Gripper for handling SMD element roll storage cartridges and associated SMD element roll storage cartridge

Abstract

The invention relates to a gripper (13) for handling SMD element roll storage cartridges (10.1, 10.2) by means of a robot arm (6) which is automatically actuated by a robot controller (5), said robot arm carrying and actuating the gripper (13) on its tool flange (15). The gripper has a drive pinion (12) which is rotatably mounted on a gripper base body (16) and which is designed to engage with driven gears (11.1, 11.2) of the SMD element roll storage cartridges (10.1, 10.2) in a state in which the SMD element roll storage cartridges (10.1, 10.2) are coupled to the gripper (13), and the gripper (13) has a drive motor (17) which is arranged on the gripper base body (16) and which is designed to engage with driven gears (11.1, 11.2) of the SMD element roll storage cartridges (10.1, 10.2) in a state in which the SMD element roll storage cartridges (10.1, 10.2) are coupled to the gripper base body (16). The drive motor is configured to automatically drive the drive pinion (12). The invention also relates to a related SMD element roll storage box (10.1, 10.2).

Description

Technical Field

[0001] The invention relates to a gripper for handling an SMD component reel storage box by a robot arm automatically controlled by a robot controller, the robot arm carrying and manipulating the gripper on its tool flange, and also to a related SMD component reel storage box. Background Art

[0002] Patent document CN212711952U relates to the technical field of SMT material splicing equipment, and particularly to an SMT material splicing machine, which includes a suction device, a pressure roller and a driving device for sucking a splicing tape, wherein the driving device is connected to the suction device and the pressure roller, and the driving device drives the suction device to suck up the splicing tape, and transfers the splicing tape to a position above the SMT tape to fit on the SMT tape. The driving device drives the pressure roller to roll the surfaces of the splicing tape and the SMT tape that fit each other, thereby making the splicing tape and the SMT tape fully bonded to each other, thereby improving the success rate of the cover tape. Through this device, two SMD tapes of two SMD component rolls can be automatically connected. Summary of the invention

[0003] The object of the present invention is to provide a gripper for handling an SMD component roll storage box and a related SMD component roll storage box, so that an SMD tape wound on a corresponding tape reel of an SMD component roll can be automatically unwound and / or automatically wound.

[0004] The object of the invention is achieved by a gripper for handling SMD component reel storage boxes by means of a robot arm automatically controlled by a robot controller, the robot arm carrying and manipulating the gripper on its tool flange, the gripper having:

[0005] - a gripper base body having a connection flange for fastening the gripper to a tool flange of a robot arm,

[0006] at least one coupling element, located on at least one end wall of the SMD component reel storage box, for coupling the SMD component reel storage box to the gripper, and

[0007] a drive pinion rotatably mounted on the gripper base body and designed to mesh with a driven gear of the SMD component reel storage cassette when the SMD component reel storage cassette is coupled to the gripper, and

[0008] A drive motor is arranged on the gripper base body and is designed to automatically drive the drive pinion.

[0009] The SMD component reel comprises a tape reel and an SMD tape wound thereon. The SMD tape comprises: a carrier tape, in particular having evenly spaced edge side perforations for accurate positioning of the carrier tape; and a large number of SMD components, which are evenly spaced from each other and mounted in a serial chain on the carrier tape. The SMD component reel can be placed in a storage box. Therefore, the SMD component reel described hereinafter comprises a storage box, in which the tape reel is stored together with the SMD tape wound thereon.

[0010] The SMD component reel is rotatably mounted inside the SMD component reel storage box. The SMD component reel storage box has a driven gear that can be driven by a drive pinion of a gripper guided by a robot arm, wherein, by the driven rotation of the driven gear of the SMD component reel storage box, the SMD component reel can be automatically rotated inside the SMD component reel storage box to wind and unwind the SMD tape, in order to convey the SMD tape in synchronization with the automatic movement of the SMD component reel storage box on its movement trajectory between the replacement bin of the SMD assembly machine and the tape connector.

[0011] An SMD assembly machine is a machine for automatically assembling electronic components onto electronic printed circuit boards. These components are usually placed or glued onto the printed circuit board automatically and then automatically connected to the electrical traces (elektrischen Leiterbahnen) of the circuit board, for example in a soldering bath, to establish electrical contact. An exemplary SMD assembly machine includes: a storage station (Magazinstation) with blank circuit boards; a conveying device for feeding the circuit boards in sequence; an actual assembly machine, in which the required SMD components are successively grabbed and placed at the specified positions of the corresponding circuit boards; and an oven, in which the SMD components placed on the circuit boards are fixed and soldered. Finally, the finished, i.e. assembled, circuit boards can be stacked into an output bin (Abgabemagazin). The manufacturing process is largely automated. A large number of SMD components to be installed are wound on SMD component rolls in different categories and provided as SMD tapes. Each individual SMD component requires its own SMD component roll. Each SMD component roll comprises an SMD tape, which comprises a carrier tape, on which a large number of SMD components of the same type are evenly spaced. Each SMD component type can be continuously supplied to the SMD assembly machine through the SMD component roll or SMD tape, so that the SMD assembly machine can continuously and preferably uninterruptedly install the required SMD components for the printed circuit board. However, when an SMD component roll is almost used up, that is, when almost all the SMD components originally present on the SMD tape are removed from the carrier tape and processed by the SMD assembly machine, the used SMD component roll must be removed and replaced by a new fully loaded (vollbestückte) SMD component roll. In order for the SMD assembly machine to continue production uninterruptedly, the SMD tape of the new SMD component roll must be seamlessly joined to the end of the current SMD tape of the empty (leerlaufenden) SMD component roll. The joining should be carried out in such a way that, on the carrier tape after joining, the distance between the first SMD component of the new SMD component roll and the last SMD component of the empty SMD component roll should correspond as accurately as possible to the standardized distance between multiple SMD components on the SMD component roll. So far, joining the starting end of the new SMD component roll to the empty SMD component roll has been performed manually and is usually not automated. This leads to relatively high labor costs and does not ensure consistent quality. There have been some methods that attempt to automate the joining process of connecting the starting end of the new SMD component roll to the end of the empty SMD component roll, but in these machines, the end of the empty SMD component roll and the starting end of the new SMD component roll must still be manually inserted.

[0012] The gripper according to the invention and the SMD component roll storage box according to the invention are suitable auxiliary devices for the fully automatic reloading of a new SMD component roll as a successor to an empty SMD component roll, wherein an automatically operating strip connector can also be automatically loaded together with the end of the empty SMD component roll and the starting end of the new SMD component roll by the robot-guided gripper proposed according to the invention, so that the end and the starting end can be automatically connected in the automatically operating strip connector.

[0013] First, the first SMD component roll storage box carrying the first SMD tape can be automatically removed, and the first SMD tape is further unwound into the SMD assembly machine during the operation of the SMD assembly machine. Therefore, the first SMD component roll storage box is initially located in the replacement bin of the SMD assembly machine. The SMD assembly machine works continuously, automatically, and in particular uninterruptedly, so that during the automatic removal of the first SMD component roll storage box from the replacement bin, the first SMD tape continues to be introduced into the SMD assembly machine, so that the SMD components located on the first SMD tape are successively removed inside the SMD assembly machine and the printed circuit board is thus automatically assembled. When the first SMD component roll storage box is automatically removed, it must be ensured that no impermissible high tensile force is applied to the first SMD tape unwound from the first SMD component roll during the movement of the robot arm, and the robot arm automatically operates the first SMD component roll storage box through a gripper guided by the robot arm. The SMD assembly machine has a feed device (Einzug), which automatically introduces the first SMD tape into the SMD assembly machine. Therefore, it is necessary to set the maximum tensile force that can act on the first SMD tape. On the other hand, a minimum tensile force should also be maintained in order to ensure that the first SMD tape is under a certain tensile stress, thereby preventing the risk of the first SMD tape forming wrinkles (Schlaufenbildung) or swelling, or suddenly unwinding from the first SMD component roll storage box. Therefore, the robot controller can be constructed and designed to move the robot arm in such a way that the first SMD tape that continues to be unwound from the first SMD component roll is under an allowed, i.e. desired tensile stress during the automatic transportation of the first SMD component roll storage box from the replacement warehouse to the tape connector. This can be achieved in particular in the following way: the robot arm is controlled by the robot controller in a force / torque-regulated operating mode, so that the instantaneous tensile force can be automatically detected at any time during the automatic transportation of the first SMD component roll storage box from the replacement warehouse to the tape connector. That is, the movement trajectory provided by the robot arm to the first SMD component roll storage box can be adjusted accordingly.

[0014] Then, the second SMD component roll storage box carrying the second SMD tape can be received from the storage bin by a robot arm controlled by a robot controller. The second SMD component roll storage box usually contains a new SMD component roll, i.e. an SMD component roll fully loaded with SMD components. Here, the SMD component roll is in particular completely filled with the loaded SMD tape. Therefore, the storage bin can form a storage place, where the fully loaded SMD component roll or SMD component roll storage box is stored.

[0015] Therefore, the starting part of the second SMD tape can be automatically inserted into the automatic tape connector by the robot arm controlled by the robot controller. To this end, the tape connector has a working groove (Aufgabeschlitz), which is configured to temporarily receive the second SMD component reel storage box, so that the corresponding starting part of the second SMD tape of the second SMD component reel storage box can be automatically detected by the tape connector, and then the end part of the first SMD tape is automatically connected to the starting part of the second SMD tape.

[0016] Finally, after the start portion of the second SMD tape of the second SMD component roll is automatically connected to the end portion of the first SMD tape in the tape connector, the second SMD component roll storage box can be automatically inserted into the replacement bin of the SMD assembly machine.

[0017] Since the starting portion of the second SMD tape of the second SMD component roll is connected to the end portion of the first SMD tape at this time, a pulling force is already applied to the second SMD tape during the automatic insertion of the second SMD component roll storage box into the replacement bin of the SMD assembly machine. As with the removal of the first SMD component roll storage box from the replacement bin, when inserting the second SMD component roll storage box into the replacement bin, the robot arm controlled by the robot controller is also controlled in a force / torque regulated motion control manner.

[0018] Therefore, the belt reel of the corresponding (first or second) SMD component roll storage box can be rotatably mounted on at least one inner wall, in particular between two opposite inner walls of the housing of the storage box. At least one inner wall can, for example, have a journal, and the SMD component roll can be rotatably plugged into the journal. Therefore, the SMD component roll can be mounted on a single inner wall on one side, or on two opposite inner walls on both sides. The corresponding journal can have at least one latching protrusion, and the SMD component roll can be fixed on the latching protrusion with its hub to prevent axial loosening. An inner wall can be arranged on the lid of the storage box. In particular, the lid can be detachably fastened to the base of the storage box. In order to open and close, the lid can be pivotally mounted on the base of the storage box, for example, by a hinge. Here, the driven gear can be fixedly connected to the first SMD component roll. The housing of the storage box can have at least one opening, through which the gear ring of the driven gear can be approached from the outside. Through this opening, the driving pinion can extend into the housing of the storage box and mesh with the toothed ring of the driven gear. If the driving pinion is driven, the driven gear can automatically rotate, in particular, optionally in a clockwise direction or in a counterclockwise direction. The rotating driven gear drives the belt reel to move, so that the SMD belt can be actively unwound or actively wound from the belt reel of the SMD component roll according to the rotation direction.

[0019] The driving pinion can be driven by a motor, in particular an electric motor. The driving pinion and in particular also a motor can be arranged on a gripper, which is designed to automatically grab the SMD component roll storage box. The gripper can be fastened on the tool flange of the robot arm. Therefore, the gripper moves by the movement of the robot arm. When the gripper grabs the SMD component roll storage box, the robot controller can be controlled by the robot controller to move the SMD component roll storage box in a desired manner in space. The gripper or the motor can be controlled by the robot controller so that the robot controller can not only perform the movement of the first SMD component roll storage box, but also the included SMD tape can be automatically sent out or pulled in from the storage box as needed and matched with the movement of the SMD component roll storage box in space.

[0020] Accordingly, the gripper according to the invention has a gripper main body which is provided with a connecting flange for fastening the gripper to a tool flange of a robot arm.

[0021] The holder comprises at least one coupling member for coupling the SMD component reel storage box to the holder. The at least one coupling member is arranged on at least one end wall of the SMD component reel storage box. By arranging the at least one coupling member on at least one end wall of the SMD component reel storage box, i.e. in particular on the end wall of the housing of the SMD component reel storage box, a plurality of SMD component reel storage boxes can be stored directly side by side, similar to books placed side by side in a bookshelf, wherein the sides of two adjacent SMD component reel storage boxes facing each other can be flush against each other, but can still be automatically taken out individually by the holder without the need for the holder to tighten the grip of a single SMD component reel storage box on the opposite side.

[0022] In the clamp according to the present invention, a driving pinion is provided which is rotatably mounted on the clamp base and is designed to mesh with a driven gear of the SMD component roll storage box when the SMD component roll storage box is coupled to the clamp. The SMD component roll storage box and in particular the driven gear arranged in the SMD component roll storage box will be explained and described in more detail below.

[0023] The gripper further comprises a drive motor which is arranged on the gripper base body and is designed to automatically drive the drive pinion.

[0024] When the gripper grasps the SMD component reel storage box according to the invention, the driving pinion of the gripper meshes with the driven gear of the SMD component reel storage box. This is ensured by the specific correspondence between the design structure of the gripper and the position and posture of at least one coupling member of the gripper with respect to the position and posture of the driving pinion of the gripper, and the design structure of the SMD component reel storage box and the specific correspondence between the position and posture of at least one mating coupling member of the SMD component reel storage box with respect to the position and posture of the driven gear of the SMD component reel storage box.

[0025] At least one connecting member may have at least one first locking member (Rastmittel), which is constructed to engage in a first matching locking member on a first end wall of the SMD component roll storage box in a form-fitting manner; and may have at least one second locking member, which is constructed to engage in a second matching locking member on a second end wall of the SMD component roll storage box that is different from the first end wall of the SMD component roll storage box in a form-fitting manner.

[0026] At least one first latching member can be formed, for example, by a pin or bolt. The pin or bolt can have a circular cross section. The pin or bolt can extend transversely between two supporting walls of the clamp. The SMD component reel storage box can be introduced between the two opposing supporting walls of the clamp with a combination of plug-in and pivoting movement so as to connect the SMD component reel storage box to the clamp.

[0027] The clamp can have a locking piece (Verriegelungsmittel), which is constructed to be locked on a matching locking piece of the SMD component roll storage box in a shape-fitting manner when the SMD component roll storage box is connected to the connecting piece of the clamp, thereby preventing the SMD component roll storage box from accidentally loosening from the clamp in the locking position of the locking piece, and enabling at least one connecting piece to be moved away from the matching locking piece of the SMD component roll storage box by movement of the clamp from the SMD component roll storage box in the unlocking position of the locking piece so that the clamp can be released from the SMD component roll storage box.

[0028] The locking element can be, for example, a latching element which is mounted on the gripper in a linearly adjustable manner. The latching element can be connected to an actuator of a lifting magnet or a lifting cylinder in order to be able to automatically operate, i.e. move, the latching element. The lifting magnet or the lifting cylinder can be electrically controlled in order to automatically adjust the latching element between its locked position and unlocked position. The lifting magnet or the lifting cylinder can also be electrically driven.

[0029] The holder can have a first supporting wall which is designed to bear flat against a first surface of the SMD component roll storage box when the SMD component roll storage box is coupled to the holder.

[0030] As an alternative or in addition to the first supporting wall, the holder can have a second supporting wall which is designed to bear flat against a second surface of the SMD component reel storage box when the SMD component reel storage box is coupled to the holder.

[0031] Thus, an SMD component reel storage box coupled to the holder can be guided through, in particular two opposing support walls of the holder which are arranged at a distance from one another, or inserted between them.

[0032] The gripper may have a detection device which is constructed and designed to automatically detect a label on the SMD component reel storage box when the SMD component reel storage box is coupled to the gripper.

[0033] The object of the present invention is also achieved by an SMD component roll storage box matching a clamp, the SMD component roll storage box comprising: a shell in which the SMD component roll is rotatably mounted, the SMD component roll comprising an SMD tape wound on a tape reel of the SMD component roll; and a driven gear connected to the tape reel, the driven gear being constructed to be driven by a driving pinion of the clamp guided by a robot arm when the SMD component roll storage box is connected to the clamp, wherein, by the driven rotation of the driven gear, the tape reel of the SMD component roll can be selectively rotated inside the SMD component roll storage box to wind or unwind the SMD tape, thereby transporting the SMD tape out of or into the shell of the SMD component roll storage box.

[0034] The tape reel of the SMD component roll storage box can have a driven hub, to which a drive shaft connected to a driven gear is coupled, wherein the drive shaft is connected to the driven gear via a plurality of spokes extending radially outward, each having a curved course deviating from a radial straight line direction.

[0035] The SMD component roll storage box can have at least one mating connecting piece on at least one end wall of its shell, which is used to connect the SMD component roll storage box to the connecting piece of the clamp, in particular, it has a first mating connecting piece on the first end wall of the shell of the SMD component roll storage box, and a second mating connecting piece on the second end wall of the shell of the SMD component roll storage box which is different from the first end wall of the shell of the SMD component roll storage box, wherein at least one mating connecting piece has at least one first mating locking piece and at least one second mating locking piece, the first mating locking piece is constructed to engage in a first locking piece on the clamp in a shape-fitting manner, and the second mating locking piece is constructed to engage in a second locking piece on the clamp in a shape-fitting manner.

[0036] Alternatively or in addition, the SMD component roll storage box may have a matching locking piece, which is constructed to lock onto the locking piece of the SMD component roll storage box in a shape-fitting manner when the SMD component roll storage box is connected to the connecting piece of the clamp, thereby preventing the SMD component roll storage box from accidentally loosening from the clamp in the locking position of the locking piece, and releasing the matching locking piece in the unlocking position of the locking piece, so that at least one connecting piece of the clamp is released from at least one matching locking piece by movement of the clamp, and the clamp can be allowed to leave the SMD component roll storage box.

[0037] The locking element can be, for example, a latching element which is mounted on the holder in a linearly adjustable manner. The latching element can be connected to an actuator of a lifting magnet or a lifting cylinder so that the latching element can be automatically moved into the mating locking element for locking or automatically moved away from the mating locking element for unlocking. The mating locking element can be, for example, a latching depression or a groove-like recess in the first end wall of the housing of the SMD component roll storage box.

[0038] The shell of the SMD component roll storage box can have a socket (Tülle) extending tangentially outward from the tape reel of the SMD component roll storage box, and the socket has a guide portion for the exit or entry portion of the SMD tape wound on the tape reel. In particular, the socket is equipped with a braking device, which is constructed to clamp the portion of the SMD tape guided inside the socket relative to the socket in a locked position (Sperrstellung) to prevent unwanted movement of the SMD tape relative to the socket, and release the portion of the SMD tape guided inside the socket in a released position, so that the SMD tape can be conveyed through the socket without being hindered by the braking device.

[0039] The socket can be formed by a protruding part (Schnaupe), which includes a hollow channel with an outlet opening. The brake device can be pivotally mounted in the area of ​​the outlet opening of the hollow channel. The brake device can be a small wedge. The small wedge can be pivoted against the outlet opening of the hollow channel so that the part of the SMD tape running through the hollow channel can be clamped against the socket. This clamping does not necessarily lead to the above-mentioned part of the SMD tape being stopped and clamped, but on the contrary, this clamping can only be carried out moderately, so that the friction is increased to a certain extent, so that the SMD tape can only be pulled out of the socket with a higher force, but it can still be pulled out basically. The pivotable braking device can have a tab (Lasche), which can form a lever. The braking device can thus be opened or closed in the following way: that is, when the robot arm guides the SMD component reel storage box with its gripper, the robot arm moves in a suitable way so that the tab abuts against an obstacle or a shoulder, for example a shoulder on the belt connector, whereby a force can act on the lever-like tab from the outside to pivot the braking device open (aufzuschwenken) or pivot closed (zuzuschwenken).

[0040] A data carrier can be installed on the shell of the SMD component roll storage box, which, in addition to its function as a data carrier, also forms a label (Markierung), with the help of which the robot arm can automatically orient itself relative to the SMD component roll storage box to be grasped, so that it can accurately drive to and grasp the SMD component roll storage box detected by the label through its gripper guided by the robot arm.

[0041] The mark can be, for example, an optical label, and the detection device of the clamp can be a camera. The optical label can have an optical, particularly digital nameplate (Marken), such as a line or a dot. Therefore, the optical label can be formed, for example, by a barcode or a QR code. In the label, data such as the type and / or quantity of the SMD components on the SMD component roll installed in the SMD component roll storage box can be encoded. In the label, data about the size, i.e., size and / or width of the storage box can also be encoded. In the label, there is also a marker (Marker), which is arranged in a predetermined position and location relative to the reference point of the housing of the SMD component roll storage box. The reference point on the SMD component roll storage box can be, for example, a point at the outlet opening of the SMD tape leaving the box storage box. Another reference point can be a position in the grabbing section of the storage box for being clamped by the clamp. The grabbing section can be, for example, a specific latching protrusion or a specific latching depression on the storage box.

[0042] Under the control of the robot controller, the robot arm can handle standardized storage boxes of the same configuration and size through the gripper accordingly, wherein the standardized storage boxes are constructed and designed to selectively store SMD component rolls of specific sizes, specific roll widths, specific roll diameters and / or specific component types, or to store SMD component rolls of different sizes, different roll widths, different roll diameters and / or different component types.

[0043] By means of the gripper according to the invention and the SMD component reel storage box according to the invention, in particular a method for automatically reloading SMD component reels on an SMD assembly machine can be carried out, the method comprising the following steps:

[0044] - automatically taking out a first SMD component reel carrying a first SMD tape, which continues to be unwound into the SMD assembly machine during the operation of the SMD assembly machine, and taking out the first SMD component reel from the replacement bin of the SMD assembly machine by a robot arm controlled by a robot controller in a force / torque regulated motion control manner of the robot arm,

[0045] - The end portion of the first SMD tape is automatically inserted into the Automatically insert the first SMD component reel into the connector and automatically separate the first SMD tape.

[0046] -Store the first SMD component reel in the temporary storage warehouse,

[0047] - taking out the second SMD component reel carrying the second SMD tape from the storage bin by a robot arm controlled by a robot controller,

[0048] - automatically threading the start of the second SMD tape into the automatic tape connector by a robot arm controlled by a robot controller, and

[0049] - After the start portion of the second SMD tape of the second SMD component reel is automatically connected to the end portion of the first SMD tape in the tape connector, the second SMD component reel is automatically inserted into the replacement bin of the SMD assembly machine, and the second SMD tape is unwound from the second SMD component reel during the running operation of the SMD assembly machine The insertion of the second SMD component roll into the replacement bin of the SMD assembly machine is performed by a robot arm controlled by a robot controller in a motion control manner with force / torque regulation of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The specific features of these exemplary embodiments can be considered individually or in combination as necessary to represent the general features of the present invention, regardless of where they are specifically mentioned in this article. Among them:

[0051] Figure 1 Schematic diagrams of three exemplary SMD assembly machines are shown, each of which has a replacement bin in which a plurality of SMD component reels are installed.

[0052] Figure 2 A flow chart showing the basic method steps by which the gripper according to the invention and the SMD component reel storage box according to the invention can be used,

[0053] Figure 3 shows a left vehicle view of an exemplary autonomous vehicle having a robotic arm, a belt connector, and a staging bin,

[0054] Figure 4 A vehicle right side perspective view of an exemplary autonomous vehicle is shown with a robotic arm, a belt connector, and a staging bin,

[0055] Figure 5 shows a perspective view of the rear side of an exemplary autonomous vehicle having a robotic arm, a belt connector, and a staging area,

[0056] Figure 6 shows a vehicle front perspective view of an exemplary autonomous vehicle having a robotic arm, a belt connector, and a staging bin,

[0057] Figure 7 A perspective view of an exemplary clamp is shown, to which an exemplary SMD component reel storage box is coupled, and in which an exemplary SMD component reel is installed,

[0058] Figure 8A schematic diagram of an SMD component reel storage box is shown separately, in which an exemplary SMD component reel is installed.

[0059] Fig. 9 A schematic diagram of an SMD component reel storage box is shown, in which an exemplary SMD component reel is mounted by a coupled gripper according to the present invention, the gripper being fastened to a flange of a robot arm,

[0060] Fig.10 A perspective view of a section of an SMD component reel storage box in the region of an SMD tape exit opening is shown with the locking element in the closed position,

[0061] Fig.11 A partial perspective view showing an SMD component reel storage box in the exit area of ​​an SMD tape with the locking element in the open position,

[0062] Fig.12 A schematic side view of an exemplary holder according to the present invention is shown alone, and

[0063] Fig.13 Shown separately according to Fig.12 A perspective view of an exemplary holder of FIG. DETAILED DESCRIPTION

[0064] exist Figure 1 1 shows three representative SMD assembly machines 1. Each SMD assembly machine 1 has a replacement bin 2, into which a plurality of different SMD component reels 3 are inserted. An SMD tape 4 is unwound from each SMD component reel 3 into the corresponding SMD assembly machine 1. Each SMD component reel 3 can be stored in its own SMD component reel storage box 10.1, 10.2.

[0065] exist Figure 2 In FIG. 1 , an exemplary method for automatically reloading an SMD component reel 3 or an SMD component reel storage box 10 . 1 , 10 . 2 onto an SMD assembly machine 1 is schematically shown in a flow chart.

[0066] In a first method step S1, a first SMD component reel storage box 10.1 carrying a first SMD tape 4.1 is automatically taken out, and the first SMD tape continues to be unwound into the SMD assembly machine 1 during the operation of the SMD assembly machine 1, and the first SMD component reel storage box 10.1 is simultaneously moved by a robot arm 6 ( Figure 3 ) is removed from the replacement bin 2 of the SMD assembly machine 1 by force / torque-controlled motion control.

[0067] In a second method step S2, the end portion of the first SMD tape 4.1 is automatically threaded into the automatic tape connector 7 by the robot arm 6 controlled by the robot controller 5, and the first SMD component reel storage box 10.1 is automatically separated from the first SMD tape 4.1.

[0068] In a third method step S3 , the first SMD component reel storage box 10 . 1 is stored in the temporary storage bin 8 .

[0069] In a fourth method step S4 , the second SMD component reel storage box 10 . 2 carrying the second SMD tape 4 . 2 is taken out from the storage magazine 9 by the robot arm 6 controlled by the robot controller 5 .

[0070] In a fifth method step S5 , the beginning section of the second SMD tape 4 . 2 is automatically threaded into the automated tape connector 7 by a robot arm 6 controlled by a robot controller 5 .

[0071] In the sixth method step S6, after the starting part of the second SMD tape 4.2 of the second SMD component roll 3.2 is automatically connected to the end part of the first SMD tape 4.1 in the tape connector 7, the second SMD component roll storage box 10.2 is automatically inserted into the replacement bin 2 of the SMD assembly machine 1, and the second SMD tape 4.2 is unwound from the second SMD component roll 3.2 from the second SMD component roll storage box 10.2 during the operation of the SMD assembly machine 1, wherein the insertion of the second SMD component roll storage box 10.2 into the replacement bin 2 of the SMD assembly machine 1 is performed by a robot arm 6 controlled by a robot controller 5 in a force / torque-regulated motion control manner of the robot arm 6.

[0072] The robot arm 6 is controlled by the robot controller 5 so that the first SMD component roll storage box 10.1 is guided by the robot arm 6 along a motion trajectory on its path between the replacement bin 2 and the tape connector 7 of the SMD assembly machine 1, and the motion trajectory is at least substantially located in a plane parallel to the entry direction of the first SMD tape 4.1 of the first SMD component roll storage box 10.1 into the SMD assembly machine 1.

[0073] The robot arm 6 is also controlled by the robot controller 5 so that the second SMD component roll storage box 10.2 is guided by the robot arm 6 along a motion trajectory on its path between the replacement bin 2 and the tape connector 7 of the SMD assembly machine 1, and the motion trajectory is at least substantially located in a plane parallel to the entry direction of the second SMD tape 4.2 of the second SMD component roll 3.2 into the SMD assembly machine 1.

[0074] The robot arm 6 can be controlled by the robot controller 5 so that the first SMD component roll storage box 10.1 is guided by the robot arm 6 according to a motion trajectory on its path between the replacement bin 2 of the SMD assembly machine 1 and the belt connector 7, on which the first SMD component roll storage box 10.1 does not rotate or only rotates around its roll rotation axis. In addition, the robot arm 6 can be controlled by the robot controller 5 so that the second SMD component roll storage box 10.2 can be guided by the robot arm 6 according to a motion trajectory on its path between the belt connector 7 and the replacement bin 2 of the SMD assembly machine 1, on which the second SMD component roll storage box 10.2 does not rotate or only rotates around its roll rotation axis.

[0075] exist Figures 7 to 13 1 , 10 . 2 , a gripper 13 is shown for handling SMD component reel storage boxes 10 . 1 , 10 . 2 . The handling is performed by a robot arm 6 which is automatically controlled by a robot controller 5 and which carries and manipulates the gripper 13 on its tool flange 15 .

[0076] The gripper 13 has a gripper base body 16 which has a connecting flange 16a for fastening the gripper 13 to the tool flange 15 of the robot arm 6, in particular as Figure 7 shown.

[0077] At least one coupling element 18 is located on at least one end wall 19.1, 19.2 of the SMD component reel storage box 10.1, 10.2 for coupling the SMD component reel storage box 10.1, 10.2 to the holder 13. The coupling element 18 locks with a mating coupling element 20 of the SMD component reel storage box 10.1, 10.2.

[0078] The drive pinion 12 rotatably mounted on the gripper base 16 of the gripper 13 is configured so that when the SMD component reel storage box 10.1, 10.2 is connected to the gripper 13 ( Figure 7 ) and meshes with the driven gears 11.1 and 11.2 of the SMD component roll storage boxes 10.1 and 10.2.

[0079] The gripper 13 further comprises a drive motor 17 arranged on the gripper base body 16 , which is configured to automatically drive the drive pinion 12 .

[0080] At least one connecting member 18 comprises: at least one first locking member 18.1, which is constructed to engage in a shape-fitting manner into a first matching locking member 20.1 on a first end wall 19.1 of an SMD component roll storage box 10.1, 10.2; and at least one second locking member 18.2, which is constructed to engage in a shape-fitting manner into a second matching locking member 20.2 of a second end wall 19.2 of an SMD component roll storage box 10.1, 10.2 which is different from the first end wall 19.1 of the SMD component roll storage box 10.1, 10.2.

[0081] At least one first latching element 18.1 can be formed, for example, by a pin or a bolt. The pin or bolt can have a circular cross section. The pin or bolt can extend transversely between the two supporting walls 21.1, 2.12 of the clamp 13. The SMD component reel storage box 10.1, 10.2 can be introduced between the two opposing supporting walls 21.1, 2.12 of the clamp 13 by a combination of plug-in and pivoting movements in order to connect the SMD component reel storage box 10.1, 10.2 to the clamp.

[0082] In the case of the present embodiment, the clamp 13 further comprises an adjustable locking member 22, which is constructed to be locked in a shape-fitting manner on the matching locking members of the SMD component roll storage boxes 10.1, 10.2 when the SMD component roll storage boxes 10.1, 10.2 are connected to the connecting member 18 of the clamp 13, thereby preventing the SMD component roll storage boxes 10.1, 10.2 from accidentally loosening from the clamp 13 in the locked position of the locking member 22, and enabling at least one connecting member 18 to be moved away from the matching locking members of the SMD component roll storage boxes 10.1, 10.2 by the movement of the clamp 13 from the SMD component roll storage boxes 10.1, 10.2 in the unlocked position of the locking member 22, so that the clamp 13 can be released from the SMD component roll storage boxes 10.1, 10.2.

[0083] The locking element 22 can be, for example, a latching element which is mounted linearly adjustably on the gripper 13. The latching element can be connected to an actuator of a lifting magnet or a lifting cylinder so that the latching element can be automatically operated, i.e. moved. In order to automatically adjust the latching element between its locked position and unlocked position, the lifting magnet or the lifting cylinder can be electrically controlled. The lifting magnet or the lifting cylinder can also be electrically driven.

[0084] The clamp 13 has a first support wall 21.1, which is constructed to be flat against the first surface of the SMD component roll storage boxes 10.1, 10.2 when the SMD component roll storage boxes 10.1, 10.2 are connected to the clamp 13; in the case of this embodiment, the clamp 13 also has a second support wall 21.2, which is constructed to be flat against the second surface of the SMD component roll storage boxes 10.1, 10.2 when the SMD component roll storage boxes 10.1, 10.2 are connected to the clamp 13.

[0085] Thus, an SMD component reel storage box 10 . 1 , 10 . 2 coupled to the gripper 13 can be guided through, in particular between two support walls 21 . 1 , 21 . 2 of the gripper 13 , which are arranged opposite each other at a distance from each other, or inserted therebetween.

[0086] The gripper 13 may have a detection device 23 which is constructed and designed to automatically detect the labels 24 on the SMD component reel storage boxes 10 . 1 , 10 . 2 when the SMD component reel storage boxes 10 . 1 , 10 . 2 are coupled to the gripper 13 .

[0087] in particular Figures 7 to 11 The SMD component roll storage box 10.1, 10.2 is shown, which has: a housing 25, in which the SMD component rolls 3.1, 3.2 are rotatably mounted, the SMD component rolls containing SMD tapes 4.1, 4.2 wound on the tape reels 26 of the SMD component rolls 3.1, 3.2; and driven gears 11.1, 11.2 connected to the tape reels 26, which are constructed so that when the SMD component roll storage box 10.1, 10.2 is connected to the clamp 13, the driven gears are connected to the SMD component roll storage box 10.1, 10.2. The SMD tapes 4.1 and 4.2 are driven by the driving pinion 12 of the gripper 13 guided by the robot arm 6, wherein the tape reel 26 of the SMD component rolls 3.1 and 3.2 can be selectively rotated inside the SMD component roll storage boxes 10.1 and 10.2 to wind or unwind the SMD tapes 4.1 and 4.2, thereby transporting the SMD tapes 4.1 and 4.2 out of and into the housing 25 of the SMD component roll storage boxes 10.1 and 10.2.

[0088] The belt reel 26 has a driven hub 27, to which a drive shaft 28 connected to the driven gears 11.1, 11.2 is coupled, wherein the drive shaft 28 is connected to the driven gears 11.1, 11.2 via a plurality of spokes 29, which extend radially outwards and each have a curved course deviating from the radial straight line direction, in particular as Figure 8 and Fig. 9 shown.

[0089] The SMD component reel storage box 10.1, 10.2 has at least one mating connector 20 on at least one end wall 19.1, 19.2 of its housing 25, which is used to connect the SMD component reel storage box 10.1, 10.2 to the connector 18 of the clamp 13, in particular, a first mating connector 20 is provided on the first end wall 19.1 of the housing 25 of the SMD component reel storage box 10.1, 10.2, and the first mating connector 20 is provided on the first end wall 19.1 of the housing 25 of the SMD component reel storage box 10.1, 10.2. , a first end wall 19.1 of the housing 25 of 10.2 having a second mating connecting piece 20 on a different second end wall 19.2, wherein at least one mating connecting piece 20 has at least one first mating locking piece (first groove) and at least one second mating locking piece (second groove), wherein the first mating locking piece is constructed to be engaged in a first locking piece (first pin or first bolt) on the clamp 13 in a shape-fitting manner, and the second mating locking piece is constructed to be engaged in a second locking piece (second pin or second bolt) on the clamp 13 in a shape-fitting manner.

[0090] Especially if Figure 8 and Fig. 9 As shown, in the case of the present embodiment, the SMD component roll storage boxes 10.1, 10.2 have a matching locking piece 30, which is constructed to be locked on the locking piece 22 of the SMD component roll storage boxes 10.1, 10.2 in a shape-fitting manner when the SMD component roll storage boxes 10.1, 10.2 are connected to the connecting piece 18 of the clamp 13, thereby preventing the SMD component roll storage boxes 10.1, 10.2 from accidentally loosening from the clamp 13 in the locked position of the locking piece 22, and releasing the matching locking piece 30 in the unlocked position of the locking piece 22, so that at least one connecting piece 18 of the clamp 13 can be loosened from at least one matching locking piece 20 by the movement of the clamp 13, and the clamp 13 can be allowed to leave the SMD component roll storage boxes 10.1, 10.2.

[0091] The locking element 22 can be, for example, a latching element which is mounted linearly adjustably on the holder 13. The latching element can be connected to an actuator of a lifting magnet or a lifting cylinder so that the latching element can be automatically moved into the mating locking element 30 for locking or automatically moved away from the mating locking element 30 for unlocking. Figure 8 Shown is, for example, a latching depression or a groove-like recess in the first end wall 19 . 1 of the housing 25 of the SMD component reel storage box 10 . 1 , 10 . 2 .

[0092] The housing 25 of the SMD component reel storage box 10.1, 10.2 can be in particular as Fig.10 and Fig.11As shown in FIG. 3 , there is an insertion opening 31 extending tangentially outward from the tape reel 26 of the SMD component reel storage box 3.1, 3.2, which has a guide for the exit or entry part of the SMD tape 4.1, 4.2 wound on the tape reel 26. The insertion opening 31 can be equipped with a braking device 32, which is configured to be in accordance with Fig.10 In the locked position shown, the portion of the SMD strips 4.1, 4.2 guided inside the socket 31 is locked relative to the socket 31 to prevent undesired movement of the SMD strips 4.1, 4.2 relative to the socket 31 and to prevent the SMD strips 4.1, 4.2 from moving relative to the socket 31. Fig.11 In the release position shown, the portion of the SMD tapes 4.1, 4.2 guided inside the insertion opening 31 is released, so that the SMD tapes 4.1, 4.2 can be conveyed through the insertion opening 31 without being hindered by the brake device 32. Therefore, the brake device 32 is Fig.10 The middle is pivoted upward, Fig.11 The middle is pivoted downwards.

[0093] The socket 31 can be formed by a protruding part, which comprises a hollow channel with an outlet opening. The brake device 32 can be pivotally mounted in the area of ​​the outlet opening of the hollow channel. The brake device 32 can be formed by a small wedge, which can be pivoted against the outlet opening of the hollow channel so that the part of the SMD strip 4.1, 4.2 running through the hollow channel can be clamped against the socket. This clamping does not necessarily lead to the above-mentioned part of the SMD strip 4.1, 4.2 being stopped and clamped, but on the contrary, this clamping can only be carried out moderately, so that the friction is increased to a certain extent, so that the SMD strip 4.1, 4.2 can only be pulled out of the socket 31 with a higher force, but it is still basically possible to pull it out. The pivotable brake device 32 can have a tab 33, which can form a lever. Thus, the braking device 32 can be opened or closed in the following manner: that is, when the robot arm 6 guides the SMD component roll storage boxes 10.1, 10.2 via its gripper 13, the robot arm moves in a suitable manner so that the tab 33 abuts against an obstacle or a shoulder, such as a shoulder on the belt connector 7, whereby a force can act on the lever-like tab 33 from the outside to pivot the braking device 32 open or pivot closed.

[0094] A data carrier can be installed on the shell 25 of the SMD component roll storage box 10.1, 10.2. In addition to its function as a data carrier, the data carrier also forms a label 24. The robot arm 6 can use the label to automatically orient itself relative to the SMD component roll storage box 10.1, 10.2 to be grasped, so that it can accurately drive to and grasp the SMD component roll storage box 10.1, 10.2 detected by the label through its gripper 13 guided by the robot arm 6.

[0095] The first SMD component roll 3.1 can be rotatably mounted in the first SMD component roll storage box 10.1, such as Figures 7 to 11 As shown in FIG. 1 , the first SMD component roll storage box has at least one first driven gear 11.1, which can be guided by a gripper 13 ( Fig.12 and Fig.13 ) of the driving pinion 12 ( Fig. 9 ) driven, wherein the first SMD component roll 3.1 is rotated inside the first SMD component roll storage box 10.1 by the driving rotation of the first driven gear 11.1 of the first SMD component roll storage box 10.1 to allow the first SMD tape 4.1 to be wound or unwound, so as to convey the first SMD tape 4.1 synchronously with the automatic movement of the first SMD component roll storage box 10.1 on its motion trajectory between the replacement bin 2 of the SMD assembly machine 1 and the tape connector 7.

[0096] The second SMD component roll 3.2 can be rotatably mounted in the second SMD component roll storage box 10.2 in the same manner, and the second SMD component roll storage box has at least one second driven gear 11.2, which can be driven by the driving pinion 12 ( Fig.12 and Fig.13 ) driven, wherein the second SMD component roll 3.2 is rotated inside the second SMD component roll storage box 10.2 by the driving rotation of the second driven gear 11.2 of the second SMD component roll storage box 10.2 to wind or unwind the second SMD tape 4.2, so as to convey the second SMD tape 4.2 synchronously with the automatic movement of the second SMD component roll storage box 10.2 on its motion trajectory between the tape connector 7 and the replacement bin 2 of the SMD assembly machine 1.

[0097] The end portion of the first SMD tape 4.1 is automatically inserted into the automatic tape connector 7 by the robot arm 6 controlled by the robot controller 5 in a force / torque-controlled motion control manner of the robot arm 6. The start portion of the second SMD tape 4.2 is automatically inserted into the automatic tape connector 7 by the robot arm 6 controlled by the robot controller 5 in a force / torque-controlled motion control manner of the robot arm 6.

[0098] Under the control of the robot controller 5, the robot arm 6 respectively handles standardized SMD component roll storage boxes 10.1, 10.2 of the same configuration and size, wherein the standardized SMD component roll storage boxes 10.1, 10.2 are constructed and designed to selectively store SMD component rolls 3.1, 3.2 of specific sizes, specific roll widths, specific roll diameters and / or specific component types, or to store SMD component rolls 3.1, 3.2 of different sizes, different roll widths, different roll diameters and / or different component types.

[0099] The standardized SMD component roll storage boxes 10.1, 10.2 can have a data carrier, which in addition to its function as a data carrier also forms a label, with the help of which the robot arm 6 can automatically orient itself relative to the SMD component roll storage boxes 10.1, 10.2 to be grasped, so that it can use its gripper 13 guided by the robot arm 6 to accurately drive to and grasp the SMD component roll storage boxes 10.1, 10.2 detected by the label.

[0100] like Figures 3 to 6 As shown, in the case of the present embodiment, the robot arm 6 is arranged on an autonomous vehicle 14, and the autonomous vehicle 14 is constructed to automatically move the robot arm 6 between a stocking site and a replacement bin 2 of an SMD assembly machine 1, wherein SMD component rolls 10.1, 10.2 equipped with SMD components are provided on the stocking site for transportation to the SMD assembly machine 1, in SMD component roll storage boxes 10.1, 10.2; and at least one of the provided SMD component roll storage boxes 10.1, 10.2 is loaded in the replacement bin.

Claims

1. A gripper for handling SMD component reel storage boxes (10.1, 10.2) by means of a robot arm (6) automatically controlled by a robot controller (5), the robot arm carrying and manipulating the gripper (13) on its tool flange (15), the gripper having: - a gripper base (16) having a connection flange (16a) for fastening the gripper (13) to a tool flange (15) of a robot arm (6), at least one coupling member (18) located on at least one end wall (19.1, 19.2) of the SMD component reel storage box (10.1, 10.2) for coupling the SMD component reel storage box (10.1, 10.2) to the holder (13), and - a drive pinion (12) rotatably mounted on the gripper base (16), the drive pinion being configured to mesh with a driven gear (11.1, 11.2) of the SMD component reel storage box (10.1, 10.2) when the SMD component reel storage box (10.1, 10.2) is coupled to the gripper (13), and A drive motor (17) arranged on the gripper base body (16), the drive motor being designed to automatically drive the drive pinion (12).

2. The clamp according to claim 1, characterized in that The at least one coupling member (18) has at least one first latching member (18.1), which is configured to engage in a form-fitting manner into a first mating latching member (20.1) on a first end wall (19.1) of the SMD component roll storage box (10.1, 10.2), and has at least one second latching member (18.2), which is configured to engage in a form-fitting manner into a second mating latching member (20.2) on a second end wall (19.2) of the SMD component roll storage box (10.1, 10.2) that is different from the first end wall (19.1) of the SMD component roll storage box (10.1, 10.2).

3. The clamp according to claim 1 or 2, characterized in that: The clamp (13) has a locking piece (22) which is configured to be locked on a matching locking piece (30) of the SMD component roll storage box (10.1, 10.2) in a form-fitting manner when the SMD component roll storage box (10.1, 10.2) is connected to a connecting piece (18) of the clamp (13), thereby preventing the SMD component roll storage box (10.1, 10.2) from being moved out of the storage box in the locking position of the locking piece (22). The clamp (13) is accidentally loosened, and in the unlocked position of the locking member (22), the at least one coupling member (18) can be moved away from the matching locking member (30) of the SMD component roll storage box (10.1, 10.2) by the movement of the clamp (13) from the SMD component roll storage box (10.1, 10.2), so that the clamp (13) can be released from the SMD component roll storage box (10.1, 10.2).

4. The holder according to any one of claims 1 to 3, characterized in that The clamp (13) has a first support wall (21.1), which is constructed to be flatly abutted on a first surface of the SMD component roll storage box (10.1, 10.2) when the SMD component roll storage box (10.1, 10.2) is connected to the clamp (13); and / or the clamp (13) has a second support wall (21.2), which is constructed to be flatly abutted on a second surface of the SMD component roll storage box (10.1, 10.2) when the SMD component roll storage box (10.1, 10.2) is connected to the clamp (13).

5. The holder according to any one of claims 1 to 4, characterized in that The clamp (13) has a detection device (23) which is constructed and designed to automatically detect a label (24) on the SMD component reel storage box (10.1, 10.2) when the SMD component reel storage box (10.1, 10.2) is connected to the clamp (13).

6. An SMD component roll storage box, comprising: a housing (25), in which an SMD component roll (3.1, 3.2) is rotatably mounted, the SMD component roll comprising an SMD tape (4.1, 4.2) wound on a tape reel (26) of the SMD component roll (3.1, 3.2); and a driven gear (11.1, 11.2), the driven gear being connected to the tape reel, the driven gear being configured to be driven by a driving pinion (12) of the gripper (13) guided by the robot arm (6) when the SMD component roll storage box (10.1, 10.2) is connected to the gripper (13), wherein: By driving the driven gear (11.1, 11.2) to rotate, the tape reel (26) of the SMD component roll (10.1, 10.2) can be selectively rotated inside the SMD component roll storage box (10.1, 10.2) to wind or unwind the SMD tape (4.1, 4.2), thereby transporting the SMD tape (4.1, 4.2) out of or into a housing (25) of the SMD component roll storage box (10.1, 10.2).

7. The SMD component roll storage box according to claim 6, characterized in that: The belt reel (26) has a driven hub (27), and a drive shaft (28) connected to the driven gear (11.1, 11.2) is connected to the driven hub, wherein the drive shaft (28) is connected to the driven gear (11.1, 11.2) through a plurality of spokes (29), and the spokes extend radially outward and each have a curved direction that deviates from the radial straight line direction.

8. The SMD component roll storage box according to claim 6 or 7, characterized in that: The SMD component roll storage box (10.1, 10.2) has at least one mating connector (20.1, 20.2) on at least one end wall (19.1, 19.2) of its housing (25) for connecting the SMD component roll storage box (10.1, 10.2) to a connector (18) of a clamp (13), and in particular has a first mating connector (20) on a first end wall (19.1) of the housing (25) of the SMD component roll storage box (10.1, 10.2) and a first mating connector (20) on the SMD component roll storage box. A second mating connector (20) is provided on a second end wall (19.2) of a housing (25) of a storage box (10.1, 10.2) which is different from a first end wall (19.1) of the housing (25) of the SMD component roll storage box (10.1, 10.2), wherein the at least one mating connector (20) has at least one first mating latch (20.1) and at least one second mating latch (20.2), wherein the first mating latch is configured to engage with a first latch on the holder in a form-fitting manner. ), wherein the second matching latching member is configured to engage in a shape-fitting manner in a second latching member (18.2) on the clamp (13); and / or the SMD component roll storage box (10.1, 10.2) has a matching locking member (30), which is configured to be locked in a shape-fitting manner on a locking member (22) of the SMD component roll storage box (10.1, 10.2) when the SMD component roll storage box (10.1, 10.2) is connected to the connecting member (18) of the clamp (13), thereby When the locking member (22) is in the locked position, the SMD component roll storage box (10.1, 10.2) is prevented from accidentally loosening from the clamp (13), and when the locking member (22) is in the unlocked position, the matching locking member (30) is released, so that at least one connecting member (18) of the clamp (13) can be loosened from the at least one matching locking member (20) through the movement of the clamp (13), and the clamp (13) can leave the SMD component roll storage box (10.1, 10.2).

9. The SMD component roll storage box according to any one of claims 6 to 8, characterized in that: The housing (25) has a socket (31) extending tangentially outward from a tape reel (26) of the SMD component reel (3.1, 3.2), the socket having a guide portion for an exiting or entering portion of an SMD tape (4.1, 4.2) wound on the tape reel (26), in particular the socket (31) is equipped with a braking device (32), the braking device being constructed to, in a locking position, clamp a portion of the SMD tape (4.1, 4.2) guided inside the socket (31) relative to the socket (31) to prevent an undesired movement of the SMD tape (4.1, 4.2) relative to the socket (31), and to release the portion of the SMD tape (4.1, 4.2) guided inside the socket (31) in a releasing position, so that the SMD tape (4.1, 4.2) can be conveyed through the socket (31) without being hindered by the braking device (32).

10. The SMD component roll storage box according to any one of claims 6 to 9, characterized in that: A data carrier is mounted on the housing (25) of the SMD component roll storage box (10.1, 10.2), and in addition to its function as a data carrier, the data carrier also forms a label (24). The robot arm (6) is automatically oriented relative to the SMD component roll storage box (10.1, 10.2) to be grasped according to the label, so that the robot arm (6) can accurately drive to and grasp the SMD component roll storage box (10.1, 10.2) detected by the label through a gripper (13) guided by the robot arm (6).

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