Transport trolley and replacement device for rotatable and height-adjustable component feeder

Abstract

The invention describes an apparatus (100) and a method for replacing a component feeder (285) at an automatic assembly machine (BA1, BA2, BA3). The apparatus (100) comprises: (a) a transport trolley (210) configured to autonomously move on a ground surface (193); (b) a positioning system (230) having a stationary positioning member (232) spatially fixedly attached to the transport trolley (210) and a mobile positioning member (234) relative to the stationary positioning member (232); and (c) a replacement device (240) attached to the mobile positioning member (234) and configured to detachably attach or remove the component feeder (285) to or from the automatic assembly machine (BA1, BA2, BA3) along a linear replacement direction (240a) parallel to the y-axis. The positioning system (230) is configured such that the mobile positioning member (234) is rotatable relative to the stationary positioning member (232) about the vertical z-axis (S) and linearly displaceable along the vertical z-axis (S).

Description

Technical Field

[0001] The present invention relates generally to the technical field of electronic component manufacturing. In this context, component carriers are equipped with electronic components. In particular, the present invention relates to providing electronic components for automatic assembly machines, which have to process a large number of electronic components in continuous operation. In particular, the present invention relates to an apparatus and a method for replacing a component feeder in an automatic assembly machine. Background Art

[0002] Typically, an automatic assembly machine is used to assemble electronic components, especially surface mount device (SMD) components, onto a printed circuit board or component carrier according to the so-called "PICK-AND-PLACE" or "COLLECT-AND-PLACE" principle. In this case, the components provided by the component feeder are: (i) received by the assembly head of the automatic assembly machine; (ii) sent to the assembly area where the component carrier to be assembled is located; (iii) and then placed on the component carrier at the predetermined component mounting position.

[0003] In order to ensure high assembly performance, i.e. to process a large number of components within a predetermined period of time, the components are preferably packed into strips, for example using so-called plastic blisters or stable cardboard strips with recesses, and fed to the assembly process by suitable component feeders. With such strips (also called component tapes), the automatic assembly machine can be operated without stopping for a certain period of time.

[0004] However, the component supply process is interrupted when the last component is removed from the end of the component tape. In order to be able to continue the assembly process as uninterrupted as possible, the beginning of a new component tape can be connected to the end of the preceding at least almost exhausted component tape. This connection, also known as splicing, is usually still done manually and, in addition to the actual complex manual splicing, requires careful handling of the component tapes, which are often entangled in bundles.

[0005] In order to simplify the handling of component tapes or their packaging, component feeders are known that have a housing in which the component tape is housed. During operation, the component tape is unwound from an inner reel in the housing, and after the components are removed, it is transferred to an automatic assembly machine, where the component tape is cut by a tape cutting device of the relevant automatic assembly machine, and the cut component tape, which is long or short, is disposed of as waste. No more splicing occurs. Once the components are used up, the entire component feeder is replaced by another component feeder with a pre-installed component tape inside. The same applies to so-called change settings, that is, after manufacturing several components of the first type, other types of components must be assembled to manufacture components of the second type. In this case, it is usually necessary to simultaneously replace multiple component feeders with other component feeders pre-installed with other types of components. In this application, when referring to a component feeder or simply a feeder below, it refers to a component feeder having a housing and a component tape inside the housing, unless otherwise specified.

[0006] In order to be able to reliably pick up the components supplied to the assembly process by the feeder, the feeder must be attached to the chassis of the associated automatic assembly machine with high spatial precision. Here, typical accuracy requirements are at least ±0.25 mm along the conveying direction of the printed circuit board or component carrier of the automatic assembly machine. This accuracy usually needs to be achieved by suitable mechanical centering structures, such as the so-called Ω profile, which represents the mechanical interface between the feeder housing and the chassis of the automatic assembly machine. Due to the mechanical centering structures, the replacement of component feeders is usually done manually.

[0007] In order to reduce the workload involved in changing feeders, it is known to attach the automatic assembly machine of the production line to a track, on which the robot can be guided by a rail-guided vehicle ( R ail G uided V A reciprocating robot (RGV) moves along a track in order to transport a component feeder with pre-assembled components or component strips from the start or end of the production line to an automatic assembly machine, where the feeder is automatically replaced with a pre-assembled feeder and the replaced feeder is transported back to the end of the production line. However, the disadvantage of this approach is that the RGV and the robot required for the actual replacement of the feeder need to occupy a relatively large space on the side of the production line in order to avoid the risk of collision when in use, for example with the operator. This increases the space required for the production line, and fewer automatic assembly machines or production lines can be placed in a given area of ​​the factory. This applies in particular to: (a) production lines equipped with large automatic assembly machines, where components are fed from both sides of the production line (i.e., the left and right sides of the production line); and (b) production lines that are arranged parallel to each other, so that a large gap is required between adjacent production lines. Obviously, the resulting increase in space or area requirements will reduce the capacity within the factory.

[0008] Another disadvantage of replacing component feeders by robots positioned by RGVs is that RGVs cannot be transferred from the track of one production line to the track of an adjacent production line. Therefore, each production line must be equipped with not only a separate track, but also a separate RGV (and robot). Another disadvantage is that two RGVs cannot overtake each other on a single RGV track. Therefore, the replacement performance of RGV-based feeders cannot be improved simply by adding RGVs (and robots). In addition, RGVs (and robots) used to replace feeders require linear or straight tracks. Therefore, if the available space on the side of the production line is interrupted or limited by other equipment or columns in the workshop, it is not possible to use RGVs to automatically replace feeders.

[0009] Today, automated transport systems are commonly used to transport and move (large) objects, such as containers or boxes, in warehouses. Such transport systems consist of at least one automated guided vehicle (AGV). A utomated Guided V ehicle, AGV) and / or at least one autonomous mobile robot ( A utonomous M obile R In this application, AGV shall refer to a robot that is spatially guided by physical lines (formed on the ground) or virtual lines. Without this spatial guidance, AGV cannot navigate. In this application, AMR refers to a robot that can navigate freely in space. AMR can identify its own position based on the learning environment and does not require any additional infrastructure to move normally.

[0010] AGVs and AMRs are flexible devices that can be used in different environments without any major adjustments. For example, to handle standardized containers or boxes, AGVs and AMRs use active or passive roller conveyors and rarely use robotic arms. AGVs (and especially AMRs) can usually only move or position with relatively low spatial accuracy. In addition, AGVs and AMRs also need a relatively large workspace to complete their work. In the field of assembly technology, although automation is a general trend, this has so far been an obstacle to the automatic replacement or replacement of component feeders using AGVs and AMRs. As mentioned above, there is generally not much space in the production hall for manufacturing electronic components between different assembly lines or automatic assembly machines. Summary of the invention

[0011] The present invention aims at automatically replacing or exchanging component feeders in a limited space.

[0012] The solution of the invention for achieving the above-mentioned objects is the subject of the independent claims. Advantageous embodiments of the invention are given in the claims.

[0013] According to a first aspect of the present invention, a device for replacing a component feeder in an automatic assembly machine is described. The device comprises: (a) a transport trolley configured to move autonomously on a (two-dimensional) ground surface; (b) a positioning system having a fixed positioning component fixedly attached to the transport trolley in space and a movable positioning component relative to the fixed positioning component; and (c) a replacement device attached to the movable positioning component and configured to detachably attach the component feeder to or remove it from the automatic assembly machine along a linear replacement direction parallel to the y-axis. According to the present invention, the positioning system is configured so that the movable positioning component (and the replacement device attached thereto) can rotate relative to the fixed positioning component around a vertical z-axis and can be linearly displaced along the vertical z-axis.

[0014] The basic idea of ​​the device is that the changing device can be rotated by means of a positioning system, so that the entire device can be designed compactly. This applies in particular when the device extends parallel to the y-axis, preferably the y-axis: (i) is horizontal with respect to gravity; (ii) is perpendicular to the vertical z-axis. Preferably, the vertical z-axis is parallel to the direction of gravity.

[0015] Since the component feeder (especially the component feeder with the component tape pre-installed in the housing) is elongated (along the y-axis), the relevant feeder held by the changing device can be rotated after the feeder is removed or before the feeder is attached. This means that the extension of (i) the device and (ii) the relevant feeder as a whole parallel to the x-axis can be much smaller than the longitudinal extension of the feeder. In any case, this applies to the operating state of the changing device in the following angular position, that is, the elongated shape of the feeder extends basically parallel to the x-axis, and the x-axis direction is perpendicular to both the vertical z-axis and the other (horizontal) y-axis. The term "elongated shape" in this regard refers in particular to the fact that the specifications or dimensions of the feeder along its longitudinal direction are much larger than the specifications or dimensions of the feeder along its longitudinal vertical axis or direction.

[0016] In short, if the changing device holds at least one (elongated) feeder and orients it parallel to the y-axis, the rotatability of the changing device ensures that the device and the held feeder as a whole only require a relatively large space in the direction parallel to the y-axis. However, the corresponding rotational state or the corresponding angular position of the positioning system is accompanied by a relatively large space requirement and can only be presented within a relatively short time window for transferring the relevant feeder between the changing device and the automatic assembly machine. When the first feeder is replaced by the second feeder, this time window starts at the moment before the first feeder is removed from the automatic assembly machine and ends at the moment after the second feeder is detachably attached to the automatic assembly machine. Outside this time window, the changing device and optionally at least one held feeder can be oriented by the positioning system so that the width of the device and the held feeder as a whole is much smaller than the length of the held feeder.

[0017] With regard to the duration of a complete component feeder replacement process, i.e. from picking up a new feeder to depositing an old feeder or at least a partially used feeder, the aforementioned time window may be relatively short. The corresponding spatial travel or movement of the transport trolley on the ground may take longer, depending on the travel path and, in turn, on: (i) the pick-up position for the new feeder; (ii) the (temporary) deposit position for the old feeder. In this regard, it should be pointed out that, depending on the logistics concept for (temporary) storage of the feeders, the pick-up position and the (temporary) deposit position may be the same location or locations spaced apart from each other.

[0018] Specifically, the device requires a lot of space only in the x-direction (parallel to the x-axis) when the changer is feeding the feeder into or out of the automatic assembly machine. The relatively high space requirement may also depend on the spatial configuration of the linear guide structure along which the feeder must move in order to be accurately positioned and attached to the automatic assembly machine. The longer the guide structure (which can be achieved, for example, by an Ω profile or other mortise and tenon profile), the longer the displacement stroke of the feeder in the y-direction (parallel to the y-axis) is, and then the positioning system can rotate the changer (together with at least one held feeder) so that the device and the associated feeder as a whole require only a relatively small amount of space in the y-direction.

[0019] The transport trolley can be an automated guided vehicle (AGV) or an autonomous mobile robot (AMR) walking mechanism. As mentioned in the introduction, an AGV is a transport trolley that is spatially guided by a physical line (formed on the ground) or a virtual line. As mentioned in the introduction, an AMR is a robot that can navigate freely in space. AMR can identify its own position based on the learning environment and does not require any additional infrastructure for normal travel. According to the present invention, the mobile positioning component and the replacement device can also be displaced, which has the advantage that the picking position or removal position for the "new" feeder and / or the temporary storage position for the "old" feeder are not only spatially located outside the production line, but can also be located, for example: (i) below and / or above the automatic assembly machine; or (ii) below and / or above another automatic assembly machine of the same or another production line. This means that a storage position for the feeder can be provided above or below the automatic assembly machine in the workshop. In this regard, it should be noted that in this application, "below the automatic assembly machine" refers to the spatial area below the assembly level of the relevant automatic assembly machine. The area below the automatic assembly machine may also be a free area of ​​a chassis or a chassis support structure of the relevant automatic assembly machine.

[0020] The replacement device can have a linearly displaceable gripper. It is only necessary to configure the gripper according to the size and shape of the component feeder to be replaced to ensure reliable handling of the component feeder. In this regard, a person skilled in the art who has a basic knowledge of robotics can construct an appropriate mechanism for the replacement device.

[0021] According to an embodiment of the present invention, the positioning system includes: (a) a rotary drive for rotating the movable positioning component relative to the fixed positioning component; and (b) a linear drive for displacing the movable positioning component relative to the fixed positioning component.

[0022] Specifically, the changing device realizes two degrees of freedom via separate drives: (i) rotation about the vertical z-axis; (ii) displacement along the vertical z-axis. This makes it possible to realize the positioning system particularly simply. Preferably, the rotary drive and the linear drive can operate independently of one another, so that the two movements can be carried out simultaneously and independently of one another.

[0023] These two drives (i.e. the rotary drive and the linear drive) can be interrelated or attached to each other so that when the linear drive is activated, not only the changing device is displaced vertically, but also the rotary drive is displaced vertically. In other embodiments, when the rotary drive is activated, not only the changing device rotates, but also the linear drive rotates.

[0024] According to another embodiment of the invention, the rotary drive and the linear drive are the only drives of the positioning system. This means that the additional freedom of movement required for the overall positioning of the replacement device (including the above-mentioned removal and deposit of the feeder) is provided by the transport trolley. Such additional freedom of movement can be used in particular for moving the method or the device on the ground: (i) from a temporary storage area for picking up a new feeder to the automatic assembly machine location where the actual replacement takes place; or (ii) from the replacement location to a temporary storage area for (temporarily) depositing an old feeder.

[0025] According to another embodiment of the invention, the rotary drive is configured to rotate the replacement device within a rotation angle range of at least + / -90° relative to the x-axis, wherein the x-axis is perpendicular to both the y-axis and the vertical z-axis. In this way, the device can be advantageously used to replace component feeders at automatic assembly machines, which are assigned to different adjacent production lines, each of which has at least one automatic assembly machine. In this case, the device can be easily introduced into the (elongated) intermediate area or channel between two production lines and can be displaced in this space.

[0026] When the rotation angle is 0°, the changing device is oriented along the longitudinal extension of the two production lines (i.e. along the y-axis or along the main movement direction of the device). When the rotation angle is +90°, the feeders can be exchanged with the automatic assembly machine on one production line; when the rotation angle is -90°, the feeders can be exchanged with the automatic assembly machine on the other production line. This eliminates the need to rotate or flip the device in the middle area, which may not be possible if the middle area is narrow and / or the device is too large or too long. In this way, even if these automatic assembly machines are assigned to different adjacent production lines, using a device with the following storage device for temporarily accommodating component feeders, it is possible to replace multiple feeders from different automatic assembly machines in a relatively short period of time.

[0027] According to another embodiment of the present invention, the apparatus further comprises a storage device for temporarily accommodating at least one component feeder, wherein the replacement device is configured to remove at least one component feeder from the storage device and to store at least one component feeder into the storage device.

[0028] By means of such a storage device, the device can carry out multiple feeder change processes without having to move the device to a buffer for component feeders. In such a buffer, in particular (new) feeders pre-configured with suitable component tapes can be present. Furthermore, such a buffer can also have sufficient loading space to accommodate (old) feeders. This advantageously shortens the travel distances.

[0029] Preferably, the storage device is configured and arranged spatially relative to the changing device so that the component feeders can be deposited and removed when the rotation angle of the changing device is 0°. Thus, even a storage device that can temporarily accommodate multiple component feeders does not necessarily lead to an increase in the overall width of the device.

[0030] According to another embodiment of the invention, the apparatus further comprises a diagnostic device configured to classify defects in a component feeder currently stored in the storage device or received by the replacement device.

[0031] In certain embodiments, the diagnostic device may employ suitable optical, electrical and / or mechanical measurement techniques that can be used to determine the severity of the feeder defect. Based on the severity, it can be determined whether an operator can repair the relevant component feeder in the vicinity of the relevant production line, or whether the feeder needs to be replaced, at least temporarily, with a (pre-configured) new component feeder. This can extend the total time that the component feeder is fully utilized.

[0032] According to another embodiment of the present invention, the storage device comprises: (a) at least one lower storage location; and (b) at least one upper storage location for another component feeder. In the lower position of the positioning system (or linear drive), the replacement device can store the component feeder in the lower storage location or remove the component feeder from the lower storage location. In the upper position of the positioning system (or linear drive), the component feeder can be stored in the upper storage location or removed from the upper storage location.

[0033] By "stacking component feeders on top of each other", the capacity of the storage device can be increased without increasing its space requirement (in the xy plane extending from the x-axis and the y-axis).

[0034] Preferably, the double layer (ie a lower layer with at least one lower storage location and an upper layer with at least one upper storage location) has two, three or more storage locations.Preferably, the (elongated) component feeder is oriented parallel to the above-mentioned x-axis in the storage state.

[0035] According to another embodiment of the present invention, the replacement device comprises at least: (a) a first replacement mechanism for a first component feeder; and (b) a second replacement mechanism for a second component feeder. The advantage is that the component feeder can be replaced particularly smoothly. This is particularly applicable when, before the device moves to the feeder replacement position, one replacement mechanism has occupied a "new" component feeder, while the other replacement mechanism is not occupied. Thus, the replacement can be carried out in this way: the unoccupied replacement mechanism removes the component feeder removed from the automatic assembly machine, and then the new component feeder can be attached to the relevant position of the automatic assembly machine by only slightly repositioning the replacement device. Preferably, each replacement mechanism has its own drive for driving the linear movement of the clamp or driving member of the relevant component feeder. In the coordinate system used in this application to illustrate the present invention, the above-mentioned linear movement is performed along the y-axis.

[0036] According to another embodiment of the present invention, the transport trolley includes rollers that enable the device to be moved in any direction on the ground. Such rollers are often called universal wheels, which advantageously allow the device to be properly repositioned, especially under space-constrained conditions. Such repositioning can include linear movement of the device and / or rotational movement of the device.

[0037] According to another embodiment of the invention, the device further comprises a first positioning sensor which is (directly or indirectly) attached to the transport trolley and is configured to detect the positioning of the device during movement of the device on the ground.

[0038] The first position sensor can be coupled to a control device which ensures that the transport trolley moves on the ground in a spatially intended or predetermined manner so that the device can be reliably positioned with high precision to the position where the feeder should be replaced. The sensor can detect at least one appropriate line, which may have interruptions, which indicate the corresponding position on the ground. By appropriately evaluating the position-sensitive sensor signals, a particularly precise positioning of the transport trolley can be achieved under control. Preferably, the accuracy of this positioning is sufficient to enable the replacement device to replace the component feeder, wherein the (old) feeder is removed from the centering structure and the (new) feeder is connected to the relevant automatic assembly machine via the centering structure. The centering structure can be, for example, the above-mentioned Ω profile.

[0039] According to another embodiment of the invention, the device further comprises a second positioning sensor, which is attached (directly or indirectly) to the replacement device and is configured to detect the positioning of the replacement device during the replacement of the component feeder. The second positioning sensor can, for example, detect appropriate markings on the automatic assembly machine, thereby, for example, ensuring that the (new) component feeder is accurately positioned to the automatic assembly machine. Here, the positioning sensor can also be coupled to a control unit, which can ensure that the positioning system is appropriately and, if necessary, controlledly activated based on the corresponding position signal. The position signal from the second positioning sensor can also ensure optimal positioning of the transport trolley and even the entire device.

[0040] According to another embodiment of the invention, the device also comprises an accumulator which is primarily assigned to the transport trolley and which is also secondarily provided for activating the positioning system and / or the replacement device. This has the advantage that only a conventional (unmanned) transport trolley is required to realize the device, which naturally already has an accumulator and can be moved in space, or more precisely on the ground. The other activatable parts of the device do not require any separate accumulator.

[0041] The energy storage device can in particular be a rechargeable battery or a battery.

[0042] According to another embodiment of the present invention, the device further comprises an additional energy accumulator, which is also mainly assigned to the transport trolley and is also secondarily used to start the positioning system and / or the replacement device. This can advantageously improve the energy supply safety of the device.

[0043] In particular, one of the two or at least two energy accumulators can be used to operate other components of the device while the other of the two or at least two energy accumulators is being charged. This ensures a completely uninterrupted energy supply.

[0044] According to another embodiment of the invention, the accumulator and / or the additional accumulator at least approximately has the shape of a component feeder and an electrical interface like a component feeder. This has the advantage that the accumulator can be conveniently accommodated in a storage device instead of a component feeder. In addition, when the accumulator designed as a battery is empty (at least partially consumed), it can be temporarily attached to the automatic assembly machine by replacing the component feeder with a replacement device, just like the component feeder. Via a suitable electrical interface, the accumulator can then be charged (via the automatic assembly machine) and subsequently stored in the storage device (via the replacement device), where it can then be responsible for supplying energy to the device.

[0045] The energy storage device or battery charging concept described above advantageously ensures an uninterrupted energy supply during operation of any length of time. For this purpose, no additional handling devices, such as robots, are required.

[0046] According to another embodiment of the present invention, the apparatus further comprises a tape cutting device configured to cut off an end of the component tape which hangs outside the housing of the removed component feeder after the component feeder is removed.

[0047] By means of the tape cutting device, it is possible to prevent a tape end hanging down from a previous operation of removing a component feeder from causing problems in further handling of the removed feeder or other (new) component feeders. In particular, it is possible to prevent the hanging tape end from covering the centering component, which could otherwise make it difficult or impossible to properly reposition the replacement device for attaching a (new) component feeder.

[0048] In this regard, the breakable end of the component tape is the section of the component tape that has not yet been severed by the fixed tape cutting device of the associated automatic assembly machine, which has reached the fixed tape cutting device but is still in the so-called waste tape channel.

[0049] In certain embodiments, the tape cutting device is located in the spatial region of the storage device. Like this, despite the presence of the tape cutting device, the device can still be realized in a compact configuration.

[0050] According to another embodiment of the invention, the device further comprises a waste container for collecting the cut ends of the component tape. This has the advantage that the cut ends of the component tape can be disposed of reliably without hindering the replacement of the component feeder during the intended operation of the device. This achieves a high level of process reliability.

[0051] In certain embodiments, the waste container is also located in the spatial area of ​​the storage device. Like this, despite the presence of the waste container, the device can be realized in a compact configuration.

[0052] According to another embodiment of the present invention, a waste container is arranged below the tape cutting device so that the cut end of the component tape is transferred to the waste container under the action of gravity. This has the advantage that the tape end waste can be disposed of reliably and simply.

[0053] As described above, both the tape cutting device and the waste container can be arranged in the spatial area of ​​the storage device or even in the storage device. In the embodiment of the above storage device having at least one lower storage location and at least one upper storage location, the tape cutting device is preferably arranged in the "upper layer" of the at least one upper storage location, and the waste container is preferably arranged in the "lower layer" of the at least one lower storage location.

[0054] According to another aspect of the invention, a method for replacing a first component feeder with a second component feeder in an automatic assembly machine using an apparatus of the type described above is described. The method comprises: (a) receiving the second component feeder from a temporary storage area of ​​the component feeder; (b) transferring the second component feeder to an area where the first component feeder is located and can be detachably attached to the automatic assembly machine; (c) removing the first component feeder; and (d) attaching the second component feeder to the automatic assembly machine.

[0055] The basic idea of ​​the method of the present invention is that, by means of the device (also the device of the present invention), the replacement of a component feeder can be automatically performed even if there is only a relatively small amount of space available at or next to the automatic assembly machine. According to an embodiment of the present invention, the method further comprises: after attaching the second component feeder to the automatic assembly machine, (e) transferring the first component feeder to a buffer area or to another buffer area of ​​the component feeder.

[0056] After the above-mentioned transport of the first component feeder (which transport can also be referred to as sending out the first component feeder), the device for replacing the component feeder according to the present invention can advantageously be put into use again in order to receive the fourth component feeder (from the temporary storage area) and then replace the third component feeder (or the second component feeder) still attached to the automatic assembly machine with it. In this way, the device of the present invention can be used quasi-continuously to replace component feeders at one or more automatic assembly machines. If a second electronic component requiring different electronic components is to be produced after the production of the first electronic component, the replacement can be performed within the scope of the so-called change setting. In view of this change setting, multiple component feeders are usually replaced (simultaneously). Of course, replacement can also occur if components have been placed in the first component feeder and additional components (of the same type) must be provided for the subsequent assembly process by the second component feeder.

[0057] According to another embodiment of the present invention, the temporary storage area is located in or on the automatic assembly machine below and / or above the assembly level of the automatic assembly machine. This has the advantage that the "new" component feeder and / or the "old" component feeder can be temporarily stored near the replacement point, so that the travel path of the device of the present invention can be kept short. In this way, the component feeder can be replaced very quickly. This is particularly advantageous in the case of changing settings, so when changing settings, it is usually necessary to replace (try to replace simultaneously) multiple component feeders. In this way, the downtime of the automatic assembly machine or the entire production line caused by changing the settings can be greatly shortened. Another advantage of the temporary storage area being arranged below and / or above the assembly level is that it can advantageously reduce the space required for the overall electronic product manufacturing in the workshop.

[0058] For the purposes of the present invention, the term “assembly level” is understood to mean the plane in which the component carrier to be assembled is located during its assembly.

[0059] It should be noted that embodiments of the present invention have been described above in conjunction with different inventive themes. In particular, certain embodiments of the present invention are described by product claims, while other embodiments of the present invention are described by method claims. However, it will be clear to a person skilled in the art after reading this application that, in addition to feature combinations belonging to one type of inventive themes, there may also be any feature combinations belonging to different types of inventive themes, unless otherwise expressly stated.

[0060] Further advantages and features of the present invention will become apparent from the following description of preferred embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 A device for replacing component feeders is schematically shown, the device being located in an intermediate area between two production lines for manufacturing electronic components.

[0062] Figure 2 A perspective view schematically shows an apparatus for replacing a component feeder according to an embodiment of the present invention.

[0063] Figure 3 The apparatus for replacing component feeders described herein is used to complete the configuration change of an automatic assembly machine on a production line, wherein temporary storage areas for component feeders are used, and these temporary storage areas are all located in the lower area of ​​the automatic assembly machine.

[0064] Description of reference numerals: 100 Equipment for replacing component feeders 185a Component feeder for component carrier on the left conveyor lane 185a Component feeder for component carrier on the right conveyor lane 192 guide line 193 Ground 194Transmission Device 195 solder paste printer 197 Reflow Oven BA1 automatic assembly machine BET element carrier FL1 first production line FL2 second production line 210 transport trolley 212 roller 212a Main direction of travel 214 first position sensor 216 Safety Sensor 220 operating device 230 Positioning System 232 Fixed positioning components 234 mobile positioning components 236 Rotary Drive 238 Linear Actuator 240 Replacement device 240a Linear change direction 242 Second position sensor 250 Storage Devices 255 diagnostic device 260 Accumulator / Battery 270 tape cutting device 275 waste container 285 component feeder FLZL production line temporary storage area Ba# Automatic assembly machine (# = 1, 2, 3) BAZL# automatic assembly machine buffer area (# = 1, 2, 3). DETAILED DESCRIPTION

[0065] It should be noted that in the following detailed description, features or components that are identical or at least functionally identical to corresponding features or components of different embodiments are marked with the same reference numerals or the last two digits of their reference numerals are identical to the reference numerals of the corresponding identical or at least functionally identical features or components. To avoid redundancy, the features or components that have been described based on the previous embodiments will not be described in detail below.

[0066] It should also be noted that the embodiments described below only represent a limited selection of possible variations of the present invention. In particular, the features of the various embodiments may be combined with each other in an appropriate manner so that it will be clear to those skilled in the art that there are a variety of different embodiments of the variations explicitly indicated herein.

[0067] Figure 1 A device 100 for replacing component feeders is schematically shown, the device 100 being located in an intermediate area between two production lines FL1 and FL2 for manufacturing electronic components.

[0068] According to the embodiment shown in the figure, the production lines FL1 and FL2 each include a solder paste printer 195, through which the solder paste is applied to the component terminal pads of the component carrier in a known manner. The component carrier BET printed with solder paste is also conveyed to the automatic assembly machine BA by a conveying device 194 designed as a conveyor belt in a known manner. According to the embodiment shown in the figure, each production line FL1, FL2 has exactly four automatic assembly machines BA, and these automatic assembly machines BA are arranged successively along the conveying direction of the conveying device 194. Different types of components are placed on each component carrier BET by different automatic assembly machines BA according to their respective assembly contents. Figure 1As can be seen from the xy coordinate system shown, according to the embodiment shown in this figure, this conveying direction extends along the x-axis.

[0069] For the sake of clarity, Figure 1 A so-called single conveyor 194 is shown, having only one conveyor belt, by means of which the component carriers BET can be conveyed on a single conveyor track in a conveying direction. In practice, according to the embodiment shown in the figure, the conveyor 194 is a double conveyor or dual conveyor, having two parallel conveyor belts, each with a conveyor track for component carriers BET to be assembled or for at least partially assembled component carriers BET. Figure 1 There is a component feeder 185a above each automatic assembly machine BA, and the assembly heads (not shown) of these component feeders 185a provide components for assembling component carriers conveyed on the conveying track on the left side of the conveying direction. Figure 1 There is a component feeder 185b below each automatic assembly machine BA, and these component feeders 185b provide components for assembling component carriers that are transported on the conveying track on the right side of the conveying direction.

[0070] Downstream of the automatic assembly machine BA in the conveying direction is a so-called reflow oven 197. The reflow oven 197 melts the solder paste between the component terminal pads and the electrical contacts of the assembled components in a known manner. After cooling, the solder paste solidifies, thereby establishing a stable electrical and mechanical connection between the assembled component and the assembled component carrier.

[0071] like Figure 1 As shown, two guide lines 192 are attached to the ground 193 between the two production lines FL1 and FL2. According to the embodiment shown in this figure, the guide lines 192 are simply drawn on the ground 193. The sensing system (not shown) of the device 100 uses the guide lines 192 to perform precise spatial movement in the middle area between the two production lines FL1 and FL2. According to the embodiment shown in this figure, one of the two guide lines 192 is a dotted line or interrupted at a predetermined point. In this way, the above-mentioned sensing system can accurately identify where it is currently located on these dotted or interrupted guide lines 192. Absolute position recognition can be achieved by identifying unique marks in or on the guide lines 192 and / or by counting the interrupted structures in at least one guide line 192. As shown in FIG. Figure 1 As shown, two guide wires 192 also extend parallel to the x-axis.

[0072] As can be seen from the detailed description of the device 100 below, the device 100 can replace (i) the component feeder located on the left side of the guide line 192 when viewed along the positive direction of the x-axis, and can also replace (ii) the component feeder located on the right side of the guide line 192 when viewed along the positive direction of the x-axis. According to an embodiment of the present invention, Figure 2A perspective view of an apparatus 100 for replacing component feeders is schematically shown.

[0073] The device 100 includes a transport trolley 210. The transport trolley 210 can be an existing automated guided vehicle (AGV) or an autonomous mobile robot (AMR) walking mechanism. As described above, an AGV is a transport trolley that is spatially guided by a physical line (formed on the ground) or a virtual line. As described above, an AMR is a robot that can navigate freely in space. AMR can identify its own position based on the learning environment and does not require any additional infrastructure for normal travel.

[0074] like Figure 2 As shown, the transport trolley 210 includes a plurality of rollers 212. For the sake of clarity, only two of the four rollers 212 can be seen or shown in the figure. According to the embodiment shown in this figure, the rollers 212 are so-called universal wheels 212, and in addition to the usual roller rotation axis, each roller also includes a rotation axis (not shown) that allows the roller 212 to pivot around a vertical z direction (see the xyz coordinate system in the figure). Figure 2 This pivoting capability is indicated by the two curved double arrows shown below the two rollers 212. In a narrow space on the ground, the universal wheels 212 allow the device to move linearly in any direction as well as to rotate the device. Figure 2 The main direction of movement of the transport trolley 210 or the entire device 100 along the guide line 192 extending parallel to the x-axis is indicated by a double arrow 212a (for clarity, Figure 2 192). According to the embodiment shown in this figure, the current position of the transport trolley 210 is determined by a first position sensor 214 and an evaluation control unit (not shown) downstream of the first position sensor 214. To this end, the first position sensor 214 detects the (interrupted) structure or route of the guide line 192. The guide line 192 can be used to limit the freedom of the transport trolley 210. In this way, the transport trolley 210 and the entire device 100 can be positioned on the ground more quickly and accurately. In addition, by using the appropriate spatial position of the guide line 192, the transport trolley can be safely moved even at the minimum distance from the relevant production line or the relevant automatic assembly machine. This reduces the space required for the production line and can automatically replace the component feeder 285.

[0075] In addition, two safety sensors 216 are attached to the transport trolley 210. When the transport trolley 210 moves toward an obstacle and a collision problem may be concerned, the safety sensors 216 will output a signal to, for example, an evaluation control unit (not shown). In response to such a safety-related signal, the evaluation control unit (not shown) can command the transport trolley 210 to stop moving.

[0076] The apparatus 100 further comprises a manipulator 220 for the component feeder 285. The manipulator 220 comprises a positioning system 230 and a replacement device 240. According to the embodiment shown in this figure, the positioning system 230 comprises a fixed positioning component 232 and a movable positioning component 234. Figure 2 As shown, the fixed positioning component 232 is attached to the transport trolley 210. The mobile positioning component 234 is positionable relative to the fixed positioning component 232 via exactly one linear drive and exactly one rotary drive. Figure 2 The linear drive is schematically represented by a double arrow 238 . Figure 2 The rotation drive is schematically indicated by a curved double arrow 236. Thus, the positioning system 230 enables both a vertical movement of the changing device 240 along an axis S and a rotational movement of the changing device 240 about this axis S. The axis S is parallel to the z-axis of the illustrated xyz coordinate system.

[0077] The replacement device 240 includes a mechanism (not shown) that can clamp the component feeder 285 and linearly displace it along the replacement direction 240. This makes it possible to clamp the detachable attachment to the automatic assembly machine ( Figure 2 Component feeder 285 (not shown) is removed from the automatic assembly machine and transferred to the device 100. Similarly, the component feeder 285 can also be transferred from the device to the automatic assembly machine and can be detachably attached to the automatic assembly machine using this mechanism. Figure 2 As shown, the replacement device 240 has three such mechanisms. Thus, the replacement device 240 can operate a total of three component feeders 285. However, it is obvious that at least one of the three mechanisms (compare Figure 2 ) must not be occupied by component feeder 285 in order to remove component feeder 285.

[0078] In order to accurately position the replacement device 240 both in the vertical direction by the linear drive 238 and in the horizontal direction by the chassis of the transport trolley 210, the replacement device 240 or the mobile positioning component 234 is attached with a second positioning sensor 242. As described above, the second positioning sensor 242 can detect appropriate markings on the automatic assembly machine, thereby ensuring that the (new) component feeder 285 is accurately positioned and attached to the automatic assembly machine. The second positioning sensor 242 can also be coupled to a suitable control unit, such as the above-mentioned evaluation control unit, which ensures appropriate (if necessary controlled) activation of the positioning system 230 and / or the optimal positioning of the transport trolley 210 on the ground according to the corresponding position signal.

[0079] According to the embodiment shown in this figure, the device 100 also includes a storage device 250. This is used to temporarily accommodate at least one component feeder 285. In this regard, the replacement device 210 or the entire handling device 210 is configured to remove at least one of the multiple feeders 285 from the storage device 250 or store it in the storage device 250. Through the storage device 250, the device 100 can perform multiple feeder 285 replacement processes without moving the device 100 to a feeder 285 (temporary storage area) pre-configured with suitable component materials. This can advantageously shorten the travel distance and speed up the replacement of the component feeder 285.

[0080] like Figure 2 As shown, according to the embodiment shown in this figure, when the replacement device 240 is relative to Figure 2 When the angle position shown is at an angle position that is substantially rotated by 90°, the replacement device 240 can store the component feeder 285 in the storage device 250 or take the component feeder 285 out of the storage device 250 .

[0081] According to the embodiment shown in this figure, the apparatus 100 further comprises a diagnostic device 255 attached to or on the storage device 250. The diagnostic device 255 is configured to identify defects of the component feeders 285 currently stored in the storage device and classify them if necessary.

[0082] According to the embodiment shown in the figure, the diagnostic device 255 is equipped with suitable optical, electrical and / or mechanical measurement technology, which can determine the severity of the defect on the feeder 285. As described above, based on the known severity, it can be decided whether an operator can repair the relevant component feeder 285 in the vicinity of the relevant production line, or whether the feeder 285 needs to be replaced, at least temporarily, by a (pre-configured) new component feeder 285.

[0083] In addition, the device 100 also includes an accumulator 260 designed as a battery. According to the embodiment shown in this figure, the accumulator 260 has the external shape of a component feeder 285 and can be electrically connected and mechanically attached to the automatic assembly machine by a manipulation device for charging. The accumulator is mainly assigned to the transport trolley 210 and is secondarily used to start the positioning system 230 and the replacement device 240.

[0084] It should be noted that a corresponding additional accumulator (not shown) can also be provided, which preferably also has the shape of a component feeder. Thus, the two accumulators can be used alternately to supply energy to the device 100. In an alternating manner, one of the two accumulators can be charged on the automatic assembly machine, while the other of the two accumulators can be used to supply energy to the device 100.

[0085] According to the embodiment shown in this figure, the device 100 also includes Figure 2Schematically shown is a tape cutting device 270. The tape cutting device 270 is configured to cut off one end of the component tape that is hanging outside the housing of the removed component feeder 285 after the component feeder 285 is removed. As described above, this can prevent the hanging tape end in the previous operation of removing the component feeder 285 from causing problems when further manipulating the removed feeder 285 or other (new) component feeders 285. In addition, according to the embodiment described herein, the device 100 also includes a waste container 275 for collecting the cut end of the component tape. Figure 2 As shown, the waste container 275 is arranged directly below the tape cutting device 270. Like this, the cut end of the component tape can directly fall into the waste container 275 under the action of gravity.

[0086] A method for replacing a plurality of component feeders will be described below with reference to steps 1 to 10 without reference to the accompanying drawings.

[0087] 1. In the first step, the device 100 is moved to the temporary storage area of ​​the entire production line. In the temporary storage area, there are multiple component feeders 285 pre-configured with component tapes or new component feeders 285. The temporary storage area of ​​the entire production line is preferably located next to the first automatic assembly machine of the relevant production line.

[0088] 2. Then, the replacement device 240 grabs the pre-configured new component feeder 285 from the temporary storage area and transfers it to the storage device 250.

[0089] 3. The apparatus 100 is then moved to the automatic assembly machine where at least one component feeder 285 is replaced.

[0090] 4. The device 100 stops at the associated automatic assembly machine. The above-described positioning sensor system with the first position sensor 214 together with the guide wire 192 ensures a spatially precisely defined stop position. This stop position corresponds exactly to the position of the old feeder 285 to be replaced.

[0091] 5. The replacement device 240 removes a new feeder 285 from the storage device 250.

[0092] 6. Then, the replacement device 240 is docked to the automatic assembly machine at the location of the feeder 285 to be replaced.

[0093] 7. The changing device 240 is rotated by 90° by means of the rotary drive 236 .

[0094] 8. The replacement device 240 removes the old feeder 285 which is at least partially emptied of components.

[0095] 9. Attach the new feeder 285 to the relevant position of the automatic assembly machine.

[0096] 10. The replacement device 240 is undocked from the automatic assembly machine.

[0097] 11. The changing device 240 is rotated by 90° (pivoted) by means of the rotary drive 236 .

[0098] 12. The replacement device 240 transfers the old feeder 285 to the storage device 250.

[0099] 13. The device 100 moves to the next automatic assembly machine whose feeder 285 should be replaced. If the storage device 250 no longer contains new component feeders 285, the device moves to the above-mentioned temporary storage area of ​​the entire production line, where the old component feeder 285 is replaced with a new component feeder 285.

[0100] In order to save time, the component feeder 285 can also be transferred between the storage device 250 and the replacement device 240 during the movement of the equipment 100.

[0101] Figure 3 A method for changing the settings of an automatic assembly machine in a production line using the device for replacing component feeders described herein is shown. According to the embodiment shown in this figure, temporary storage areas for component feeders are used, and these temporary storage areas are all located in the lower area of ​​the automatic assembly machine.

[0102] like Figure 3 As shown, the production line has three automatic assembly machines arranged in a row along a conveyor (not shown), respectively marked with reference numerals BA1, BA2, BA3. The front end (or rear end) of the three automatic assembly machines BA1, BA2, BA3 is provided with a production line temporary storage area FLZL, in which a plurality of component feeders can be (temporarily) retained. Each automatic assembly machine BA1, BA2, BA3 has a local temporary storage area below its assembly level, also known as the automatic assembly machine temporary storage area, marked with reference numerals BAZL1, BAZL2, BAZL3.

[0103] The various stages of changing the settings on all three automatic assembly machines BA1, BA2, BA3 are described below.

[0104] Phase 1: The three automatic assembly machines work with the "old group" component feeders, which are attached to the automatic assembly machines in a known manner so that they can be grasped or picked up by assembly heads (not shown). The "new group" pre-configured new feeders are located in the production line buffer area FLZL or are stored therein by the device 100 described herein.

[0105] Phase 2: The device 100 is located at or moved to the production line buffer zone FLZL. Here, the device removes a new set of component feeders and transfers them to the three automatic assembly machine buffer zones BAZL1, BAZL2, and BAZL3. It should be noted that Figure 3 In the schematic diagram, unlike the actual situation, the number of component feeders in the production line buffer area FLZL is not equal to the sum of the component feeders in the three automatic assembly machine buffer areas BAZL1, BAZL2, and BAZL3.

[0106] Phase 3: The device 100 moves to the automatic assembly machine temporary storage area BAZL1 of the first automatic assembly machine BA1. Here, the device 100 removes the old set of component feeders, moves them to the production line temporary storage area FLZL and stores them in the production line temporary storage area FLZL. Then, the device moves back to the first automatic assembly machine BA1 and attaches the corresponding new component feeder to the assembly level on the automatic assembly machine BA1, so that it can provide the supplied components to the assembly head for picking up in a known manner. Then, the device moves to the automatic assembly machine BA2, where it receives the old set of component feeders (contained in its storage device) in one or more steps, moves back to the first automatic assembly machine BA1 (each time) and stores the old component feeder from the second automatic assembly machine BA2 in the automatic assembly machine temporary storage area BAZL1. Then, the device moves back to the second automatic assembly machine BA2 and transfers the corresponding new component feeder from the automatic assembly machine temporary storage area BAZL2 upward to the assembly level of the second automatic assembly machine BA2. Then, in a corresponding manner, the old set component feeders from the third automatic assembly machine are stored in the automatic assembly machine temporary storage area BAZL2, and the component feeders provided for the third automatic assembly machine BA3 are lifted up and appropriately attached to the third automatic assembly machine BA3.

[0107] The fourth stage: the device 100 transfers the component feeders located in the two automatic assembly machine temporary storage areas BAZL1 and BAZL2 to the production line temporary storage area FLZL one after another.

[0108] Phase 5: The component feeders currently located in the production line buffer zone FLZL are taken out of the production line buffer zone FLZL and transferred to a (central) warehouse (not shown). This process can also be done automatically or manually using the device 100. The production line buffer zone FLZL is now ready to accommodate another group of new component feeders.

[0109] It should be noted that the term "comprising" does not exclude other elements, and "a" does not exclude a plurality. Moreover, elements described in connection with different embodiments may be combined. It should also be noted that the reference signs in the claims should not be construed as limiting the scope of the claims.

Claims

1. A device (100) for replacing a component feeder (285) in an automatic assembly machine (BA1, BA2, BA3), the device (100) comprising: A transport trolley (210) configured to move autonomously on the ground (193); A positioning system (230) having a fixed positioning component (232) spatially fixedly attached to the transport trolley (210) and a movable positioning component (234) relative to the fixed positioning component (232); and A replacement device (240) is attached to the movable positioning component (234) and is configured to detachably attach the component feeder (285) to the automatic assembly machine (BA1, BA2, BA3) or remove it from the automatic assembly machine (BA1, BA2, BA3) along a linear replacement direction (240a) parallel to the y-axis; wherein, The positioning system (230) is configured such that the movable positioning component (234) can rotate around a vertical z-axis (S) relative to the fixed positioning component (232) and can be linearly displaced along the vertical z-axis (S).

2. The device (100) according to the preceding claim, wherein The positioning system (230) comprises: a rotation driver (236) for rotating the movable positioning component (234) relative to the fixed positioning component (232); and A linear drive (238) is used to displace the movable positioning component (234) relative to the fixed positioning component (232).

3. The device (100) according to the preceding claim, wherein The rotary drive (236) and the linear drive (238) are the only drives of the positioning system (230).

4. The device (100) according to any one of the preceding claims 2 and 3, wherein: The rotary drive (236) is configured to rotate the changing device (240) within a rotation angle range of at least + / -90° relative to an x-axis, wherein the x-axis is perpendicular to both the y-axis and the vertical z-axis (S).

5. The device (100) according to any one of the preceding claims, further comprising: A storage device (250) is used to temporarily accommodate at least one component feeder (285), wherein the replacement device (240) is configured to remove at least one component feeder (285) from the storage device (250) and deposit at least one component feeder (285) into the storage device (250).

6. The device (100) according to any one of the preceding claims, further comprising: A diagnostic device (255) is configured to classify defects in a component feeder (285) currently stored in the storage device (250) or received by the replacement device (240).

7. The device (100) according to any of the two preceding claims, wherein: The storage device comprises: (a) at least one lower storage location; and (b) at least one upper storage position for another component feeder, wherein the replacement device is capable of storing a component feeder into or removing a component feeder from the lower storage position in a lower position of the positioning system, and is capable of storing a component feeder into or removing a component feeder from the upper storage position in an upper position of the positioning system or the linear drive.

8. The device (100) according to any one of the preceding claims, wherein The replacement device (240) comprises at least: (a) a first replacement mechanism for a first component feeder (285); and (b) A second replacement mechanism for a second component feeder (285).

9. The device (100) according to any one of the preceding claims, wherein: The transport trolley (210) has rollers (212) which enable the device (100) to move in any direction on the ground (193).

10. The device (100) according to any one of the preceding claims, further comprising: A first positioning sensor (214) is attached to the transport cart (210) and is configured to detect the positioning of the device (100) while the device (100) is moving on the ground (193).

11. The device (100) according to any one of the preceding claims, further comprising: A second positioning sensor (242) is attached to the replacement device (240) and is configured to detect the positioning of the replacement device (240) during replacement of the component feeder (285).

12. The device (100) according to any one of the preceding claims, further comprising: An energy accumulator (260) is primarily assigned to the transport trolley (210), wherein the energy accumulator (260) is also secondarily provided for activating the positioning system (230) and / or the replacement device (240).

13. The device (100) according to any of the preceding claims, further comprising: An additional energy accumulator, which is also primarily assigned to the transport trolley (210), wherein the additional energy accumulator is also secondarily provided for actuating the positioning system and / or the changing device.

14. The device (100) according to any of the two preceding claims, wherein: The energy accumulator (260) and / or the additional energy accumulator at least approximately has the shape of the component feeder (285) and has the same electrical interfaces as the component feeder (285).

15. The device (100) according to any one of the preceding claims, further comprising: The tape cutting device (270) is configured to cut off one end of the component tape, which end hangs outside the housing of the removed component feeder (285) after the component feeder (285) is removed.

16. The device (100) according to any of the preceding claims, further comprising: A waste container (275) is provided for collecting the cut ends of the component tape.

17. The device (100) according to the preceding claim, wherein The waste container (275) is arranged below the tape cutting device (270), so that the cut end of the component tape is transferred to the waste container (275) under the action of gravity.

18. A method for replacing a first component feeder (285) with a second component feeder (285) in an automatic assembly machine (BA1, BA2, BA3) using the device (100) according to any one of the preceding claims, the method comprising: From the temporary storage area (FLZL; BAZL1, BAZL2, BAZL3) receives the second component feeder (285); transferring the second component feeder (285) to an area where the first component feeder (285) is located and detachably attached to the automatic assembly machine (BA1, BA2, BA3); removing the first component feeder (285); as well as The second component feeder (285) is attached to the automatic assembly machine (BA1, BA2, BA3).

19. The method according to the preceding claim, further comprising: After the second component feeder (285) is attached to the automatic assembly machine (BA1, BA2, BA3), the first component feeder (285) is transferred to the temporary storage area (FLZL; BAZL1, BAZL2, BAZL3) of the component feeder (285) or to another temporary storage area (FLZL; BAZL1, BAZL2, BaZL3).

20. The method according to any one of the two preceding claims, wherein: The temporary storage area (BAZL1, BAZL2, BAZL3) is located in or on the automatic assembly machine (BA1, BA2, BA3) below and / or above an assembly level of the automatic assembly machine (BA1, BA2, BA3).

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