Method for automatically reloading SMD element rolls on SMD assembly machine

Abstract

The invention relates to a method for automatically reloading SMD element rolls (3.1, 3.2) on an SMD assembly machine (1), in which the SMD element rolls (3.1, 3.2) are automatically processed between a replacement magazine (2) and a tape connector (7) of the SMD assembly machine (1) by means of a robot arm (6) controlled by a robot controller (5) in a force / torque-controlled motion control manner of the robot arm (6).

Description

Technical Field

[0001] The present invention relates to a method for automatically reloading a reel of SMD components on an SMD assembly machine. 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 method by means of which an SMD component reel on an SMD assembly machine can be changed fully automatically, ie in particular without manually performed intermediate steps.

[0004] The object of the present invention is achieved by a method for automatically reloading an SMD component reel on an SMD assembly machine, the method comprising the following steps:

[0005] - automatically taking out a first SMD component reel carrying a first SMD tape, which continues to be unwound to the SMD assembly machine during operation of the SMD assembly machine, and taking out the first SMD component reel from a 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,

[0006] - 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.

[0007] -Store the first SMD component reel in the temporary storage warehouse,

[0008] - 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,

[0009] - automatically threading the start of the second SMD tape into the automatic tape connector by a robot arm controlled by a robot controller, and

[0010] - 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.

[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] Therefore, the present invention also relates in particular to the fully automatic reloading of a new SMD component roll as a subsequent roll to an empty SMD component roll, wherein an automatically operating strip connector is also automatically loaded by the robot proposed according to the invention together with the end of the empty SMD component roll and the start of the new SMD component roll, so that the end and the start can be automatically connected in the automatically operating strip connector.

[0013] The SMD component reel comprises a band reel (Bandtrommel) and an SMD tape wound thereon. The SMD tape comprises: a carrier tape, in particular with evenly spaced edge side perforations for precise 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 (Kassette) which will be described in detail below. Therefore, the SMD component reel described below can also always be an SMD component reel, which comprises a storage box, in which the band reel is stored together with the SMD tape wound thereon.

[0014] According to the method, firstly, a first SMD component roll carrying a first SMD tape is automatically removed, which is further unwound to the SMD assembly machine during the operation of the SMD assembly machine. Therefore, the first SMD component roll is initially located in the replacement bin of the SMD assembly machine. The SMD assembly machine works automatically continuously, i.e. uninterruptedly, even during the execution of the method according to the invention, so that during the automatic removal of the first SMD component roll 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 is automatically removed, it must be ensured that no impermissibly high tensile forces are applied to the first SMD tape unwound from the first SMD component roll during the movement performed by the robot arm, which automatically operates the first SMD component roll 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 to ensure that the first SMD tape is under a certain tensile stress, thereby preventing the risk of wrinkling or expansion of the first SMD component roll from the first SMD tape, or sudden unwinding. 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 allowable, i.e. desired tensile stress during the automatic transport of the first SMD component roll from the replacement bin to the strip connector. This can be achieved in particular in the following way: the robot arm is controlled by the robot controller in a force / torque-controlled operating mode, so that the instantaneous tensile force can be automatically detected at any time during the automatic transport of the first SMD component roll from the replacement bin to the strip connector. That is, the movement trajectory provided by the robot arm to the first SMD component roll can be adjusted accordingly.

[0015] Typically, the replacement bin has a plurality of slots, each of which is inserted with an SMD component roll of a specific SMD component type. The slots are constructed in a slit-like manner, so that the plurality of SMD component rolls are arranged side by side, more precisely, their main extension planes are parallel to each other, and their roll rotation axes are parallel to each other. Therefore, the robot controller can preferably be constructed and designed to control the robot arm so that the robot arm processes the grasped SMD component roll through its gripper moved by the robot arm, so that the SMD component roll is pulled out of the replacement bin in a direction parallel to its main extension plane, that is, pulled out in a direction perpendicular to the roll rotation axis.

[0016] When the first SMD component roll is removed from the replacement bin of the SMD assembly machine by a robot arm controlled by a robot controller in a force / torque-controlled motion control manner of the robot arm, it can be particularly provided that the removed SMD component roll is rotated only about its roll rotation axis (Z axis) during its movement, without performing any other rotational movement, for example about the corresponding X axis or Y axis. This can reliably prevent, for example, the first SMD tape that is still being unwound from twisting.

[0017] According to the method, the end portion of the first SMD tape is then automatically inserted into an automatic tape connector by a robot arm controlled by a robot controller. The tape connector usually has a working slot (Aufgabeschlitz), which is configured to temporarily receive the first SMD component roll and / or the second SMD component roll later, so that the corresponding end portion of the first SMD tape of the first SMD component roll or the start portion of the second SMD tape of the second SMD component roll can be automatically detected by the tape connector for subsequently automatically connecting the end portion of the first SMD tape with the start portion of the second SMD tape.

[0018] In this case, in particular, an automatic separation of the first SMD component reel from the first SMD tape also takes place within the tape connector.

[0019] The separated first SMD component roll is placed in the temporary storage bin by the second automatic movement of the robot arm controlled by the robot controller. Thus, the gripper guided by the robot arm is released to be able to grab and process, i.e. automatically move the second SMD component roll.

[0020] According to the method, a second SMD component roll carrying a second SMD tape is then received from the storage bin by a robot arm controlled by a robot controller. The second SMD component roll is usually a new SMD component roll, i.e. an SMD component roll fully loaded with SMD components. Here, the SMD component roll is particularly fully filled with the loaded SMD tape. Therefore, the storage bin can form a storage place where the fully loaded SMD component roll is stored.

[0021] According to the method, the starting portion of the second SMD tape is then automatically inserted into the automatic tape connector by a robot arm controlled by a robot controller. To this end, the tape connector has the above-mentioned working groove, which is configured to temporarily receive the second SMD component roll, so that the corresponding starting portion of the second SMD tape of the second SMD component roll can be automatically detected by the tape connector for subsequently automatically connecting the end portion of the first SMD tape with the starting portion of the second SMD tape.

[0022] In the method, finally, after the start portion of the second SMD tape of the second SMD component roll is automatically connected with the end portion of the first SMD tape in the tape connector, the second SMD component roll is automatically inserted into the replacement bin of the SMD assembly machine.

[0023] Since the start portion of the second SMD tape of the second SMD component roll is already connected to the end portion of the first SMD tape at this time, a tensile force is already applied to the second SMD tape during the automatic insertion of the second SMD component roll into the replacement bin of the SMD assembly machine. As with the removal of the first SMD component roll from the replacement bin, when inserting the second SMD component roll into the replacement bin, the robot arm controlled by the robot controller is also controlled in a force / torque-regulated motion control manner.

[0024] Therefore, the robot controller can preferably be constructed and designed to control the robot arm so that the robot arm handles the grasped second SMD component roll through its gripper moved by the robot arm, so that the second SMD component roll is inserted into the replacement bin along a direction parallel to its main extension plane, that is, along a direction perpendicular to the roll rotation axis.

[0025] During the insertion of the second SMD component roll into the replacement bin of the SMD assembly machine by the robot arm controlled by the robot controller in a force / torque-controlled motion control manner of the robot arm, it can be particularly provided that the second SMD component roll to be inserted during its motion is rotated only about its roll rotation axis (Z axis) and does not perform any other rotational movement, for example about the corresponding X axis or Y axis. Thus, for example, a twisting of the already unwound second SMD tape can be reliably prevented.

[0026] In a first embodiment of the method, the robot arm can be controlled by the robot controller in such a way that the first SMD component reel is guided by the robot arm on its path between the replacement bin of the SMD assembly machine and the strip connector according to a movement trajectory, which movement trajectory is at least substantially located in a plane parallel to the entry direction of the first SMD tape of the first SMD component reel into the SMD assembly machine. This means that the first SMD component reel should at most be rotated about a rotation axis extending parallel to the reel rotation axis (Z axis). Rotation of the first SMD component reel about a rotation axis (X axis, Y axis) extending perpendicular to the reel rotation axis (Z axis) should be avoided or not occur at all.

[0027] Alternatively or additionally, the robot arm can be controlled by the robot controller in such a way that the second SMD component reel is guided by the robot arm on its path between the strip connector and the replacement bin of the SMD assembly machine according to a motion trajectory, which motion trajectory is at least substantially located in a plane parallel to the entry direction of the second SMD tape of the second SMD component reel into the SMD assembly machine. This means that the second SMD component reel should at most be rotated about a rotation axis extending parallel to the reel rotation axis (Z axis). Here, the rotation of the second SMD component reel about a rotation axis (X axis, Y axis) extending perpendicular to the reel rotation axis (Z axis) should also be avoided or not occur at all.

[0028] In an extension of the method, the robot arm can be controlled by a robot controller so that the first SMD component roll is guided by the robot arm along a motion trajectory on its path between a replacement bin of an SMD assembly machine and a strip connector, on which the first SMD component roll does not rotate or only rotates around its roll rotation axis; and / or the robot arm can be controlled by the robot controller so that the second SMD component roll is guided by the robot arm along a motion trajectory on its path between a strip connector and a replacement bin of the SMD assembly machine, on which the second SMD component roll does not rotate or only rotates around its roll rotation axis.

[0029] The first SMD component roll can be rotatably mounted in a first storage box, which has at least one first driven gear, which can be driven by a driving pinion of a gripper guided by a robot arm, wherein, through the driven rotation of the first driven gear of the first storage box, the first SMD component roll rotates inside the first storage box to wind or unwind the first SMD tape, thereby conveying the first SMD tape synchronously with the automatic movement of the first SMD component roll on its motion trajectory between the replacement bin of the first SMD assembly machine and the tape connector.

[0030] The belt reel of the first SMD component roll can be rotatably mounted on at least one inner wall, in particular between two opposing inner walls of the storage box. At least one inner wall can, for example, have a journal, on which the SMD component roll can be rotatably plugged. Therefore, the SMD component roll can be mounted on a single inner wall on one side, or on two opposing inner walls on both sides. The corresponding journal can have at least one latching protrusion, on which the SMD component roll can be fixed with its hub to prevent axial loosening. An inner wall can be arranged on the cover of the storage box. In particular, the cover can be detachably fastened to the base of the storage box. In order to open and close, the cover 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 drive pinion can extend into the storage box and mesh with the gear ring of the driven gear. If the driving pinion is driven, the driven gear can automatically rotate, in particular, optionally rotate in a clockwise direction or in a counterclockwise direction. The rotating driven gear drives the tape reel to move, so that the SMD tape can be actively unwound or actively wound from the tape reel on which the SMD component is wound according to the rotation direction.

[0031] The drive pinion can be driven by a motor, in particular an electric motor. The drive pinion and in particular also the motor can be arranged on a gripper, which is designed to automatically grab the first SMD component roll. The gripper can be fastened to the tool flange of the robot arm. Therefore, the gripper is moved by the movement of the robot arm. When the gripper grabs the first SMD component roll, the robot arm can be controlled by the robot controller in a desired manner in space according to the method. 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, but also the SMD tape can be automatically sent out or pulled in from the storage box as needed and matched with the movement of the first SMD component roll in space.

[0032] The second SMD component roll can also be rotatably mounted in the second storage box in the same manner, and the second storage box has at least one second driven gear, which can be driven by the driving pinion of the clamper guided by the robot arm. Here, through the driven rotation of the second driven gear of the second storage box, the second SMD component roll rotates inside the second storage box to wind or unwind the second SMD tape, so as to convey the second SMD tape synchronously with the automatic movement of the second SMD component roll on its motion trajectory between the tape connector and the replacement bin of the SMD assembly machine.

[0033] The belt reel of the second SMD component roll can therefore also be rotatably mounted on at least one inner wall, in particular between two opposing inner walls of the storage box. At least one inner wall can, for example, have a journal, on which the SMD component roll can be rotatably plugged. Therefore, the SMD component roll can be mounted on a single inner wall on one side, or on two opposing inner walls on both sides. The corresponding journal can have at least one latching protrusion, on which the SMD component roll can be fixed 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 removably 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 second 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 drive pinion can extend into the storage box and mesh with the gear ring of the driven gear. If the driving pinion is driven, the driven gear can automatically rotate, in particular, selectively rotate in a clockwise direction or in a counterclockwise direction. The rotating driven gear drives the tape reel to move, so that the SMD tape can be actively unwound or actively wound from the tape reel of the second SMD component roll according to the rotation direction.

[0034] The drive pinion can be driven by a motor, in particular an electric motor. The drive pinion and in particular also the motor can be arranged on a gripper, which is designed to automatically grab the second SMD component roll. The gripper can be fastened to the tool flange of the robot arm. Therefore, the gripper is moved by the movement of the robot arm, and when the gripper grabs the second SMD component roll, the robot arm is controlled by the robot controller in the space in a desired manner according to the method. 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 second SMD component roll, but also the SMD tape can be automatically sent out or pulled in from the storage box as needed and matched with the movement of the second SMD component roll in the space.

[0035] In another extension of the method, the end portion of the first SMD tape can be automatically inserted into the automatic tape connector by a robot arm controlled by a robot controller in a motion control manner with force / torque regulation of the robot arm, and / or the starting portion of the second SMD tape can be automatically inserted into the automatic tape connector by a robot arm controlled by a robot controller in a motion control manner with force / torque regulation of the robot arm.

[0036] The robot arm can handle standardized storage boxes of the same configuration and size under the control of the robot controller, wherein the standardized storage boxes are constructed and designed to optionally 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 configurations.

[0037] A standardized storage box can have a data carrier which, in addition to its function as a data carrier, also forms a label (Marker), with the aid of which the robot arm can automatically orient itself relative to the storage box to be grasped so that it can, via its gripper guided by the robot arm, accurately approach and grasp the storage box detected by the label.

[0038] For this purpose, the robot arm and / or the gripper may have a detection device, which is configured to collect the label when the robot arm or the gripper is located near the label. The label may be, for example, an optical label, and the detection device may be a camera. The optical label may have an optical, particularly digital nameplate (Marken), such as a line or a dot. Therefore, the optical label may be formed, for example, by a barcode or a QR code. Data such as the type and / or quantity of SMD components on the SMD component roll may be encoded in the label. Data regarding the size, i.e., size and / or width of the storage box may also be encoded in the label. There is also a marker (Marker) in the label, which is arranged in a predetermined position and location relative to a reference point of the storage box. The reference point on the storage box may be, for example, a point at the outlet opening where the SMD tape leaves the storage box. Another reference point may be a position in the gripping section of the storage box for being gripped by the gripper. The gripping section may be, for example, a specific latching protrusion or a specific latching depression on the storage box.

[0039] The robot arm can in particular be arranged on an autonomous vehicle, which can be designed to automatically move the robot arm between a stocking site and a replacement bin of an SMD assembly machine, wherein SMD component rolls equipped with SMD components are provided at the stocking site for transport to the SMD assembly machine, and at least one of the provided SMD component rolls is loaded in the replacement bin.

[0040] The autonomous vehicle can be designed, for example, as an omnidirectional vehicle. Thus, the omnidirectional vehicle can have one or more omnidirectional wheels that can be driven automatically. An autonomous vehicle is understood to be a vehicle that can be driven autonomously without manual control by a human driver. The autonomous vehicle can constitute a so-called driving platform, on which the robot arm, the belt connector and / or the temporary storage are arranged. By means of the autonomous vehicle, the robot arm, the belt connector and / or the temporary storage can be automatically transported from one place of use to another place of use. Thus, the robot arm, the belt connector and / or the temporary storage can automatically approach a certain SMD assembly machine in order to perform the method according to the invention there.

[0041] A strip connector that can automatically rotate 180 degrees can be arranged on the autonomous vehicle. When a robot arm arranged on the autonomous vehicle and carrying a first SMD component roll and / or a second SMD component roll needs to automatically remove the first SMD component roll and / or automatically insert the second SMD component roll on the SMD assembly machine on the side of the autonomous vehicle opposite to the current working side, the strip connector can be flipped from its current direction to a direction rotated 180 degrees.

[0042] The autonomous vehicle may have a rotating table that can be driven automatically, on which the belt connector is arranged. The rotating table can be driven automatically by a drive motor, in particular an electric drive motor, in particular under the control of a robot controller of a robot arm. For example, if a plurality of SMD assembly machines are arranged in at least two parallel production lines in a factory building, the intermediate space between the two production lines can be used as a driving channel for the autonomous vehicle. This means that the robot arm carried by the autonomous vehicle can selectively operate the SMD assembly machine of the left production line or the SMD assembly machine of the right production line. If the belt connector has a supply device that can only be loaded in one direction, it is reasonable to enable the entire belt connector to be rotated 180 degrees on the autonomous vehicle, so that the supply device can selectively align its direction with the SMD assembly machine of the left production line or the SMD assembly machine of the right production line. As a result, the autonomous vehicle can operate the corresponding other production line without turning around.

[0043] The temporary storage can be arranged on the autonomous vehicle. The temporary storage can have one or more slots for one or more storage boxes. By having the autonomous vehicle have a temporary storage, the robot arm can place the storage box previously detected by the gripper directly on the autonomous vehicle without having to drive to a special storage location separately for this purpose. This enables the robot arm to grasp between different storage boxes with its gripper.

[0044] An exemplary process may be as follows:

[0045] The mobile robot or mobile system (with robot arm and autonomous vehicle with connector) receives the task of receiving and distributing the storage boxes from the central controller of the SMT production line (SMD assembly unit). Since the mobile robot needs to work in the aisle between two SMT production lines, the material requirements from both production lines must be collected, prioritized and passed on to the mobile system.

[0046] The storage boxes are prepared in advance by the material management system according to production requirements and provided at the picking point (ie, drop-off point).

[0047] The central computer of the SMT line transmits the material requirements of the rolls or storage boxes to the mobile robot via an interface. This requirement corresponds to the content of the storage box at the drop-off point. The requirements for rolls for the individual SMT lines in a certain side aisle are combined and prioritized by the central computer.

[0048] After the SMT central computer has successfully transmitted the order, the mobile robot drives to the unloading point and removes the storage box filled with coils.

[0049] Based on the task list, the mobile robot travels to the first position of the roll or storage box to be replaced. After the system is roughly and finely positioned with respect to the SMT, for example by means of a QR code, the robot will receive the command to start the replacement.

[0050] The robot drives to the old storage box and checks the QR code on the storage box with the help of a camera. Here it is checked for correctness. The robot arm removes the storage box.

[0051] After the cassette is removed from the change bin, the cassette information is transmitted to the splicing machine (with connector). The splicing machine makes adjustments based on the cassette data. The cassette is pulled through the splicing machine by the robot while the component tape is placed in the opening of the splicing machine. The cassette is positioned laterally on the splicing machine.

[0052] The splicing machine receives the old tape and removes it from the storage box until the last full component bag is detected. The tape is cut at this point. The robot gripper reels up the remaining tape again together with the empty original bag, or the splicing machine pushes the remaining tape back into the storage box.

[0053] The old storage box is stored in an intermediate position on the mobile robot. The new storage box required according to the task list is again detected by the camera on the gripper and removed. The storage box is then positioned on the splicing machine.

[0054] The new tape is pulled in by the splicing machine. The prepared tape of the new roll is spliced ​​together with the old tape (component carrier tape and cover film are professionally connected in the tape connector).

[0055] After the bands were connected to each other, the storage box was conveyed by the robot in the direction of the change chamber. Here, the band was wound up by a gripper and under the force allowed for consideration, and the storage box was inserted in the change chamber.

[0056] The robot arm takes the old storage box out of the temporary storage bin and places it in a vacant position of the storage box-box.

[0057] After all storage boxes have been replaced, the mobile robot drives back to the unloading point and hands over the storage box-box containing the old storage boxes.

[0058] The mobile robot can move autonomously in the aisle between two SMT lines. Here, the system serves each side of the aisle.

[0059] By developing a robot-based reel handling system, work steps that are currently performed manually can be fully automated without requiring significant changes to the existing infrastructure. For the electronics industry, this is a cost advantage that cannot be ignored. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] 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:

[0061] 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.

[0062] Figure 2 A flowchart showing the steps of the basic method according to the invention,

[0063] Figure 3 shows a left vehicle view of an exemplary autonomous vehicle having a robotic arm, a belt connector, and a staging bin,

[0064] 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,

[0065] 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,

[0066] Figure 6 shows a vehicle front perspective view of an exemplary autonomous vehicle having a robotic arm, a belt connector, and a staging bin,

[0067] Figure 7An enlarged view of a detail of the autonomous vehicle in the area of ​​a turntable, on which the belt connection is pivotably mounted 180 degrees,

[0068] Figure 8 shows a schematic diagram of a storage box in which an exemplary SMD component reel is installed,

[0069] Fig. 9 shows a schematic diagram of a storage box in which an exemplary SMD component reel is mounted by a coupled gripper, which is fastened to a flange of a robot arm,

[0070] Fig.10 A perspective view of a section of the storage box in the region of the exit opening of the SMD strip is shown with the locking element in the closed position,

[0071] Fig.11 A partial perspective view of the storage box in the region of the exit of the SMD tape is shown with the locking element in the open position,

[0072] Fig.12 A schematic side view of an exemplary holder is shown in isolation, and

[0073] Fig.13 Shown separately according to Fig.12 A perspective view of an exemplary holder of FIG. DETAILED DESCRIPTION

[0074] exist Figure 1 3 shows three representative SMD assembly machines 1. Each SMD assembly machine 1 has a replacement bin 2, in which a plurality of different SMD component reels 3 are placed. An SMD tape 4 is unwound from each SMD component reel 3 into the corresponding SMD assembly machine 1.

[0075] exist Figure 2 In FIG. 1 , a basic method for automatically reloading an SMD component reel 3 onto an SMD assembly machine 1 is schematically shown in a flow chart.

[0076] In a first method step S1, a first SMD component reel 3.1 carrying a first SMD tape 4.1 is automatically removed, the first SMD tape continuing to be unwound into the SMD assembly machine 1 during the operation of the SMD assembly machine 1, and the first SMD component reel 3.1 is simultaneously unwound 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.

[0077] 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 roll 3.1 is automatically separated from the first SMD tape 4.1.

[0078] In a third method step S3 , the first SMD component reel 3 . 1 is stored in a temporary storage bin 8 .

[0079] In a fourth method step S4 , the second SMD component reel 3 . 2 carrying the second SMD tape 4 . 2 is removed from the storage magazine 9 by the robot arm 6 controlled by the robot controller 5 .

[0080] 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 .

[0081] In the sixth method step S6, after the starting part of the second SMD tape 4.2 of the second SMD component reel 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 reel 3.2 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 reel 3.2 during the operation of the SMD assembly machine 1, wherein the insertion of the second SMD component reel 3.2 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.

[0082] The robot arm 6 is controlled by the robot controller 5 so that the first SMD component roll 3.1 is guided by the robot arm 6 along a motion trajectory on its path between the replacement bin 2 and the strip connector 7 of the SMD assembly machine 1, and the motion trajectory is at least substantially located in a plane that is parallel to the entry direction of the first SMD strip 4.1 of the first SMD component roll 3.1 into the SMD assembly machine 1.

[0083] The robot arm 6 is also controlled by the robot controller 5 so that the second SMD component roll 3.2 is guided by the robot arm 6 along a motion trajectory on its path between the strip connector 7 and the replacement bin 2 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.

[0084] The robot arm 6 can be controlled by the robot controller 5 so that the first SMD component roll 3.1 is guided by the robot arm 6 along a motion trajectory on its path between the replacement bin 2 of the SMD assembly machine 1 and the strip connector 7, on which the first SMD component roll 3.1 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 3.2 can be guided by the robot arm 6 along a motion trajectory on its path between the strip connector 7 and the replacement bin 2 of the SMD assembly machine 1, on which the second SMD component roll 3.2 does not rotate or only rotates around its roll rotation axis.

[0085] The first SMD component roll 3.1 can be rotatably mounted in the first storage box 10.1, such as Figures 8 to 11 As shown, the first 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 storage box 10.1 by the driving rotation of the first driven gear 11.1 of the first storage box 10.1 to wind or unwind the first SMD tape 4.1, thereby conveying the first SMD tape 4.1 synchronously with the automatic movement of the first SMD component roll 3.1 on its motion trajectory between the replacement bin 2 of the SMD assembly machine 1 and the tape connector 7.

[0086] The second SMD component roll 3.2 can be rotatably mounted in the same manner in a second storage box 10.2, which 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 storage box 10.2 by the driving rotation of the second driven gear 11.2 of the second storage box 10.2 to allow the second SMD tape 4. to be wound or unwound, so as to convey the second SMD tape 4.2 synchronously with the automatic movement of the second SMD component roll 3.2 on its motion trajectory between the tape connector 7 and the replacement bin 2 of the SMD assembly machine 1.

[0087] The end portion of the first SMD tape 4.1 can be 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 mode of the robot arm 6. The start portion of the second SMD tape 4.2 can be 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 mode of the robot arm 6.

[0088] Under the control of the robot controller 5, the robot arm 6 respectively handles standardized storage boxes 10.1, 10.2 of the same configuration and size, wherein the standardized 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.

[0089] The standardized 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 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 storage boxes 10.1, 10.2 detected by the label.

[0090] like Figures 3 to 7 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 at the stocking site for transportation to the SMD assembly machine 1; and at least one of the provided SMD component rolls 10.1, 10.2 is loaded in the replacement bin.

[0091] In the present embodiment, a rotating platform 15 ( Figure 7 ) The strip connector 7 can be automatically rotated 180 degrees, and if the robot arm 6 arranged on the autonomous vehicle 14 with the first SMD component roll 10.1 and / or the second SMD component roll 10.2 needs to perform the automatic removal of the first SMD component roll 10.1 and / or the automatic insertion of the second SMD component roll 10.2 on the SMD assembly machine 1 on the side of the autonomous vehicle 14 opposite to the current working side, the strip connector 7 can be pivoted from its current direction to a direction rotated 180 degrees. The temporary storage bin 8 or the storage bin 9 is also arranged on the autonomous vehicle 14.

Claims

1. A method for automatically reloading an SMD component reel (3.1, 3.2) on an SMD assembly machine (1), comprising the following steps: - automatically removing a first SMD component roll (3.1) carrying a first SMD tape (4.1), the first SMD tape continuing to be unwound to the SMD assembly machine (1) during the operation of the SMD assembly machine (1), and simultaneously removing the first SMD component roll (3.1) from the replacement bin (2) of the SMD assembly machine (1) by a robot arm (6) controlled by a robot controller (5) in a force / torque-regulated motion control manner of the robot arm (6), - automatically inserting the end portion of the first SMD tape (4.1) into an automatic tape connector (7) by means of a robot arm (6) controlled by the robot controller (5), and automatically separating the first SMD component roll (3.1) from the first SMD tape (4.1), - storing the first SMD component roll (3.1) in a temporary storage warehouse (8), - taking out the second SMD component roll (3.2) carrying the second SMD tape (4.2) from the storage bin (9) by means of a robot arm (6) controlled by the robot controller (5); - automatically threading the start of the second SMD tape (4.2) into the automatic tape connector (7) by means of a robot arm (6) controlled by the robot controller (5), and - 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 (3.2) is automatically inserted into the replacement bin (2) of the SMD assembly machine (1), and at the same time, the second SMD tape (4.2) is unwound from the second SMD component roll (3.2) during the operation of the SMD assembly machine (1), wherein the second SMD component roll (3.2) is inserted into the replacement bin (2) of the SMD assembly machine (1) by a robot arm (6) controlled by the robot controller (5) in a force / torque-regulated motion control manner of the robot arm (6).

2. The method according to claim 1, characterized in that The robot arm (6) is controlled by the robot controller (5) so that the first SMD component roll (3.1) is guided by the robot arm (6) along a motion trajectory on its path between the replacement bin (2) of the SMD assembly machine (1) and the tape connector (7), and the motion trajectory is at least substantially located in a plane, and the plane is parallel to the entry direction of the first SMD tape (4.1) of the first SMD component roll (3.1) into the SMD assembly machine (1); and / or the robot arm (6) is controlled by the robot controller (5) so that the second SMD component roll (3.2) is guided by the robot arm (6) along a motion trajectory on its path between the tape connector (7) and the replacement bin (2) of the SMD assembly machine (1), and the motion trajectory is at least substantially located in a plane, and the plane is 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).

3. The method according to claim 1 or 2, characterized in that: The robot arm (6) is controlled by the robot controller (5) so that the first SMD component roll (3.1) is guided by the robot arm (6) along a motion trajectory on a path between the replacement bin (2) of the SMD assembly machine (1) and the belt connector (7), on which the first SMD component roll (3.1) does not rotate or only rotates around its roll rotation axis; and / or the robot arm (6) is controlled by the robot controller (5) so that the second SMD component roll (3.2) is guided by the robot arm (6) along a motion trajectory on a path between the belt connector (7) and the replacement bin (2) of the SMD assembly machine (1), on which the second SMD component roll (3.2) does not rotate or only rotates around its roll rotation axis.

4. The method according to any one of claims 1 to 3, characterized in that The first SMD component roll (3.1) is rotatably mounted in a first storage box (10.1), the first storage box having at least one first driven gear (11.1), the first driven gear being capable of being driven by a driving pinion (12) of a gripper (13) guided by the robot arm (6), wherein, by the driven rotation of the first driven gear (11.1) of the first storage box (10.1), the first SMD component roll (3.1) is rotated inside the first storage box (10.1) to wind or unwind the first SMD tape (4.1), thereby conveying the first SMD tape (4.1) synchronously with the automatic movement of the first SMD component roll (3.1) on its movement trajectory between the replacement bin (2) of the SMD assembly machine (1) and the tape connector (7). ); and / or the second SMD component roll (3.2) is rotatably mounted in a second storage box (10.2), the second storage box having at least one second driven gear (11.2), the second driven gear being capable of being driven by a driving pinion (12) of a gripper (13) guided by the robot arm (6), wherein, by the driven rotation of the second driven gear of the second storage box (10.2), the second SMD component roll (3.2) is rotated inside the second storage box (10.2) to wind or unwind the second SMD tape (4.2), thereby conveying the second SMD tape (4.2) synchronously with the automatic movement of the second SMD component roll (3.2) on its motion trajectory between the tape connector (7) and the replacement bin (2) of the SMD assembly machine (1).

5. The method according to any one of claims 1 to 4, characterized in that 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-regulated motion control manner; and / or the starting 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-regulated motion control manner.

6. The method according to any one of claims 1 to 5, characterized in that The robot arm (6) under the control of the robot controller (5) respectively processes standardized storage boxes (10.1, 10.2) of the same configuration and size, wherein the standardized 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.

7. The method according to claim 6, characterized in that The standardized storage box (10.1, 10.2) has a data carrier, which, in addition to its function as a data carrier, also forms a label, and the robot arm (6) is automatically oriented relative to the storage box (10.1, 10.2) to be grasped with the help of the label, so that it can accurately move towards and grasp the storage box (10.1, 10.2) detected by the label through its gripper (13) guided by the robot arm (6).

8. The method according to any one of claims 1 to 7, characterized in that The robot arm (6) is arranged on an autonomous vehicle (14), and the autonomous vehicle (14) is designed to automatically move the robot arm (6) between a stocking site and a replacement bin (2) of the SMD assembly machine (1), wherein SMD component rolls (3.1, 3.2) equipped with SMD components are provided on the stocking site for transportation to the SMD assembly machine (1), and at least one of the provided SMD component rolls (3.1, 3.2) is loaded in the replacement bin.

9. The method according to claim 8, characterized in that A strip connector (7) capable of automatically rotating 180 degrees is arranged on the autonomous vehicle (14). If a robot arm (6) arranged on the autonomous vehicle (14) and carrying the first SMD component roll (3.1) and / or the second SMD component roll (3.2) performs automatic removal of the first SMD component roll (3.1) and / or automatic insertion of the second SMD component roll (3.2) in the SMD assembly machine (1) on the side of the autonomous vehicle (14) opposite to the current working side, the strip connector (7) flips from its current direction to a direction rotated 180 degrees.

10. The method according to claim 8 or 9, characterized in that: The temporary storage bin (8) is arranged on the autonomous vehicle (14).

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