Suction frame with a suction unit designed as a telescopic suction stick and transfer station, system and method

Abstract

Suction frame (1) for transporting circuit boards, comprising an adapter (4) and a plurality of suction units, - wherein the adapter (4) comprises a fluid connection (12) and a line network and - wherein the adapter (4) comprises a plurality of coupling receptacles connected to the fluid connection (12) via the line network and - each suction unit comprising a coupling head (30), - wherein the coupling receptacles and the coupling heads (30) are matched to one another in such a way that each suction unit can be coupled to the adapter (4) in a snap-in manner and can be uncoupled from the adapter (4) in a snap-in manner, and - wherein at least one suction cup of each suction unit is connected in the coupled state through the coupling head to the line network of the adapter (4), - wherein at least one suction unit is designed as a suction pick (3) - wherein a suction bellows (50) or a suction plate for contacting a flat workpiece (51) is spaced from the coupling head via a preferably telescopic prod.

Description

[0001] The invention relates to a suction frame according to the preamble of claim 1, a transfer station for suction units and a method for handling circuit boards.

[0002] Suction cup frames are known from the prior art in which suction cups, particularly suction prongs, are mounted on an adapter plate, which in turn can be attached to an industrial robot. The suction cups are manually mounted in a predetermined position on a grid and each connected to a pump or other type of suction device via a hose. A disadvantage of this is that complex and failure-prone piping systems must always be installed in the area of ​​the suction cups, especially the suction cup bellows, which makes it difficult to change the configuration or position of the suction cups at short notice.

[0003] Furthermore, systems are known in which complete suction cup frames, which are permanently prepared for a specific configuration of parts to be picked up, such as circuit boards, are stored in a storage unit, a so-called "suction cup station," and are attached to or picked up by a robot depending on the part to be handled. The disadvantages of these designs are the lack of flexibility and the high space requirements when a large number of configurations are to be recorded.

[0004] The object of the invention is therefore to provide a suction frame which can be easily, in particular fully automatically, adapted to a component, for example a circuit board to be handled.

[0005] The invention thus relates to a suction frame for the transport of flat workpieces (e.g. circuit boards) comprising an adapter and a plurality of suction units, - wherein the adapter comprises a fluid connection and a pipe network and - wherein the adapter comprises a plurality of coupling receptacles connected to the fluid connection via the pipe network and - each suction unit comprising a coupling head, - the coupling receptacles and the coupling heads are matched to one another in such a way that each suction unit can be coupled to the adapter in a snap-in manner and can be uncoupled from the adapter in a snap-in manner, and - wherein at least one suction cup of each suction unit is connected to the line network of the adapter through the coupling head in the coupled state.

[0006] By connecting a suction unit to a line network via a coupling head, the complex and time-consuming cable routing is eliminated and a fully automatic, freely programmable suction cup assembly of suction cup frames for the production of different components within a production line is possible.

[0007] In a preferred embodiment, each suction unit with its coupling head can be coupled to one of the adapter's coupling receptacles either by a plug-in movement or by a plug-in and rotating movement, or each suction unit with its coupling head can be uncoupled from one of the adapter's coupling receptacles either by a pulling movement or by a rotating and pulling movement. (The plug-in and pulling movements are linear.)

[0008] Such movements can be carried out with automatable manipulators and also allow for improved, fully automatic, freely programmable suction cup assembly of suction cup frames.

[0009] It is also preferred that the adapter has a multi-layer structure, preferably a sandwich structure, wherein the multi-layer structure comprises in particular at least one lower guide layer for guiding the coupling heads, e.g. a lower guide plate and / or at least one upper coupling layer for coupling the coupling heads to the line network, e.g. a coupling plate and / or at least one profile carrier is present between the layers, to which at least one, preferably all layers are directly or indirectly fastened.

[0010] The lower layer guides the coupling head and absorbs transverse forces that occur when the suction cup frame moves on the robot. Together with the upper layer, which also carries the feedthrough to a vacuum coupling for connection to a piping system, a suction cup unit is preferably supported on two supports to withstand the forces that occur when a flat workpiece is moved on the suction cup frame with a robot.

[0011] Furthermore, in one embodiment of the invention, it is provided that the adapter has a grid on which the coupling receptacles are arranged periodically in at least one, preferably two spatial directions.

[0012] The grid-like arrangement of vacuum couplings, especially self-closing vacuum couplings, allows a fixed line network to be installed on the adapter. Depending on the configuration for a specific component to be transported, a suction unit can be attached to each grid point. This suction unit opens the vacuum coupling only when present and can be controlled individually or in combination via valves, if necessary.

[0013] Furthermore, it is preferred that at least one suction unit is designed as a suction pick, wherein a suction bellows or a suction plate for contacting a flat workpiece is spaced from the coupling head via a preferably telescopic pick.

[0014] Suction picks offer the possibility of immersing into PCB stacks or more complex geometries without requiring space for the entire suction frame. This is necessary, for example, when removing PCBs from stacks that are held, positioned, and stored by rods at the edges.

[0015] One embodiment provides that at least one suction unit comprises a fluid line located at least partially over its extension, preferably an internal vacuum channel for the suction of flat workpieces, wherein the fluid line is formed in particular over more than 50%, preferably over more than 80%, in particular 100% of a longitudinal extension of the suction unit.

[0016] The internal routing of the fluid line, especially the vacuum channel, offers greater security against malfunctions and allows simple and undifferentiated handling of the suction unit using a loading robot or a transfer station.

[0017] A transfer station according to the invention is provided to automatically arrange the suction units on the adapter in a desired configuration. To enable fully automatic, freely programmable suction cup loading of suction cup frames for the production of different components within a production line, a device must be able to arrange and remove the respective suction units.

[0018] The transfer station according to the invention for transferring stored suction units to an adapter or removing suction units from an adapter to provide a suction frame according to the invention is characterized in that the transfer station comprises means for actuating a coupling mechanism of a coupling head on a suction unit, preferably gripping and / or pressing and / or rotating means, wherein the actuating means are designed in particular for opening and locking a latching connection on a coupling head of a suction unit.

[0019] Preferably, the transfer station can comprise at least one, preferably two linear movement axes in one plane in order to position a suction unit on an adapter at the desired location and / or that the transfer station comprises at least one movement axis, in particular a lifting unit, for moving a received suction unit along its longitudinal axis.

[0020] Either the transfer station moves the adapter in the xy plane to the respective location in order to position the suction unit, or the robot carrying the adapter places it at the appropriate location.

[0021] Preferably, the transfer station can then comprise a lifting unit which inserts the suction unit into the coupling receptacle, locks itself there or is locked there by the transfer station and couples it to a line network, preferably to a vacuum.

[0022] Furthermore, the transfer station can comprise a storage unit for suction units to be accommodated, wherein the storage unit is preferably designed as a linear storage unit or as a circulating storage unit.

[0023] Stocking suction units is necessary because different configurations of the suction frame may require different numbers of suction units.

[0024] According to the invention, a system is also provided for handling flat workpieces, e.g., circuit boards, which have different contours. The system comprises a manipulator, an adapter, a plurality of suction units, a transfer station, and a magazine. - the manipulator is connected to the adapter, - wherein the adapter comprises a fluid connection and a pipe network, - wherein the adapter comprises a plurality of coupling receptacles connected to the fluid connection via the pipe network, - the coupling receptacles and the coupling heads are matched to one another in such a way that each suction unit can be coupled to the adapter in a snap-in manner and can be uncoupled from the adapter in a snap-in manner, - wherein at least one suction cup of each suction unit is connected to the line network of the adapter through the coupling head in the coupled state.

[0025] Such a system allows fully automatic, freely programmable suction cup assembly of suction cup frames for the production of different components within a production line.

[0026] It is preferred that the transfer station provides a suction unit for delivering one of the suction units to the adapter connected to the manipulator in such a way that - either the manipulator moves the adapter with a free coupling receptacle in the coupling direction onto the coupling head with a linear movement until it engages in the free coupling receptacle, - or the transfer station moves the suction unit with a linear movement in the direction of a free coupling receptacle of the adapter positioned towards the transfer station in such a way that its coupling head engages in the coupling receptacle.

[0027] In this way, the flexible, automated assembly of a suction cup frame within a partially or fully automated production line is possible.

[0028] Furthermore, it is preferred that the transfer station is ready for removing one of the suction units from the adapter connected to the manipulator in such a way that the manipulator and the transfer station are positioned relative to one another by a movement of the manipulator and / or a movement of the transfer station for removing a suction unit held in the adapter in such a way that an actuating means of the transfer station unlocks a locking mechanism of the suction unit and then the coupling head of the suction unit and the coupling receptacle of the adapter are separated from one another by a relative movement between the transfer station and the adapter.

[0029] According to the invention, there is also provided a method for adapting a suction frame, which comprises an adapter and at least one suction unit, to flat workpieces of different contours, comprising the steps of - Removing all suction units arranged on the adapter for a first workpiece from the adapter, - Equipping the adapter with the suction units required for a second workpiece on the adapter according to a pattern adapted to the workpiece.

[0030] Removing all suction units before reloading allows the automation system to freely select the loading sequence without having to consider any existing loads. This is a key criterion, especially for the positioning and approach paths of the transfer station, which improves handling speed during loading and unloading.

[0031] Furthermore, a method for adapting a suction frame according to the invention, which comprises an adapter and at least one suction unit, to flat workpieces of different contours, comprising the steps of - Removing all suction units not required for gripping the next workpiece from the adapter, - Equip the adapter with the suction units required for the next workpiece in addition to the existing suction units.

[0032] The invention allows the provision of fully automatic suction frames and their conversion without manual intervention or complicated wiring. Fig. 1 shows a schematic view of a suction frame on a robot with transfer station and linear storage. Fig. 2 shows a section of an adapter without a suction unit arranged. Fig. 3 shows a coupling head on a suction pick. Fig. 4 shows a section of a mounted suction pick on the adapter with the coupling head inserted. Fig. 5 shows a section through a suction pick at a cutout of an adapter. Fig. 6 shows a transfer station with circulating storage. Fig. 7 shows a transfer station with linear storage.

[0033] In detail, Fig. 1 a suction frame 1 on a robot arm 2 (partially shown). Suction sticks 3 are shown on the suction frame 1, which are arranged via a transfer station 20 from a linear storage device 21. The transfer station shown is shown in Fig. 8 described in more detail.

[0034] The suction cup frame 1 comprises an adapter 4, which is visible in the form of an upper plate 5. Located on the upper plate 5 are vacuum couplings 6, which are contacted from the underside by the coupling heads of the suction cups 3. A cable network is not shown on the upper side for reasons of clarity.

[0035] On the top side of plate 5, a plug-in grid is shown, which can be provided with appropriate vacuum couplings if necessary in order to allow the most flexible assembly possible.

[0036] The suction frame 1 also includes arms 7, which allow additional flexibility during loading.

[0037] Fig. 2 shows a section of a sandwich structure of the adapter 4 according to the invention. The sandwich structure comprises an upper plate 5 and a lower plate 10. The upper plate 5 carries the vacuum coupling 11, to which a line 13 for a pipeline network is connected via a fluid connection 12. The upper plate 5 is screwed to a support profile 15 via screw connections 14 and has an opening 16 for the passage of a coupling head for connection to the vacuum coupling 11. The lower plate 10 is also connected to the support profile 15 via screw connections 17 and includes a coupling receptacle 18 for the passage of the coupling head. The two receptacles in the opening 16 and the coupling receptacle 18 hold a suction pick in such a way that it can withstand the movement forces when the suction frame 1 is in use.

[0038] Fig. Figure 3 shows an upper section of a suction pick 3 with a coupling head 30. The coupling head 30 has different diameters at different sections. A lower section 31 accommodates the coupling receptacle 18. The diameter is adapted to the passage in the lower plate 10.

[0039] Below this is a handling area 32 for the transfer station. Means 33 for actuating the locking mechanism 34 are provided in the handling area, which in this case is designed in the form of a latch. The means 33 are pressed in by the transfer station, causing the latches 34 to retract and allowing the suction pick 3 to be removed from or inserted into the adapter 4.

[0040] In the upper section 35, the passage through the opening 16 is provided, which then contacts the vacuum coupling 11.

[0041] Fig. 4 shows an assembled state of a suction pick 3 in a section of an adapter 4.

[0042] In Fig. Figure 5 shows the suction pick in assembled condition in a section of the adapter.

[0043] The suction pick 3 comprises a suction bellows 50 for picking up a flat workpiece 51 by suction. The suction bellows 50 is connected to the vacuum coupling 11 on the adapter 4 by an internal vacuum line 52. A lower section 53 of the suction pick 3 can be designed to be telescopic.

[0044] For attachment to the adapter 4, the suction pick 3 includes a latch assembly 33 that can be pivoted about axes 54. The latches 33 engage in the coupling receptacle 18 and simultaneously rest on the lower plate 10 in the lower region 55. The upper section 35 rests on the upper plate 5, thus providing the mounted suction pick 3 with sufficient support against transverse forces.

[0045] Fig. 6 shows a transfer station 60. The transfer station comprises a suction gripper 61, which is arranged on a linear axis in the Z direction 62 and a linear axis in the X direction 63. In a circulating storage unit 70, a chain 65 with receptacles 66 for suction picks 3 is provided on a chain drive 64. The receptacles 66 also utilize the latches 33 with the locking latches 34 to pick up and hold the suction picks 3.

[0046] The suction gripper engages the area 32 and presses in the means 33 to move the locking pawls radially inward and release them. The suction pick can then be removed from the storage 70 in the Z direction via the Z-axis 62, along the longitudinal axis 58 of the suction pick, and fed to the adapter (not shown here) via the X-axis 63, where it can be inserted. The recirculating storage 70 advances the next suction pick 3 by conveying the chain 65 in the conveying direction 71 and makes this or a free space available for removal or insertion.

[0047] In Fig. Figure 7 shows a corresponding arrangement with a linear memory.

[0048] The transfer station 20 comprises a suction gripper 24, which is arranged on a linear axis in the Z direction 22 and a linear axis in the X direction 23. Receptacles 25 for suction picks 3 are provided longitudinally in a linear storage unit 21. The receptacles 25 also utilize the latches 33 with the locking latches 34 to pick up and hold the suction picks 3.

[0049] The suction gripper 24 engages the area 32 and presses the means 33 in to move the locking pawls radially inward and release them. The suction pick can then be removed from the storage 21 in the Z direction via the Z-axis 22, along the longitudinal axis 58 of the suction pick, and fed to the adapter (not shown here) via the X-axis 23, where it can be inserted. The linear storage 21 is accordingly moved by the X-axis 23 to a stored suction pick 3 or a free location for removal or insertion.

Claims

[1] Suction frame (1) for transporting circuit boards, comprising an adapter (4) and a plurality of suction units, - wherein the adapter (4) comprises a fluid connection (12) and a line network and - wherein the adapter (4) comprises a plurality of coupling receptacles connected to the fluid connection (12) via the line network and - each suction unit comprising a coupling head (30), - wherein the coupling receptacles and the coupling heads (30) are matched to one another in such a way that each suction unit can be coupled to the adapter (4) in a snap-in manner and can be uncoupled from the adapter (4) in a snap-in manner, and - wherein at least one suction cup of each suction unit is connected in the coupled state through the coupling head to the line network of the adapter (4), - wherein at least one suction unit is designed as a suction pick (3) - wherein a suction bellows (50) or a suction plate for contacting a flat workpiece (51) is spaced from the coupling head via a preferably telescopic prod. [2] Suction frame (1) according to claim 1, characterized by that each suction unit with its coupling head (30) can be coupled to one of the coupling receptacles of the adapter (4) either by a plug-in movement or by a plug-in and rotary movement, or that each suction unit with its coupling head (30) can be uncoupled from one of the coupling receptacles of the adapter (4) either by a pulling movement or by a rotary-pulling movement. (The plug-in and pulling movements are linear) [3] Suction frame (1) according to claim 1 or 2, characterized bythat the adapter (4) has a multi-layer structure, preferably a sandwich structure, wherein the multi-layer structure in particular comprises at least one lower guide layer for guiding the coupling heads, e.g. a lower guide plate and / or at least one upper coupling layer for coupling the coupling heads (30) to the line network, e.g. a coupling plate and / or at least one profile carrier is present between the layers, to which at least one, preferably all layers are directly or indirectly fastened. [4] Suction frame (1) according to one of the preceding claims, characterized by that the adapter (4) has a grid on which the coupling receptacles are arranged periodically in at least one, preferably two spatial directions. [5] Suction frame (1) according to one of the preceding claims, characterized bythat at least one suction unit comprises a fluid line which is located at least partially over its extension, preferably an internal vacuum channel for the suction of flat workpieces, wherein the fluid line is designed to be internal in particular over more than 50%, preferably over more than 80%, in particular 100% of a longitudinal extension of the suction unit. [6] Transfer station (60) for transferring stored suction units to an adapter (4) or removing suction units from an adapter (4) to provide a suction frame (1) according to one of claims 1 to 6, characterized by that the transfer station (60) comprises means for actuating a coupling mechanism of a coupling head (30) on a suction unit, preferably gripping and / or pressing and / or rotating means, wherein the actuating means are designed in particular for opening and locking a latching connection on a coupling head of a suction unit. [7] Transfer station (60) according to claim 6, characterized by that the transfer station (60) comprises at least one, preferably two linear movement axes in one plane in order to position a suction unit on an adapter (4) at the desired location and / or that the transfer station (60) comprises at least one movement axis, in particular a lifting unit, for moving a received suction unit along its longitudinal axis. [8] Transfer station (60) according to claim 6 or 7, characterized by that the transfer station (60) comprises a storage for suction units to be accommodated, wherein the storage is preferably designed as a linear storage or as a circulating storage [9] System for handling flat workpieces, e.g. boards, which have different contours, comprising a manipulator, an adapter (4), a plurality of suction units, a transfer station (60) according to one of claims 6 to 8 and a magazine, - wherein the manipulator is connected to the adapter (4), - wherein the adapter (4) comprises a fluid connection and a pipe network, - wherein the adapter comprises a plurality of coupling receptacles connected to the fluid connection via the pipe network, - wherein the coupling receptacles and the coupling heads (30) are matched to one another in such a way that each suction unit can be coupled to the adapter (4) in a snap-in manner and can be uncoupled from the adapter (4) in a snap-in manner, - wherein at least one suction cup of each suction unit is connected to the line network of the adapter (4) through the coupling head (30) in the coupled state. [10] System according to claim 9, characterized by that the transfer station (60) provides a suction unit for delivering one of the suction units to the adapter (4) connected to the manipulator in such a way that - either the manipulator moves the adapter (4) with a free coupling receptacle in the coupling direction onto the coupling head with a linear movement until it engages in the free coupling receptacle, - or the transfer station moves the suction unit with a linear movement in the direction of a free coupling receptacle of the adapter (4) positioned towards the transfer station in such a way that its coupling head engages in the coupling receptacle. [11] System according to claim 9 or 10, characterized bythat the transfer station (60) is ready for removing one of the suction units from the adapter (4) connected to the manipulator in such a way that the manipulator and the transfer station (60) are positioned relative to one another by a movement of the manipulator and / or a movement of the transfer station (60) for removing a suction unit held in the adapter (4) in such a way that an actuating means of the transfer station (60) unlocks a locking mechanism of the suction unit and then the coupling head (30) of the suction unit and the coupling receptacle of the adapter (4) are separated from one another by a relative movement between the transfer station (60) and the adapter (4). [12] Method for adapting a suction frame (1), which comprises an adapter (4) and at least one suction unit, to flat workpieces of different contours, comprising the steps of - removing all suction units arranged on the adapter (4) for a first workpiece from the adapter (4), - Equipping the adapter (4) with the suction units required for a second workpiece on the adapter (4) according to a pattern adapted to the workpiece. [13] Method for adapting a suction frame (1), which comprises an adapter (4) and at least one suction unit, to flat workpieces of different contours, comprising the steps of - Removing all suction units not required for gripping the next workpiece from the adapter (4), - Equip the adapter (4) with the suction units required for the next workpiece in addition to the existing suction units.

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