Waste disposal unit

Abstract

To provide an automated, fully flexible waste disposal system for placement machines in SMT production lines that does not require production line-specific equipment. [Solution] A waste disposal unit is described that can be transported by a mobile robot, such as an automated guided vehicle (AGV) or an autonomous mobile robot (AMR), in order to empty waste at any placement machine on a production line as required. Placement machines are also provided that include features to support such waste disposal in an overall waste disposal system.

Description

Technical Field

[0001] The present invention relates to a waste processing unit, a mobile robot, a placement machine, and a method for disposing of waste from a placement machine.

Background Art

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

[0003] The most common packaging for small electronic components uses carrier tape, which is sometimes referred to as a "belt", with small pockets formed therein. One component is provided in each of the pockets. Only one type of component is arranged within each carrier tape. The pockets are then covered with a thin cover foil, which must be removed before components can be picked. In order to save space and facilitate transportation, carrier tape is conventionally formed as a reel by being wound onto a spool. Typically, a tape reel is placed in a feeder module comprising drive means for advancing the tape, such as a motor-driven sprocket wheel that engages with holes provided along the length of the carrier tape, and a pickup area or window providing access to the components. The feeder module can be removably inserted into a placement machine.

[0004] It is obvious that once all components have been removed from a section of carrier tape, and said section can be cut from the remaining carrier tape by a tape cutter provided in the placement machine, said section becomes waste, just like the removed cover foil. This waste must be removed from the placement machine continuously or at appropriate intervals to avoid the placement machine becoming excessively filled with such waste.

[0005] Currently, the most common method for collecting tape waste in placement machines is to use simple plastic boxes as waste containers. These boxes can be placed, for example, under the exchange table of the placement machine where the feeder can be located. After the tape waste is cut by the tape cutter, it falls into the waste boxes. The operator needs to empty these boxes at appropriate intervals, for example, about once per shift.

[0006] This is a low-skill job for operators who could be employed at higher wages in other areas. Furthermore, there is currently a movement towards automating SMT production lines, aiming for "lights-off" factories that require minimal operator intervention. As a result, various efforts have been made to provide automated waste disposal systems.

[0007] As an example, Patent Document 1 describes a system in which a waste channel is placed beneath the placement machines of a production line. Within the waste channel is a chain that moves brushes within the channel. These brushes move the waste from all machines to a central point. Patent Document 2 describes a vacuum system for transporting waste from each placement machine of a production line to a central point. Patent Document 3 discloses a system in which a conveyor from which waste can fall is provided at each placement machine. Adjacent conveyors of adjacent placement machines can transport the waste along the production line to an end point. Patent Document 4, on the other hand, discloses a system similar to Patent Document 3, in which a conveyor from which waste can fall is provided at each placement machine, and again adjacent conveyors of adjacent placement machines transport the waste along the production line to an end point.

[0008] However, there are various problems associated with these known methods. All of these known solutions require equipment on the production line. In most of these, the equipment is fixed and therefore inflexible, requiring complex setups. Patent Document 1 is considered a good solution because the waste channel is completely separate from the production line and simply needs to be inserted under the machine, but nevertheless, it still has to be configured for a specific production line and machine. Furthermore, the available space under / inside the placement machine may be limited, and access to the channel / conveyor under the machine may be restricted. [Prior art documents] [Patent Documents]

[0009] [Patent Document 1] German Patent Application Publication No. 102020121224 [Patent Document 2] International Publication No. 2017026030 [Patent Document 3] International Publication No. 2019229927 [Patent Document 4] International Publication No. 2019202810 [Overview of the project] [Problems that the invention aims to solve]

[0010] This invention aims to overcome these problems and provide an automated, fully flexible waste disposal system for placement machines in SMT production lines that does not require production line-specific equipment.

[0011] According to the present invention, this objective is achieved by providing a waste disposal unit that can be transported by a mobile robot, such as an automated guided vehicle (AGV) or an autonomous mobile robot (AMR), to empty waste at any placement machine on a production line as required. Placement machines are also provided that include features to support such waste disposal in an overall waste disposal system.

[0012] As is well known in the art itself, mobile robots such as AGVs are typically devices that can move across a floor by a wheeled chassis, with at least some degree of autonomy. AGVs are available from many manufacturers (and therefore relatively inexpensive, so that production line operators may already own a suitable AGV) and typically have a platform that can optionally be vertically movable and carry loads (not shown) such as work-specific equipment. A conventional AGV1 is schematically shown in Figure 1, comprising a chassis2, wheels3 and a platform4, and includes two centering mechanisms5 that enable the precise positioning of the load onto the platform4, which are highlighted. These are generally fairly simple, for example, upward-facing conical projections that provide centering of the load onto the platform4. Naturally, this requires that the load have a corresponding mechanism that fits into the mechanism5, such as a conical recess on the underside of the load. The load may have its own power source, such as a battery, or it may draw power from the AGV1 itself. In the following description, for the sake of simplification, power sources will not be explicitly mentioned, nor will control means such as a properly programmed computer, processor, etc., used to control either or both the AGV and its load. [Means for solving the problem]

[0013] According to a first aspect of the present invention, there is provided a waste processing unit adapted to be carried by a mobile robot and configured to receive waste from a waste module of a placement machine in an SMT production line, the unit comprising: a waste storage volume; a dock for receiving waste from the waste module of the placement machine; a transfer area spaced from the dock; conveying means for conveying received waste from the dock to the transfer area; transfer means for transferring conveyed waste from the transfer area into the waste storage volume; .

[0014] According to a second aspect of the present invention, there is provided a mobile robot comprising the waste processing unit of the first aspect.

[0015] According to a third aspect of the present invention, there is provided a placement machine comprising a waste module adapted to engage with the waste processing unit of the first aspect.

[0016] According to a fourth aspect of the present invention, there is provided a method for disposing of waste from a placement machine in an SMT production line, the method comprising: equipping a mobile robot with the waste processing unit according to the first aspect; moving the mobile robot to the placement machine; transferring waste from the placement machine to the waste processing unit; .

[0017] Other specific aspects and features of the invention are defined in the appended claims.

[0018] The present invention will now be described with reference to the accompanying drawings, which are not to scale. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] [Figure 1]An isometric view schematically shows a known AGV. [Figure 2] A front view schematically shows a placement machine according to an embodiment of the present invention. [Figure 3] An isometric view schematically shows a mobile robot equipped with a waste processing unit according to an embodiment of the present invention. [Figure 4A] A top view schematically shows steps in a waste processing operation according to an embodiment of the present invention. [Figure 4B] A top view schematically shows steps in a waste processing operation according to an embodiment of the present invention. [Figure 4C] A top view schematically shows steps in a waste processing operation according to an embodiment of the present invention. [Figure 4D] A side view schematically shows steps in a waste processing operation according to an embodiment of the present invention. [Figure 4E] A side view schematically shows steps in a waste processing operation according to an embodiment of the present invention. [Figure 4F] A side view schematically shows steps in a waste processing operation according to an embodiment of the present invention. [Figure 5] An isometric view schematically shows a mobile robot equipped with a waste processing unit according to another embodiment of the present invention. [Figure 6] A cross-sectional side view schematically shows a mobile robot equipped with a waste processing unit according to a further embodiment of the present invention. [Figure 7] Schematically shows the waste processing unit of Figure 6 engaged with a placement machine. [Figure 8] A cross-sectional side view schematically shows a mobile robot equipped with a waste processing unit according to a further embodiment of the present invention. [Figure 9] A cross-sectional side view schematically shows a mobile robot equipped with a waste processing unit according to a further embodiment of the present invention. DESCRIPTION OF EMBODIMENTS

[0020] Figure 2 schematically shows a placement machine 6 according to one embodiment of the present invention, viewed from the front. As is known in the art, the placement machine 6 is typically fitted with a plurality of feeders 7 arranged in a horizontal array. A waste module 8 is positioned below the feeders 7 so that waste, in particular used parts and / or cover tape, can optionally be guided by a chute 9 and fall into the waste module 8. A waste bin 10 is removably received in the waste module 8, which has an open upper side for receiving waste. Preferably, swivelable caster-type wheels 11 can be provided at the base of the waste bin 10 to facilitate movement in and out of the waste module 8 substantially parallel to the illustrated horizontal y-axis, as will be described in more detail below. The waste bin 10 also includes two engagement mechanisms, namely a first bin engagement mechanism 12 and a second bin engagement mechanism 13, which enable releasable and repeatable engagement with each part of the waste processing unit, as will be described in more detail below. The box engagement mechanisms 12 and 13 are advantageously located relatively close to each other at one end of the waste box 10, i.e., near the right end as shown in the figure. These mechanisms can take on a wide variety of forms, but as shown in the figure, the first box engagement mechanism 12 includes two downward-extending projections (only one is shown in Figure 2), while the second box engagement mechanism 13 includes a female-shaped recess in the form of a horizontally extending slot.

[0021] Figure 3 is an isometric view schematically showing a mobile robot or AGV 1 equipped with a waste disposal unit 15 according to one embodiment of the present invention. The waste disposal unit 15 is removably and repeatedly mountable on the AGV 1 via its centering mechanism 5 and the like. For convenience, the Cartesian axes specific to the waste disposal unit 15 are shown, comprising a vertical ("Z") axis, a horizontal or lateral axis "L", and a front-to-back axis "FB". The waste disposal unit 15 is substantially hollow, and the interior of the waste disposal unit 15 forms a waste storage volume 16. The top of the waste storage volume 16 is open, allowing waste to enter the waste storage volume 16 from above, as will be described in more detail below. Preferably, the waste storage volume 16 is at least twice as large as the volume of the waste bin 10, so that waste from at least two waste bins can be emptied before it becomes full. The front end of the waste disposal unit 15 is equipped with a conveying means in the form of a vertical conveyor 17, including a continuous belt supported by top rollers 18 and bottom rollers 19. Although omitted from Figure 3 for clarity, the top and bottom rollers 18, 19 can each be supported by a wall defining the front of the waste storage volume 16 and rotatable relative to it, and at least one of the top and bottom rollers 18, 19 can be rotatably driven by a rotary drive means such as a motor (not shown). The vertical conveyor 17 carries a belt engagement mechanism 20, in the form of a protruding shelf, sized to repeatedly and releasably engage with the second box engagement mechanism 13. An arm 21 is also provided at the front end of the waste processing unit 15, at a relatively low position, i.e., below the vertical conveyor 17. This is mechanically connected to the rest of the waste processing unit 15 via a drive (not shown), and the arm 21 can be configured to move with a component of movement along at least one horizontal axis, which in this case extends away from the waste processing unit 15 in the lateral (negative L) direction. Conveniently, the arm 21 can be nested to allow for a relatively large range of extension. The arm 21 is provided with two arm engagement mechanisms 22, which are configured to engage with the first box engagement mechanism 12 in a releasable and repeatable manner.Arm 21 thus acts as a dock for receiving waste from the waste module 8 of the placement machine 6.

[0022] Figures 4A to 4F schematically illustrate the steps in a waste disposal operation using this equipment, from various top and side views. More specifically, Figures 4A to 4C show, from top, the alignment process in which the waste disposal unit 15 engages with a waste bin 10, preferably filled with waste, and removes the waste from the waste module 8 of the placement machine 6, while Figures 4D to 4F show, from the side, the discharge process in which the waste is discharged from the waste bin 10.

[0023] In Figure 4A, AGV 1 positions the waste disposal unit 15 parallel to the placement machine 6, so that the front end of the waste disposal unit 15 is approximately aligned with the right end of the waste bin 10. In Figure 4B, the arm 21 is extended in the negative L / positive Y direction so that the first bin engagement mechanism 12 can engage with the arm engagement mechanism 22. This engagement can take various forms, as are well known in the art, such as simple mechanical latching or electromagnetic coupling. Next, as shown in Figure 4C, the arm 21 is retracted, pulling the waste bin 10 towards the waste disposal unit 15 so that the second bin engagement mechanism 13 engages with the belt engagement mechanism 20, i.e., the shelf of the belt engagement mechanism 20 is received in the slot of the second bin engagement mechanism 13. Figure 4D shows the engaged waste disposal unit 15 and waste bin 10 in this position. Next, as shown in Figure 4E, the vertical conveyor 17 is operated to lift the belt engagement mechanism 20, and therefore the engaged waste bin 10 as well. Each of the first box engagement mechanism 12 and arm engagement mechanism 22 can be passively disengaged through relative vertical movement, or, if electromagnetic coupling is used, by switching off the electromagnetic coupling, for example, to separate these mechanisms. During this lifting phase, the waste bin 10 remains in a substantially non-rotating configuration to prevent waste from falling out of the waste bin 10. Emptying the waste bin 10 is shown in Figure 4F. By continuing to operate the vertical conveyor 17, the belt engagement mechanism 20 reaches the top roller 18, and thus a rotational component is imparted to the belt engagement mechanism 20 and therefore the waste bin 10. This location thus separates from the arm 21 at a position vertically higher than the arm 21, forming a transport area. With the continued operation of the vertical conveyor 17, the waste bin rotates clockwise as shown, with the top of the waste bin 10 at least partially inverted, so that it aligns with the open top of the waste storage volume 16. At this position, the waste 23 may fall from the waste box 10 into the waste storage volume 16 due to gravity until the waste box 10 is empty.

[0024] The above process is then effectively reversed to return the empty waste bin 10 to the placement machine 6. The vertical conveyor 17 is driven in reverse to return the waste bin 10 to the floor, allowing the first bin engagement mechanism 12 and the arm engagement mechanism 22 to re-engage. The arm 21 pushes the waste bin 10 laterally back into the waste module 8 of the placement machine 6, disengaging the first bin engagement mechanism 12 and the arm engagement mechanism 22, and the arm 21 retracts toward the waste processing unit 15. The AGV 1 is then able to move away from the placement machine 6, i.e., to a different placement machine (not shown) where it may be required to empty the waste, or to a distant waste receptacle (not shown).

[0025] Figure 5 schematically shows, in isometric view, a mobile robot or AGV 1 equipped with a waste disposal unit 30 according to another embodiment of the present invention. In this embodiment, the waste disposal unit 30 is configured not to empty a full waste bin, but to pick it up and replace it with an empty one. The full waste bin can then be transported by the AGV 1 to a distant location for emptying. Although not shown in Figure 5, the waste bin can take the same or similar form as the waste bin 10 in Figure 2, particularly with respect to providing a first bin engagement mechanism 12. However, it is not strictly necessary to include a second bin engagement mechanism 13 here. This means that both types of waste disposal units 15 and 30 can be used simultaneously to assist the same production line if required. For example, a waste disposal unit 15, as shown in Figure 3, can be used to keep a placement machine waste-free, while a waste disposal unit 30 can be used to replace a damaged waste bin or (for example, if a tape cutter is no longer thought to be working efficiently) to take the relevant waste to a distant location for inspection.

[0026] The waste disposal unit 30 has an opening 31 at its front end, sized to accommodate a waste box. The waste storage volume of the waste disposal unit is divided by a shelf 32 into two separate, vertically spaced sub-volumes, each sized to accommodate its respective waste box. An arm 33 is provided at the front of the waste disposal unit 30, which, like the arm 21 of the waste disposal unit 15, is extendable laterally (in the negative L direction). The arm 33 carries a riser 34, which can be driven perpendicularly to the arm 33 by a suitable actuator (not shown), thereby constituting a transport means for transporting the received waste. The riser 34 carries an arm engagement mechanism 35, which is configured to engage releasably and repeatedly with the first box engagement mechanism of each waste box. The arm 33 thereby forms a dock for receiving waste from the waste module of the placement machine. Although not shown in Figure 5, each sub-compartment can be equipped with a horizontal manipulator capable of gripping a waste bin and pulling it into its sub-compartment, as well as discharging at least partially the waste bin from its sub-compartment. Alternatively, such a manipulator can be mounted on the riser 34, allowing it to move waste bins in and out of any sub-compartment depending on the vertical height of the riser 34, or the manipulator can be mounted separately on the waste processing unit.

[0027] During use, the waste disposal unit 30 can be equipped with an empty waste bin placed in one of its two partial volumes, leaving the other partial volume empty. The AGV 1 approaches the placement machine and positions itself, for example, in the same position as shown in Figure 4A. Then, as described above with reference to Figure 4B, the arm 33 is extended laterally so that the arm engagement mechanism 35 engages with the first box engagement mechanism 12 of the full waste bin 10, and the arm 33 is then retracted, for example, in the position shown in Figure 4C, moving the waste bin 10 to a position in front of the waste disposal unit 30. The riser 34 is then driven vertically upward until the full waste bin 10 aligns with the empty partial volume in the transport area away from the arm 33. The engagement mechanisms 35 and 12 are disengaged, and the manipulator is used to move the full waste bin into the empty partial volume. The riser 34 is then driven vertically into the section containing the empty waste bins, and the manipulator is used to move the empty waste bins out of their respective sections until the first box engagement mechanism and the arm engagement mechanism 35 engage. The riser 34, along with the empty waste bins, is lowered to the position shown in Figure 5, and the empty waste bins are placed into the waste module 8 by extending the arm 33. The first box engagement mechanism and the arm engagement mechanism 35 disengage, the arm 33 is retracted, and the AGV 1 can then transport the full waste bins to a distant location for emptying.

[0028] In the embodiments described above, the waste is removed from the placement machine while being contained in a waste bin. However, the present invention also extends to the direct removal of waste from the placement machine. Figure 6 is a side cross-sectional view schematically showing a mobile robot or AGV 1 equipped with a waste disposal unit 40 according to such an embodiment of the present invention, while Figure 7 schematically shows the waste disposal unit 40 of Figure 6 engaged with a placement machine 44.

[0029] The waste disposal unit 40 includes an internal waste storage volume, which is equipped with a vacuum source 41, such as a pump, capable of generating at least a partial vacuum within the waste storage volume, and consequently, at or near its top, within a vacuum duct 42 that opens at one end into the waste storage volume. The vacuum duct 42 extends to a relatively low area at the front of the waste disposal unit 40, and the distal end of the vacuum duct 42 includes a vacuum nozzle 43 positioned to protrude from the front of the waste disposal unit 40. The vacuum nozzle 43 is sized to fit through an interface 49 provided on the placement machine 44, as will be described in more detail below. Preferably, the waste storage volume is sized to accommodate waste from more than one "full" placement machine, and to allow more than one machine to be emptied before it becomes necessary to empty itself.

[0030] The placement machine 44 includes a waste module 46 positioned below the feeder 7 to capture waste 23 created by the feeder 7 and cut by the tape cutter 45. The waste module 46 houses a tray 47 positioned to capture the cut waste 23. The tray has an inclined base that pushes the captured waste 23 toward the lowest part of the tray 47, positioned on the side of the placement machine 44 (left end / negative Y) as shown in the figure, adjacent to the interface 49. A vibrating motor 48 is positioned adjacent to the inclined base of the tray 47 and vibrates it, thus assisting the movement of the waste 23 toward the interface 49. The interface 49 is preferably closed in its normal state to prevent waste from escaping from the waste module 46, but can be opened by a vacuum nozzle 43 (see Figure 7). For example, the interface 49 may include a simple flap valve, which normally hangs vertically downwards and blocks the interface, but can be pushed laterally by an incoming vacuum nozzle 43.

[0031] As shown in Figure 7, by moving AGV1 in the positive Y direction toward placement machine 44, the vacuum nozzle 43 penetrates the interface 49 and is positioned within tray 47. Activation of the vacuum source 41 draws the waste 23 in tray 47 into the vacuum duct 42 via the vacuum nozzle 43, which in turn forms a dock for receiving the waste 23 from the waste module 46 of placement machine 44 and then, according to the arrows in the figure, into the waste storage volume, with the vacuum duct 42 forming the transport means and the upper end of the vacuum duct 42 forming the transport area. Emptying the waste module 46 can be controlled, for example, by ensuring suction is applied for a certain minimum time, or by sensing the height or amount of waste 23 present in tray 47, after which AGV1 moves away from placement machine 44 in the negative Y direction, drawing the vacuum nozzle 43 out of the interface 49, which then closes. AGV1 can then move away from placement machine 44, i.e., to a different placement machine (not shown) where it may be required to empty the waste 23, or to a distant waste receptacle (not shown). At the distant waste receptacle, the waste processing unit can remove the waste 23 through a separate opening (not shown) or by inserting a vacuum nozzle 43 into the interface (similar to interface 49) of the distant waste receptacle, and blow the waste from the waste storage volume into the distant waste receptacle through a vacuum duct 42. This can also be achieved if a vacuum source can increase the air pressure in the waste storage volume. Alternatively, a separate pump, etc. (not shown) can be provided for this purpose.

[0032] Figure 8 schematically shows a mobile robot or AGV 1 equipped with a waste disposal unit 50 according to a further embodiment of the present invention, positioned in engagement with a placement machine 54, in a side cross-sectional view. This embodiment shares many similarities with the previously described embodiment. In particular, the waste disposal unit 50 includes an internal waste storage volume, which is equipped with a vacuum source 51, such as a pump, capable of generating at least a partial vacuum within the waste storage volume and, by extension, within a vacuum duct 52 that opens into the waste storage volume at one end near or at its top. The vacuum duct 52 extends to a relatively low area at the front of the waste disposal unit 50, and the distal end of the vacuum duct 52 includes a vacuum nozzle 53 positioned to protrude from the front of the waste disposal unit 50. The vacuum nozzle 53 is sized to fit through an interface 59 provided on the placement machine 54. Preferably, the waste storage volume is sized to accommodate waste from more than one "full" placement machine, and to allow more than one machine to be emptied before it becomes necessary to empty itself. The placement machine 54 includes a waste module 56 positioned below the feeder 7 to capture the waste 23 created by the feeder 7 and cut by the tape cutter 55. The waste module 56 houses a tray 57 positioned to capture the cut waste 23. The tray has a sloping base that pushes the captured waste 23 toward the lowest part of the tray 57, positioned on the side of the placement machine 54 (left end / negative Y) as shown in the figure, adjacent to the interface 59. The interface 59 is preferably closed in its normal state to prevent waste from flowing out of the waste module 56, but can be opened by a vacuum nozzle 53. For example, the interface 59 may include a simple flap valve, which normally hangs vertically downwards and blocks the interface, but can be pushed laterally by an incoming vacuum nozzle 53.

[0033] However, in this embodiment, the vacuum nozzle 53 is provided with a sweeper 60, a rotary brush, which can be selectively driven to rotatably push the waste 23 on the tray 57 towards the vacuum nozzle 53. In this embodiment, the vacuum nozzle 53 can be adapted to move back and forth to sweep different areas of the tray 57. This can be achieved in various ways, for example, by making the vacuum nozzle extendable relative to the AGV 1, or simply by moving the AGV 1 back and forth.

[0034] A further difference from the system in Figure 6 is that the waste module 56 of the placement machine does not have a vibration motor; instead, a blower 58 is installed that is adapted to create an airflow toward the interface 59, thus pushing the waste 23 in the tray 57 toward the interface 59. Of course, a vibration motor can also be used in addition to, or instead of, the blower 58. Similarly, a blower like the blower 58 can also be used in the placement machine 44 in Figures 6 and 7.

[0035] Figure 9 schematically shows a mobile robot or AGV 1 equipped with a waste disposal unit 70 according to a further embodiment of the present invention, positioned in engagement with a placement machine 74, in a side cross-sectional view. This embodiment shares some similarities with the two aforementioned embodiments. The waste disposal unit 70 includes an internal waste storage volume and a duct, in this case a conveyor duct 71, that opens into the waste storage volume at one end of or near its top. The conveyor duct 71 extends to a relatively low area at the front of the waste disposal unit 70, and the distal end of the conveyor duct 71 opens at the front of the waste disposal unit 70. The conveyor duct 71 houses a transport means for transporting waste 23 along it into the waste storage volume. As shown, the transport means may include a separate vertical conveyor 72 and a horizontal conveyor 73, or, in other embodiments (not shown), a combined conveyor. These conveyors include belts fitted with scoops 81 that act to lift the waste 23 and feed it into a waste storage volume, as indicated by the arrows. Preferably, the waste storage volume is sized to accommodate waste from more than one "full" placement machine, and to allow more than one machine to be emptied before it is necessary to empty itself. The waste processing unit 70 is provided with a linear actuator 82 which is operable to move a push rod 78 back and forth within a tray 77 located in the waste module 76 of the placement machine 74. As in the previous embodiment, the tray is positioned to capture the waste 23 from the feeder 7 cut by the tape cutter 75. The push rod 78 is provided with a push paddle 80 at its distal end which acts to push the waste 23 toward an interface 79 on the left end side (negative Y direction) of the placement machine 74, as shown in the figure. The tray 77 may have a perfectly horizontal base so that the push paddle can be moved a sufficient horizontal distance.

[0036] In this embodiment, the left end (negative Y direction) of the tray 77 protrudes outside the placement machine 74 in the region forming the output funnel, and is sized to receive the output funnel within the front opening of the conveyor duct 71, which guides the waste 23 toward the vertical conveyor 72.

[0037] Preferably, the push rod 78 and its push paddle 80 are permanently located within the waste module 76. In this case, the distal end of the push rod 78 can be received by the waste treatment unit 70 when the waste treatment unit 70 approaches the placement machine 74. Alternatively, the push rod 78 can be held by the waste treatment unit 70. In this case, the push rod 78 may extend outward from the waste treatment unit 70 when engaged with the waste module 76. In either case, the push rod 78 extends through the interface 79.

[0038] Emptying the waste module 76 can be controlled, for example, by ensuring engagement is maintained for a certain minimum time, or by sensing the height or amount of waste 23 present on the tray 77, after which the AGV 1 moves away from the placement machine 74 in the negative Y direction to draw the conveyor duct 71 out of the funnel. The AGV 1 can then move away from the placement machine 74, i.e., to a different placement machine (not shown) where waste may be required to be emptied, or to a distant waste receptacle (not shown).

[0039] The embodiments described above are merely illustrative, and other possibilities and alternatives within the scope of the present invention will be obvious to those skilled in the art. [Explanation of Symbols]

[0040] 1 AGV 2 Chassis 3 wheels 4 Platforms 5. Centering mechanism 6, 44, 54, 74 Placement Machines 7 feeders 8 Waste Modules 9 shots 10 waste bins 11 wheels 12 First box engagement mechanism 13. Second box engagement mechanism 15, 30, 40, 50, 70 Waste Disposal Units 16 Waste storage volume 17 Vertical conveyor 18 Top roller 19 Bottom roller 20 Belt engagement mechanism 21, 33 Arms 22, 35 Arm engagement mechanism 23 Waste 31 Aperture 32 shelves 34 Liza 41, 51 Vacuum source 42, 52 Vacuum duct 43, 53 Vacuum nozzles 45, 55, 75 Tape Cutter 46, 56, 76 waste modules 47, 57, 77 trays 48 Vibration motor 49, 59, 79 interface 58 Blower 60 Sweeper 71 Conveyor Duct 72 Vertical conveyor 73 Horizontal conveyor 78 Push Rod 80 Push-in paddles 81 Scoop 82 Actuators Z vertical axis X, Y horizontal axis L horizontal axis FB front and back axis

Claims

1. A waste treatment unit adapted to be transported by a mobile robot and configured to receive waste from a waste module of a placement machine in an SMT production line, Waste storage volume and A dock for receiving waste from the waste module of the placement machine, A transfer area separated from the aforementioned dock, A transport means for transporting the received waste from the dock to the transport area, A transfer means for transferring the transported waste from the transfer area to the waste storage volume, A waste disposal unit, including a waste treatment unit.

2. The aforementioned transport area is positioned vertically higher than the dock when in use. The waste treatment unit according to claim 1, wherein the transport means includes a lifting means for lifting the received waste from the dock to the transport area.

3. The waste disposal unit according to claim 1, wherein the waste module of the placement machine includes a waste box, the dock receives the waste box from the waste module when in use, the waste is placed in the waste box, and the transport means transports the received waste in the waste box.

4. The waste disposal unit according to claim 3, further comprising engaging means for engaging with and moving the waste bin to the dock while the waste bin is positioned in the placement machine.

5. The waste disposal unit according to claim 4, wherein the engaging means includes a movable arm configured to move with a component of movement along at least one horizontal axis, and the movable arm includes an engaging tool adapted to releasably engage with the waste bin.

6. The transfer means is configured to discharge the waste from the waste box into the waste storage volume. The transport means is configured to return the empty waste box to the dock. The waste treatment unit according to claim 3.

7. The waste storage volume has an opening at its upper end, and the transport means is configured to rotate the waste box to dispose of the waste into the opening, as described in claim 6.

8. The waste treatment unit according to claim 7, wherein the conveying means includes a movable conveyor belt arranged in a loop, and the transporting means includes the upper part of the loop in which the conveyor belt moves in rotational motion.

9. The waste disposal unit according to claim 3, wherein the waste storage volume includes a storage facility for storing the waste boxes and at least one additional waste boxes, and the transport means is configured to transport the waste boxes and / or the at least one additional waste boxes between the storage facility and the dock.

10. The waste treatment unit according to claim 1, wherein the dock includes an entrance through which the waste is received from the placement machine, and the transport means includes a duct through which the waste is transported from the entrance to the transport area.

11. The waste treatment unit according to claim 10, further comprising a vacuum system for creating a region with reduced air pressure adjacent to the transfer area to push the waste into the transfer area through the duct.

12. The waste treatment unit according to claim 11, wherein the duct is extendable and the inlet is movable horizontally relative to the transport area when in use.

13. The waste treatment unit according to claim 11, further comprising a roller adjacent to the entrance for guiding the waste into the entrance.

14. The waste treatment unit according to claim 10, comprising at least one conveyor that pushes the waste through the duct to the transfer area.

15. The waste treatment unit according to claim 10, comprising an actuator configured to operate a slider provided in the waste module of the placement machine to push the waste toward the entrance.

16. A mobile robot comprising a waste disposal unit according to any one of claims 1 to 15.

17. A placement machine comprising a waste module adapted to engage with a waste treatment unit according to any one of claims 1 to 15.

18. A method for disposing of waste from placement machines in an SMT production line, A step of equipping a mobile robot with the waste disposal unit described in any one of claims 1 to 15, The steps include moving the mobile robot to the placement machine, A step of transferring waste from the placement machine to the waste processing unit, Methods that include...

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