Waste treatment unit

Abstract

A waste disposal unit that can be carried by a mobile robot such as an automated guided vehicle (AGV) or autonomous mobile robot (AMR) is described for emptying waste from any placement machine on a production line as needed. A placement machine is also provided that includes structures that facilitate such waste disposal throughout the waste disposal system.

Description

Technical Field

[0001] This invention relates to a waste processing unit, a mobile robot, a chip mounter, and a method for processing waste from the chip mounter. Background Technology

[0002] This invention generally relates to the technical field of assembling electronic components onto component carriers such as printed circuit boards (PCBs), substrates, or workpieces using so-called surface mount technology (SMT) processes.

[0003] The most common packaging for small electronic components uses carrier tape, sometimes called a "belt," which has small recesses. Each recess contains one component. Each carrier tape contains only one type of component. These recesses are then covered with a thin cover film, which must be removed before the component is removed. To save space and facilitate transportation, the carrier tape is usually wound on a reel to form a spool. Typically, the carrier tape spool is housed in a feeder module, which includes a drive mechanism to advance the carrier tape (e.g., a motor-driven pin that engages with holes along the length of the carrier tape) and a pick-up area or window for contacting the component. The feeder module is detachably inserted into a pick-and-place machine.

[0004] Obviously, once all components on a section of carrier tape have been removed (this section of carrier tape can be cut off from the remaining portion of the carrier tape by a tape cutter located within the pick-and-place machine), that section of carrier tape, along with the removed cover film, becomes waste material. To prevent the pick-and-place machine from becoming filled with such waste material, this waste must be continuously or at appropriate time intervals removed from the pick-and-place machine.

[0005] Currently, the most common method for collecting carrier tape waste at pick-and-place machines is to use simple plastic boxes as waste containers. For example, these boxes can be placed under the changeover table of the pick-and-place machine, where the feeder may be located. After the carrier tape waste is cut by the tape cutter, it falls into the waste box. The operator needs to empty these boxes at appropriate time intervals (e.g., approximately once per shift).

[0006] This is a low-skilled job for the operator, who could have been more effectively engaged in other areas of work. Furthermore, current SMT production lines are moving towards automation, aiming to achieve "lights-out" factories requiring minimal human intervention. Therefore, various efforts have been made to provide automated waste disposal systems.

[0007] For example, patent document DE 102020121224A1 describes a system in which a waste channel is placed below the pick-and-place machines on the production line. A chain is installed inside the waste channel for moving brushes within the channel. These brushes move the waste from each pick-and-place machine to a central point. Patent document WO2017026030A1 describes a vacuum system that transports waste material from each pick-and-place machine on the production line to a central point. Patent document WO2019229927A1 discloses a system in which each pick-and-place machine is equipped with a conveyor onto which waste material can fall. Adjacent conveyors of adjacent pick-and-place machines can transport waste material along the production line to the end position. Meanwhile, patent document WO2019202810A1 discloses a system similar to WO2019229927A1, in which each pick-and-place machine is also equipped with a conveyor onto which waste material can fall, and adjacent conveyors of adjacent pick-and-place machines similarly transport waste material along the production line to the end position.

[0008] However, these known methods have several drawbacks. All known solutions require installation on the production line. Most of these solutions have fixed installation methods, thus lacking flexibility and requiring complex setup processes. DE102020121224A1 can be considered a better solution because its waste channel is completely separated from the production line and only needs to be inserted under the pick-and-place machine—although, this solution still requires configuration for a specific production line and pick-and-place machine. Furthermore, the limited available space under / inside the pick-and-place machine can make access to the channel / conveyor below the machine difficult. Summary of the Invention

[0009] The present invention aims to overcome the above-mentioned problems and provide an automated and fully flexible waste disposal system for SMT production line pick and place machines, which does not require specific installation for the production line.

[0010] According to the present invention, this objective is achieved by providing a waste disposal unit, which can be carried by a mobile robot (such as an automated guided vehicle (AGV) or an autonomous mobile robot (AMR)) for emptying waste from any pick-and-place machine on the production line as needed. The present invention also provides a pick-and-place machine including structures that facilitate such waste disposal throughout the waste disposal system.

[0011] As is well known in the art, mobile robots such as AGVs are devices that can move on a floor using a wheeled chassis and have at least a degree of autonomy. AGVs are available from many manufacturers (therefore they are relatively inexpensive, and production line operators may already have suitable AGVs), and typically, a platform is mounted on the AGV. Optionally, this platform is vertically movable and can carry loads (not shown), such as specific work equipment. Figure 1A conventional AGV1 is schematically shown, highlighting the chassis 2, wheels 3, and platform 4, which includes two centering structures 5 that allow the load to be precisely positioned on the platform 4. Such centering structures are typically very simple, for example, upward-pointing conical protrusions used to center the load on the platform 4. Naturally, this requires the load itself to have a corresponding structure that mates with the centering structures 5, such as a conical recess on the bottom of the load. The load can be configured with an independent power source (such as a battery) or can draw power from the AGV1. For simplicity, the power source is not explicitly shown in the following description, and the control device (such as a properly programmed computer, processor, etc.) for controlling either or both of the AGV and its load is also omitted.

[0012] According to a first aspect of the present invention, a waste processing unit is provided, which is adapted to be carried by a mobile robot and used to receive waste materials from the waste module of a pick-and-place machine on an SMT production line, the waste processing unit comprising: Waste storage volume section The docking section is used to receive waste materials from the waste module of the chip mounter. The transfer area separated from the docking part, A conveying device for transporting received waste materials from the docking section to the transfer area, and A transfer device for transferring the conveyed waste material from the transfer area to the waste storage volume.

[0013] According to a second aspect of the present invention, a mobile robot is provided, comprising the waste processing unit described in the first aspect.

[0014] According to a third aspect of the invention, a chip mounter is provided, including a waste module adapted to engage with a waste treatment unit according to a first aspect.

[0015] According to a fourth aspect of the present invention, a method for processing waste from a pick-and-place machine on an SMT production line is provided, comprising the steps of: Equip the mobile robot with the waste processing unit as described in the first aspect. Move the mobile robot to the placement machine, and Waste materials are transferred from the chip mounter to the waste treatment unit.

[0016] Other specific aspects and features of the invention are described in the appended claims. Attached Figure Description

[0017] The invention will now be described with reference to the accompanying drawings (not to scale), in which: Figure 1 A schematic 3D diagram of a known AGV is shown. Figure 2 A front view of a pick-and-place machine according to an embodiment of the present invention is shown schematically. Figure 3 A perspective view of a mobile robot equipped with a waste processing unit according to an embodiment of the present invention is shown schematically. Figures 4A to 4F The steps in a waste treatment operation according to an embodiment of the present invention are schematically shown from both a top view and a side view. Figure 5 A perspective view of a mobile robot equipped with a waste processing unit according to another embodiment of the present invention is shown schematically. Figure 6 A side sectional view of a mobile robot equipped with a waste processing unit according to yet another embodiment of the present invention is shown schematically. Figure 7 schematically shown Figure 6 The waste disposal unit is integrated with the chip mounter; Figure 8 A side sectional view of a mobile robot equipped with a waste processing unit according to yet another embodiment of the present invention is schematically shown; and Figure 9 A side sectional view of a mobile robot equipped with a waste processing unit according to yet another embodiment of the present invention is shown schematically.

[0018] Explanation of reference numerals in the attached figures: 1-Automatic Guided Vehicle (AGV) 2- Chassis 3-Wheel 4-Platform 5-Centering Structure 6, 44, 54, 74 - Pick and Place Machine 7-Feeder 8-Waste Module 9-Slide 10-Waste Box 11-Wheels 12-First Box Joint Structure 13-Second Box Joint Structure 15, 30, 40, 50, 70 - Waste Treatment Units 16-Waste storage volume section 17-Vertical Conveyor 18-Top Roller 19-Bottom Roller 20- Conveyor belt joint structure 21, 33 - boom 22, 35 - Arm Joint Structure 23-Waste Materials 31-Opening 32-partition 34-Lifter 41, 51 - Vacuum Source 42, 52 - Vacuum pipes 43, 53 - Vacuum nozzle 45, 55, 75 - Strip cutter 46, 56, 76 - Scrap Module 47, 57, 77 - Pallets 48-Vibration Motor 49, 59, 79 - Interface 58-Blowing device 60-sweeper 71-Transportation Pipeline 72-Vertical Conveyor 73-Horizontal Conveyor 78-Push 80-Push Plate 81-Bucket 82-Actuator Z-vertical axis X and Y horizontal axes L - Lateral axis FB - Front and rear axles. Detailed Implementation

[0019] Figure 2 A schematic front view of a pick-and-place machine 6 according to an embodiment of the present invention is shown. As is known in the art, the pick-and-place machine 6 is typically equipped with a plurality of feeders 7 arranged in a horizontal array. A waste module 8 is located below the feeders 7, allowing waste material (particularly used component tapes and / or cover tapes) to fall downwards into the waste module 8 (optionally guided by chutes 9). A waste bin 10 is removably housed within the waste module 8. The waste bin 10 has an open upper side for receiving waste material. The bottom of the waste bin 10 may be provided with wheels 11 (preferably of the type of rotatable casters) to facilitate the movement of the waste bin 10 into and out of the waste module 8 generally along the horizontal Y-axis direction shown, as will be described in more detail below. The waste bin 10 also includes two engagement structures, namely a first bin engagement structure 12 and a second bin engagement structure 13, which enable releasable and repeatable engagement with corresponding components of the waste handling unit, as will also be described in more detail below. Advantageously, the box joining structures 12 and 13 are arranged relatively close to each other near one end of the waste box 10 (the rightmost end as shown in the figure). These structures can take various forms, but as shown in the figure, the first box joining structure 12 includes two downwardly extending protrusions ( Figure 2 Only one is visible in the middle), while the second box joint structure 13 includes a recess in the form of a horizontally extending groove.

[0020] Figure 3 A perspective view of a mobile robot or AGV 1 equipped with a waste disposal unit 15 according to an embodiment of the present invention is schematically shown. The waste disposal unit 15 is releasable and reusable onto the AGV 1 via components such as its centering structure 5. For convenience, the figure shows the Cartesian coordinate axes of the waste disposal unit 15 body, including the vertical (“Z”) axis, the lateral or left-right axis “L”, and the front-back axis “FB”. The waste disposal unit 15 is substantially hollow, and a waste storage volume 16 is formed inside the waste disposal unit 15. The upper part of the waste storage volume 16 is open so that waste material can enter the waste storage volume 16 from above, as will be described in more detail below. Preferably, the volume of the waste storage volume 16 is at least twice the volume of the waste bin 10, so that at least two waste bins of waste material can be accommodated before the waste storage volume 16 is filled. The waste processing unit 15 is equipped with a conveying device at its front end, which takes the form of a vertical conveyor 17, comprising a continuous conveyor belt supported by a top roller 18 and a bottom roller 19. Although for clarity... Figure 3 Not shown, but both the top roller 18 and the bottom roller 19 are supported by a wall defining the front of the waste storage volume 16 and are rotatable relative to that wall, and at least one of the top roller 18 and the bottom roller 19 can be rotatably driven by a rotary drive (e.g., a motor, not shown). The vertical conveyor 17 has a conveyor belt engagement structure 20, here in the form of a protruding flange, sized to allow for repeatable and releasable engagement with the second box engagement structure 13. An arm 21 is also provided at the front end of the waste handling unit 15, at a relatively low position (i.e., below the vertical conveyor 17). The arm 21 is mechanically connected to the rest of the waste handling unit 15 via a drive (not shown), such that the arm 21 can be configured to move with a motion component along at least one horizontal axis, in this example extending laterally (in the negative direction of the L-axis) away from the waste handling unit 15. Conveniently, the arm 21 can be telescopic to achieve a larger extension range. The arm 21 is provided with two arm engagement structures 22, which are configured to releasable and repeatable engage with the first box engagement structure 12. The arm 21 thus acts as a docking point for receiving waste material from the waste module 8 of the pick-and-place machine 6.

[0021] Figures 4A to 4F The steps of waste processing using the waste processing unit are schematically illustrated from both top and side views. Specifically, Figures 4A to 4C The image above shows the alignment process of the waste processing unit 15 engaging with the waste container 10, which is preferably already filled with waste material, and removing it from the waste module 8 of the pick-and-place machine 6; Figures 4D to 4F The process of emptying waste materials from waste bin 10 is shown from a side view.

[0022] exist Figure 4A In this configuration, AGV 1 positions the waste processing unit 15 near and parallel to the pick-and-place machine 6, ensuring that the front end of the waste processing unit 15 is roughly aligned with the rightmost end of the waste box 10. Figure 4B In this configuration, the arm 21 extends along the negative L-axis and positive Y-axis, allowing the first box engagement structure 12 to engage with the arm engagement structure 22. This engagement can take various forms well-known in the art, such as simple mechanical latches, electromagnetic coupling, etc. Then, as... Figure 4C As shown, the boom 21 retracts, pulling the waste box 10 toward the waste processing unit 15, so that the second box joining structure 13 engages with the conveyor belt joining structure 20, that is, the flange of the conveyor belt joining structure 20 is accommodated in the groove of the second box joining structure 13. Figure 4D The waste processing unit 15 and waste container 10 are shown engaged in this position. Then, as... Figure 4E As shown, the vertical conveyor 17 is activated to lift the conveyor belt engagement structure 20, thereby simultaneously lifting the waste bin 10 engaged with it. The corresponding first bin engagement structure 12 disengages from the arm engagement structure 22 during this process, either passively through relative vertical movement or (if using, for example, electromagnetic coupling) by disengaging the electromagnetic coupling. During this lifting phase, the waste bin 10 maintains a substantially non-rotating state to prevent waste material from falling out of the waste bin 10. The emptying of the waste bin 10 is as follows... Figure 4F As shown. The continuous operation of the vertical conveyor 17 causes the conveyor belt engagement structure 20 to reach the top roller 18, thereby transferring the rotational motion component to the conveyor belt engagement feature 20 and the waste bin 10. This location forms a transfer zone, spaced apart from and vertically above the arm 21. As the vertical conveyor 17 continues to operate, the waste bin 10 rotates clockwise as shown, such that when suspended above the open top of the waste storage volume 16, the top of the waste bin 10 is at least partially inverted. In this position, waste material 23 can fall from the waste bin 10 into the waste storage volume 16 due to gravity until the waste bin 10 is emptied.

[0023] Then, the above process is effectively reversed to return the emptied waste container 10 to the pick-and-place machine 6. The vertical conveyor 17 is driven in reverse to lower the waste container 10 back to the ground, causing the first container engagement structure 12 to re-engage with the arm engagement structure 22. The arm 21 pushes the waste container 10 laterally back into the waste module 8 of the pick-and-place machine 6, disengaging the first container engagement structure 12 from the arm engagement structure 22, and retracting the arm 21 toward the waste handling unit 15. The AGV 1 can then leave the pick-and-place machine 6, for example, to another pick-and-place machine (not shown) that may require emptying waste materials, or to a remote waste collection point (not shown).

[0024] Figure 5 A perspective view of a mobile robot or AGV 1 equipped with a waste disposal unit 30 according to another embodiment of the present invention is schematically shown. In this embodiment, the waste disposal unit 30 is configured not to empty a full waste container, but to remove it and replace it with an empty waste container. Subsequently, the AGV 1 can transport the full waste container to a remote location for emptying. Although in Figure 5 Not shown in the image, but the waste bin here can be made using the same... Figure 2 The waste bin 10 has the same or similar form, particularly in terms of the arrangement of the first bin engagement structure 12. However, strictly speaking, it is not necessarily necessary to include the second bin engagement structure 13 here. This means that, if needed, two types of waste handling units 15 and 30 can be used simultaneously to serve the same production line. For example, as shown in the example... Figure 3 The waste disposal unit 15 shown is used to keep the pick and place machine free of waste, while the waste disposal unit 30 can be used to replace damaged waste boxes or transport relevant waste materials to a remote location for inspection (e.g., when it is suspected that the tape cutter is operating less efficiently).

[0025] The waste processing unit 30 has an opening 31 at its front end, sized to receive a waste box. The waste storage volume of this unit is divided into two independent, vertically spaced sub-volumes by a partition 32, each sized to receive a corresponding waste box. The front of the waste processing unit 30 has an arm 33, similar to the arm 21 of the waste processing unit 15, which extends laterally (along the negative L-axis). The arm 33 has a lifter 34, which can be vertically driven relative to the arm 33 by a suitable actuator (not shown), thus forming a conveying device for transporting the received waste material. The lifter 34 has an arm engagement structure 35, configured to releasably and repeatedly engage with a first box engagement structure corresponding to the waste box. The arm 33 thus forms a docking section for receiving waste material from the waste module of the chip mounter. Although in Figure 5 As not shown, each sub-volume unit may be equipped with a horizontal manipulator operable to grab the waste container and pull it into the sub-volume unit, and to at least partially push the waste container out of the sub-volume unit. Alternatively, such a manipulator may be mounted on the elevator 34 to manipulate the waste container into or out of either sub-volume unit according to the vertical height of the elevator 34; or, the manipulator may be mounted separately on the waste handling unit.

[0026] In use, one of the two sub-volume sections of the waste handling unit 30 contains an empty waste box, while the other sub-volume section remains empty. The AGV 1 is positioned close to the pick-and-place machine, in a location similar to, for example... Figure 4A The location shown. Next, similar to the reference above... Figure 4B The boom 33 extends laterally such that the boom engagement structure 35 engages with the first box engagement structure 12 of the full waste box 10, and then the boom 33 retracts (e.g., to reach...). Figure 4C (As shown in the image), the waste bin 10 is moved to a position in front of the waste processing unit 30. Then, the lift 34 is driven vertically upward until the full waste bin 10 is aligned with the empty sub-volume at a transfer zone a certain distance from the arm 33. The engagement structures 35 and 12 disengage, and the actuator moves the full waste bin into the empty sub-volume. Then, the lift 34 is driven vertically to the sub-volume containing the empty waste bin, and the actuator moves the empty waste bin out of its corresponding sub-volume until the first bin engagement structure and the arm engagement structure 35 engage. The lift 34 descends with the empty waste bin. Figure 5 The AGV 1 moves to the indicated position and places the empty waste box into the waste module 8 via the extended arm 33. The first box engagement structure disengages from the arm engagement structure 35, the arm 33 retracts, and then the AGV 1 can transport the full waste box to a remote location for emptying.

[0027] In the above embodiments, waste material is removed from the pick-and-place machine while being contained in a waste container. However, the present invention is also extended to remove waste material directly from the pick-and-place machine. Figure 6 A schematic side cross-sectional view of a mobile robot or AGV 1 equipped with a waste disposal unit 40 according to such an embodiment of the present invention is shown, while Figure 7 schematically shown Figure 6 The waste processing unit 40 is connected to the chip mounter 44.

[0028] The waste handling unit 40 includes an internal waste storage volume equipped with a vacuum source 41 (e.g., a pump) capable of generating at least a partial vacuum within the waste storage volume and consequently within a vacuum conduit 42, one end of which opens into or near the top of the waste storage volume. The vacuum conduit 42 extends downward to a relatively low region at the front of the waste handling unit 40, and its distal end includes a vacuum nozzle 43 configured to protrude from the front of the waste handling unit 40. The vacuum nozzle 43 is sized to pass through an interface 49 provided on a pick-and-place machine 44, which will be described in more detail below. Preferably, the waste storage volume is sized to accommodate waste material from more than one "full" pick-and-place machine, allowing it to empty multiple pick-and-place machines before it itself needs to be emptied.

[0029] The pick-and-place machine 44 includes a waste module 46 located below the feeder 7 to receive waste material 23 generated by the feeder 7 and cut by the cutter 45. The waste module 46 includes a tray 47 configured to receive the cut waste material 23. The tray 47 has a sloping bottom surface for pushing the received waste material 23 towards its lowest point, located on the side of the pick-and-place machine 44 closest to the interface 49 (leftmost / negative Y-axis side), as shown. A vibration motor 48 is located near the sloping bottom surface of the tray 47 to apply vibration, thereby assisting the movement of the waste material 23 towards the interface 49. The interface 49 is preferably closed under normal conditions to prevent waste material from escaping from the waste module 46, but the interface 49 can be opened by a vacuum nozzle 43 (see...). Figure 7 For example, interface 49 may include a simple flap valve that is typically suspended vertically to close the interface, but it may be pushed aside by the incoming vacuum nozzle 43.

[0030] like Figure 7 As shown, the movement of AGV 1 along the positive Y-axis toward the pick-and-place machine 44 causes the vacuum nozzle 43 to pass through the interface 49 and thus be positioned within the tray 47. Activating the vacuum source 41 causes waste material 23 within the tray 47 to be sucked into the vacuum pipe 42 via the vacuum nozzle 43. This makes the nozzle a docking point for receiving waste material 23 from the waste module of the pick-and-place machine 46. The waste material then enters the vacuum storage volume in the direction of the arrow shown in the figure. Therefore, the vacuum pipe 42 constitutes a conveying device, and its upper end forms a transfer area. After emptying the waste module 46 (this operation can be controlled, for example, by ensuring at least a minimum duration of suction or by sensing the height or mass of existing waste material 23 on the tray 47), AGV 1 moves away from the pick-and-place machine 44 along the negative Y-axis to disengage the vacuum nozzle 43 from the interface 49, which then closes. Then, AGV 1 can leave the pick-and-place machine 44, for example, to another pick-and-place machine (not shown) that may require emptying waste material 23, or to a remote waste collection point (not shown). At the remote waste collection point, the waste handling unit can be emptied by removing waste material 23 through a separate opening (not shown); or, a vacuum nozzle 43 can be inserted into the interface (similar to interface 49) of the remote waste collection point, blowing the waste material from the waste storage volume and allowing it to enter the remote waste collection point through the vacuum pipe 42. This operation can be achieved if the vacuum source can also increase the air pressure within the waste storage volume. Alternatively, a separate pump or similar device (not shown) can be provided for this purpose.

[0031] Figure 8A schematic side cross-sectional view of a mobile robot or AGV 1 equipped with a waste disposal unit 50 according to another embodiment of the present invention is shown, the waste disposal unit 50 being coupled to a pick-and-place machine 54. This embodiment shares many similarities with the foregoing embodiments. In particular, the waste disposal unit 50 includes an internal waste storage volume equipped with a vacuum source 51 (e.g., a pump) capable of generating at least a partial vacuum within the waste storage volume and consequently within a vacuum conduit 52, one end of which opens at or near the top of the waste storage volume and leads into it. The vacuum conduit 52 extends downward to a relatively low region at the front of the waste disposal unit 50, and the distal end of the vacuum conduit 52 includes a vacuum nozzle 53 configured to protrude from the front of the waste disposal unit 50. The vacuum nozzle 53 is sized to pass through an interface 59 provided on the pick-and-place machine 54. Preferably, the waste storage volume is designed to accommodate waste material from more than one "full" pick-and-place machine, allowing it to empty multiple pick-and-place machines before it needs to be emptied itself. The pick-and-place machine 54 includes a waste module 56 located below the feeder 7 to receive waste material 23 generated by the feeder 7 and cut by the cutter 55. The waste module 56 includes a tray 57 for receiving the cut waste material 23.

[0032] Tray 57 has a sloping bottom surface for pushing the received waste material 23 to its lowest point, which is located on the side of the pick-and-place machine 54 closest to interface 59 (the leftmost negative Y-axis side), as shown. Interface 59 is preferably closed in the normal state to prevent waste material from escaping from the waste module 56, but interface 59 can be opened by vacuum nozzle 53. For example, interface 59 may include a simple flap valve that is typically suspended vertically to close the interface, but it can be pushed aside by the incoming vacuum nozzle 53.

[0033] However, in this embodiment, the vacuum nozzle 53 is equipped with a cleaner 60, which is a rotating brush. This cleaner selectively rotates and drives the rotating brush to physically push the waste material 23 on the tray 57 towards the vacuum nozzle 53. In this embodiment, the vacuum nozzle 53 can be adapted to move back and forth to clean different areas of the tray 57. This can be achieved in various ways (e.g., making the vacuum nozzle extendable relative to the AGV 1, or simply moving the AGV 1 back and forth).

[0034] This embodiment and Figure 6 Another difference in the system shown is that the waste module 56 of the pick-and-place machine is not equipped with a vibratory motor, but instead with an air blowing device 58. This air blowing device is adapted to blow airflow toward the interface 59, thereby pushing the waste material 23 in the tray 57 toward the interface 59. Naturally, a vibratory motor can also be used as a supplement to or replacement for the air blowing device 58. Similarly, air blowing devices such as the air blowing device 58 can also be applied to Figure 6 and Figure 7 The pick-and-place machine 44 shown.

[0035] Figure 9 A schematic side sectional view of a mobile robot or AGV 1 equipped with a waste handling unit 70 according to another embodiment of the present invention is shown, the waste handling unit 70 being engaged with a pick-and-place machine 74. This embodiment shares some similarities with the two embodiments described above. The waste handling unit 70 includes an internal waste storage volume and a conduit, in this embodiment, a conveying conduit 71, one end of which opens at or near the top of the waste storage volume and leads into it. The conveying conduit 71 extends downward to a relatively low region at the front of the waste handling unit 70, with its distal end opening towards the front of the waste handling unit 70. The conveying conduit 71 houses a conveying device for transporting waste material 23 along the conduit to the waste storage volume. As shown, the conveying device may include separate vertical conveyors 72 and horizontal conveyors 73, or in other embodiments (not shown), a combined conveyor. The conveyor includes a conveyor belt fitted with a bucket 81 for lifting the waste material 23 and feeding it into the waste storage volume, as indicated by the arrow. Preferably, the waste storage volume is designed to accommodate waste material from more than one "full" pick-and-place machine, allowing it to empty multiple pick-and-place machines before it needs to be emptied itself. The waste handling unit 70 is equipped with a linear actuator 82 operable to reciprocate a push rod 78 within a tray 77 located in the waste module 76 of the pick-and-place machine 74. Similar to the previous embodiment, this tray is configured to receive waste material 23 from the feeder 7 and cut by the cutter 75. A pusher plate 80 is located at the distal end of the push rod 78, which pushes the waste material 23 towards the leftmost (negative Y-axis direction) interface 79 of the pick-and-place machine 74, as shown. The tray 77 may have a completely horizontal bottom surface so that the pusher plate can move a sufficient horizontal distance. In this embodiment, the leftmost side (negative Y-axis direction) of the tray 77 protrudes beyond the pick-and-place machine 74, forming a discharge hopper area whose size is set so that it can be accommodated in the front opening of the conveying pipe 71, thereby guiding the waste material 23 to the vertical conveyor 72.

[0036] Preferably, the push rod 78 and its pusher plate 80 are permanently disposed within the waste material module 76. In this case, the waste handling unit 70 can accommodate the distal end of the push rod 78 when it approaches the placeer 74. Alternatively, the push rod 78 can also be held by the waste handling unit 70. In this case, the push rod 78 can extend outward from the waste handling unit 70 when it engages with the waste material module 76. In either case, the push rod 78 extends through the interface 79.

[0037] After the waste module 76 is emptied (this operation can be controlled, for example, by ensuring a minimum engagement time or by sensing the height or mass of existing waste material 23 on the tray 77), the AGV 1 moves away from the pick-and-place machine 74 along the negative Y-axis to remove the delivery pipe 71 from the funnel section. The AGV 1 can then leave the pick-and-place machine 74, for example, to another pick-and-place machine (not shown) that may require waste material emptying, or to a remote waste collection point (not shown).

[0038] The above embodiments are merely exemplary, and other possibilities and alternatives within the scope of the present invention will be apparent to those skilled in the art.

Claims

1. A waste processing unit, adapted to be carried by a mobile robot and used to receive waste materials from the waste module of a pick-and-place machine on a surface mount technology (SMT) production line, the waste processing unit comprising: Waste storage volume section The docking section is used to receive waste materials from the waste module of the chip mounter. The transfer area separated from the docking part, A conveying device for transporting the received waste material from the docking section to the transfer area, and A transfer device for transferring the conveyed waste material from the transfer area to the waste storage volume.

2. The waste treatment unit of claim 1, wherein, In use, the transfer area is located vertically above the docking portion, and The conveying device includes a lifting device for lifting the received waste material from the docking section to the transfer area.

3. The waste treatment unit of claim 1, wherein, The waste module of the chip mounter includes a waste box, and in use, the docking part receives the waste box of the waste module, the waste material is located in the waste box, and the conveying device transports the waste material received in the waste box.

4. The waste handling unit according to claim 3, comprising a joining device for engaging the waste box with the pick-and-place machine and moving it to the docking portion when the waste box is located at the pick-and-place machine.

5. The waste treatment unit of claim 4, wherein, The engagement device includes a movable arm configured to move along at least one horizontal axis with a motion component, and wherein the movable arm includes an engagement tool adapted to releasably engage with the waste container.

6. The waste treatment unit according to claim 3, wherein, The transfer device is configured to empty the waste material from the waste container into the waste storage volume, and The conveying device is configured to return the emptied waste box to the docking section.

7. The waste treatment unit of claim 6, wherein, The upper end of the waste storage volume has an opening, and the transfer device is configured to rotate the waste box to pour waste material into the opening.

8. The waste treatment unit of claim 7, wherein, The conveying device includes a movable conveyor belt arranged in a ring, and the transfer device is located on the upper part of the ring belt, where the conveyor belt moves in a rotational motion.

9. The waste treatment unit according to claim 3, wherein, The waste storage volume includes a storage compartment for storing the waste box and at least one additional waste box, and wherein the conveying device is configured to transport the waste box and / or the at least one additional waste box between the storage compartment and the docking section.

10. The waste treatment unit according to claim 1, wherein, The docking section includes an inlet for receiving waste material from the chip mounter, and the conveying device includes a pipe for conveying the waste material from the inlet to the transfer area.

11. The waste treatment unit of claim 10, comprising a vacuum system for creating a low-pressure zone near the transfer zone to drive the waste material through the pipe to the transfer zone.

12. The waste treatment unit according to claim 11, wherein, The conduit is extendable, allowing the inlet to move horizontally relative to the transfer zone during use.

13. The waste treatment unit of claim 11, comprising rollers near the inlet for guiding waste material to the inlet.

14. The waste treatment unit of claim 10, comprising at least one conveyor to drive the waste material through the pipeline to the transfer area.

15. The waste handling unit of claim 10, further comprising an actuator configured to actuate a slider disposed at the waste module of the pick-and-place machine to push waste material toward the inlet.

16. A mobile robot comprising a waste processing unit according to any one of the preceding claims.

17. A chip mounter, comprising a waste module adapted to engage with a waste handling unit according to any one of claims 1 to 15.

18. A method for processing waste from a pick-and-place machine on an SMT production line, comprising the steps of: Equip the mobile robot with the waste processing unit according to any one of claims 1 to 15. Move the mobile robot to the placement machine, and Waste materials are transferred from the chip mounter to the waste treatment unit.

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