table 7a-d to the position which was previously occupied by the second nest 8b (i.e. the first nest 8a of each respective satellite table 7a-d is now aligned under a respective component handling head belonging to the second subset. It should be noted that at this point each of the component handling head belonging to the second subset are empty as they already delivered the components which they held to the second nest 8d of each respective satellite table 7a-d in step (5)). Since the component handling heads belonging to the second subset are empty they can be used to pick the tested/processed components which are supported on the first nest 8a of each of the '4' satellite tables 7a-d.

[0067] (8) Simultaneously, picking the components which are on the first nest 8a of each of the '4' satellite tables 7a-d, using the component handling heads of the second subset. Most preferably, each component handling head in the second subset picks a component from a respective satellite table 7a-d. In other words a first of the '4' component handling heads in the second subset picks the component which is supported on the first nest 8a of a first of the '4' satellite tables 7a-d; a second of the '4' component handling heads in the second subset picks the component which is supported on the first nest 8a of a second of the '4' satellite tables 7a-d; a third of the '4' component handling heads in the second subset picks the component which is supported on the first nest 8a of a third of the '4' satellite tables 7a-d; a fourth of the '4' component handling heads in the second subset picks the component which is supported on the first nest 8a of a fourth of the '4' satellite tables 7a-d; all at the same time. After the components have been picked from the first nest 8a of each satellite table 7a-d the first nest 8a of each of the satellite tables 7a-d are vacant and are again available to receive another component.

[0068] (9) Rotating the turret 3 a second additional '4' iterations so that a third subset of component handling heads comprising '4' component handling heads, each carrying a respective component, are aligned over a respective first nest 8a belonging to a respective satellite table 7a-d, without delivering any of the components held on the '4' component handling heads in the third subset to any of the respective satellite tables 7a-d between any of said first additional '4' turret iterations.

[0069] (10) During the time of rotating the turret said second additional

'4' iterations, simultaneously testing and/or processing at the '4' stations 7a- d the components which are supported on the respective second nests 8b (i.e. simultaneously testing and/or processing at the '4' stations 7a-d the components which were delivered to the '4' satellite tables 7a-d by the second subset of component handling heads). Most preferably the duration of time the components are tested and/or processed is less than, or equal to, the duration of time it takes to rotate the turret '4' iterations plus the time it takes for '4' component handling heads, which are aligned above the '4' respective nests 8a, 8b belonging to respective satellite tables 7a-d, to deliver the components they hold to said '4' nests 8a, 8b.

[0070] (11) Simultaneously delivering the components held on the '4' component handling heads in the third subset to the first nest 8a of the respective satellite tables 7a-d. Most preferably, each component handling head in the third subset delivers the component which that component handling head holds, to a respective satellite table 7a-d. In other words a first of the '4' component handling heads in the third subset delivers the component it holds onto the first nest 8a of a first of the '4' satellite tables 7a-d; a second of the '4' component handling heads in the third subset delivers the component it holds onto the first nest 8a of a second of the '4' satellite tables 7a-d; a third of the '4' component handling heads in the third subset delivers the component it holds onto the first nest 8a of a third of the '4' satellite tables 7a-d; a fourth of the '4' component handling heads in the third subset delivers the component it holds onto the first nest 8a of a fourth of the '4' satellite tables 7a-d; all at the same time.

[0071] (12) Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration. Rotating each of the '4' satellite tables 7a-d, simultaneously, a single iteration, moves the second nest 8b of each respective satellite table 7a-d to the position which was previously occupied by the first nest 8a (i.e. the second nest 8b of each respective satellite table 7a-d is now aligned under a respective component handling head belonging to the third subset). It should be noted that at this point each of the component handling head belonging to the third subset are empty as they already delivered the components which they held to the first nest 8a of each respective satellite table 7a-d in step (11). Since the component handling heads belonging to the third subset are empty they can be used to pick the tested/processed components which are supported on the second nest 8b of each of the '4' satellite tables 7a-d.

[0072] (13) Simultaneously, picking the components which are on the second nest 8b of each of the '4' satellite tables 7a-d, using the component handling heads of the third subset. Most preferably, each component handling head in the third subset picks a component from a respective satellite table 7a-d. In other words a first of the '4' component handling heads in the third subset picks the component which is supported on the second nest 8b of a first of the '4' satellite tables 7a-d; a second of the '4' component handling heads in the third subset picks the component which is supported on the second nest 8b of a second of the '4' satellite tables 7a- d; a third of the '4' component handling heads in the third subset picks the component which is supported on the second nest 8b of a third of the '4' satellite tables 7a-d; a fourth of the '4' component handling heads in the third subset picks the component which is supported on the second nest 8b of a fourth of the '4' satellite tables 7a-d; all at the same time. After the components have been picked from the second nest 8b of each satellite table 7a-d the second nest 8b of each of the satellite tables 7a-d are vacant and are again available to receive another component

[0073] (14) Optionally, the above-mentioned steps (1 )-(13) can be repeated a plurality of times. [0074] It should be understood that in the present invention the controller 11 may be configured to operate the assembly 1 to carry out any of the above-mentioned exemplary method embodiments by way of programming. For example, the controller 11 may comprise a processor having stored in a memory thereof, a program code, which when executed, operates the assembly 1 to carry out any of the above-mentioned exemplary method embodiments.

[0075] Various modifications and variations to the described embodiments of the invention will be apparent to those skilled in the art without departing from the scope of the invention as defined in the appended claims. Although the invention has been described in connection with specific preferred embodiments, it should be understood that the invention as claimed should not be unduly limited to such specific embodiment.