Method for generating commands or a program for controlling a soldering robot, as well as an associated device, a program, a data carrier signal, a control unit and a soldering robot

Abstract

Method (10) for generating commands (12) or a program (14) comprising the commands (12) for a controller (16) of a soldering robot (18) for the automated execution (20) of a soldering process (21), characterized by the following steps, a) Receiving (22) image data (24) and / or sensor data (26) generated during a manual execution (28) of the soldering process (29) to be automated using at least one hand soldering tool (44), wherein the image data (24) and / or sensor data (26) represent the manual execution (28) of the soldering process (29), and b) Generating (27) commands (12) from the received image data (24) and / or sensor data (26) for the control (16) of the soldering robot (18) by means of a data evaluation (34), such that when the commands (12) are processed by the control (16) of the soldering robot (18), the soldering robot (18) performs the soldering process (21) at least largely in accordance with the manual execution (28) automatically (20).

Description

[0001] The present invention relates to a method for generating commands or a program comprising the commands for controlling a soldering robot for automatically performing a soldering process. The present invention also relates to a device for implementing the method, a program comprising the commands generated by the method, a data carrier signal, a control unit, and a soldering robot.

[0002] Soldering components is a key step in the production of electronic assemblies. Soldering processes in high volumes can only be implemented economically with a high degree of automation, for which reflow and wave soldering systems are used.

[0003] Some soldering processes can only be performed manually due to their complexity or the properties of the components to be soldered. This requires skilled and specialized personnel trained in hand soldering. Soldering robots are an alternative, allowing automated and repeated soldering similar to manual procedures. Soldering robots are intended to simplify this type of soldering and enable it to be performed independently of skilled personnel.

[0004] However, automating the soldering process and creating corresponding commands or programs for a soldering robot is problematic. There are approaches to creating commands based on CAD data of the components to be soldered and their properties. However, this requires more complex data models and empirical values ​​of the soldering process to be automated, which vary from soldering process to soldering process. Another approach—which the applicant uses to program soldering robots—is to manually guide or control a soldering robot equipped with a manual soldering tool during the soldering process and thus generate commands (teach-in).

[0005] These approaches are associated with high complexity and time-consuming disadvantages, usually requiring an iterative process with several loops to automate the soldering task. These processes also require a person trained and experienced in robotics.

[0006] WO 2023 / 059453 A1 describes a telemanufacturing system, particularly for welding systems. This system involves manually controlling a manufacturing process remotely.

[0007] DE 20 2020 106 614 U1 discloses a soldering system with a soldering device that has a user interface configured as a voice interface or a gesture interface. Furthermore, means for determining actual soldering information are provided.

[0008] EP 3 476 516 A1 discloses a soldering device that communicates with other units via radio modules. Furthermore, output devices can be provided for visually displaying information.

[0009] The object of the present invention is to provide an improved possibility for the automated processing of a soldering process.

[0010] The object underlying the invention is achieved by a method for generating commands or a program comprising the commands for controlling a soldering robot for automatically performing a soldering process. Such a soldering process can be the soldering of components on a circuit board or the desoldering of the components. The method comprises the following steps: a) receiving image data and / or sensor data generated during a manual execution of the soldering process to be automated using at least one manual soldering tool, wherein the image data and / or sensor data represent the manual execution of the soldering task, and b) Generating commands from the received image data and / or sensor data for controlling the soldering robot by means of a data evaluation such that when the commands are processed by the control system of the soldering robot, the soldering robot carries out the soldering process at least largely in an automated manner corresponding to the manual execution.

[0011] This has the advantage that a trained and experienced soldering operator can perform the manual soldering process undisturbed and without any noticeable disruptions to the operator while the sensor and image data are being generated. The soldering process can thus be performed "optimally" by the soldering operator while the data is being generated. Intuitive manual soldering, as if without data recording for automation, can be ensured, thereby improving the data quality for generating commands. A soldering robot can then be simplified and quickly automated using the generated commands and / or the program.

[0012] Impairments such as those that occur during the teach-in of a robot arm with a soldering tool attached to it, in particular movement restrictions or visual restrictions, do not occur with the method according to the invention. Such movement restrictions or visual restrictions that are unavoidable during teach-in lead to cumbersome and erroneous movements, which further result in defective data and the resulting defective commands. Thus, according to the method according to the invention, the soldering operator is not distracted or disrupted by such impairments in their usual intuitive actions and professional skills.

[0013] With the method according to the invention, multiple iteration loops for generating the commands or program are no longer necessary; only a data evaluation of the received sensor data and / or image data is required. Furthermore, no specialist personnel trained in operating a soldering robot is required to generate commands and / or the program for automating the soldering robot; only a soldering operator trained and experienced in hand soldering is required. The soldering process can encompass all types of soldering, particularly those in which electronic components are soldered to a circuit board using a hand soldering tool. Hand soldering tools can, in particular, be soldering irons for soldering and desoldering tools for desoldering. The use of soldering materials such as flux and solder, as well as the associated tools, can also be carried out seamlessly and intuitively in the soldering process.

[0014] Another advantage is that no information such as CAD data of the components or the circuit board is required in advance.

[0015] A further advantage is that the process for generating the commands or program can be carried out both temporally and spatially separately from the manual execution of the soldering process for generating the data. The later possible automated execution of the soldering process by a soldering robot can also be carried out both temporally and spatially separately from the execution of the process. For example, the soldering process can be carried out by the soldering operator at location A, the process for generating the commands or program can be carried out at location B, and the soldering robot, which ultimately carries out the automated soldering process, can be located at location C.

[0016] This could, in particular, significantly reduce soldering robot downtime. While the robot is still processing one production order, teach-in for the next production order can be carried out in parallel. Another advantage of spatially decoupling the soldering process is that the soldering operator does not have to teach in the soldering robot's difficult-to-access work area, allowing the teach-in process to be carried out more precisely and significantly more efficiently.

[0017] The process can also include another aspect: An intelligent and / or self-learning system can recognize repetitive teach tasks and propose a processing plan based on them. This has the advantage that, whenever data about the board and the components to be soldered are available and ready to be processed, similar soldering tasks can be recognized. The intelligent system can also advantageously detect minimal deviations in repetitive, identical soldering tasks and generate commands for a soldering robot to control the soldering robot accordingly. This is similar to automatic correction.

[0018] Advantageously, the received sensor data are generated during the manual execution by at least one sensor provided on or in the hand soldering tool.

[0019] It is conceivable that the received sensor data represents position data and / or acceleration data and / or temperature data of the hand soldering tool and / or solder material consumption data. Furthermore, it is conceivable that the position data and / or acceleration data are generated using an acceleration sensor or similar sensor. An acceleration sensor is a sensor that can detect the spatial orientation and / or acceleration and / or idle times of the hand soldering tool. This sensor can be provided, in particular, on or in the hand soldering tool and thus generate precise sensor data of the manual soldering process. From this sensor data, the method can generate precise commands for automating the soldering process.

[0020] Advantageously, position data is also collected, especially for all tools and components such as soldering tips, flux syringes, etc., as well as auxiliary materials such as solder wire. Position data can be acquired either by sensors or generated from image data.

[0021] The temperature data can be generated using at least one temperature sensor. The at least one temperature sensor can be arranged in the handheld soldering tool and measure the temperature of the soldering tip of the handheld soldering tool, thereby generating sensor data. PTC or NTC sensors are particularly suitable for this purpose. However, infrared sensors, thermal imaging cameras, and / or thermocouples are also conceivable, which measure not only the temperature of the soldering tip, but also the temperature of a soldering joint and / or adjacent components. Multiple temperature sensors are also conceivable, as are combinations of different temperature sensors.

[0022] The received image data can advantageously be generated using at least one CCD or video camera or another image capture source capturing the hand-held soldering tool and / or a component to be soldered, and / or a VR camera. The CCD or video camera can, in particular, be directed at a soldering tip geometry of the hand-held soldering tool. The VR camera can be worn by a person manually performing the soldering process to be automated, with the image data generated by the VR camera depicting, in particular, the soldering operator's field of vision.

[0023] Simultaneous use of the VR camera and the CCD or video camera is also conceivable, with the CCD or video camera being aimed at a component and / or circuit board to be soldered, and the other at the soldering tool. This allows image data to be generated that depicts the entire process, as far as possible, without obscurations or blind spots, in order to generate commands. Mapping the soldering operator's field of vision with the image data has the advantage that the soldering operator always needs the best possible view of the soldering process and therefore constantly repositions their head. This advantageously eliminates the need for additional equipment to position a camera where the soldering process is clearly visible.It would also be conceivable to use thermal imaging cameras instead of conventional cameras that simply generate image data. These cameras, in addition to the image data, also generate temperatures and / or temperature profiles of the components depicted in the image data, the soldering tip, and the surrounding area. An additional camera or image acquisition source can also be arranged flexibly, meaning it can change its position and focus depending on the viewing angle. This is particularly advantageous if the soldering process data needs to be documented in a traceable manner.

[0024] The solder material consumption data can be generated using a solder tracking sensor and / or a flux sensor. The solder material consumption data is data that represents the consumption and type of solder material used and consumed during the soldering process. The flux sensor and / or the solder tracking sensor can be contained in a solder material dispensing device. The solder material includes, in particular, the solder and flux, particularly in the form of solder wire or solder paste. The solder must be tracked to a soldering point during the soldering process; this solder tracking can be detected and data generated via a solder tracking sensor. The solder tracking sensor can be arranged in a solder tracking device with a defined tracking stroke upon actuation or a manually operated feed wheel. For the flux, the flux sensor can perform a flux flow measurement to generate the data.A level sensor of a soldering material reservoir can also be used to generate solder material consumption data.

[0025] It is conceivable that the solder material consumption data is generated from the image data. The dimensions of the solder, such as its diameter, can be derived from the image data through data analysis. Markings within certain sections on the solder wire are also conceivable. The type of solder, in particular its alloy and flux additive, can be determined using markings such as a barcode and a comparison with a database in a data analysis memory. An additional object such as a glove with possible markings and scaling can also be used as a data source for solder material consumption. Alternatively, a solder wire pen specifically for the teach-in process is conceivable. This pen contains an acceleration sensor similar to the hand soldering tool and thus measures the spatial orientation and / or acceleration. This solder wire pen can then also contain the solder tracking sensor and / or a flux sensor.

[0026] Advantageously, the image data represents the spatial motion of a soldering tip of the hand-held soldering tool during the manual execution of the soldering process to be automated. The spatial motion can be mapped in a coordinate system with X, Y, and Z and an angle phi, thus generating commands for the automation of the soldering robot.

[0027] Preferably, position and / or acceleration data are generated from the image data. This has the advantage that this data can be generated regardless of position, but especially overhead.

[0028] The soldering tip geometry can be derived from the image data. Different soldering tip geometries can be stored in a database in the data analysis memory and recognized using object recognition and comparison with the database. It is also conceivable to mark the soldering tips with markings, such as a barcode, which are recognized by the data analysis system, with the marking being assigned to a specific soldering tip geometry. An RFID chip is also possible for recognition.

[0029] A defined movement by the soldering person can start the generation of image data and / or sensor data. It is conceivable that a defined movement by the person ends the generation of image data and / or sensor data. The movements can be analyzed using the image data from the cameras during manual execution of the soldering process before step a) of the method through further data evaluation and / or object recognition. The further data evaluation can provide control commands for starting and / or ending data generation. It is also conceivable that initial contact of the soldering tool with a circuit board and / or a component starts the generation of image data and / or sensor data. This starting of data generation can also be controlled by the further data evaluation. By controlling data generation in this way, further control elements for starting and / or ending data generation can be omitted.It is also conceivable to start and / or stop data generation using a voice command. For this purpose, it is advantageous to provide at least one microphone or other sound recording device.

[0030] Advantageously, the data analysis for generating the commands or program is performed on at least one computer. The computer preferably comprises a processor, a memory, and a data interface with an input / output. It is conceivable to provide the data interface for receiving the sensor data and / or image data and, on the other hand, for outputting the commands and / or the program. The output can be sent as a signal directly to a controller of a soldering robot or similar disassembly cell and / or to another memory. A program preferably comprises a chain of commands.

[0031] Advantageously, the instructions or program are stored in a memory. This memory can be, in particular, local memory on the computer, network storage, and / or in a networked cloud, and the instructions or program can be stored as a data set. Storage media such as USB flash drives, CD-ROMs, etc. are also possible. The data set can, in particular, be in XML format, as G-code, or any other machine-readable format.

[0032] It is conceivable that the commands or program can be retrieved from the memory by the soldering robot controller and / or sent to the soldering robot controller.

[0033] Another advantageous alternative to the described teach-in of temperature data is data processing of the soldering task data in advance. For this purpose, the soldering temperature required for each soldering point and the necessary amount of solder wire can be stored in a database. When the respective soldering point is then retrieved from the database, the correct soldering temperature and amount of solder wire for this position are automatically stored in the program and passed on to the controller that controls the soldering device or robot. This alternative method could enable a teach-in process without temperature and melting of solder wire, a "cold teach-in method". Thus, with this teaching variant, no contamination from flux splashes and no extraction of the fumes is necessary.

[0034] The object underlying the invention is also achieved by a device for carrying out the method according to the invention, comprising at least one hand tool, a camera, and a data evaluation unit, which is configured to generate the commands or the program according to the method according to the invention for a soldering robot. The device further preferably comprises a soldering workstation that provides tools such as soldering tips or various tools for soldering or desoldering and materials for manually carrying out the soldering process. These materials can be the soldering materials such as solder and flux as well as components and circuit boards to be soldered. It is conceivable that a centering frame with a coordinate system or further identification features is provided, in which the circuit board to be soldered is placed during the soldering process. It is also conceivable that components such as stranded wires on connectors are tinned during the soldering process.

[0035] The object underlying the invention is also achieved by a program comprising commands that were generated from image data and / or sensor data that were generated during a manual execution of a soldering process to be automated, by means of the method according to the invention.

[0036] The object underlying the invention is also achieved by a data carrier signal that transmits the program according to the invention in whole or in part. A data carrier signal is a signal that is transmitted from a transmitter to a receiver for the purpose of transmitting data. A data carrier can be either the transmitter or the receiver, whereby the corresponding receiver or transmitter can be, for example, a computer or a controller. It is conceivable that the program is stored and / or executed in a distributed manner on various computers or in a cloud, for example, to be transmitted or to generate control signals.

[0037] The object underlying the invention is also achieved by a soldering robot with a soldering device and a control unit, wherein the soldering robot is configured to automatically carry out a soldering process according to the commands or the program generated according to the method according to the invention. The soldering device can be a hand-held soldering tool, preferably a soldering iron. However, desoldering tools for desoldering components are also conceivable.

[0038] The object underlying the invention is also achieved by a control unit which is designed to provide control signals for a soldering robot from the commands generated according to the invention or the program according to the invention and / or from the data carrier signal according to the invention.

[0039] Overall, the automation of a soldering robot, so that the soldering robot carries out the soldering process at least largely in an automated manner corresponding to the manual execution, as well as the teach-in process, is improved by the invention.

[0040] Further details and advantageous embodiments of the invention can be found in the following description, on the basis of which embodiments of the invention are described and explained in more detail.

[0041] They show: Fig. 1: A flowchart of the procedure; Fig. 1a: a flowchart of data generation; Fig. 2: a schematic representation of a device for carrying out the method; and Fig. 3: a soldering robot with a soldering device with a controller.

[0042] In Fig. 1 shows a method 10 for generating commands 12 or a program 14 comprising the commands 12. The commands 12 or the program 14 are generated by the method 10 for a control 16 of a soldering robot 18, wherein the soldering robot 18 receiving the commands 12 or the program 14 is used for the automated execution 20 of a soldering process 21 in Fig. 3 is shown.

[0043] The Fig. The method 10 shown in Figure 1 comprises receiving 22 previously generated image data 24 and / or sensor data 26 and generating 27 the commands 12 or the program 14. The received data 24, 26 are processed after receiving 22 by a data evaluation 34 to generate 27 the commands 12 or the program 14.

[0044] The image data 24 and / or sensor data 26 are processed during a manual execution 28 of the soldering process 29 to be automated by means of a device 30 which is Fig. 2. The device 30 comprises a computer 32, with which the received image data 24 and / or sensor data 26 are processed after generation and the commands 12 or the program 14 are generated. The generated image data 24 and / or sensor data 26 to be processed represent the manual execution 28 of the soldering process 29.

[0045] Before going further into procedure 10, we will start with the Fig. The generation of the image data 24 and / or sensor data 26 will be explained in more detail with reference to the device 30 shown in Figure 2. The device 30 comprises a soldering workstation 36 with a centering frame 38 for a printed circuit board 40, wherein electronic components 42 to be soldered to the printed circuit board 40 are provided on the printed circuit board 40. Other components to be soldered are also conceivable, for example the soldering of cables to plug connections. For manually carrying out 28 the soldering process 29, a hand soldering tool 44, in particular a hand soldering iron, with a soldering tip 46, which here has a tapered soldering tip geometry 48, and a soldering material dispensing device 50 for solder and / or flux is provided. Prepared solder can also be provided instead of the soldering material dispensing device 50. The schematically illustrated hands 52 of the soldering person are intended to illustrate the manual execution 28 of the soldering process 29 by the soldering person.Completely soldered solder joints 54 and solder joints 56 still to be soldered are shown as contacts between component 42 and circuit board 40. Each of these solder joints 54, 56 can represent a single soldering process 29. It is also conceivable that soldering process 29 includes the soldering of a group of solder joints 54, 56.

[0046] For manual execution 28 of the soldering process 29, the solder is supplied to the corresponding soldering point 56 by means of the soldering material dispensing device 50, and the soldering point 55 is heated by contact with the hot tip 46 of the hand-held soldering tool 44, which is manually brought up by the soldering operator, and the solder is melted. A manually processed soldering point 55 with liquid solder is shown on the right side of the component. Instead of a soldering dispensing device 50, or in addition to the soldering dispensing device 50, prepared solder can also be supplied manually 52, and the commands and program can be generated using an imaging sensor 58, 60.

[0047] Another way to create the solder joint is with hot air without bringing a tip into contact with a solder joint or with any other joining technology such as laser soldering.

[0048] As soon as the contact points of the circuit board 40 and the component 42 are wetted and connected by the solder, the soldering operator removes the hand soldering tool 44, and in particular its soldering tip 46, from the soldering point 55 so that the still soft or liquid solder cools and solidifies. The finished soldering point 54 is then formed. Depending on the soldering process 29, flux can be applied to the soldering point 56 before processing.

[0049] Manual soldering requires a high degree of experience, expertise, and routine. Incorrect contact due to incorrect approach and positioning of the hand soldering tool 44 to the soldering point 56 can lead to the destruction or damage of the component 42 and / or the circuit board 40 due to unwanted heat input. Dwelling at the soldering point for too long can also lead to overheating and destruction of the component 42 and the circuit board 40. The correct timing and quantity of solder must be assessed depending on the soldering point 55 and can be carried out incorrectly. Unintentional bridges can form between soldering points 54, 55, and 56, causing defects and failure of the electronic assemblies. If the soldering process 29 is carried out improperly by hand 28, even already finished soldering points 54 can be inadvertently melted.The experienced soldering person has an automatic control through his perception and knows when the soldering meniscus is correctly formed and ends the respective soldering process at the right time 29.

[0050] To generate the image data 24 and / or sensor data 26 of the soldering process by the soldering person, the device 30 comprises a first camera 58 and a second camera 60, as well as sensors 62, 64, 66 in or on the hand-held soldering device 44 and the solder material dispensing device 50. The first camera 58 records first camera data 59 and has, for example, a wide detection range 68 in order to obtain an overview of the soldering workstation 36 and to record movements and positions of the hand-held tool 44 and the solder material dispensing device 50. The components 40, 42 to be soldered are also recorded by the cameras 58, 60. The second camera 60 records second camera data 61 and has, for example, a narrower detection range 70 than the detection range 68 of the first camera 58 in order to record details of the soldering process 29 at the solder joint 55 currently being processed.The second camera 60 can, in particular, be worn by the soldering person on their head, for example as a VR camera, and have a detection range 70 similar to the human field of vision. As a result, the second camera 60 is always optimally aligned with the respective soldering point 55. The soldering person themselves intuitively aligns their head so that they can clearly see the soldering point 55 being processed. However, both cameras 58, 60 can also be designed identically but cover different areas of the soldering process 29. Furthermore, the cameras 58 and / or 60 can be designed as thermal imaging cameras to record temperatures of the circuit board 40, the component 42, the hand soldering tool 44 and / or the solder using the image data 59. The camera data 59, 61 are provided by the cameras 58, 60, in particular as raw data, at interfaces for transmission to the computer 32 for generating the image data 24.It is also conceivable that sensor data 26 are generated from the camera data 59, 61, for example, if thermal imaging cameras are provided as cameras 58, 60, whose camera data 59, 61 also include temperature data.

[0051] At the beginning of the soldering process 29, the circuit board 40 is placed in the centering frame 38. The component 42 can then be placed or inserted onto the circuit board 40, or the circuit board 40 can be inserted into the centering frame 38 already populated with the component 42. Multiple components 42 on a circuit board 40 are also conceivable, but not shown. It is conceivable that the cameras 58, 60 check and record the position of the populated component 42 on the circuit board 40 in order to detect any possible misplacement. The centering frame 38 has a scale 72 as optically recognizable features for the cameras 58, 60 in an X and a Y direction in order to derive, during the data evaluation 34, positions of the circuit board 40, the component 42, the soldering points 54, 55, 56, the hand soldering device 44 and in particular its tip 46, as well as the soldering material dispensing device 50 from the generated image data 24 combined from the camera data 59, 61.Movements and movement sequences of the hand-held soldering device 44, its tip 46, and the soldering material dispensing device 50 are also derived from the image data 24 during the soldering process 29. The scale 72 can also extend in a Z direction perpendicular to the XY plane in order to derive positions and movements in three-dimensional space during the data evaluation 34.

[0052] The sensor 62 is designed as an acceleration sensor 62, which senses and provides position data 74 and / or acceleration data 76 of the handheld soldering device 44. The position data 74 can also include angles of the handheld soldering tool 44 relative to the XYZ planes. The sensor 64 is designed as a temperature sensor 64, which senses and provides temperature data 78, in particular of the soldering tip 56 of the handheld soldering device 44. The sensor 66 of the solder material dispensing device 50 can be a solder tracking sensor and / or a flux sensor, which senses and provides the solder consumption and / or flux consumption, summarized as solder material consumption data 80. The solder material dispensing device 50 can also include an acceleration sensor 63, which senses and provides position data 75 and / or acceleration data 77 of the solder material dispensing device 50.The position data 74, acceleration data 76 and / or temperature data 78 are provided at the hand soldering tool 44 and the solder material consumption data 80 at the solder material dispensing device 50 as raw data by means of interfaces for transmission to the computer 32 for generating the sensor data 26.

[0053] On Fig. 1, the provision and transmission of the camera data 59, 61 and sensor raw data 74, 75, 76, 77, 78, 80 are shown schematically as dash-dotted lines 82, as well as in the Fig. 1a and Fig. 2. The transmission can be carried out in particular via signal lines and / or wirelessly via radio connection to the computer 32, in Fig. 2, take place.

[0054] A in Fig. The process step 84 preceding the process 10 shown in Figure 1 is shown in Fig. 1a in detail. This method step 84 controls the start and end of the generation of data 24, 26. In method step 84, the image data 24 and / or sensor data 26 are generated from the camera data 59, 61 and the raw sensor data 74, 76, 78, 80, which are subsequently received by method 10.

[0055] In a first sub-step 86, the data 59, 61, 74, 75, 76, 77, 78, 80 provided by the sensors 62, 63, 64, 66 and / or cameras 58, 60 are analyzed, with control signals 88 for starting and ending the generation being generated from the analysis in a further sub-step 90. The control signals 88 can be created from an analysis of both the image data 59, 61 and the sensor data 74, 75, 76, 77, 78, 80. Previously set conditions can also be applied in the analysis in step 86. For example, previously determined gestures of the hands 52, which are analyzed in step 86, can lead to control signals in step 90 for both starting and ending the data generation. It is also conceivable that contact of the soldering tip 46 with a solder joint 55, 56, 55 or a temperature threshold in the temperature data 78 leads to a control signal 88 for starting. An acoustic signal for starting is also conceivable, but not shown.

[0056] In the second sub-step 90, the control signals 88 initiate or terminate the generation of the image data 24 and / or sensor data 26. The data 24, 26 can be output as a signal, file, and / or data stream, either wired or wirelessly. Intermediate storage on a data storage medium or in a data cloud is also conceivable.

[0057] In the embodiment according to Fig. 2, the method 10 and the preceding step 84 are Fig. 1a is carried out with the aid of the computer 32. It would be conceivable to carry out the data evaluation 34 to be carried out with the computer 32 remotely at a location different from the location of the device 30 or at several different locations.

[0058] In Fig. 1, the image data 26 are processed in the data evaluation 34, in particular by object recognition, wherein the image data 26 are compared with a database 92 from a memory of the computer 32, for example, to recognize the soldering tip geometry 48 of the hand soldering tool 44 and to store it in the soldering tip geometry commands 12 or in the program 14. As a result, during the automated execution 20 of the soldering process 21, the control unit 16 can generate corresponding control signals 98 for selecting the soldering tip 46 or the hand soldering tool 44.

[0059] The procedure 10 according to Fig. 1 is summarized as follows: First, the image data 24 and / or sensor data 26 are received 22 via an input. Subsequently, the commands 12 and / or the program 14 are generated 27 by the data evaluation 34 from the image data 24 and / or sensor data 26.

[0060] The provision of the commands 12 and / or the program 14 at an output of the method 10 can take place as a data carrier signal 96 to a data carrier, for example a hard disk or data cloud.

[0061] The control 16 of the soldering robot 18 in Fig. 3 is configured to process the commands 12 and / or the program 14, which are provided, for example, via the data carrier signal 96, and to generate control signals 98 which cause the robot to carry out the soldering process 21 in an automated manner. This automated soldering process 21 corresponds to the manually performed soldering process 29. The soldering robot 18 is movable along at least one movement axis 100 and guides the hand-held soldering tool 44 and the soldering material dispensing device 50, wherein this hand-held soldering tool 44 and this soldering material dispensing device 50 differ from those of the manual execution. Fig. 2. Instead of the hand soldering tool 44 as already mentioned previously, a hot air tool, laser soldering tool or other tools are also conceivable, which are particularly adapted to the robot, such as a soldering module. Another robot or device for guiding the soldering material dispensing device 50 would also be conceivable. The control signals 98 cause the soldering robot 18 to guide the hand soldering tool 44 and the soldering material dispensing device 50 to the soldering points 56a to be soldered, to heat the soldering tool 44 to the temperature stored in the commands 12 or in the program 14 and to apply or dispense solder and / or flux to the soldering points 56a. The soldering point 55a is in Fig. 3 in progress.

[0062] By means of the method 10, the program 14 comprising the commands 12, 14, the data carrier signal 96, the control unit 16 and the soldering robot 18, a manual execution 28, the teach-in, of a soldering process 29 can advantageously be carried out 20 in a repeatable, automated manner.

Claims

[1] Method (10) for generating commands (12) or a program (14) comprising the commands (12) for a control (16) of a soldering robot (18) for the automated execution (20) of a soldering process (21), characterized by following steps, a) receiving (22) image data (24) and / or sensor data (26) generated during a manual execution (28) of the soldering process (29) to be automated using at least one hand soldering tool (44), wherein the image data (24) and / or sensor data (26) represent the manual execution (28) of the soldering process (29), and b) generating (27) commands (12) from the received image data (24) and / or sensor data (26) for the control (16) of the soldering robot (18) by means of a data evaluation (34), such that when the commands (12) are processed by the control (16) of the soldering robot (18), the soldering robot (18) carries out the soldering process (21) at least largely in an automated manner corresponding to the manual execution (28) (20). [2] Method (10) according to claim 1, characterized by that the received sensor data (26) are generated during the manual execution (28) by at least one sensor (64, 66, 68) provided on or in the hand soldering tool (44). [3] Method (10) according to claim 1 or 2, characterized by that the received sensor data (26) represent position data (74) and / or acceleration data (76) and / or temperature data (78) of the hand soldering tool (44) and / or solder material consumption data (80). [4] Method (10) according to claim 3, characterized by that the position data (74) and / or acceleration data (76) are generated by means of an acceleration sensor (62). [5] Method (10) according to one of the preceding claims, characterized by that the temperature data (78) are generated by means of at least one temperature sensor (64) [6] Method (10) according to one of the preceding claims, characterized by that the received image data (24) are generated by means of at least one CCD or video camera (58) capturing the hand soldering tool (44) and / or a component to be soldered and / or a VR camera (60) carried by a person carrying out the manual execution (28) of the soldering process (29) to be automated, wherein the image data (24) generated by the VR camera (60) in particular depict a field of vision of the person. [7] Method (10) according to one of the preceding claims, characterized bythat the solder material consumption data (80) are generated by means of a solder tracking sensor (66) and / or a flux sensor (66). [8] Method (10) according to one of the preceding claims, characterized by that the solder material consumption data (80) are generated from the image data (24). [9] Method (10) according to one of the preceding claims, characterized by that the image data (24) represent the movement course of a soldering tip (46) of the hand soldering tool (44) during the manual execution (28) of the soldering process to be automated (28) in space. [10] Method (10) according to claim 9, characterized by that a soldering tip geometry (48) of the soldering tip (46) is derived from the image data (24). [11] Method (10) according to one of the preceding claims, characterized by that the data evaluation (34) for generating the commands (12) or the program (14) is carried out on at least one computer (32). [12] Method (10) according to claim 11, characterized by that the instructions (12) or the program (14) are stored in a memory. [13] Method (10) according to claim 12, characterized by that the commands (12) or the program (14) can be retrieved from the memory by the controller (16) of the soldering robot (18) and / or sent to the controller (16) of the soldering robot (18). [14] Device (30) for carrying out the method (10) according to one of claims 1 to 13, comprising a hand soldering tool (44), at least one camera (58, 60), a data evaluation unit (32) which is designed to generate the commands (12) or the program (14) according to one of claims 1-13 for a controller (16) of a soldering robot (18). [15] Program (14) comprising commands (12) generated from image data (24) and / or sensor data (26) generated during a manual execution (28) of a soldering process (29) to be automated, by means of the method (10) according to any one of claims 1-13. [16] Data carrier signal (96) that transmits the program (14) according to claim 15 in whole or in part. [17] Soldering robot (18) with a soldering tool (44) and a control unit (16), which is designed to carry out a soldering process (21) in an automated manner according to the commands (12) or the program (14) generated according to one of claims 1-13 (20). [18] Control unit (16) which is configured to provide control signals (98) for a robot (18) from the commands (12) or the program (14) according to one of claims 1 to 13 and / or from the program according to claim 15 and / or from the data carrier signal (96) according to claim 16.

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