Two-dimensional robotic arm system for supplying components to an automatic assembly machine

Abstract

An automatic assembly machine for automatically assembling electronic components onto a component carrier. The automatic assembly machine has: a frame; at least one interface for attaching a first component supply device at a predetermined position on the frame; an assembly head for picking up components from the first component supply device and placing the components at predetermined placement positions on the component carrier loaded into the assembly area of the automatic assembly machine; a track system mounted on the frame extending in a horizontal direction and in a vertical direction. The track system has a plurality of track members for moving a robotic arm device for transporting and manipulating a second component supply device along the horizontal direction and along the vertical direction along the track members. The present invention relates to an assembly system having such an automatic assembly machine, a production line having such an automatic assembly machine for producing electronic devices, and a production facility having two such production lines. It also relates to a method for automatically assembling electronic components onto a component carrier by means of the automatic assembly machine.

Description

Field of the Invention

[0001] The present invention generally relates to the field of electronic device production technology. Here, electronic components are assembled to a component carrier. The present invention particularly relates to providing electronic components for an automatic assembly machine, which must process a plurality of electronic components during continuous operation. The present invention particularly relates to (a) an automatic assembly machine that can automatically replace a first component supply device with a second component supply device by means of a robotic arm device. The present invention also relates to (b) an assembly system having such an automatic assembly machine, (c) a production line having such an automatic assembly machine for producing electronic devices, and (d) a production facility having at least two such production lines. In addition, the present invention also relates to (e) a method for automatically assembling electronic components to a component carrier by means of such an automatic assembly machine. Background Art

[0002] The assembly of printed circuit boards or component carriers with electronic components, in particular surface mount devices (SMD) components, is usually carried out using an automatic assembly machine according to the so-called "pick-and-place" or "pick-up-and-place" principle. Here, the components provided by the component supply device (i) are picked up by the assembly head of the automatic assembly machine, (ii) transported to the assembly area where the component carrier to be assembled is located, and (iii) then placed at a predetermined component mounting position on the component carrier.

[0003] In order to ensure high assembly efficiency, that is, to ensure the number of a large number of components processed within a predetermined period of time, these components are preferably mass-produced into tapes, for example, with so-called plastic blisters, or can also be mass-produced into stable cardboard tapes with grooves, and supplied to the assembly process by means of a suitable component supply device. The automatic assembly machine can operate continuously for a certain period of time using such tapes without stopping.

[0004] However, when the last component is removed at the end of the tape, the supply of components comes to a standstill. In order to nevertheless be able to continue the assembly process as uninterruptedly as possible, the start end of a new tape is connected in a known manner to the end of the previous and at least almost used-up tape. This connection is usually still always carried out manually in practice. Therefore, the production of electronic devices requires (i) an automatic assembly machine with a large number of component supply devices, (ii) a production line with a plurality of automatic assembly machines, or (iii) in a factory with a plurality of production lines, one or more operators are always ready to transfer a coil with a wound component tape to the relevant component supply device and attach the start end of the new component tape (by means of a joining connection) to the end of the almost used-up component tape. An alternative but also operationally intensive variant for supplying components consists in replacing a pre-configured component supply device together with the already introduced component tape with a (previously still used) component supply device.

[0005] In order to further reduce the operating effort, it is furthermore known to arrange the following tracks on the automatic assembly machines of the production line, along which a robotic arm can move in order to transfer a pre-configured component supply device from the start or end of the production line to the automatic assembly machine, where the component supply device is automatically replaced with the pre-configured component supply device and the replaced component supply device is transferred back to the end of the production line. However, the disadvantage of this solution is that the robotic arm on the production line side requires a relatively large positioning space in order to be able to be used in operation without the risk of, for example, colliding with an operator. This increases the positioning space requirements of the production line, so that fewer automatic assembly machines or production lines can be set up within the pre-given area of the factory. This applies in particular to (a) a production line with large automatic assembly machines, where components are supplied from both sides, that is to say from the left and right of the production line, and (b) to a production line that is arranged in parallel next to another production line and therefore requires an increased gap between the respective adjacent production lines. Obviously, due to the increased positioning space and area requirements, the assembly efficiency that can be provided in the factory is reduced.

[0006] The object of the present invention is to achieve a high assembly efficiency with a high degree of automation within a pre-given "area supply". Summary of the Invention

[0007] This object is solved by the subject matter of the independent claims. Advantageous embodiments of the invention are described in the dependent claims.

[0008] According to a first aspect of the present invention, an automatic assembly machine for automatically assembling electronic components onto a component carrier is described. The automatic assembly machine has (a) a frame; (b) at least one interface for removably fixing a first component supply device at a predetermined position on the frame; (c) an assembly head for picking up components from the fixed first component supply device and placing the picked-up components at predetermined assembly positions of the component carrier loaded into the assembly area of the automatic assembly machine; and (d) a track system which is mounted on the frame and extends in a horizontal direction and a vertical direction. The track system has a plurality of track elements along which a robotic arm device for transporting and manipulating a second component supply device in the horizontal direction and in the vertical direction can move.

[0009] The automatic assembly machine is based on the recognition that by the two-dimensional movement of the robotic arm device on the frame of the automatic assembly machine, the predetermined position of the first component supply device can be reached in a simple manner and by different movement paths. By the described two-dimensional movement, the robotic arm device can quickly and flexibly reach the first component supply device from different starting positions. Of course, the same also applies to the movement of the robotic arm device away from the predetermined position towards any docking position on or, if necessary, also outside the track system.

[0010] Furthermore, by the two-dimensional mobility or movability of the robotic arm device, the material transfer of components (in the preconfigured component supply devices) can be realized particularly flexibly. Thus, for example, in two relatively closely placed automatic assembly machines which are assigned to two different production lines extending parallel to each other in a factory hall, even though the spacing between the two production lines is very small, collisions between the first robotic arm device of the first automatic assembly machine and the second robotic arm device of the second automatic assembly machine can be avoided by at least one robotic arm device, in particular by offsetting it in the vertical direction with respect to the other robotic arm device. A similar situation also applies to possible collisions between the robotic arm device and an operator or other equipment (at least temporarily) located between two adjacent automatic assembly machines.

[0011] According to the present invention, the described track system extends not only in the horizontal direction but also in the vertical direction. This does not necessarily mean that a part of the track system must extend precisely (and only) vertically while another part of the track system must extend precisely horizontally. It is also possible to provide tracks which extend "obliquely" such that when moving along such tracks, the robotic arm device moves not only in the vertical direction but also in the horizontal direction. In some embodiments, the distance that the robotic arm device has to travel to reach the predetermined position can thereby be reduced. In addition, the advantage of obliquely extending tracks is that, depending on the inclination angle of the relevant track, the upward movement of the robotic arm device can be achieved more easily or with less force.

[0012] According to another embodiment of the invention, the track system has at least one first track member that extends at least partially in the vertical direction and at least one second track member that extends at least partially in the horizontal direction. This has the advantage that the track system is modularly constructed in a simple manner and can, if necessary, be structurally modified by simple retrofitting.

[0013] According to another embodiment of the invention, the track system has a first track subsystem and a second track subsystem with respect to a transport system for component carriers that extends through the machine frame along the transport direction, wherein the first track subsystem is arranged on a first side of the machine frame and the second track subsystem is arranged on an opposite second side of the machine frame.

[0014] The track system described by means of this embodiment, which is present or arranged on both sides, allows component supply devices to be replaced on both sides of the automatic assembly machine. This is particularly advantageous for larger or high-performance automatic assembly machines, since in principle it is thus possible to replace a plurality of component supply devices located at different predetermined positions in a simple and efficient manner.

[0015] Depending on the available position space supply, two or even more than two robotic arm devices can also be used. Here, the first robotic arm device can move on at least one first track member and the second robotic arm device can move on at least one second track member.

[0016] According to another embodiment of the invention, the track system has at least one third track member that connects the two track subsystems to each other. The advantage resulting therefrom is that it is possible to reach both sides of the machine frame or the automatic assembly machine with only a single robotic arm device, and thus such a robotic arm device can be used to replace component supply devices on both sides or at both sides of the automatic assembly machine.

[0017] According to another embodiment of the invention, at least one third track member is arranged above the assembly area of the automatic assembly machine, in which the component carriers are assembled.

[0018] Therefore, in this case, the assembly area is such a spatial region of the automatic assembly machine that the component carriers to be assembled are moved into this spatial region (by means of the transport system) and, if necessary, are mechanically temporarily fastened in this spatial region by means of clamping devices. After at least partial assembly, the relevant component carriers are removed from the assembly area again (by means of the transport system) and fed to another processing step, for example (a) another assembly section in another automatic assembly machine, (b) automatic optical inspection and / or (c) a soldering furnace for permanently fastening the assembled components.

[0019] Preferably, the at least one third rail member is not only located above the assembly area but also on the upper side of the machine frame. Here, the at least one third rail member can be at the highest position (along the vertical direction) of the automatic assembly machine. This has the advantage that the automatic assembly machine can be realized or manufactured by a relatively simple modification starting from a conventional automatic assembly machine. In particular, no modification is required in the (height) area of the automatic assembly machine that is usually used for moving the assembly head.

[0020] It should be noted that in other embodiments, the at least one third rail member can also be arranged below the assembly area. However, in this case, a greater adaptation of the architecture of the conventional automatic assembly machine may be necessary.

[0021] According to another embodiment of the present invention, at least one of the plurality of rail members has a (lower) on-ramp section configured such that the robotic arm device can enter the rail system from the ground on which the automatic assembly machine is located.

[0022] The on-ramp section can have any suitable shape and / or structure that allows for an (autonomous) transfer from the ground to the rail system. This is particularly advantageous when the robotic arm device is configured such that it can move autonomously from the ground onto the rail system. For this purpose, the robotic arm device can respectively have two "motion mechanisms", where the first motion mechanism allows the robotic arm device to move (horizontally) on the ground, and the second motion mechanism allows the robotic arm device to move both horizontally and vertically along the rail system. The first motion mechanism can include wheels or tires, for example. The second motion mechanism can include a guiding structure that matches the shape of the rail member and can engage with the corresponding rail member in such a way that the "falling" of the robotic arm device does not occur.

[0023] According to another embodiment of the present invention, at least one other rail member of the plurality of rail members has at least one other (lower) on-ramp section, which is (likewise) designed such that the robotic arm device can move from the ground onto the rail system or from the rail system to the ground.

[0024] Intuitively expressed, there are multiple positions at which the robotic arm device can be (autonomously) transferred from the ground to the rail system or onto it. By appropriately selecting one of the at least two on-ramp sections according to the (predetermined) position of the corresponding element supply device to be replaced, it is always possible to select the on-ramp section that requires the shortest possible movement path of the robotic arm device on the rail system. Thereby, the replacement of the element supply device can be accelerated.

[0025] Furthermore, in the case of using two or more robotic arm devices, providing or having multiple access ramp sections helps to avoid collisions between the two robotic arm devices in a simple manner. To avoid such collisions, it is not particularly necessary (anymore) for at least one of the existing robotic arm devices to have to "take a detour".

[0026] According to another embodiment of the present invention, the automatic assembly machine further has an energy supply device electrically connected to the track system. Here, the track system is configured such that electrical power can be provided for the robotic arm device (for operating the robotic arm device).

[0027] By supplying electrical energy via the track system, the robotic arm device can be supplied with the energy required for its operation in a simple and reliable manner. This includes the energy required for movement on the track system and the energy required for the robotic arm device to actuate (grip) the component required for replacing the first component supply device with the second component supply device.

[0028] With the described energy supply, a robotic arm system without or with only a very small electrical energy storage can be used, and the electrical energy storage is only used, for example, for the horizontal movement of the robotic arm device along the ground.

[0029] The track system can have suitable current-carrying lines, and the robotic arm device can act on the current-carrying lines, for example, through a sliding contact. Here, dedicated current-carrying lines can be used in a manner known per se only for providing electrical energy, and the (metal) track members can be used not only for mechanically coupling the robotic arm device but also for providing electrical energy.

[0030] According to another aspect of the present invention, an assembly system for automatically assembling electronic components onto a component carrier is described. The assembly system has an automatic assembly machine of the aforementioned type and a robotic arm device. Here, the robotic arm device is configured to (a) move along a horizontal direction and a vertical direction on the track system, (b) transport a second component supply device to a predetermined position, (c) replace the second component supply device with a first component supply device, and (d) transport the first component supply device away from the predetermined position.

[0031] The described assembly system is based on the recognition that, by virtue of the two-dimensional mobility or movability of the robotic arm device, the component supply device can be positioned or installed on the frame of the automatic assembly machine flexibly in different paths and thus spatially. Thereby, at least one component supply device can be transported to a predetermined position along two different directions in a simple and reliable manner without manual operation intervention, and replaced there with a component supply device fixed to the frame and currently in operation. Therefore, a nearly continuous supply of components to the automatic assembly machine or the assembly head can be reliably ensured.

[0032] Preferably, the robotic arm device can convey an element supply device pre-configured with corresponding elements. Thereby, in the case where the elements are packaged into a tape, splicing a new element tape to the end of an almost exhausted element tape in a laborious and error-prone manner is omitted at a predetermined position. In addition, threading a new element tape into the element supply device fixed during tape replacement, which is known from other designs, is eliminated.

[0033] The robotic arm device can be any (commercially) available robotic arm, which can move along a two-dimensional or, if necessary, three-dimensional structure of the track system by appropriate mechanical engagement with the track system and preferably with the aid of at least one suitable drive mechanism of its own. For manipulating and conveying the first element supply device or the second element supply device, the robotic arm device can have appropriate gripping or holding elements, which are matched to the element supply device in such a way that not only reliable conveyance can be ensured, but also reliable replacement of the element supply device can be ensured.

[0034] The robotic arm device can be, for example, a robotic arm sold by BionicHIVE Ltd. (website: https: / / www.bionichive.com / ), the specific details of which are described in U.S. Patent 10,259,649B2. Thus, this robotic arm has hitherto (only) been used for picking up and placing crates on the shelves of a warehouse.

[0035] According to another embodiment of the present invention, the robotic arm device has a container configured such that the first element supply device and / or the second element supply device can be at least partially received therein. Thereby, reliable conveyance of the first element supply device towards a predetermined position and reliable conveyance of the second element supply device away from the predetermined position can be achieved.

[0036] According to another embodiment of the present invention, the container is configured to receive, in addition to the first element supply device and / or the second element supply device, another first element supply device and / or another second element supply device.

[0037] Intuitively expressed, in this embodiment, the robotic arm device can convey at least two element supply devices. Thus, after replacing the first element supply device with the second element supply device, another first element supply device can be replaced with another second element supply device without having to move the robotic arm device along a relatively long path back to the warehouse station. More precisely, the robotic arm device can move directly from a predetermined position of the first element supply device to another predetermined position of another first element supply device (on the track system).

[0038] According to another embodiment of the present invention, the robotic arm device has at least two rollers which enable its movement on the ground on which the automatic assembly machine is located. This configuration of the robotic arm device can advantageously be used to autonomously pick up "new" component supply devices from a (central) warehouse and / or return the component supply devices to be replaced to the warehouse. Such a warehouse can also be a station in which the component supply devices are preferably assembled with the corresponding suitable components in a banded package.

[0039] Thus, the component supply devices can be transferred between such a (central) warehouse and a corresponding predetermined position (i) without the need for a dedicated transfer device between the (central) warehouse and the automatic assembly machine, and (ii) without the corresponding component supply devices being transferred by a transfer robotic arm onto the robotic arm device.

[0040] According to another embodiment of the present invention, the robotic arm device is configured to be supplied with electrical energy by a rail system.

[0041] As described above, this electrical energy supply can be achieved by appropriately designing the robotic arm device (for example, having electrical sliding contacts) and a rail system designed to match it and electrically coupled to a suitable energy supply device.

[0042] According to another aspect of the present invention, a production line for manufacturing electronic devices is described. The production line has (a) an assembly system of the type described above and (b) at least one automatic assembly machine of the type described above. The rail system of the assembly system and the rail systems of at least one automatic assembly machine are connected into a superior rail system.

[0043] The at least one automatic assembly machine mentioned and the automatic assembly machines of the assembly system are arranged one after another in sequence along the previously mentioned transfer direction, so that the (to-be-assembled) component carriers can be transferred from one (upstream-arranged) automatic assembly machine to another (downstream-arranged) automatic assembly machine along this transfer direction (by means of a transfer system), and different (typically different) components can be assembled there respectively.

[0044] Through the described superior rail system, it is possible to advantageously replace the component supply devices allocated to different automatic assembly machines with a single robotic arm device. Thus, it is no longer necessary to make the robotic arm device, for example, bypass on the ground.

[0045] The upper track system can be at least partially located on one or both sides of the production line with respect to the aforementioned conveying direction. Multiple third track members can also be provided (above different automatic assembly machines), which connect the left part of the upper track system to the right part of the upper track system with respect to the aforementioned conveying direction. Thereby, the robotic arm device can move from one side to the other along the production line (in the conveying direction) at different positions.

[0046] According to another embodiment of the present invention, the production line further has a processor for further processing the conveyed component carrier. The described processor can in principle be any type of machine that undertakes at least one task that is necessary or useful when manufacturing a structure or an electronic device to be constructed on the component carrier.

[0047] According to another embodiment of the present invention, the processor is a machine selected from the following group, which includes (i) a solder paste printer for selectively applying solder paste to the component pads of a printed circuit board; (ii) a soldering machine for melting the solder paste located between the component pads of the printed circuit board and the electrical connection contacts of the components placed on the printed circuit board; and (iii) an inspection machine that detects the structural features of the product of the at least partially assembled component carrier by means of an inspection process.

[0048] The solder paste printer is typically located at the starting point of the production line. The soldering machine, such as a so-called reflow oven, is typically located at the end of the production line. The inspection machine can be located at a position within the production line where, for example, a quality analysis of the previously performed processing, especially the assembly, is necessary or useful. Of course, the production line can also have more than one inspection machine.

[0049] In this context, the term "structural features of the product" can be understood as all structural or spatial physical features that are characteristic of a specific type of component carrier. In particular, one type of component carrier can be distinguished from other types of component carriers based on the structural features of the product. These features can be, for example, the position, size, and / or shape of the pads. In addition, the "structural features of the product" can be, for example, the solder paste volume that is applied or has been applied by solder paste printing to (at least) one component connection surface or to the pads constructed on the surface of the relevant printed circuit board. In addition, the "structural features of the product" can be an electronic component or the spatial position of an electronic component in two or three dimensions, which is placed or has been placed on the printed circuit board by means of an assembly machine.

[0050] According to another embodiment of the present invention, the upper track system extends spatially up to or beyond the processor. Thereby, the robotic arm device can move along the production line over a longer route. This enables a large degree of freedom regarding the positions at which the robotic arm device is loaded with a new component supply device or unloads a replaced component supply device in the spatial physical design of the track system.

[0051] According to another embodiment of the present invention, the production line further has another track system which is spatially separated from the upper track system.

[0052] Due to the described spatial separation, the production line can be provided with track elements only where the robotic arm device should be used in a reasonable manner in a resource-saving manner. This another track system which can be arranged or configured on one or both sides of the production line can also be another upper track system composed of at least two other track systems.

[0053] According to another embodiment of the present invention, the production line further has at least one input / output position which is configured to (i) enable the transfer of the robotic arm device to and / or away from the upper track system, or (ii) enable the transfer of the component tape towards and / or away from the component supply device held by the robotic arm device.

[0054] For example, the above-mentioned ramp section can be used for the transfer of the robotic arm device, and this ramp section then represents an input / output position which can enable the transfer of the robotic arm device between the ground and the track system. In other embodiments, the input / output position can be a pre-given transfer position which allows, for example, an operator to install the robotic arm device on the track system.

[0055] For transferring the component tape, the input / output position can be a pre-given docking position for the robotic arm device on or within the track system. This docking position can be selected such that an operator can transfer the component tape in an ergonomically comfortable posture.

[0056] The input / output position is preferably arranged at the front end or the rear end of the upper track system along the conveying direction. Thereby, the conveying or moving distance of the robotic arm device outside the upper track system can be advantageously reduced.

[0057] According to another aspect of the present invention, a production apparatus for manufacturing electronic devices is described. The described production apparatus has (a) a first production line of the above type and (b) a second production line of the above type.

[0058] The described production equipment is based on the recognition that the spatial requirements for the production line can be relatively small due to the two-dimensional movement of the robotic arm device on the automatic assembly machine, which is achieved by a track system or a superior track system. Therefore, despite the advantageous functionality of automatically replacing the component supply device by the robotic arm device as described, the production equipment can be constructed within a relatively small storage area.

[0059] These two production lines are preferably arranged or oriented parallel to each other. This means that the two conveying directions of the respective conveying system for a component carrier extend parallel to each other.

[0060] According to another embodiment of the present invention, the robotic arm device of the first production line can also move along the superior track system of the second production line. This means that in an advantageous manner, the same robotic arm device can be used before replacing the component supply device on both production lines. Of course, the robotic arm device of the second production line can also move in at least two dimensions along the superior track system of the first production line.

[0061] The movement from the superior track system of the second production line to the superior track system of the first production line or vice versa can be carried out, for example, on the ground and using the aforementioned access ramp section. Of course, the robotic arm device can also be manually "switched" from the superior track system of the second production line to the superior track system of the first production line or vice versa.

[0062] According to another aspect of the present invention, a method for automatically assembling electronic components on a component carrier by means of an automatic assembly machine, in particular by means of the above-mentioned components or entities (a) automatic assembly machine, (b) assembly system, (c) production line, and / or (d) production equipment is described. The method according to the present invention includes: conveying a second component supply device to a predetermined position on the frame of the automatic assembly machine by means of a robotic arm device, wherein the robotic arm device moves along a horizontal direction and a vertical direction on a plurality of track members of a track system arranged on the frame; removing a first component supply device at the predetermined position; and detachably fixing the second component supply device at the predetermined position using an interface of the frame assigned to the predetermined position. In addition, the method according to the present invention further includes: picking up a component from the fixed second component supply device by means of an assembly head; placing the picked-up component at a predetermined abutment position of a component carrier loaded into the assembly area of the automatic assembly machine.

[0063] The method is also based on the recognition that the two-dimensional or possibly three-dimensional movement of the robotic arm device can reach a predetermined position of the first component supply device in a simple manner and via different movement paths. By means of this movement, the robotic arm device can quickly and flexibly reach the first component supply device from different starting positions and replace the first component supply device there with the second component supply device.

[0064] It should be noted that the embodiments of the present invention are described with reference to different inventive concepts. In particular, some embodiments of the present invention with apparatus claims and other embodiments of the present invention with method claims are described. However, those skilled in the art will immediately understand when reading this document that, unless otherwise explicitly stated, any combination of features belonging to different types of inventive concepts is also feasible in addition to the combination of features belonging to one type of inventive concept.

[0065] Other advantages and features of the present invention result from the following exemplary description of the currently preferred embodiments. Description of the Drawings

[0066] Figure 1 A production line with a plurality of automatic assembly machines is shown, on which a track system for a robotic arm device for automatically replacing a component supply device is attached.

[0067] Figure 2a and Figure 2b Shows the transfer of a component supply device from the ground to a track system mounted on a plurality of automatic assembly machines by means of a robotic arm device.

[0068] Figure 3 A production facility with two production lines is shown, for which a common robotic arm device is provided for automatically replacing component supply devices on the automatic assembly machines of the two production lines.

[0069] Description of the Reference Numerals:

[0070] 100 Production line

[0071] 102 Input station

[0072] 104 Solder paste printer

[0073] 106 Solder paste inspection machine / SPI machine

[0074] 120 Automatic assembly machine

[0075] 122 Frame

[0076] 124 Component supply device

[0077] 132 Assembly inspection machine / AOI machine

[0078] 134 Soldering Machine / Reflow Soldering Furnace

[0079] 136 Welding Inspection Machine / AOI Machine

[0080] 138 Output Station

[0081] 140 Floor

[0082] 150 Track System / Superior Track System

[0083] 152 First Track Component

[0084] 153 Inlet Ramp Section

[0085] 154 Second Track Component

[0086] 156 Third Track Component

[0087] 159 Energy Supply Device

[0088] 170 Robot Arm Device

[0089] 172 Roller

[0090] T Transfer Direction

[0091] 224a Second Component Feeding Device

[0092] 224b Another Second Component Feeding Device

[0093] 260 Assembly System

[0094] 270 Robot Arm Device

[0095] 274 Container

[0096] 300a First Production Line

[0097] 300b Second Production Line

[0098] 380 Production Equipment

[0099] L First Side

[0100] R Second Side. Detailed Implementation Manner

[0101] It should be noted that in the following detailed description, features or components of different embodiments that are the same as or at least functionally the same as the corresponding features or components of another embodiment have the same reference numerals or reference numerals with the last two digits the same as those of the corresponding features or components that are the same as or at least functionally the same. To avoid unnecessary repetition, features or components that have been explained with reference to the previously described embodiments will not be elaborated in detail hereinafter.

[0102] It should further be noted that the embodiments described below are only a restricted selection of possible implementation variants of the present invention. In particular, it is feasible to combine the features of the individual embodiments with one another in a suitable manner, so that for a person skilled in the art, multiple different embodiments can be regarded as clearly disclosed by using the implementation variants explicitly shown herein.

[0103] Figure 1 A production line 100 for an electronic device is shown. The production line 100 has different devices arranged along a transport route for printed circuit boards. In Figure 1 it, the transport direction of the printed circuit board - transport route is indicated by two arrows, which are each denoted by the letter "T".

[0104] The production line 100 has an input station 102 in a known manner along the transport direction T, through which prefabricated but not yet printed component carriers or printed circuit boards are fed to the production line 100. A solder paste printer 104 is located downstream of the input station 102, which selectively applies solder paste to specific positions of the respective printed circuit board by means of a known screen printing process. These positions are typically the component connection surfaces or pads on the surface of the associated printed circuit board.

[0105] Downstream of the solder paste printer 104 is a solder paste inspection machine 106, which optically checks whether the solder paste printing has sufficient quality so that it makes sense to further process the now printed printed circuit board. The solder paste inspection machine 106 is also called an SPI machine according to the English term "Solder Paste Inspection".

[0106] Along the transport direction T, a plurality of automatic assembly machines 120 are then arranged, with which a defined number of (different) components are respectively placed at component positions defined by the previously applied solder paste heaps.

[0107] Following the automatic assembly machines 120 is an assembly inspection machine 132, with which it is checked whether the printed circuit board assembly carried out by the automatic assembly machines 120 is correct. According to the embodiment shown herein, the assembly inspection machine 132 optically detects the assembled components in two dimensions (2D) and three dimensions (3D). The assembly inspection machine 132 is a known "Automatic Optical Inspection" (AOI) machine.

[0108] Downstream of the AOI machine 132, there follows a soldering machine 134, which is constructed in a known manner as a so-called reflow soldering furnace. In this reflow soldering furnace 134, a viscous solder paste is melted so that, after the solder paste cools later, the components are firmly and conductively contacted with the corresponding component contact surfaces.

[0109] According to the embodiment shown here, after the reflow soldering furnace 134, there follows a solder inspection machine 136, by means of which it is checked whether the soldering process carried out in the reflow soldering furnace 134 has been successful (qualitatively). Here, the soldering inspection machine 136 is also a known AOI machine.

[0110] After the AOI machine 136, there follows an output station 138. At this output station, the processed electronic devices can be taken away by the operator.

[0111] According to the embodiment shown here, the production line 100 includes a total of eleven automatic assembly machines 120, which are furthermore divided into two groups of directly adjacent automatic assembly machines 120. However, it is obvious that the number of automatic assembly machines 120 and groups is only an arbitrarily selected number respectively. Depending on the specific application, the production line 100 can also have fewer or more of these automatic assembly machines 120 and / or groups.

[0112] The supply of components for the assembly process to be carried out in each automatic assembly machine 120 is carried out in a known manner by a component supply device 124, which is laterally detachably mounted on a suitable interface (not shown) of the frame 122 of the corresponding automatic assembly machine 120. According to the embodiment shown here, the components are supplied in a known manner by means of component tapes. These tapes have a plurality of grooves, in each of which an electronic component is accommodated. In Figure 1 a plurality of spool groups can be seen, onto which or into which the component tapes are wound and continuously unwound to supply the components.

[0113] Once the component tape is exhausted, or if a new type of component is to be supplied, a new component tape must be used. According to the embodiment shown here, this is achieved by not only replacing the component tape, or splicing a new component tape to the (exhausted) old component tape. Instead, the previously used first component supply device 124 together with the remaining segments that the old component tape may have is replaced by a prefabricated (second) component supply device 124 with a new component tape.

[0114] As can be seen from Figure 1As can be seen, this replacement of the component supply device 124 is not carried out manually by an operator, but automatically by means of the robotic arm device 170. In order to enable the robotic arm device 170 to move appropriately on the automatic assembly machine 120 in the direction of each component supply device 124 to be replaced, the following track system 150 is arranged on the automatic assembly machine 120. The track system has a plurality of track members, and these track members are directly or indirectly fixed to the frame 122 of the corresponding automatic assembly machine 120. Since the track system 150 extends over a plurality of automatic assembly machines 120, this track system is also referred to in this text as the superior track system 150.

[0115] According to the embodiment shown here, additionally there is also another track system, which is installed on two automatic assembly machines 120 at a certain distance from the (first) track system 150 along the conveying direction. These two automatic assembly machines are arranged downstream of the assembly inspection machine 132. In Figure 1 it, for the sake of clarity, the other track system is not labeled with a reference numeral. Qualitatively, the two track systems have the same structural configuration and the same functionality.

[0116] The track system 150 includes a plurality of track members. The first track member 152 extends in the vertical direction, and the second track member 154 extends in the horizontal direction along the conveying direction T. In addition, the track system 150 also includes two third track members 156, which extend horizontally and perpendicular to the conveying direction T and are respectively installed on the frame members of the automatic assembly machine 120. The third track members 156 connect the shown track subsystem including the first track member 152 and the second track member 154 to an unshown track subsystem, which is in Figure 1 the relative rear side of the automatic assembly machine 120 in.

[0117] The track system 150 also has two entry ramp sections 153, which connect the first track member 152 to the ground 140. The entire production line 100 is placed on the ground 140. The entry ramp sections 153 and the different track members 152, 154, 156 are configured such that the robotic arm device 170 can move autonomously from the ground 140 onto the track system 150 and drive to different positions there to replace the first component supply device 124 with the second component supply device 124. The overall combination of the first track member 152 and the second track member 154 enables two-dimensional movement of the robotic arm device 170 on the automatic assembly machine 120. The overall combination of the first track member 152, the second track member 154 and the third track member 156 even allows three-dimensional movement of the robotic arm device 170.

[0118] In order to be able to travel autonomously over a longer distance in an (energetically) efficient manner on the ground 140, the robotic arm device 170 has a plurality of rollers 172, at least two of which are driven by a motor (not shown), which is powered by a storage battery (also not shown).

[0119] In order to be able to move upwards particularly in the vertical direction on the rail system 150 without depleting a large current from the storage battery, a suitable current conducting line (not shown in detail) is provided, on which the robotic arm device 170 can pick up current, for example via a sliding contact. According to the embodiment shown here, this current is fed by the energy supply device 159 into the current conducting line of the rail system 150.

[0120] Figure 2a and Figure 2b The transfer of two component supply devices by means of a robotic arm device 270 is shown. In order to reliably transfer two component supply devices, the (new) second component supply device 224a and the (new) additional second component supply device 224b, to an automatic assembly machine (and there respectively replace them with the (old) first component supply device), the robotic arm device 270 has a container 274 in which the two component supply devices 224a, 224b together with their respective (new) component tapes are accommodated.

[0121] Specifically, Figure 2a The transfer of two component supply devices 224a, 224b from the ground 140 to the rail system 150 is shown. Figure 2b The horizontal transfer of two component supply devices 224a, 224b along the second rail element 154 is shown.

[0122] It should be noted that in Figure 2a and Figure 2b the automatic assembly machine is denoted not only by the reference numeral 120 but also additionally by the reference numeral 260. These reference numerals are chosen in such a way that the robotic arm device 270 is assigned to the automatic assembly machine 120. The corresponding (arbitrarily) defined whole, consisting of the automatic assembly machine 120 and the robotic arm device 270, is called an assembly system 260 in this document. Of course, the robotic arm device 270 can also be assigned to any other automatic assembly machine 120.

[0123] Figure 3 A production facility 380 with two production lines 300a and 300b is shown, which are arranged side by side on the factory floor 140 in a parallel orientation to each other. These two production lines 300a and 300b have a common robotic arm device 270, which enables the automatic replacement of component supply devices on the automatic assembly machines of the two production lines. For the sake of clarity, inFigure 3 The rail system according to the present invention is not shown.

[0124] As Figure 3 can be seen, the robotic arm device 270 "works" in the (intermediate) area of the space located on the right side R of the production line 300a and on the left side L of the production line 300b when observed along the conveying direction T. Thus, on a short path, the "element supply device on the right side" of the first production line 300a and the "element supply device on the left side" of the second production line 300b can be replaced, and are respectively replaced by new element supply devices. When other element supply devices are moved to the other side of the relevant production line 300a or 300b by the aforementioned third rail member (also not shown in Figure 3 ), the other element supply devices can be replaced by the shown robotic arm device 270. Alternatively or in combination, at least another robotic arm device not shown can also be used, which "services" the other sides of the two production lines 300a, 300b. Such an additional robotic arm device can also "service" another production line not shown, which is arranged in parallel on the left side of the first production line 300a or on the right side of the second production line, thereby creating another (intermediate) area between two adjacent production lines.

[0125] It should be noted that the term "comprising" does not exclude other elements, and the numeral "one" does not exclude a plurality. In addition, elements described in connection with different embodiments can be combined. It should also be noted that the reference signs in the claims should not be construed as limiting the scope of protection of the claims.

Claims

1. An automatic assembly machine (120) for automatically assembling electronic components onto a component carrier, the automatic assembly machine (120) having a frame (122); at least one interface for detachably mounting a first component supply device (124) at a predetermined position on the frame (122); an assembly head for picking up components from the attached first component supply device (124) and placing the picked-up components at predetermined placement positions on a component carrier loaded into an assembly area of the automatic assembly machine (120) ； and a track system (150) mounted on the frame (122) and extending along a horizontal direction and along a vertical direction; wherein the track system (150) has a plurality of track members (152, 154), the plurality of track members including at least one first track member (152) at least partially extending in the vertical direction and at least one second track member (154) at least partially extending in the horizontal direction, manipulator devices (170, 270) for conveying and manipulating a second component supply device (224a) along the vertical direction and along the horizontal direction respectively can move along the track members, and the manipulator devices (170, 270) can move between the first track member and the second track member.

2. The automatic assembly machine (120) according to claim 1, wherein with respect to a conveying system for the component carrier extending through the frame (122) along a conveying direction (T), the track system (150) has a first track subsystem and a second track subsystem, wherein the first track subsystem is arranged at a first side of the frame (122), and the second track subsystem is arranged at an opposite second side of the frame (122).

3. The automatic assembly machine (120) according to claim 2, wherein the track system (150) has at least one third track member (156) that interconnects the two track subsystems.

4. The automatic assembly machine (120) according to claim 3, wherein the at least one third track member (156) is arranged above an assembly area of the automatic assembly machine (120) where the component carrier is assembled.

5. The automatic assembly machine (120) according to claim 1, wherein at least one of the plurality of track members (152) has an entry ramp section (153) configured such that the manipulator device can enter the track system (150) from a ground surface (140) on which the automatic assembly machine (120) is located.

6. The automatic assembly machine (120) according to claim 5, wherein at least one other track member of the plurality of track members (152) has at least one other entry ramp section (153) configured such that the manipulator devices (170, 270) can move from the ground surface (140) onto the track system (150).

7. The automatic assembly machine (120) according to claim 1, further having An energy supply device (159) that is electrically coupled to the track system (150), wherein the track system (150) is configured to be able to supply electric power to the robotic arm devices (170, 270).

8. An assembly system (260) for automatically assembling electronic components onto a component carrier, the assembly system (260) having the automatic assembly machine (120) according to claim 1, and robotic arm devices (170, 270), wherein the robotic arm devices (170, 270) are configured to (a) move horizontally and vertically along the track system (150), (b) convey a second component supply device (224a) towards a predetermined position, (c) replace the second component supply device (224a) with a first component supply device (124), and (d) convey the first component supply device (124) away from the predetermined position.

9. The assembly system (260) according to claim 8, wherein the robotic arm device (270) has a container (274) configured such that the first component supply device (124) and / or the second component supply device (224a) can be at least partially received therein.

10. The assembly system (260) according to claim 9, wherein the container (274) is configured to receive, in addition to the first component supply device (124) and / or the second component supply device (224a), another first component supply device and / or another second component supply device (224b).

11. The assembly system (260) according to claim 8, wherein the robotic arm device (170) has at least two rollers (172) that can move on the floor (140) on which the automatic assembly machine (120) is located.

12. The assembly system (260) according to claim 8, wherein the robotic arm devices (170, 270) are configured to be supplied with electric power by the track system (150).

13. A production line (100) for manufacturing electronic devices, the production line (100) having the assembly system (260) according to claim 8, and at least one automatic assembly machine (120) according to claim 1; wherein the track system (150) of the assembly system (260) and the track system (150) of the at least one automatic assembly machine (120) are connected to form a superior track system (150).

14. The production line (100) according to claim 13 above, further having processing machines (106, 132, 134, 136) for further processing the conveyed component carriers.

15. The production line (100) according to claim 14, wherein the processing machine is a machine selected from the group consisting of (i) a solder paste printer (106) for selectively applying solder paste onto the component pads of a printed circuit board; (ii)A soldering machine (134) for melting solder paste between a component pad on a printed circuit board and an electrical connection contact of a component placed on the printed circuit board; and (iii)An inspection machine (132, 136) that detects structural features of a product of at least partially assembled component carriers by means of an inspection process.

16. The production line (100) according to claim 14, wherein The upper track system extends spatially up to or beyond the processing machine.

17. The production line (100) according to claim 13, further comprising Another track system that is spatially separated from the upper track system (150).

18. The production line (100) according to claim 13, further comprising At least one input / output position (153), which is configured to (i)Enable the transfer of the robotic arm device (170, 270) towards and / or away from the upper track system, or (ii)Enable the transfer of the component tape towards and / or away from the component supply device held by the robotic arm device.

19. A production device (380) for producing electronic devices, the production device having A first production line and a second production line (300a, 300b), each of the first production line and the second production line being a production line according to claim 13.

20. The production device (380) according to the preceding claim 19, wherein The robotic arm device of the first production line can also move along the upper track system of the second production line.

21. A method for automatically assembling electronic components for a component carrier by means of an automatic assembly machine, which is (a) by means of the automatic assembly machine (120) according to claim 1, or (b) by means of the assembly system (260) according to claim 8, or (c) by means of the production line (100) according to claim 13, or (d) by means of the production device (380) according to claim 19, (A)Wherein ， The method includes, by means of a robotic arm device (170, 270), Transferring a second component supply device (224a) to a predetermined position on the frame (122) of the automatic assembly machine (120), wherein the robotic arm device (170, 270) moves along a horizontal direction and a vertical direction on a plurality of track members (152, 154) of a track system (150) mounted on the frame (122); Picking up a first component supply device (124) at a predetermined position; and Detachably attaching the second component supply device (224a) to the predetermined position using an interface of the frame (122) assigned to the predetermined position; (B)Wherein the method further includes, by means of an assembly head, Picking up components from a fixed second component supply device (224a); and Placing the picked-up components at a predetermined placement position of a component carrier loaded into the assembly area of the automatic assembly machine (120).

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