Method for automatic reloading of SMD component rolls on SMD assembly machines

Abstract

The invention relates to a method for automatically reloading SMD component rolls (3.1, 3.2) on SMD assembly machines (1), in which SMD component rolls (3.1, 3. 2) between an exchange magazine (2) of an SMD assembly machine (1) and a belt connector (7) are automatically handled by means of a robot arm (6) controlled by a robot controller (5) in a force / torque-controlled movement control mode of the robot arm (6).

Description

[0001] Procedure for automatic reloading of SMD

[0002] Component reels on SMD placement machines

[0003] The invention relates to a method for automatically reloading SMD component reels on SMD placement machines.

[0004] CN 212711952 U relates to the technical field of SMT material take-up devices, in particular to an SMT material take-up machine comprising a suction device for sucking a material take-up tape, a pressure roller and a driving device, wherein the driving device is connected to the suction device and the pressure roller, and the driving device drives the suction device to suck the material take-up tape and convey the material take-up tape to the position above the SMT material tape to be attached to the SMT material tape. The driving device drives the pressure roller to roll the surfaces of the material take-up tape and the SMT material tape that are attached to each other, so that the material take-up tape and the SMT material tape completely adhere to each other and the success rate of covering the cover tape is improved.With such a device, two SMD strips from two SMD component reels can be automatically connected.

[0005] The object of the invention is to create a method with which SMD component reels can be changed fully automatically on SMD placement machines, i.e. in particular without intermediate work steps being carried out by a human. The object is achieved by a method for automatic

[0006] Reloading of SMD component reels on SMD placement machines, comprising the following steps:

[0007] - automatic removal of a first SMD component reel carrying a first SMD tape which continues to run into the SMD placement machine during operation of the SMD placement machine, while the first SMD component reel is removed from a change magazine of the SMD placement machine by means of a robot arm controlled by a robot controller in a force / torque controlled movement control mode of the robot arm,

[0008] - automatically threading an end section of the first SMD tape into an automatic tape connector by means of the robot arm controlled by the robot controller and automatically separating the first SMD component roll from the first SMD tape,

[0009] - Placing the first SMD component roll into an intermediate storage magazine,

[0010] - Picking up a second SMD component roll carrying a second SMD tape from a pick-up magazine by means of the robot arm controlled by the robot control, automatically threading a starting section of the second SMD tape into the automatic tape connector by means of the robot arm controlled by the robot control

[0011] robot arm, and

[0012] - automatic insertion of the second SMD component roll into the change magazine of the SMD placement machine, after a starting section of the second SMD tape of the second SMD component roll is automatically connected to the end section of the first SMD tape in the tape connector, while the second SMD tape runs off the second SMD component roll during operation of the SMD placement machine, wherein the insertion of the second SMD component roll into the change magazine of the SMD placement machine takes place by means of the robot arm controlled by the robot control in a force / torque controlled movement control manner of the robot arm.

[0013] SMD placement machines are machines for automatically populating electronic circuit boards with electronic components. The components are generally automatically placed or glued onto the circuit board and then automatically connected to the circuit board's electrical conductors, for example in a solder bath, to create the electrical contacts. An example SMD placement machine includes a magazine station with unpopulated circuit boards, a conveyor system for feeding the circuit boards in a serial sequence, the actual placement machine, in which the required SMD components are gripped one after the other and placed on the respective circuit board at the designated locations, and an oven in which the SMD components placed on the circuit board are soldered. Finally, the finished, i.e. populated, circuit boards can be stacked in a discharge magazine.This manufacturing process is largely automated. The large number of SMD components to be assembled are wound up as SMD tapes on an SMD component reel. A separate SMD component reel is required for each individual SMD component. Each SMD component reel contains an SMD tape which comprises a carrier tape onto which a large number of SMD components of identical type are attached at equal intervals. Using the SMD component reel or the SMD tape, each SMD component type can be continuously fed to the SMD placement machine so that the SMD placement machine can continuously and preferably without interruption assemble the circuit boards with the required SMD components. However, when an SMD component reel is almost used up, i.e.Once almost all of the SMD components originally on the SMD tape have been removed from the carrier tape and processed by the SMD placement machine, the used SMD component roll must be removed and replaced with a new, fully loaded SMD component roll. To ensure that the SMD placement machine can continue to produce without interruption, the SMD tape from the new SMD component roll must be seamlessly attached to the end of the previous SMD tape on the idle SMD component roll. The attachment should be made in such a way that on the joined carrier tape, the distance between the first SMD component on the new SMD component roll and the last SMD component on the idle SMD component roll corresponds as closely as possible to the standardized distance between the multiple SMD components on an SMD component roll.Until now, this process of attaching the beginning of the new SMD component roll to the idle SMD component roll has been done manually and is generally not automated. This results in relatively high personnel costs, and consistent quality cannot be guaranteed. There are already approaches to automating the joining process for connecting the beginning of the new SMD component roll to the end of the idle SMD component roll. However, the end of the idle SMD component roll and the beginning of the new SMD component roll still have to be inserted manually on these machines.

[0014] The invention therefore specifically also deals with the fully automated reloading of new SMD component rolls as successor rolls for idle SMD component rolls, wherein an automatically operating belt connector is also automatically loaded with the end of the idle SMD component roll and the beginning of the new SMD component roll by the robot proposed according to the invention, so that the end and beginning can be automatically connected in the automatically operating belt connector.

[0015] The SMD component reel comprises a tape drum and an SMD tape wound thereon. The SMD tape comprises a carrier tape, in particular with perforations on the edges at equal intervals for the precise positioning of the carrier tape, and a plurality of SMD components that are applied to the carrier tape at equal intervals from one another in a serial chain. The SMD component reel can be accommodated in a cassette described in more detail below. The SMD component reels described below can therefore always also be SMD component reels that comprise a cassette in which the tape drum is stored together with the SMD tape wound thereon. According to the method, a first SMD component reel is first automatically removed, which carries a first SMD tape, which continues to be fed into the SMD

[0016] The first SMD component roll is therefore initially located in a change magazine of the SMD placement machine. The SMD placement machine operates continuously and automatically, even while the method according to the invention is being carried out, i.e. without interruption, so that while the first SMD component roll is being automatically removed from the change magazine, the first SMD tape continues to be drawn into the SMD placement machine in order to remove the SMD components located on the first SMD tape one after the other within the SMD placement machine and to automatically populate circuit boards with them.When the first SMD component roll is automatically removed, it must be ensured during the movements of the robot arm, which automatically handles the first SMD component roll using a gripper guided by the robot arm, that no unacceptably high tensile forces are exerted on the first SMD tape running off the first SMD component roll. The SMD placement machine has an infeed that automatically feeds the first SMD tape into the SMD placement machine. This specifies a maximum tensile force that may act on the first SMD tape. On the other hand, a minimum tensile force should also be maintained to ensure that the first SMD tape is under a certain tensile tension, thus preventing the risk of loops forming or of the first SMD tape running off the first SMD component roll in a swelling or jerky manner.The robot controller can therefore be designed and configured to move the robot arm in such a way that during the automatic transport of the first SMD component roll from the change magazine to the belt connector, the first SMD strip continuing to run out of the first SMD component roll is under the permissible, i.e. desired, tensile stress. This can be achieved in particular by the robot arm being controlled by the robot controller in a force / torque controlled mode of operation, so that the current tensile forces can be automatically recorded at any time during the automatic transport of the first SMD component roll from the change magazine to the belt connector. The movement path which the robot arm specifies for the first SMD component roll can therefore be coordinated accordingly.

[0017] A change magazine usually has a number of slots, each of which contains an SMD component roll of a specific SMD component type. The slots are designed like a slot, so that a number of SMD component rolls are arranged next to one another, with their main extension planes parallel to one another and their roll rotation axes parallel to one another. The robot controller can therefore preferably be designed and configured to control the robot arm in such a way that the robot arm, by means of its gripper, which is moved by the robot arm, handles the gripped SMD component roll in such a way that the SMD component roll is pulled out of the change magazine in a direction parallel to its main extension plane, i.e. in a direction perpendicular to the roll rotation axis.

[0018] While the first SMD component roll consisted of a

[0019] If the SMD component roll is removed from the change magazine of the SMD placement machine by means of a robot arm controlled by a robot controller in a force / torque-controlled movement control mode of the robot arm, it can be provided, in particular, that the removed SMD component roll is rotated only about its roll rotation axis (Z-axis) during its movement and does not perform any other rotational movement, for example, about the corresponding X-axis or Y-axis. This can reliably prevent, for example, twisting of the first SMD strip while it continues to run.

[0020] According to the method, an end section of the first SMD strip is then automatically threaded into an automatic strip connector by means of the robot arm controlled by the robot controller. The strip connector usually has a feed slot which is provided to briefly receive the first SMD component roll and / or, later, the second SMD component roll, so that the respective end section of the first SMD strip of the first SMD component roll or the start section of the second SMD strip of the second SMD component roll can be automatically grasped by the strip connector for the subsequent automatic connection of the end section of the first SMD strip to the start section of the second SMD strip.

[0021] In particular, the first SMD component roll is automatically separated from the first SMD tape within the tape connector.

[0022] The separated first SMD component roll is placed in an intermediate storage magazine by an automatic second movement of the robot arm, controlled by the robot controller. This frees the gripper guided by the robot arm to pick up and handle the second SMD component roll, i.e., to move it automatically.

[0023] According to the method, the second SMD component roll, which carries a second SMD strip, is then picked up from a receiving magazine by means of the robot arm controlled by the robot controller. The second SMD component roll will generally be a new SMD component roll, i.e. an SMD component roll that is completely loaded with SMD components. In particular, the SMD component roll is completely filled with the loaded SMD strip. The receiving magazine can therefore form a storage location in which completely filled SMD component rolls are kept in stock.

[0024] According to the method, a starting section of the second SMD strip is then automatically threaded into the automatic tape connector by means of the robot arm controlled by the robot controller. For this purpose, the tape connector has the aforementioned feed slot, which is designed to briefly receive the second SMD component roll, so that the respective starting section of the second SMD strip of the second SMD component roll can be automatically grasped by the tape connector for the subsequent automatic connection of the end section of the first SMD strip to the starting section of the second SMD strip.

[0025] Finally, the process involves automatically inserting the second SMD component reel into the change magazine of the SMD placement machine, after the initial section of the second SMD strip of the second SMD component reel has been automatically connected to the end section of the first SMD strip in the tape connector. Since the initial section of the second SMD strip of the second SMD component reel is already connected to the end section of the first SMD strip at this point, a tensile force is exerted on the second SMD strip during the automatic insertion of the second SMD component reel into the change magazine of the SMD placement machine. Just as when removing the first SMD component reel from the change magazine, the robot arm controlled by the robot controller is controlled in a force / torque controlled movement manner when inserting the second SMD component reel into the change magazine.

[0026] Preferably, the robot controller can therefore be designed and configured to control the robot arm in such a way that the robot arm, by means of its gripper, which is moved by the robot arm, handles the gripped second SMD component roll in such a way that the second SMD component roll is inserted into the exchange magazine in a direction parallel to its main extension plane, i.e. is inserted into the exchange magazine in a direction perpendicular to the roll rotation axis.

[0027] While the second SMD component reel is inserted into the change magazine of the SMD placement machine by means of the robot arm controlled by the robot controller in a force / torque-controlled movement mode of the robot arm, it can be provided in particular that the second SMD component reel to be inserted is only rotated about its reel rotation axis (Z-axis) during its movement and does not perform any other rotational movement, for example, about the corresponding X-axis or Y-axis. This can reliably prevent, for example, twisting of the already unwinding second SMD tape.

[0028] In a first development of the method, the robot arm can be controlled by the robot controller in such a way that the first SMD component roll is guided by the robot arm on its way between the change magazine of the SMD placement machine and the tape connector on a movement path which lies at least substantially in a plane which runs parallel to the feed direction of the first SMD tape of the first SMD component roll into the SMD placement machine. This means that the first SMD component roll should at most be rotated about an axis of rotation which runs parallel to the roll rotation axis (Z axis). Rotation of the first SMD component roll about an axis of rotation (X axis, Y axis) which runs perpendicular to the roll rotation axis (Z axis) should be avoided or should not take place at all.

[0029] Alternatively or additionally, the robot arm can be controlled by the robot controller in such a way that the second SMD component reel is guided by the robot arm on its way between the tape connector and the change magazine of the SMD placement machine on a movement path which lies at least substantially in a plane which runs parallel to the feed direction of the second SMD tape of the second SMD component reel into the SMD placement machine. This means that the second SMD component reel should also only be rotated about an axis of rotation which runs parallel to the reel rotation axis (Z axis). Here too, rotation of the second SMD component reel about an axis of rotation (X axis, Y axis) which runs perpendicular to the reel rotation axis (Z axis) should be avoided or should not take place at all.

[0030] In such a development of the method, the robot arm can be controlled by the robot controller in such a way that the first SMD component roll is guided on its way between the change magazine of the SMD placement machine and the tape connector by the robot arm on a movement path on which the first SMD component roll does not rotate or only rotates exclusively around its roll rotation axis, and / or the robot arm is controlled by the robot controller in such a way that the second SMD component roll is guided on its way between the tape connector and the change magazine of the SMD placement machine by the robot arm on a movement path on which the second SMD component roll does not rotate or only rotates exclusively around its roll rotation axis.

[0031] The first SMD component roll can be rotatably mounted in a first cassette which has at least one first output gear which can be driven by a drive pinion of a gripper guided by the robot arm, wherein by driven rotation of the first output gear of the first cassette the first SMD component roll is rotated within the first cassette for winding or unwinding the first SMD tape in order to transport the first SMD tape synchronously with the automatic movement of the first SMD component roll on its movement path between the change magazine of the SMD placement machine and the tape connector.

[0032] The tape drum of the first SMD component reel can thus be rotatably mounted on at least one inner wall, in particular between two opposite inner walls of the cassette. The at least one inner wall can, for example, have a

[0033] Have an axle stub on which the SMD component reel can be rotatably mounted. The SMD component reel can accordingly be mounted on one side of a single inner wall or on both sides of two opposite inner walls. The respective axle stub can have at least one locking projection on which the SMD component reel and its hub can be secured against axial loosening. One inner wall can be provided on a cover of the cassette. The cover can in particular be releasably attached to a base body of the cassette. The cover can be pivotally mounted on the base body of the cassette for opening and closing, for example by means of a hinge. The output gear can be fixedly connected to the first SMD component reel. The housing of the cassette can have at least one opening through which a gear ring of the output gear is accessible from the outside.A drive pinion can protrude into the cassette through such an opening and mesh with the ring gear of the output gear. If the drive pinion is driven, the output gear can be rotated automatically, in particular either clockwise or counterclockwise. The rotating output gear moves the tape drum, so that, depending on the direction of rotation, the SMD tape can either be actively unwound from the tape drum of the first SMD component reel or actively wound up.

[0034] The drive pinion can be driven by a motor, in particular an electric motor. The drive pinion and in particular also the motor can be arranged on a gripper which is designed to automatically grip the first SMD component roll. The gripper can be fastened to a tool flange of the robot arm. The gripper can thus be moved by moving the robot arm. Once the gripper has gripped the first SMD component roll, the robot arm can be moved in the space in the desired manner according to the method controlled by the robot controller. The gripper or the motor can be controlled by the robot controller so that the robot controller can not only carry out the movement of the first SMD component roll, but can also automatically feed the SMD strip out of the cassette or pull it in as needed, in line with the movements of the first SMD component roll in space.

[0035] In the same way, the second SMD component reel can also be rotatably mounted in a second cassette which has at least one second output gear which can be driven by a drive pinion of a gripper guided by the robot arm, wherein by driven rotation of the second output gear of the second cassette, the second SMD component reel is rotated within the second cassette for winding up or unwinding the second SMD tape in order to transport the second SMD tape synchronously with the automatic movement of the second SMD component reel on its movement path between the belt connector and the change magazine of the SMD placement machine.

[0036] The belt drum of the second SMD component reel can therefore also be rotatably mounted on at least one inner wall, in particular between two opposite inner walls of the cassette. The at least one inner wall can, for example, have an axle stub onto which the SMD component reel can be rotatably attached. The SMD component reel can accordingly be mounted on one side on a single inner wall or on both sides on two opposite inner walls. The respective axle stub can have at least one locking projection on which the SMD component reel can be secured with its hub against axial loosening. One inner wall can be provided on a cover of the cassette. The cover can, in particular, be detachably fastened to a base body of the cassette. The cover can be pivotally mounted on the base body of the cassette for opening and closing, for example by means of a hinge.The output gear can be firmly connected to the second SMD component reel. The housing of the cassette can have at least one opening through which a gear ring of the output gear is accessible from the outside. A drive pinion can project into the cassette through such an opening and mesh with the gear ring of the output gear. If the drive pinion is driven, the output gear can be rotated automatically, in particular optionally rotating clockwise or counterclockwise. The rotating output gear moves the tape drum so that, depending on the direction of rotation, the SMD tape can either be actively unwound from the tape drum of the second SMD component reel or actively wound up.

[0037] The drive pinion can be driven by a motor, in particular an electric motor. The drive pinion and in particular also the motor can be arranged on a gripper which is designed to automatically grip the second SMD component roll. The gripper can be fastened to a tool flange of the robot arm. The gripper can therefore be moved by moving the robot arm and when the gripper has gripped the second SMD component roll, the robot arm can be moved spatially in the desired manner according to the method, controlled by the robot controller. The gripper or the motor can be controlled by the robot controller so that the robot controller can not only carry out the movement of the second SMD component roll, but can also automatically feed the SMD strip out of the cassette or pull it in as needed, in line with the spatial movements of the second SMD component roll.

[0038] In a further development of the method, the automatic threading of the end section of the first SMD strip into the automatic belt connector can be carried out by means of the robot arm controlled by the robot controller in a force / torque-controlled movement control mode of the robot arm, and / or the automatic insertion of the initial section of the second SMD strip into the automatic belt connector can be carried out by means of the robot arm controlled by the robot controller in a force / torque-controlled movement control mode of the robot arm.

[0039] The robot arm can, controlled by the robot controller, handle a standardized cassette of identical design and size, wherein the standardized cassette is designed and configured to optionally store an SMD component roll of a specific size, a specific roll width, a specific roll diameter and / or a specific component type or to store an SMD component roll of a different size, a different roll width, a different roll diameter and / or a different component type.

[0040] The standardized cassette can have a data carrier which, in addition to its function as a data carrier, also forms a marking by means of which the robot arm can automatically align itself with respect to the cassette to be gripped in order to be able to move to and grip the cassette detected by the marking with the aid of its gripper guided by the robot arm.

[0041] The robot arm and / or the gripper can have a detection device that is designed to detect the marking when the robot arm or the gripper is located near the marking. The marking can be an optical marking, for example, and the detection device can be a camera. The optical marking can have optical, in particular digital, marks, such as lines or dots. For example, the optical marking can be formed by a barcode or a QR code. Data can be encoded in the marking, for example about the type and / or number of SMD components that are present on the SMD component roll. Data about the dimensions, i.e. the size and / or width of the cassette, can also be encoded in the marking. Markers that are arranged in a predefined position and location relative to a reference point on the cassette are also present in the marking.The reference point on the cassette can, for example, be a point at the exit opening from which the SMD strip emerges from the cassette. Another reference point can be a location in the area of ​​a gripping section of the cassette for gripping by the gripper. The gripping section can, for example, be a specific locking projection or a specific locking recess on the cassette.

[0042] The robot arm can in particular be arranged on an autonomous vehicle and the autonomous vehicle can be designed to automatically move the robot arm between a supply station, at which SMD component reels loaded with SMD components are provided for transport to an SMD placement machine, and the change magazine of the SMD placement machine, into which at least one provided SMD component reel is to be loaded.

[0043] The autonomous vehicle can, for example, be designed as an omnidirectional vehicle. The omnidirectional vehicle can accordingly have one or more automatically drivable omnidirectional wheels. An autonomous vehicle is understood to be a vehicle that can move independently, without the need for manual control by a human driver. The autonomous vehicle can form a so-called driving platform on which the robot arm, the belt connector and / or an intermediate storage magazine is arranged. By means of the autonomous vehicle, the robot arm, the belt connector and / or the intermediate storage magazine can be automatically transported from one location to another. In this way, the robot arm, the belt connector and / or the intermediate storage magazine can be automatically moved to a specific SMD placement machine in order to carry out the method according to the invention there.

[0044] A belt connector that can be automatically rotated by 180 degrees can be arranged on the autonomous vehicle, and the belt connector can be turned from its current orientation into an orientation rotated by 180 degrees when the robot arm arranged on the autonomous vehicle with the first SMD component roll and / or the second SMD component roll is to carry out the automatic removal of the first SMD component roll and / or the automatic insertion of the second SMD component roll on an SMD placement machine on a side of the autonomous vehicle opposite the previous working side.

[0045] The autonomous vehicle can have an automatically driven turntable on which the belt connector is arranged. The turntable can be automatically driven by a drive motor, in particular an electric drive motor, in particular controlled by the robot control of the robot arm. If, for example, several SMD placement machines are arranged in a factory hall in at least two parallel production lines, a space between the two production lines can serve as a travel corridor for the autonomous vehicle. This means that the robot arm carried by the autonomous vehicle can optionally serve the SMD placement machines on the production lines on the left or the SMD placement machines on the production lines on the right.If the belt connector has a feeder that can only be loaded in one direction, it is useful if the entire belt connector can be rotated 180 degrees on the autonomous vehicle, so that the feeder can be oriented either toward the SMD placement machines on the left-hand production lines or toward the SMD placement machines on the right-hand production lines. Consequently, the autonomous vehicle does not need to be turned to serve the other production lines.

[0046] The intermediate storage magazine can be provided on the autonomous vehicle. The intermediate storage magazine can have one or more slots for one or more cassettes. Because the autonomous vehicle has the intermediate storage magazine, the robot arm can place a cassette previously grasped by the gripper directly on the autonomous vehicle without having to travel to a special storage location. This allows the robot arm to reach between different cassettes with its gripper.

[0047] An example process could look like this:

[0048] The mobile robot or mobile system (an autonomous vehicle with a robot arm and belt connector) receives the task of picking up and distributing the cassettes from the central control system of the SMT lines (a group of SMD placement machines). Since the mobile robot is to work in the aisle between two SMT lines, the material requirements from two lines must be consolidated, prioritized, and transmitted to the mobile system.

[0049] The cassette was prepared in advance according to production requirements via a material management system and was made available at the collection point, a drop point.

[0050] The central computer of the SMT production lines transmits the material requirements of rolls or cassettes to the mobile robot via an interface. This requirement corresponds to the contents of the cassette at the drop point. The central computer combines the roll requirements for the respective SMT lines in a specific side aisle, and the prioritization is determined.

[0051] After a successful order transfer from the SMT central computer, the mobile robot moves to the drop point and removes the cassette with full rolls. Based on the order list, the mobile robot moves to the first position of the roll or cassette to be changed. After rough and fine positioning of the system on the SMT, for example, using QR codes, the robot receives the order to begin the change.

[0052] The robot moves to the old cassette and uses its camera to check the QR code on the cassette. This checks for accuracy. The robot removes the cassette.

[0053] After the cassette is removed from the cassette changer, the cassette information is transferred to the splicer (tape connector). The splicer adjusts itself based on the cassette data. The robot pulls the cassette over the splicer, while the component tape is placed into the splicer opening. The cassette is positioned on the side of the splicer.

[0054] The splicer takes the old tape and feeds it out of the cassette until the last full component pocket is detected. At this point, the tape is cut. The robot gripper rewinds the remaining tape with the empty component pockets, or the splicer pushes the remaining tape back into the cassette.

[0055] The old cassette is placed at an intermediate position on the mobile robot. The new cassette required according to the order list is checked again by the camera on the gripper and removed. The cassette is then positioned on the splicer.

[0056] The new tape is fed into the splicer. The prepared

[0057] The tape of the new roll is spliced ​​with the old tape (professional connection of component carrier tape and cover film in the belt connector).

[0058] After the tapes have been connected, the cassette is transported by the robot toward the change magazine. The tape is wound up by the gripper, taking the permissible forces into account, and the cassette is inserted into the change magazine.

[0059] The robot takes the old cassette from the clipboard magazine and places it in the vacant position in the cassette box.

[0060] After all cassettes have been replaced, the mobile robot returns to the drop point and hands over the cassette box with the old cassettes.

[0061] The mobile robot is capable of moving automatically in an aisle between two SMT production lines. The system serves the respective side located in this aisle.

[0062] The development of a robot-based handling system for roll swapping makes it possible to fully automate previously manual work steps without significantly changing the existing infrastructure. This represents a significant cost advantage for the electronics industry.

[0063] Specific embodiments of the invention are explained in more detail in the following description with reference to the accompanying figures. Regardless of the specific context in which they are mentioned, specific features of these exemplary embodiments may, if appropriate, also represent general features of the invention when considered individually or in further combinations.

[0064] It shows :

[0065] Fig. 1 is a schematic representation of three exemplary SMD assembly machines, each with a change magazine in which several SMD component reels are inserted,

[0066] Fig. 2 is a flow chart of the steps in the basic inventive

[0067] Procedure,

[0068] Fig. 3 is a perspective view of an exemplary autonomous vehicle with a robot arm, a belt connector and an intermediate storage magazine in a view from the left side of the vehicle,

[0069] Fig. 4 is a perspective view of the exemplary autonomous vehicle with the robot arm, the belt connector and the intermediate storage magazine in a view from the right side of the vehicle,

[0070] Fig . 5 a perspective view of the exemplary autonomous vehicle with the robot arm, the belt connector and the intermediate storage magazine in a

[0071] View from behind,

[0072] Fig. 6 is a perspective view of the exemplary autonomous vehicle with the robot arm, the belt connector and the intermediate storage magazine in a front view,

[0073] Fig . 7 is an enlarged partial view of the autonomous vehicle in the area of ​​a turntable of the autonomous vehicle on which the belt connector is mounted so that it can be pivoted by 180 degrees,

[0074] Fig . 8 is a schematic representation of a

[0075] Cassette in which an exemplary SMD component roll is stored,

[0076] Fig . 9 a schematic representation of the

[0077] Cassette in which the exemplary SMD component reel is stored with a coupled gripper that is attached to the flange of the robot arm,

[0078] Fig. 10 is a perspective partial view of the cassette in the area of ​​the exit spout of the SMD tape, in a closed position of a

[0079] locking device,

[0080] Fig. 11 is a perspective partial view of the cassette in the area of ​​the exit spout of the SMD tape, in an open position of the

[0081] locking device,

[0082] Fig. 12 a schematic representation in a

[0083] Side view of an exemplary gripper in a unique position, and

[0084] Fig. 13 is a perspective view of the exemplary gripper according to Fig. 12 in isolation.

[0085] Figure 1 shows three representative SMD placement machines 1. Each SMD placement machine 1 has a change magazine 2 in which several different SMD component reels 3 are inserted. From each SMD component reel 3, an SMD tape 4 runs into the corresponding SMD placement machine 1.

[0086] In Fig. 2, the basic method for automatically reloading SMD component reels 3 on SMD placement machines 1 is shown schematically as a flow chart.

[0087] In a first method step S1, a first SMD component roll 3.1 carrying a first SMD strip 4.1 is automatically removed, which continues to run into the SMD placement machine 1 during operation of the SMD placement machine 1, while the first SMD component roll 3.1 is removed from a change magazine 2 of the SMD placement machine 1 by means of a robot arm 6 (Fig. 3) controlled by a robot controller 5 in a force / torque-controlled movement control manner of the robot arm 6.

[0088] In a second method step S2, an end section of the first SMD strip 4.1 is automatically threaded into an automatic belt connector 7 by means of the robot arm 6 controlled by the robot controller 5 and the first SMD component roll 3.1 is automatically separated from the first SMD strip 4.1.

[0089] In a third process step S3, the first SMD component roll 3.1 is deposited into an intermediate storage magazine 8.

[0090] In a fourth method step S4, a second SMD component roll 3.2, which carries a second SMD strip 4.2, is picked up from a receiving magazine 9 by means of the robot arm 6 controlled by the robot controller 5.

[0091] In a fifth method step S5, an initial section of the second SMD strip 4.2 is automatically threaded into the automatic strip connector 7 by means of the robot arm 6 controlled by the robot controller 5.

[0092] In a sixth method step S6, the second SMD component roll 3.2 is automatically inserted into the change magazine 2 of the SMD placement machine 1 after a starting section of the second SMD strip 4.2 of the second SMD component roll 3.2 is automatically connected to the end section of the first SMD strip 4.1 in the belt connector 7, while the second SMD strip 4.2 runs off the second SMD component roll 3.2 during operation of the SMD placement machine 1, wherein the second SMD component roll 3.2 is inserted into the change magazine 2 of the SMD placement machine 1 by means of the robot arm 6 controlled by the robot controller 5 in a force / torque controlled movement control manner of the robot arm 6.

[0093] The robot arm 6 is controlled by the robot controller 5 in such a way that the first SMD component roll 3 . 1 is guided on its way between the change magazine 2 of the SMD placement machine 1 and the belt connector 7 by the robot arm 6 on a movement path which lies at least substantially in a plane which runs parallel to the feed direction of the first SMD tape 4 . 1 of the first SMD component roll 3 . 1 into the SMD placement machine 1 .

[0094] The robot arm 6 is also controlled by the robot controller 5 in such a way that the second SMD component roll 3 . 2 is guided on its way between the belt connector 7 and the change magazine 2 of the SMD placement machine 1 by the robot arm 6 on a movement path which lies at least substantially in a plane which runs parallel to the feed direction of the second SMD tape 4 . 2 of the second SMD component roll 3 . 2 into the SMD placement machine 1.

[0095] The robot arm 6 can be controlled by the robot controller 5 in such a way that the first SMD component reel 3.1 is guided by the robot arm 6 on its path between the change magazine 2 of the SMD placement machine 1 and the tape connector 7 along a movement path on which the first SMD component reel 3.1 does not rotate or only rotates exclusively around its reel rotation axis. The robot arm 6 can also be controlled by the robot controller 5 in such a way that the second SMD component reel 3.2 can be guided by the robot arm 6 on its path between the tape connector 7 and the change magazine 2 of the SMD placement machine 1 along a movement path on which the second SMD component reel 3.2 does not rotate or only rotates exclusively around its reel rotation axis.

[0096] The first SMD component roll 3.1 can be rotatably mounted in a first cassette 10.1, as shown in Fig. 8 to Fig. 11, which has at least one first output gear 11.1 which can be driven by a drive pinion 12 (Fig. 9) of a gripper 13 (Fig. 12 and Fig. 13) guided by the robot arm 6, wherein by driven rotation of the first output gear 11.1 of the first cassette 10.1, the first SMD component roll 3.1 is rotated within the first cassette 10.1 for winding up or unwinding the first SMD tape 4.1 in order to transport the first SMD tape 4.1 synchronously with the automatic movement of the first SMD component roll 3.1 on its movement path between the change magazine 2 of the SMD placement machine 1 and the tape connector 7.

[0097] In the same way, the second SMD component reel 3.2 can be rotatably mounted in a second cassette 10.2, which has at least one second output gear 11.2 that can be driven by the drive pinion 12 of the gripper 13 guided by the robot arm 6 (Fig. 12 and Fig. 13), wherein by driven rotation of the second output gear 11.2 of the second cassette 10.2, the second SMD component reel 3.2 is rotated within the second cassette 10.2 for winding or unwinding the second SMD tape 4.2 in order to transport the second SMD tape 4.2 synchronously with the automatic movement of the second SMD component reel 3.2 on its movement path between the belt connector 7 and the change magazine 2 of the SMD placement machine 1.

[0098] The automatic threading of the end section of the first SMD strip 4.1 into the automatic belt connector 7 is carried out by means of the robot arm 6 controlled by the robot controller 5 in a force / torque-controlled movement control mode of the robot arm 6. The automatic insertion of the initial section of the second SMD strip 4.2 into the automatic belt connector 7 by means of the robot arm 6 controlled by the robot controller 5 is also carried out in a force / torque-controlled movement control mode of the robot arm 6.

[0099] The robot arm 6, controlled by the robot controller 5, handles a standardized cassette 10.1, 10.2 of identical design and size, whereby the standardized cassette 10.1, 10.2 is designed and configured to optionally hold an SMD component reel 3.1,

[0100] 3.2 of a specific size, a specific roll width, a specific roll diameter and / or a specific component type or a SMD component roll 3.1,

[0101] 3.2 of a different size, roll width, roll diameter and / or component type.

[0102] The standardized cassette 10.1, 10.2 can have a data carrier which, in addition to its function as a data carrier, also forms a marking by means of which the robot arm 6 can orient itself with respect to the cassette 10.1,

[0103] 10.2 can be automatically aligned in order to be able to move to and grip the cassette 10.1, 10.2 detected by the marking in a precisely positioned manner by means of its gripper 13 guided by the robot arm 6. As shown in Fig. 3 to Fig. 7, in the case of the present exemplary embodiment, the robot arm 6 is arranged on an autonomous vehicle 14 and the autonomous vehicle 14 is designed to automatically move the robot arm 6 between a supply station, at which SMD component reels 10.1, 10.2 populated with SMD components are provided for transport to an SMD placement machine 1, and the change magazine 2 of the SMD placement machine 1, into which at least one provided SMD component reel 10.1, 10.2 is to be loaded.

[0104] In the present exemplary embodiment, a belt connector 7 that can be automatically rotated by 180 degrees by means of a turntable 15 (Fig. 7) is arranged on the autonomous vehicle 14, and the belt connector 7 can be pivoted from its current orientation into an orientation rotated by 180 degrees when the robot arm 6 arranged on the autonomous vehicle 14, with the first SMD component roll 10.1 and / or the second SMD component roll 10.2, carries out the automatic removal of the first SMD component roll 10.1 and / or the automatic insertion of the second SMD component roll 10.2 on an SMD placement machine 1 on a side of the autonomous vehicle 14 opposite the previous working side. The intermediate storage magazine 8 or the receiving magazine 9 is also provided on the autonomous vehicle 14.

Claims

Patent claims 1. Method for automatically reloading SMD component reels (3.1, 3.2) on SMD placement machines (1) , comprising the steps: - automatic removal of a first SMD component reel (3.1) carrying a first SMD tape (4.1) which continues to run in the SMD placement machine (1) during operation, while the first SMD component reel (3.1) is removed from a changeable magazine (2) of the SMD placement machine (1) by means of a robot arm (6) controlled by a robot controller (5) in a force / torque controlled motion control mode of the robot arm (6), - automatic threading of an end section of the first SMD tape (4.1) into an automatic tape connector (7) by means of the robot arm (6) controlled by the robot controller (5) and automatic separation of the first SMD component roll (3.1) from the first SMD tape (4.1) , - Placing the first SMD component reel (3.1) into an intermediate storage magazine (8) , - Picking up a second SMD component reel (3.2) carrying a second SMD tape (4.2) from a pickup magazine (9) using the robot arm (6) controlled by the robot controller (5), - automatic threading of an initial section of the second SMD tape (4.2) into the automatic tape connector (7) by means of the robot arm (6) controlled by the robot controller (5), and - Automatic insertion of the second SMD component reel (3.2) into the exchange magazine (2) of the SMD placement machine (1) after an initial section of the second SMD tape (4.2) of the second SMD component reel (3.2) is automatically connected to the end section of the first SMD tape (4.1) in the tape connector (7), while the second SMD tape (4.2) unwinds from the second SMD component reel (3.2) during the operation of the SMD placement machine (1), the insertion of the second SMD component reel (3.2) into the exchange magazine (2) of the SMD placement machine (1) being carried out by means of the robot arm (6) controlled by the robot controller (5) in a force / torque controlled motion control mode of the robot arm (6). Method according to claim 1, characterized in that the robot arm (6) is controlled by the robot controller (5) such that the first SMD component roll (3.1) on its way between the changer magazine (2) of the SMD placement machine (1) and the tape connector (7) is guided by the robot arm (6) on a movement path which lies at least substantially in a plane that runs parallel to the feed direction of the first SMD tape (4.1) of the first SMD component roll (3.1) into the SMD placement machine (1), and / or the. The robot arm (6) is controlled by the robot controller (5) such that the second SMD component reel (3.2) is guided by the robot arm (6) on its way between the tape connector (7) and the exchange magazine (2) of the SMD placement machine (1) along a path of movement that lies at least substantially in a plane parallel to the feed direction of the second SMD tape (4.2) of the second SMD component reel (3.2) into the SMD placement machine (1). The method according to claim 1 or 2, characterized in that the robot arm (6) is controlled by the robot controller (5) such that the first SMD component reel (3.1) is guided by the robot arm (6) on its way between the exchange magazine (2) of the SMD placement machine (1) and the tape connector (7) along a path of movement on which the first SMD component reel (3.2)1) does not rotate or only rotates about its roller axis, and / or the robot arm (6) is controlled by the robot controller (5) such that the second SMD component reel (3.2) is guided by the robot arm (6) on its path between the tape connector (7) and the changer magazine (2) of the SMD placement machine (1) along a path on which the second SMD component reel (3.2) does not rotate or only rotates about its roller axis. A method according to one of claims 1 to 3, characterized in that the first SMD component reel (3.1) is rotatably mounted in a first cassette (10.1) which has at least one first output gear (11.1). has a drive pinion (12) of a gripper (13) guided by the robot arm (6), wherein the first output wheel is driven by driven rotation (11.1) the first SMD component reel (3.1) of the first cassette (10.1) is rotated within the first cassette (10.1) for winding or unwinding the first SMD tape (4.1) in order to transport the first SMD tape (4.1) synchronously with the automatic movement of the first SMD component reel (3.1) on its path of movement between the changer magazine (2) of the SMD placement machine (1) and the tape connector (7), and / or the second SMD component reel (3.2) is rotatably mounted in a second cassette (10.2) which has at least one second output wheel. (11.2) features a drive pinion (12) of a gripper (13) guided by the robot arm (6), wherein the second SMD component reel (3.2) is rotated by driven rotation of the second output wheel of the second cassette (10.2) for winding or unwinding the second SMD tape (4.2) within the second cassette (10.2) in order to transport the second SMD tape (4.2) synchronously with the automatic movement of the second SMD component reel (3.2) on its path of movement between the tape connector (7) and the changer magazine (2) of the SMD placement machine (1). Method according to one of claims 1 to 4, characterized in that the automatic threading of the end section of the first SMD tape (4.1) into the automatic tape connector (7) by means of the robot arm (6) controlled by the robot controller (5) in a force / torque controlled motion control mode of the robot arm (6) is carried out, and / or the automatic insertion of the initial section of the second SMD tape (4.2) into the automatic tape connector (7) is carried out by means of the robot arm (6) controlled by the robot controller (5) in a force / torque controlled motion control mode of the robot arm (6). Method according to one of claims 1 to 5, characterized in that, controlled by the robot controller (5), the robot arm (6) handles a standardized cassette (10.1, 10.2) of identical design and size, wherein the standardized cassette (10.1, 10.2) is designed and configured to optionally store an SMD component roll (3.1, 3.2) of a specific size, roll width, roll diameter and / or component type, or to store an SMD component roll (3.1, 3.2) of a different size, roll width, roll diameter and / or component type.Method according to claim 6, characterized in that the standardized cassette (10.1, 10.2) has a data carrier which, in addition to its function as a carrier of data, also forms a marking by means of which the robot arm (6) can automatically align itself with respect to the cassette (10.1, 10.2) to be grasped, in order to be able to approach and grasp the cassette (10.1, 10.2) detected via the marking with positional accuracy by means of its gripper (13) guided by the robot arm (6). Method according to one of claims 1 to 7, characterized in that the robot arm (6) is arranged on an autonomous vehicle (14) and the autonomous vehicle (14) is designed to automatically move the robot arm (6) between a staging station where SMD component reels (3.1, 3.2) equipped with SMD components are provided for transport to an SMD placement machine (1), and the exchange magazine (2) of the SMD placement machine (1), into which at least one provided SMD component reel (3.1, 3.2) is to be loaded. Method according to claim 8, characterized in that a belt connector (7) which can be automatically rotated by 180 degrees is arranged on the autonomous vehicle (14) and the belt connector (7) is turned from its current orientation into an orientation rotated by 180 degrees when the robot arm (6) arranged on the autonomous vehicle (14) is connected to the first SMD component roll (3.1) and / or the second SMD component roll (3.1).2) on a side of the autonomous vehicle (14) opposite the previous working side, the automatic removal of the first SMD component reel (3.1) and / or the automatic insertion of the second SMD component reel (3.2) on an SMD placement machine (1). Method according to claim 8 or 9, characterized in that the intermediate storage magazine (8) is provided on the autonomous vehicle (14).

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