Gripper for handling SMD component roll cassettes, and associated SMD component roll cassette

Abstract

The invention relates to a gripper (13) for handling SMD component roll cassettes (10.1, 10.2) by means of a robotic arm (6) automatically controlled by a robot controller (5), when the robotic arm carries and manipulates the gripper (13) on a tool flange (15) of the robotic arm. The gripper (13) has a drive pinion (12), which is rotatably mounted on the gripper main body (16) and is designed to mesh with an output wheel (11.1, 11.2) of the SMD component roll cassette (10.1, 10.2) when the SMD component roll cassette (10.1, 10.2) is coupled to the gripper (13), and the gripper (13) has a drive motor (17), which is disposed on the gripper main body (16) and is designed to automatically drive the drive pinion (12). The invention also relates to an associated SMD component roll cassette (10.1, 10.2).

Description

[0001] Gripper for handling SMD component reel cassettes and associated SMD component reel cassette

[0002] The invention relates to a gripper for handling SMD component reel cassettes by means of a robot arm automatically controlled by a robot controller, when the robot arm carries and manipulates the gripper on its tool flange. The invention also relates to an associated SMD component reel cassette.

[0003] 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.

[0004] The object of the invention is to provide a gripper for handling

[0005] To create SMD component reel cassettes and an associated SMD component reel cassette, whereby the SMD tapes wound on the respective reel drum of the SMD component reel can be automatically unwound and / or automatically wound up.

[0006] The task is solved by a gripper for handling SMD component reel cassettes by means of a robot arm automatically controlled by a robot control system when the robot arm carries and manipulates the gripper on its tool flange, comprising:

[0007] - a gripper base body with a connecting flange for attaching the gripper to a tool flange of a robot arm,

[0008] - at least one coupling means for coupling an SMD component reel cassette to the gripper, on at least one end wall of the SMD component reel cassette, and

[0009] - a drive pinion rotatably mounted on the gripper base body, which is designed to engage with a driven gear of the SMD component reel cassette when the SMD component reel cassette is coupled to the gripper, and

[0010] - a drive motor arranged on the gripper base body, which is designed to automatically drive the drive pinion.

[0011] An 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 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 housed in a cassette. The SMD component reels described below accordingly comprise a cassette in which the tape drum is stored together with the SMD tape wound thereon.

[0012] The SMD component reel is rotatably mounted within the SMD component reel cassette. The SMD component reel cassette has an output gear that can be driven by a drive pinion of the gripper guided by the robot arm. By driven rotation of the output gear of the SMD component reel cassette, the SMD component reel can be automatically rotated within the SMD component reel cassette for winding or unwinding the SMD tape in order to transport the SMD tape, in particular synchronously with an automatic movement of the SMD component reel cassette on its path of movement between a change magazine of an SMD placement machine and a tape connector.

[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 gripper according to the invention and the SMD component roll cassette according to the invention are suitable aids for a fully automated reloading of new SMD component rolls as successor rolls for idle SMD component rolls, wherein an automatically operating belt connector can also be automatically loaded with the end of the idle SMD component roll and the beginning of the new SMD component roll by the robot-guided gripper proposed according to the invention, so that the end and beginning can be automatically connected in the automatically operating belt connector.

[0015] Initially, a first SMD component roll cassette carrying a first SMD tape can be automatically removed, which continues to run into the SMD placement machine during operation of the SMD placement machine. The first SMD component roll cassette is therefore initially located in a change magazine of the SMD placement machine. The SMD placement machine operates continuously and automatically, in particular without interruption, so that while the first SMD component roll cassette 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 on the first SMD tape one after the other within the SMD placement machine and to automatically assemble circuit boards with them.When the first SMD component roll cassette is automatically removed, it must be ensured during the movements of the robot arm, which automatically handles the first SMD component roll cassette 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 cassette 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 cassette 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 cassette from the change magazine to the belt connector. The movement path which the robot arm specifies for the first SMD component roll cassette can therefore be coordinated accordingly.

[0016] A second SMD component reel cassette, which carries a second SMD tape, can then be picked up from a pick-up magazine by means of the robot arm controlled by the robot controller. The second SMD component reel cassette will generally contain a new SMD component reel, i.e. an SMD component reel that is completely loaded with SMD components. In particular, the SMD component reel is completely filled with the loaded SMD tape. The pick-up magazine can therefore form a storage location where completely filled SMD component reels or SMD component reel cassettes are kept in stock.

[0017] Thus, an initial section of the second SMD tape can be 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 a feed slot designed to briefly receive the second SMD component reel cassette, so that the respective initial section of the second SMD tape of the second SMD component reel cassette can be automatically grasped by the tape connector for the subsequent automatic connection of the end section of the first SMD tape to the initial section of the second SMD tape.

[0018] Finally, the second SMD component reel cassette can be automatically inserted into the change magazine of the SMD placement machine after the initial section of the second SMD tape of the second SMD component reel is automatically connected to the end section of the first SMD tape in the tape connector.

[0019] Since the initial section of the second SMD tape of the second SMD component reel is already connected to the end section of the first SMD tape at this point, a tensile force is already exerted on the second SMD tape during the automatic insertion of the second SMD component reel cassette into the change magazine of the SMD placement machine. Just as when removing the first SMD component reel cassette from the change magazine, the robot arm controlled by the robot controller is also controlled in a force / torque-controlled motion mode when inserting the second SMD component reel cassette into the change magazine.

[0020] The belt drum of the respective (first or second) SMD component reel cassette can therefore be rotatably mounted on at least one inner wall, in particular between two opposite inner walls of the housing 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 lid 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 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 project into the housing of 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 be either actively unwound from the tape drum of the SMD component reel or actively wound up.

[0021] 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 SMD component roll cassette. The gripper can be fastened to a tool flange of the robot arm. The gripper can therefore be moved by moving the robot arm. Once the gripper has gripped the SMD component roll cassette, the robot arm, controlled by the robot controller, can move the SMD component roll cassette in space in the desired manner. The gripper, or rather...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 cassette, but can also automatically feed or retract the contained SMD tape out of the cassette as required and in line with the movements of the SMD component roll cassette in the room.

[0022] Accordingly, the gripper according to the invention has a gripper base body which is provided with a connecting flange which serves to fasten the gripper to a tool flange of a robot arm.

[0023] The gripper comprises at least one coupling means for coupling an SMD component roll cassette to the gripper. The at least one coupling means is provided on at least one end wall of the SMD component roll cassette. By arranging the at least one coupling means on at least one end wall of the SMD component roll cassette, i.e. in particular on an end wall of the housing of the SMD component roll cassette, several SMD component roll cassettes can be stored directly next to one another, similar to books lined up next to one another on a shelf, wherein the mutually facing side surfaces of two adjacent SMD component roll cassettes can lie flush against one another and yet can still be automatically removed individually by the gripper without the gripper having to clamp an individual SMD component roll cassette on opposite side surfaces.

[0024] In the gripper according to the invention, a drive pinion is provided that is rotatably mounted on the gripper base body and is designed to engage with a driven gear of the SMD component reel cassette when the SMD component reel cassette is coupled to the gripper. The SMD component reel cassette and, in particular, the driven gear arranged in this SMD component reel cassette are explained and disclosed in more detail below.

[0025] The gripper also has a drive motor arranged on the gripper base body, which is designed to automatically drive the drive pinion.

[0026] When the gripper has gripped an SMD component reel cassette according to the invention, the drive pinion of the gripper is in engagement with the output gear of the SMD component reel cassette. This is ensured by the structural design of the gripper with a specific assignment of the position and orientation of the at least one coupling means of the gripper with respect to the position and orientation of the drive pinion of the gripper, and the structural design of the SMD component reel cassette with a specific assignment of the position and orientation of the at least one counter-coupling means of the SMD component reel cassette with respect to the position and orientation of the output gear of the SMD component reel cassette.

[0027] The at least one coupling means can have at least one first locking means which is designed for positive engagement with a first counter-locking means on a first end wall of the SMD component roll cassette and can have at least one second locking means which is designed for positive engagement with a second counter-locking means on a second end wall of the SMD component roll cassette which is different from the first end wall of the SMD component roll cassette. The at least one first locking means can be formed, for example, by a pin or tenon. The pin or tenon can have a circular cross-section. The pin or tenon can extend transversely between two support walls of the gripper.The SMD component reel cassette can be inserted between the two opposite support walls of the gripper in a combined plugging and pivoting movement in order to couple the SMD component reel cassette to the gripper.

[0028] The gripper can have a locking means which is designed to lock in a positive-locking manner to a counter-locking means of the SMD component roll cassette when the SMD component roll cassette is coupled to the coupling means of the gripper, so that in a locking position of the locking means an unintentional release of the SMD component roll cassette from the gripper is prevented and in an unlocking position of the locking means the at least one coupling means can be moved from the counter-locking means of the SMD component roll cassette by moving the gripper from the SMD component roll cassette in order to be able to release the gripper from the SMD component roll cassette.

[0029] The locking means can, for example, be a locking element mounted on the gripper for linear adjustment. The locking element can be connected to an actuator of a lifting magnet or a lifting cylinder in order to automatically actuate, i.e., move, the locking element. For automatic adjustment of the locking element between its locking position and its unlocking position, the lifting magnet or the lifting cylinder can be electrically controlled. The lifting magnet or the lifting cylinder can also be electrically driven.

[0030] The gripper may have a first support wall which is designed to lie flat against a first surface of the SMD component reel cassette when the SMD component reel cassette is coupled to the gripper.

[0031] Alternatively or in addition to a first support wall, the gripper can have a second support wall which is designed to lie flat against a second surface of the SMD component roll cassette when the SMD component roll cassette is coupled to the gripper.

[0032] Accordingly, an SMD component reel cassette coupled to the gripper can be guided by, in particular, two support walls of the gripper arranged opposite one another at a distance from one another, or can be inserted between them.

[0033] The gripper can have a detection device which is designed and configured to automatically detect a marking on the SMD component roll cassette when the SMD component roll cassette is coupled to the gripper.

[0034] The object is also achieved by an SMD component roll cassette which matches the gripper, having a housing in which an SMD component roll is rotatably mounted, which contains an SMD tape wound on a tape drum of the SMD component roll, and having an output gear which is coupled to the tape drum and is designed to be driven by a drive pinion of a gripper guided by the robot arm when the SMD component roll cassette is coupled to the gripper, wherein by driven rotation of the output gear the tape drum of the SMD component roll can be rotated optionally for winding up or unwinding the SMD tape within the SMD component roll cassette in order to transport the SMD tape into or out of the housing of the SMD component roll cassette.

[0035] The belt drum of the SMD component reel cassette can have an output hub to which a drive shaft connected to the output gear is coupled, wherein the drive shaft is connected to the output gear via a plurality of spokes which each have a curved course extending radially outwards which deviates from the radially straight direction.

[0036] The SMD component roll cassette can have at least one counter-coupling means on at least one end wall of its housing for coupling the SMD component roll cassette to a coupling means of a gripper, in particular a first counter-coupling means on a first end wall of the housing of the SMD component roll cassette and a second counter-coupling means on a second end wall of the housing of the SMD component roll cassette that is different from the first end wall of the housing of the SMD component roll cassette, wherein the at least one counter-coupling means has at least one first counter-latching means that is designed for positive engagement in a first latching means on the gripper and at least one second counter-latching means that is designed for positive engagement in a second latching means on the gripper.

[0037] Alternatively or additionally, the SMD component reel

[0038] Cassette have a counter-locking means which is designed to be in a on a coupling means of the

[0039] In the coupled state of the SMD component roll cassette, the SMD component roll cassette can be positively locked to a locking means of the SMD component roll cassette, so that in a locking position of the locking means an unintentional release of the SMD component roll cassette from the gripper is prevented and in an unlocking position of the locking means the counter-locking means is released, so that the at least one coupling means of the gripper can be released from the at least one counter-coupling means by moving the gripper and the gripper can be removed from the SMD component roll cassette.

[0040] The locking means can, for example, be a locking element mounted on the gripper for linear adjustment. The locking element can be connected to an actuator of a lifting magnet or a lifting cylinder in order to be able to automatically move the locking element into the counter-locking means for locking or to automatically move it out of the counter-locking means for unlocking. The counter-locking means can be in the form of a locking recess or a groove-like depression, for example, in the first end wall of the housing of the SMD component reel cassette.

[0041] The housing of the SMD component reel cassette can have a grommet extending outwards tangentially from the reel of the SMD component reel, which grommet has a guide for an outgoing or incoming section of the SMD tape wound on the reel, in particular the grommet is equipped with a braking device which is designed to clamp the section of the SMD tape guided inside the grommet against the grommet in a blocking position in order to prevent undesired movement of the SMD tape relative to the grommet, and to release the section of the SMD tape guided inside the grommet in a release position so that the SMD tape can be transported through the grommet unhindered by the braking device.

[0042] The grommet can be formed by a type of spout which comprises a hollow channel with an outlet opening. The braking device can be pivotally mounted in the area of ​​the outlet opening of the hollow channel. The braking device can be formed by a small block which can be pivoted against the outlet opening of the hollow channel in order to clamp a section of the SMD strip running through the hollow channel against the grommet. Clamping does not necessarily have to result in the section of SMD strip coming to a standstill and being clamped in place; rather, the clamping can also be so moderate that the friction is increased to a certain extent, so that the SMD strip can only be pulled out of the grommet with increased force, but can nevertheless still be pulled out in principle. The pivoting braking device can have a tab which can form a lever.This allows the braking device to be opened or closed by the robot arm, when it is guiding the SMD component reel cassette using its gripper, moving the tab against an obstacle or a step in a suitable manner, for example a step on the belt connector, whereby an external force can act on the lever-like tab in order to swing the braking device open or closed. A data carrier can be attached to the housing of the SMD component reel cassette. In addition to its function as a data carrier, this data carrier also forms a marking by means of which the robot arm can automatically align itself with the SMD component reel cassette to be gripped, in order to be able to move to and grip the SMD component reel cassette detected by the marking with precise positioning using the gripper guided by the robot arm.

[0043] The marking can, for example, be an optical marking and the detection device of the gripper 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 stored in the SMD component roll cassette. Data about the dimensions, i.e. the size and / or width of the cassette, can also be encoded in the marking. Markers are also present in the marking and are arranged in a predefined position and location relative to a reference point of the housing of the SMD component roll cassette.The reference point on the SMD component reel cassette can, for example, be a point on the outlet opening from which the SMD tape 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 niche on the cassette. By means of the gripper, the robot arm, controlled by the robot controller, can handle a standardized cassette of identical design and size, wherein the standardized cassette is designed and configured to optionally store an SMD component reel of a specific size, a specific reel width, a specific reel diameter and / or a specific component type or to store an SMD component reel of a different size, a different reel width, a different reel diameter and / or a different component type.

[0044] By means of the gripper according to the invention and the SMD component reel cassette according to the invention, in particular a method for automatically reloading SMD component reels on SMD placement machines can be carried out, comprising the steps:

[0045] - 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,

[0046] - 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,

[0047] - Placing the first SMD component roll into an intermediate storage magazine,

[0048] - Picking up a second SMD component roll, which carries a second SMD tape, from a pick-up magazine by means of the robot arm controlled by the robot control,

[0049] - automatic threading of an initial section of the second SMD tape into the automatic tape connector by means of the robot arm controlled by the robot control system, and

[0050] - 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 strip of the second SMD component roll has been automatically connected to the end section of the first SMD strip in the tape connector, while the second SMD strip 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. Concrete embodiments of the invention are explained in more detail in the following description with reference to the attached figures.Concrete features of these exemplary embodiments may, regardless of the specific context in which they are mentioned, also considered individually or in further combinations, represent general features of the invention.

[0051] It shows :

[0052] 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,

[0053] Fig. 2 is a flow chart of the steps in a basic method according to which the gripper according to the invention and the SMD component reel cassette according to the invention can be used,

[0054] 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,

[0055] 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

[0056] vehicle,

[0057] Fig. 5 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 behind,

[0058] 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,

[0059] Fig. 7 is a perspective view of the exemplary gripper on which an exemplary SMD component roller

[0060] Cassette is coupled in which an exemplary SMD component roll is stored,

[0061] Fig . 8 a schematic representation of the SMD

[0062] Component reel cassette in which an exemplary SMD component reel is stored, in a unique position,

[0063] Fig . 9 a schematic representation of the SMD

[0064] Component roll cassette in which the exemplary SMD component roll is stored with a coupled gripper according to the invention, which is attached to the

[0065] flange of the robot arm, Fig. 10 is a perspective partial view of the SMD component roll cassette in the area of ​​the exit spout of the SMD tape, in a closed position of a locking means,

[0066] Fig. 11 a perspective partial view of the SMD component reel cassette in the area of ​​the exit spout of the SMD tape, in an open position of the locking means,

[0067] Fig. 12 a schematic representation in a

[0068] Side view of an exemplary gripper according to the invention in

[0069] Unique selling point, and

[0070] Fig. 13 is a perspective view of the exemplary gripper according to Fig. 12 in isolation.

[0071] Fig. 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 strip 4 runs into the associated SMD placement machine 1. Each SMD component reel 3 can be stored in its own SMD component reel cassette 10.1, 10.2. Fig. 2 shows a schematic flow chart of an exemplary method for automatically reloading SMD component reels 3 or SMD component reel cassettes 10.1, 10.2 on SMD placement machines 1.

[0072] In a first method step S1, a first SMD component roll cassette 10.1 is automatically removed, which carries a first SMD tape 4.1, which continues to run into the SMD placement machine 1 during operation of the SMD placement machine 1, while the first SMD component roll cassette 10.1 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.

[0073] In a second method step S2, an end section of the first SMD tape 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 cassette 10.1 is automatically separated from the first SMD tape 4.1.

[0074] In a third process step S3, the first SMD component roll cassette 10.1 is placed in an intermediate storage magazine 8.

[0075] In a fourth method step S4, a second SMD component reel cassette 10.2, which carries a second SMD tape 4.2, is picked up from a receiving magazine 9 by means of the robot arm 6 controlled by the robot controller 5. In a fifth method step S5, an initial section of the second SMD tape 4.2 is automatically threaded into the automatic tape connector 7 by means of the robot arm 6 controlled by the robot controller 5.

[0076] In a sixth method step S 6 , the second SMD component roll cassette 10 . 2 is automatically inserted into the change magazine 2 of the SMD placement machine 1 , after a starting section of the second SMD tape 4 . 2 of the second SMD component roll 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 runs off the second SMD component roll 3 . 2 from the second SMD component roll cassette 10 . 2 during operation of the SMD placement machine 1 , the insertion of the second SMD component roll cassette 10 . 2 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.

[0077] The robot arm 6 is controlled by the robot controller 5 in such a way that the first SMD component reel cassette 10 . 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 reel cassette 10 . 1 into the SMD placement machine 1 .

[0078] The robot arm 6 is also controlled by the robot controller 5 in such a way that the second SMD component roll cassette 10 . 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 .

[0079] The robot arm 6 can be controlled by the robot controller 5 in such a way that the first SMD component reel cassette 10.1 is guided by the robot arm 6 on its way between the change magazine 2 of the SMD placement machine 1 and the belt connector 7 along a movement path on which the first SMD component reel cassette 10.1 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 cassette 10.2 can be guided by the robot arm 6 on its way between the belt connector 7 and the change magazine 2 of the SMD placement machine 1 along a movement path on which the second SMD component reel cassette 10.2 does not rotate or only rotates exclusively around its reel rotation axis.

[0080] Fig. 7 to Fig. 13 show the gripper 13 for handling SMD component reel cassettes 10. 1, 10. 2. Handling is performed by a robot arm 6, which is automatically controlled by a robot controller 5, when the robot arm carries and manipulates the gripper 13 on its tool flange 15.

[0081] The gripper 13 has a gripper body 16 with a

[0082] Connection flange 16a for fastening the gripper 13 to a tool flange 15 of a robot arm 6, as shown in particular in Fig. 7.

[0083] At least one coupling means 18 serves to couple an SMD component reel cassette 10.1, 10.2 to the gripper 13, to at least one end wall 19.1, 19.2 of the SMD component reel cassette 10.1, 10.2. The coupling means 18 engage with the counter-coupling means 20 of the SMD component reel cassette 10.1, 10.2.

[0084] A drive pinion 12 which is rotatably mounted on the gripper base body 16 of the gripper 13 and which is designed, in a state coupled to the gripper 13 (Fig. 7) of the SMD component reel cassette 10.1, 10.2, to be driven into a driven gear 11.

[0085] 11.2 of the SMD component reel cassette 10.1, 10.2.

[0086] The gripper 13 also comprises a drive motor 17 arranged on the gripper base body 16, which is designed to automatically drive the drive pinion 12.

[0087] The at least one coupling means 18 has at least one first locking means 18.1, which is designed for positive engagement in a first counter-locking means 20.1 on a first end wall 19.1 of the SMD component reel cassette 10.1, 10.2 and at least one second locking means

[0088] 18.2, which is designed for positive engagement in a second counter-latching means 20.2 on a second end wall 19.2 of the SMD component roll cassette 10.2, 10.2, which is different from the first end wall 19.1 of the SMD component roll cassette 10.1, 10.2.

[0089] The at least one first locking means 18.1 can be formed, for example, by a pin or stud. The pin or stud can have a circular cross-section. The pin or stud can extend transversely between two support walls 21.1, 21.12 of the gripper 13. The SMD component reel cassette 10.1, 10.2 can be inserted between the two opposite support walls 21.1, 21.12 of the gripper 13 in a combined insertion and pivoting movement to couple the SMD component reel cassette 10.1, 10.2 to the gripper.

[0090] In the case of the present embodiment, the gripper 13 also has an adjustable locking means 22 which is designed to lock in a positive-locking manner to a counter-locking means of the SMD component roll cassette 10.1, 10.2 when the SMD component roll cassette 10.1, 10.2 is coupled to the coupling means 18 of the gripper 13, so that in a locking position of the locking means 22, an unintentional release of the SMD component roll cassette 10.1, 10.2 from the gripper 13 is prevented and in an unlocking position of the locking means 22, the at least one coupling means 18 can be moved by moving the gripper 13 from the SMD component roll cassette 10.1, 10.2 out of the counter-locking means of the SMD component roll cassette 10.1, 10.2 in order to to be able to release the gripper 13 from the SMD component reel cassette 10.1, 10.2.

[0091] The locking means 22 can, for example, be a locking element that is mounted on the gripper 13 in a linearly adjustable manner. The locking element can be connected to an actuator of a lifting magnet or a lifting cylinder in order to automatically actuate, i.e., move, the locking element. For automatic adjustment of the locking element between its locking position and its unlocking position, the lifting magnet or the lifting cylinder can be electrically controlled. The lifting magnet or the

[0092] Lifting cylinder can also be electrically driven.

[0093] The gripper 13 has a first support wall 21.1 which is designed to lie flat against a first surface of the SMD component roll cassette 10.1, 10.2 when the SMD component roll cassette 10.1, 10.2 is coupled to the gripper 13 and, in the case of the present exemplary embodiment, the gripper 13 also has a second support wall 21.2 which is designed to lie flat against a second surface of the SMD component roll cassette 10.1, 10.2 when the SMD component roll cassette 10.1, 10.2 is coupled to the gripper 13.

[0094] Accordingly, an SMD component reel cassette 10.1, 10.2 coupled to the gripper 13 can be guided in particular by two support walls 21.1, 21.2 of the gripper 13 arranged opposite one another at a distance from one another, or can be inserted between them.

[0095] The gripper 13 can have a detection device 23 which is designed and configured to automatically detect a marking 24 on the SMD component roll cassette 10.1, 10.2 when the SMD component roll cassette 10.1, 10.2 is coupled to the gripper 13.

[0096] In particular, Fig. 7 to Fig. 11 show an SMD component reel cassette 10.1, 10.2, comprising a housing 25 in which an SMD component reel 3.1, 3.2 is rotatably mounted, which contains an SMD tape 4.1, 4.2 wound on a tape drum 26 of the SMD component reel 3.1, 3.2, and comprising a driven gear 11.1, 11.2 coupled to the tape drum 26, which is designed to be driven by a drive pinion 12 of a robot arm 6 guided

[0097] Gripper 13 to be driven when the SMD component roll cassette 10.1, 10.2 is coupled to the gripper 13, wherein by driven rotation of the output gear 11., 11.2 the tape drum 26 of the SMD component roll 3.1, 3.2 can be rotated optionally for winding up or unwinding the SMD tape 4.1, 4.2 within the SMD component roll cassette 10.1, 10.2 in order to transport the SMD tape 4.1, 4.2 out of or into the housing 25 of the SMD component roll cassette 10.1, 10.2.

[0098] The belt drum 26 has an output hub 27 to which a drive shaft 28 connected to the output gear 11.1, 11.2 is coupled, wherein the drive shaft 28 is connected to the output gear 11.1, 11.2 via a plurality of spokes 29, which each have a curved course deviating from the radially straight direction towards the outside, as is shown in particular in Fig. 8 and Fig. 9.

[0099] The SMD component reel cassette 10.1, 10.2 has at least one counter-coupling means 20 on at least one end wall 19.1, 19.2 of its housing 25 for coupling the SMD component reel cassette 10.1, 10.2 to the coupling means 18 of the gripper 13, in particular a first counter-coupling means 20 on a first end wall 19.1 of the housing 25 of the SMD component reel cassette 10.1, 10.2 and a second end wall 19.2 of the housing 25 of the SMD component reel cassette 10.1, 10.2, which is different from the first end wall 19.1 of the housing 25 of the SMD component reel cassette 10.1, 10.2.2 a second counter-coupling means 20, wherein the at least one counter-coupling means 20 has at least one first counter-locking means (first groove) which is designed for positive engagement in a first locking means (first pin or first pin) on the gripper 13 and at least one second counter-locking means (second groove) which is designed for positive engagement in a second locking means (second pin or second pin) on the gripper 13.

[0100] As can be seen in particular in Fig. 8 and Fig. 9, in the case of the present exemplary embodiment, the SMD component reel cassette 10.1, 10.2 has a counter-locking means 30 which is designed to lock in a positive-locking manner to the locking means 22 of the SMD component reel cassette 10.1, 10.2 when the SMD component reel cassette 10.1, 10.2 is coupled to a coupling means 18 of the gripper 13, so that in a locking position of the locking means 22 an unintentional release of the SMD component reel cassette 10.1, 10.2 from the gripper 13 is prevented and in an unlocking position of the locking means 22 the counter-locking means 30 is released, so that the at least one coupling means 18 of the gripper 13 can be released from the at least one Counter-coupling means 20 is detachable and the gripper 13 can be removed from the SMD component reel cassette 10.1, 10.2.

[0101] The locking means 22 can, for example, be a locking element that is mounted on the gripper 13 in a linearly adjustable manner. The locking element can be connected to an actuator of a lifting magnet or a lifting cylinder in order to automatically move the locking element into the

[0102] To be able to move the counter-locking means 30 inward or to be able to automatically move the counter-locking means 30 outward for unlocking. Accordingly, as shown in particular in Fig. 8, the counter-locking means 30 can be in the form of a locking recess or a groove-like depression, for example in the first end wall 19.1 of the housing 25 of the SMD component reel cassette 10.1, 10.2.

[0103] The housing 25 of the SMD component reel cassette 10.1, 10.2 can, as shown in particular in Fig. 10 and Fig. 11, have a grommet 31 extending outwards tangentially from the tape drum 26 of the SMD component reel 3.1, 3.2, which has a guide for an exiting or entering section of the SMD tape 4.1, 4.2 wound on the tape drum 26. The grommet 31 can be equipped with a braking device 32 which is designed, in a locked position according to Fig. 10, to clamp the section of the SMD strip 4.1, 4.2 guided within the grommet 31 against the grommet 31 in order to prevent undesired movement of the SMD strip 4.1, 4.2 relative to the grommet 31, and, in a released position according to Fig. 11, to release the section of the SMD strip 4.1, 4.2 guided within the grommet 31 so that the SMD strip 4.1, 4.2 can be transported through the grommet 31 unhindered by the braking device 32. In Fig.10, the braking device 32 is therefore pivoted upwards and in Fig. 11 pivoted downwards.

[0104] The grommet 31 can be formed by a type of spout, which comprises a hollow channel with an outlet opening. The braking device 32 can be pivotally mounted in the area of ​​the outlet opening of the hollow channel. The braking device 32 can be formed by a block, which can be pivoted against the outlet opening of the hollow channel in order to clamp a section of the SMD strip 4.1, 4.2 running through the hollow channel against the grommet. The clamping does not necessarily have to result in the section of the SMD strip 4.1, 4.2 coming to a standstill and being clamped in place; rather, the clamping can also be so moderate that the friction is increased to a certain extent, so that the SMD strip 4.1, 4.2 can only be pulled out of the grommet 31 with increased force, but can nevertheless still be pulled out in principle. The pivotable braking device 32 may have a tab 33 which may form a lever.As a result, the braking device 32 can be opened or closed by the robot arm 6, when it guides the SMD component reel cassette 10.1, 10.2 by means of its gripper 13, moving the tab 33 in a suitable manner against an obstacle or a step, for example a step on the belt connector 7, whereby an external force can act on the lever-like tab 33 in order to pivot the braking device 32 open or closed.

[0105] A data carrier can be attached to the housing 25 of the SMD component reel cassette 10.1, 10.2, which, in addition to its function as a data carrier, also forms a marking 24, by means of which the robot arm 6 can automatically align itself with respect to the SMD component reel cassette 10.1, 10.2 to be gripped, in order to be able to approach and grip the SMD component reel cassette 10.1, 10.2 detected by the marking with precise positioning by means of its gripper 13 guided by the robot arm 6.

[0106] The first SMD component reel 3.1 can be rotatably mounted in a first SMD component reel cassette 10.1, as shown in Fig. 7 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 SMD component reel cassette 10.1, the first SMD component reel 3.1 is rotated for winding or unwinding the first SMD tape 4.1 within the first SMD component reel cassette 10.1 in order to move the first SMD tape 4.1 synchronously with the automatic movement of the first SMD component reel cassette 10.1 on its movement path between the change magazine 2 of the SMD placement machine 1 and the belt connector 7.

[0107] In the same way, the second SMD component reel 3.2 can be rotatably mounted in a second SMD component reel cassette 110.2, 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 SMD component reel cassette 110.2, the second SMD component reel 3.2 is rotated within the second SMD component reel cassette 10.2 for winding up 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 cassette 10.2 on its movement path between the belt connector 7 and the change magazine 2 of the SMD placement machine 1.

[0108] 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.

[0109] The robot arm 6, controlled by the robot controller 5, handles a standardized SMD component roll cassette 10.1, 10.2 of identical design and size, wherein the standardized SMD component roll cassette 10.1, 10.2 is designed and configured to optionally store an SMD component roll 3.1, 3.2 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 3.1, 3.2 of a different size, a different roll width, a different roll diameter and / or a different component type.

[0110] The standardized SMD component reel 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 automatically align itself with respect to the SMD component reel cassette 10.1, 10.2 to be gripped in order to be able to approach and grip the SMD component reel cassette 10.1, 10.2 detected by the marking with precise positioning by means of its gripper 13 guided by the robot arm 6.

[0111] As shown in Fig. 3 to Fig. 6, in the case of the present 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 loaded with SMD components are provided for transport to an SMD placement machine 1 in SMD component reel cassettes 10.1, 10.2, and the change magazine 2 of the SMD placement machine 1, into which at least one provided SMD component reel cassette 10.1, 10.2 is to be loaded.

Claims

Patent claims 1. Gripper for handling SMD component reel cassettes (10.1, 10.2) by means of a robot arm (6) automatically controlled by a robot controller (5), when the robot arm carries and manipulates the gripper (13) on its tool flange (15), comprising: - a gripper body (16) with a connecting flange (16a) for attaching the gripper (13) on a tool flange (15) of a robot arm (6) , - at least one coupling means (18) for coupling an SMD component reel cassette (10.1, 10.2) to the gripper (13) , to at least one end wall (19.1, 19.2) of the SMD component reel cassette (10.1, 10.2) , and - a drive pinion (12) rotatably mounted on the gripper body (16), which is designed to engage with an output gear (11.1, 11.2) of the SMD component reel cassette (10.1, 10.2) in a state coupled to the gripper (13), and - a drive motor (17) arranged on the gripper base body (16) which is designed to automatically drive the drive pinion (12) . Gripper according to claim 1, characterized in that the at least one coupling means (18) has at least one first locking means (18.1) configured for positive engagement with a first counter-locking means (20.1) on a first end wall (19.1) of the SMD component reel cassette (10.1, 10,2) and at least one second locking means (18.2) configured for positive engagement with a second counter-locking means (20.2) on a second end wall (19.2) of the SMD component reel cassette (10.1, 10,2) that differs from the first end wall (19.1) of the SMD component reel cassette (10.1, 10,2). Gripper according to claim 1 or 2, characterized in that the gripper (13) has a locking means (22) which is configured to engage positively with a counter-locking means (30) of the SMD component reel cassette (10.1, 10.2) in a state coupled to the coupling means (18) of the gripper (13).1, 10,2) to lock, so that in a locking position of the locking means (22) an unintentional release of the SMD component reel cassette (10.1, 10,2) from the gripper (13) is prevented and in an unlocking position of the locking means (22) the at least one coupling means (18) can be moved from the SMD component reel cassette (10.1, 10,2) by moving the gripper (13) from the SMD component reel cassette (10.1, 10,2) out of the counter-locking means (30) of the SMD component reel cassette (10.1, 10,2) in order to be able to release the gripper (13) from the SMD component reel cassette (10.1, 10,2). Gripper according to one of claims 1 to 3, characterized in that the gripper (13) has a first support wall (21.1) which is configured to bear against a first surface of the SMD component reel cassette (10.1, 10,2) when the SMD component reel cassette (10.1, 10,2) is coupled to the gripper (13) and / or the gripper (13) has a second support wall (21.2) which is configured to bear against a second surface of the SMD component reel cassette (10.1, 10,2) when the SMD component reel cassette (10.1, 10,2) is coupled to the gripper (13). Gripper according to one of claims 1 to 4, characterized in that the gripper (13) has a detection device (23) which is designed and configured to automatically detect a marking (24) on the SMD component reel cassette (10.1, 10,2) when the SMD component reel cassette (10.1, 10,2) is coupled to the gripper (13).SMD component reel cassette comprising a housing (25) in which an SMD component reel (3.1, 3.2) is rotatably mounted, the reel containing an SMD tape (4.1, 4.2) wound onto a tape drum (26) of the SMD component reel (3.1, 3.2), and comprising an output gear (11.1, 11.2) coupled to the tape drum, the output gear being configured to be driven by a drive pinion (12) of a gripper (13) guided by the robot arm (6) when the SMD component reel cassette (10.1, 10.2) is coupled to the gripper (13), wherein the tape drum (26) of the SMD component reel (10.1, 10.2) is rotated by the driven rotation of the output gear (11.1, 11.2). The SMD tape (4.1, 4.2) can be selectively rotated within the SMD component reel cassette (10.1, 10.2) for winding or unwinding, in order to transport the SMD tape (4.1, 4.2) in or out of the housing (25) of the SMD component reel cassette (10.1, 10.2). SMD component reel cassette according to claim 6, characterized in that the tape drum (26) has an output hub (27) to which a drive shaft (28) connected to the output wheel (11.1, 11.2) is coupled, the drive shaft (28) being connected to the output wheel (11.1, 11.2) via several spokes (29) which each have a curved path extending radially outwards, deviating from the radial straight direction. 11.2) is connected. SMD component reel cassette according to claim 6 or 7, characterized in that the SMD component reel cassette (10.1, 10,2) has at least one negative feedback means (20.1, 20.2) on at least one end wall (19.1, 19.2) of its housing (25) for coupling the SMD component reel cassette (10.1, 10,2) to a coupling means (18) of a gripper (13), in particular on a first end wall (19.1) of the housing (25) of the SMD component reel cassette (10.1, 10.2) a first negative feedback means (20) and a second negative feedback means (20) on a second end wall (19.2) of the housing (25) of the SMD component reel cassette (10.1, 10.2) that differs from the first end wall (19.1) of the housing (25) of the SMD component reel cassette (10.1, 10.2), wherein the at least one negative feedback means (20) has at least one The gripper (13) has a first locking element (20.1) configured for positive engagement with a first locking element (18.1) and at least a second locking element (20.2) configured for positive engagement with a second locking element (18.2) on the gripper (13), and / or the SMD component reel cassette (10.1, 10.2) has a locking element (30) configured to positively lock onto a locking element (22) of the SMD component reel cassette (10.1, 10.2) in a state coupled to a coupling element (18) of the gripper (13), such that in a locking position of the locking element (22) unintentional release of the SMD component reel cassette is prevented. (10.1, 10,2) is prevented from the gripper (13) and in an unlocking position of the locking means (22) the counter-locking means (30) is released, so that the at least one coupling means (18) of the gripper (13) can be released from the at least one counter-coupling means (20) by moving the gripper (13) and the gripper (13) can be removed from the SMD component reel cassette (10.1, 10.2). SMD component reel cassette according to one of claims 6 to 8, characterized in that the housing (25) has a grommet (31) extending tangentially outwards from the tape drum (26) of the SMD component reel (3.1, 3.2), which has a guide for an exiting or entering section of the SMD tape (4.1, 4.2) wound on the tape drum (26), in particular the grommet (31) with a. The device is equipped with a braking device (32) which is configured to clamp the section of the SMD tape (4.1, 4.2) guided inside the grommet (31) against the grommet (31) in a locking position to prevent unwanted movement of the SMD tape (4.1, 4.2) relative to the grommet (31), and in a releasing position to release the section of the SMD tape (4.1, 4.2) guided inside the grommet (31). 4.2) to release, so that the SMD tape (4.1, 4.2) can be transported through the grommet (31) unhindered by the braking device (32). SMD component reel cassette according to one of claims 6 to 9, characterized in that a data carrier is attached to the housing (25) of the SMD component reel cassette (10.1, 10.2), which, in addition to its function as a data carrier, also forms a marking (24) by means of which the robot arm (6) can orient itself with respect to the SMD component reel cassette (10.1, 10.2) to be grasped. 10.2) can automatically align itself in order to pick up the SMD component reel cassette detected via the marking by means of its gripper (13) guided by the robot arm (6). (10.1, 10.2) to be able to approach and grasp with precise positioning.

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