Handling devices and robotic systems for replacing component feeders in pick-and-place stations

Abstract

To provide a handling system for performing automatic exchange of component feeders on feed tracks of an automatic pick and place machine.SOLUTION: A handling device (100) for automatically exchanging component feeders at a pick and place station for assembling component carriers with electronic components is described. The first coupling element is configured to couple with a first component feeder (190a) when the first actuator is actuated, and the second coupling element is configured to couple with a second component feeder (190b) when the second actuator is actuated. Furthermore, a robotic system with such a handling device (100) is described.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention generally relates to the technical field of placement technology. More specifically, the present invention relates to a handling device for replacing a component feeder in a pick and place station, and a robot system comprising such a handling device.

Background Art

[0002] Electronic components are mounted on a component carrier such as a printed circuit board or a substrate using a pick and place machine. The pick and place machine has a placement head that (i) picks up an electronic component at a pickup position of a component feeder, (ii) transports the electronic component within a placement area of the pick and place machine where the component carrier to be placed is located, and (iii) places the picked-up component on the component carrier at a predetermined placement position.

[0003] A pick and place machine can have one or more pick and place stations. Thereby, a pick and place station typically has a placement head, a gantry system for positioning the placement head, and several component feed tracks. A component feeder is attached to each component feed track and is used to supply a specific type of component to the placement process in each case.

[0004] To ensure that the operation of the pick-and-place machine is interrupted as little as possible, it must be ensured that a sufficient quantity of electronic components is always available for each component feed track. Currently, the continuous supply of components to the feed tracks involves so-called splicing of component belts on which the electronic components are packaged. In the splicing process, the end of a component belt that is worn out due to the removal of components is connected to the beginning of a new component belt using connecting elements. Such splicing is typically performed manually by an operator.

[0005] It is known that automating the "subsequent delivery" of components to the feed track is not simply a matter of supplying a new component belt onto the component feed track (and connecting it to the "old" component belt using a splicing process). Instead, the entire "old component feeder" may also be replaced with a "new component feeder" along with the "old" or at least partially "used" component belt, along with the "new" or at least partially "unused" component belt.

[0006] To ensure this replacement process is carried out reliably, a component feeder has been proposed that includes a housing for the component belt wound on a belt reel. The component replenishment process on the component feed track of a pick-and-place machine is then performed by automatically replacing the entire component feeder directly at the relevant feed track. The automatic replacement is performed using a robot or an automated handling device, which removes the "used" or "old" component feeder from the relevant feed track and then places the "unused" or "new" component feeder onto the relevant feed track.

[0007] The basic concept of automatically replacing an entire component feeder is described in Patent Document 1. This document discloses an unmanned transport and handling system comprising an automated guided vehicle (AGV) and handling devices attached thereto for (i) automatically transporting component feeders and (ii) automatically handling component feeders. Handling includes the automatic retrieval of component feeders from a component feeder storage facility and the automatic storage of component feeders into the storage facility. Details of the mechanical or structural design of the described handling system are not disclosed in Patent Document 1. [Prior art documents] [Patent Documents]

[0008] [Patent Document 1] International Publication No. WO2022 230054 A1 [Overview of the project] [Problems that the invention aims to solve]

[0009] The present invention is based on the challenge of creating a handling system for the automatic replacement of component feeders on the feed track of an automated pick-and-place machine, which enables the rapid replacement of multiple component feeders but can be implemented in a simple and cost-effective manner. [Means for solving the problem]

[0010] This objective is achieved by the subject matter of the independent claim. Advantageous embodiments of the present invention are described in the dependent claims.

[0011] According to a first aspect of the present invention, a handling device for automatically changing component feeders in a pick-and-place station for automatically placing electronic components onto a component carrier is described. The handling device described includes (a) a chassis, (b) a drive unit having a fixed drive component attached to the chassis and a drive component that can be spatially positioned along the y-direction, (c) a first coupling device attached to a movable drive component and having a first coupling element and a first actuator, (d) a second coupling device, also attached to a movable drive component and having a second coupling element and a second actuator, and (e) a control device configured to individually actuate the first actuator and individually actuate the second actuator. According to the present invention, the first coupling element is positioned and configured to couple with a first component feeder when the first actuator is actuated. Furthermore, the second coupling element is set up to couple with a second component feeder when the second actuator is actuated.

[0012] The y-direction as referred to herein represents the "primary" direction of movement of the component feeder to be replaced. This means that the "old" component feeder is removed from the pick-and-place station along the y-direction, and the "new" component feeder is transported to the pick-and-place station along this y-direction (in the opposite direction).

[0013] The described handling device is based on the insight that the handling of at least two component feeders may also be performed by a single drive unit as part of the replacement of at least one component feeder, which plays a role in moving the component feeder involved in the replacement (i) along a removal direction away from the pick-and-place station or away from the component feed system assigned to the pick-and-place station, and (ii) along an insertion direction toward the pick-and-place station or toward the component feeder. The insertion direction is parallel to the y-direction, and the removal direction is antiparallel to the y-direction.

[0014] According to the present invention, only one y-driver is sufficient for the handling device described, because a coupling device is provided for each component feeder to be handled, which is provided specifically for this component feeder, instead of the at least one additional y-driver required in handling devices known for automatic replacement of component feeders. As a result, this component feeder is coupled to a movable drive component after corresponding individual activation and, if necessary, moved by the y-driver together with one or more other component feeders, which are also coupled. In an operating state where two or more component feeders are replaced, two or more "old" component feeders can be removed simultaneously from the pick-and-place station or from the component feed system assigned to the pick-and-place station. The same, of course, applies to the addition of "new" component feeders. This means that several component feeders can be replaced simultaneously, and is therefore considerably more time-efficient than when component feeders are replaced sequentially, i.e., one component feeder is replaced after another, which can be beneficially utilized to improve the productivity of the pick-and-place station in question.

[0015] According to the present invention, the handling device described herein does not require any further y-drive mechanism. As a result, the handling device described can be constructed in a cost-effective manner.

[0016] The drive systems described are (more precisely) linear drive systems or include linear drive systems. However, according to the present invention, it is not excluded that the drive system has at least one further degree of freedom of movement, or drives a movable drive component along this further degree of freedom of movement. The drive system may also comprise a plurality of “sub-drive systems” assigned to different directions of movement.

[0017] In addition to the two aforementioned drive components, namely the fixed drive component and the movable drive component, the drive system may also have an electric drive component, which, when properly controlled, ensures the automatic joint movement of all coupling devices. The electric drive component can be, for example, an electric motor, particularly an electric linear motor.

[0018] The two coupling elements may have any suitable spatial and physical structure that is suitable for establishing a direct or indirect mechanical coupling between each coupling device and the associated component feeder. Alternatively, or in combination, the two coupling elements may also establish a magnetic coupling between each coupling device and the associated component feeder. Such a magnetic coupling may be achieved using a magnetic coupling element that can be mechanically adjusted between at least two positions and / or via an electromagnet that can be activated.

[0019] According to one exemplary embodiment of the present invention, a first coupling element has a first engaging element configured to engage with a complementary first engaging element on a first component feeder by a first actuator. Furthermore, a second coupling element has a second engaging element configured to engage with a complementary second engaging element on a second component feeder by a second actuator.

[0020] The mechanical coupling via engaging elements described in this exemplary embodiment can be implemented in a particularly simple and cost-effective manner in terms of design, yet it can still ensure a reliable coupling between the components involved when properly operated.

[0021] The engaging elements involved in a mechanical connection can have any geometric structure suitable for establishing a reliable mechanical connection using mechanical joints. In such an engagement, it is not relevant which engaging element engages with or penetrates other engaging elements. This means that it is not relevant whether the first / second engaging element has, for example, a projection that penetrates an opening or engages behind another structure, such as the edge of a complementary first / second engaging element. The projection may be associated with a complementary first / second engaging element, and the opening or edge may be associated with the first / second engaging element.

[0022] According to a further exemplary embodiment of the present invention, the coupling directions are arranged adjacent to each other along the x-direction, and the x-direction is particularly perpendicular to the y-direction, forming an angle with respect to the y-direction. This allows for a spatially compact arrangement of the first coupling direction, the second coupling direction, and optionally further coupling devices. Thus, the entire handling device can also be constructed within the scope of a compact design in an advantageous manner, at least along the y-direction.

[0023] According to a further exemplary embodiment of the present invention, the drive device further comprises a movable intermediate component that forms a telescopic system together with a fixed drive component and a movable drive component.

[0024] The described telescopic embodiment of the (ordinary) drive device can provide an advantageous extension of the distance covered by the movable drive component. In particular, this distance (along the y-direction) may be longer than the overall spatial dimension of the handling device along the y-direction.

[0025] The telescopic system can be implemented in a variety of ways. By way of example, belts, gears, and / or spindle drive mechanisms are mentioned here.

[0026] According to a further exemplary embodiment of the present invention, the first coupling device further comprises a further first coupling element that is spatially separated from the first coupling element along the y-direction, and the further first coupling element is configured to couple with the first component feeder (i) when the first actuator is actuated, or (ii) when a further first actuator of the first coupling device is actuated. Alternatively, or in combination, the second coupling device further comprises a further second coupling element that is spatially separated from the second coupling element along the y-direction, and the further second coupling element is configured to couple with the second component feeder (i) when the second actuator is actuated, or (ii) when a further second actuator of the second coupling device is actuated.

[0027] The further first coupling element described is such that when a first actuator attached to the movable drive component and optionally a further first actuator is displaced, the first coupling element can cooperate with the first coupling element to displace the first component feeder along a first partial section of the entire first displacement section of the first component feeder. The second coupling element then serves to displace the first component feeder along a further first partial section of the entire first displacement section of the first component feeder. These two partial sections have a certain overlap, which allows the first coupling element and the further first complementary part to be re-engaged when the first component feeder is in a predetermined position along the entire first displacement section. For example, as soon as the component feeder reaches a predetermined position after being displaced by the movable drive component along the first partial section where the component feeder is coupled to the first coupling element, this coupling with the first coupling element is released. The first coupling element is then displaced (by the movable drive component of the drive device) so that a further first coupling element can be coupled to the first component feeder. After the further first complementary part is coupled to the first component feeder, the first coupling element is displaced again so that the first component feeder covers a further first partial section.

[0028] The re-engagement described above between the first coupling element and the further first coupling element is of course applied in a corresponding manner with respect to the second component feeder. In this case, the second component feeder is first displaced along the entire second displacement section along a second partial section of the entire second displacement section when coupled to the second coupling element. After the re-engagement from the second coupling element to the further second coupling element, the second component feeder is then moved along a further second partial section of the entire second displacement section when coupled to the further second complementary part.

[0029] It is emphasized here that the described re-engagement between the relevant coupling element and the related further coupling element may occur, and is common in most applications, when the relevant component feeder is moved (i) along the removal direction away from the pick-and-place station or the component feed system associated with the pick-and-place station, and (ii) along the insertion direction toward the pick-and-place station or toward the component feed system.

[0030] The re-engagement described herein has the advantage of significantly lengthening the total displacement section that the associated component feeder can cover, in particular, making it up to twice as long as the distance the movable drive component travels. Specifically, this displacement section (along the y-direction) may be longer than the spatial dimensions of the entire handling device along the y-direction.

[0031] According to a further exemplary embodiment of the present invention, the handling device further comprises a third coupling device, which is also attached to a movable drive component and comprises a third coupling element and a third actuator. In this exemplary embodiment, the control device is also configured to actuate the third actuator independently. Furthermore, the third coupling element is configured to couple with the third component feeder when the third actuator is actuated.

[0032] The embodiment described herein, having a third coupling device, has the advantage that not just two but three component feeders can be handled simultaneously. This can increase efficiency when replacing component feeders, allowing the entire replacement process to be performed quickly, thereby reducing undesirable unproductive downtime during the assembly of multiple component carriers.

[0033] It should be noted that there are also embodiments having more than three handling devices, for example, four, six, ten, or more coupling devices, so that the maximum number of corresponding component feeders can be handled simultaneously. In this context, it should be noted that two component feeders are typically involved and must be handled when replacing component feeders. One component feeder is the "old component feeder," which is removed from the pick-and-place station or the component feed system assigned to the pick-and-place station. The other component feeder is the "new component feeder," which is added to the pick-and-place station or the component feed system assigned to the pick-and-place station.

[0034] According to further exemplary embodiments of the present invention, the handling device further comprises a support structure for supporting a first component feeder and / or a second component feeder and / or a third component feeder. The support structure described may have any shape or geometric shape that allows the component feeders to rest on it. This means that the height position of each component feeder is precisely determined. This is at least when the component feeders are held by or handled by the handling device. The support structure may be, for example, a support table, but it is not absolutely necessary that this support table have a flat surface.

[0035] In particular, the component feeder may be moved along the surface of the support structure in the y-direction. In this way, the associated component feeder can slide or move along this surface. Guide structures, such as rails, may be used if necessary to move the associated component feeder along a precisely defined displacement path in the y-direction. Preferably, low-wear pulleys or other friction-reducing materials may also be used to reduce friction between the associated component feeder and the support structure.

[0036] The support structure described may be a component of the chassis mentioned above. Alternatively, or in combination, the support structure may also be connected directly or indirectly to this chassis in a spatially fixed manner.

[0037] In a further aspect of the present invention, a robotic system is described, comprising (a) an unmanned transport vehicle, (b) a mechanical support structure attached to the unmanned transport vehicle, and (c) a handling device of the type described above, wherein the handling device is attached (directly or indirectly) to the mechanical support structure.

[0038] The robotic system described above is based on the insight that the handling device described above is mounted on an automated transport vehicle, which allows the handling device to be positioned in a simple manner along all spatial directions in which the automated transport vehicle can move on the floor surface. In particular, the handling device can therefore be positioned parallel to the x-direction in which the various feed tracks of the pick-and-place machine are arranged and configured. In this way, suitable x-direction positioning of the handling device can ensure that the “old” component feeder, which is to be replaced precisely, is removed with a given coupling device. After the removal of the “old” component feeder, the handling device can be moved along the x-direction so that the “new” component feeder is precisely added to the feed track of the component feed system assigned to the pick-and-place station or the pick-and-place station where the “old” component feeder previously still existed.

[0039] The unmanned transport vehicle may also be used, if necessary, to position the described handling devices parallel to the floor of the factory hall. For this purpose, the unmanned transport vehicle only needs to be driven to each location in the factory hall. In particular, it is possible to take one or more "new" component feeders from temporary storage and transport them to a pick-and-place station where the component feeders are to be replaced. During this replacement, the "new" component feeders taken from temporary storage then replace the "old" component feeder system located in the associated pick-and-place station or the component feeder assigned to the associated pick-and-place station.

[0040] The unmanned transport vehicle (ATR) can be a conventional transport vehicle, which can also be used for various other purposes. This means that commercially available components can be used to implement the robotic system described. Therefore, no application-specific development is required for the ATR, and the robotic system described can be implemented relatively inexpensively.

[0041] According to a further exemplary embodiment of the present invention, the robot system also has a vertical drive device comprising a fixed vertical drive component attached to a mechanical support structure and a movable vertical drive component attached to a handling device, which is displaceable relative to the fixed vertical drive component along the vertical z-direction.

[0042] The vertical drive system described has the advantage that the handling device, and therefore the component feeder handled by the handling device, are also lifted to a predetermined height, at which height the component feeder can then be replaced simply by the horizontal movement of the component feeder involved along the y-direction. Thus, the handling device described only needs to activate one degree of freedom of movement of the involved component feeder, namely the displacement along the y-direction. As a result, the handling device can be implemented in a mechanically simple and cost-effective manner. Any other degrees of freedom of movement required for replacing the component feeder can be provided by an automated transport vehicle.

[0043] In some embodiments, the robotic system nevertheless has a further drive unit configured to move the described handling device relative to the unmanned transport vehicle along the x-direction which is perpendicular to the y-direction (horizontal). The movement of the handling device along this degree of freedom of movement along the x-direction may then, optionally, also be implemented by a combination of the operation of this further drive unit and the movement of the unmanned transport vehicle along this x-direction.

[0044] According to a further exemplary embodiment of the present invention, the vertical drive system also includes an electrically operated vertical drive component. Furthermore, in this embodiment, the movable vertical drive component has a coupling structure in which the movable vertical drive component is coupled to the electrically operated vertical drive component.

[0045] Electric vertical drive components have the advantage that the height position of the handling device can be automatically changed when the electric vertical drive component is properly controlled. Manual intervention by the operator is therefore not required to change the height position, and the entire process of changing component feeders can be easily automated. Electric vertical drive components can be electric motors in the form of rotary motors or electric motors.

[0046] According to a further exemplary embodiment of the present invention, the coupling structure comprises at least one support rod and / or at least one traction cable. This makes it as advantageous as possible to connect the movable vertical drive component to the electrically operated vertical drive component in a particularly simple mechanical manner. The simple mechanical connection has the advantage that (i) the electrically operated vertical drive component, (ii) the movable vertical drive component, and therefore the handling device itself, can be switched off independently of each other. This increases the degree of freedom in the design and implementation of the entire robotic system.

[0047] Support rods can be used to support the movable vertical drive component from below in a simple and reliable manner. In this case, the motorized vertical drive component may be positioned below the movable vertical drive component. A traction cable can be used to hold the movable vertical drive component from above. In this case, the motorized vertical drive component may be positioned above the movable vertical drive component. Alternatively, the traction cable may be deflected via a pulley, in which case the motorized vertical drive component may be positioned below the movable vertical drive component. In the case of a traction cable, a vertical guide structure may still be provided, which can easily ensure accurate vertical displacement of the handling device.

[0048] According to a further exemplary embodiment of the present invention, the robot system also has a positioning device that is directly or indirectly mounted to the chassis of the handling device and is designed to interact (only) with a complementary positioning device of the pick-and-place station (and / or the component feed system of the pick-and-place station) when the handling device is correctly positioned with respect to the pick-and-place station (and / or with respect to the component feed system of the pick-and-place station). This allows the handling device to be correctly positioned in a favorable manner even before the component feeder is replaced. This makes an important contribution to ensuring the reliable execution of such replacements. In particular, for example, displacement of the associated component feeder in the event of a linear jam of the associated component feeder along the y-direction can be reliably prevented.

[0049] The interaction between the positioning device and the complementary positioning device may be of any nature. Some examples include electrical, magnetic, and optical interactions. For all modifications, numerous suitable electronic, magnetic, optical, and optoelectronic components are commercially available and can be used by those skilled in the art for suitable implementations of the positioning device and / or complementary positioning device described.

[0050] In a preferred exemplary embodiment, the positioning device described is mounted on the support structure of the handling device described above.

[0051] It should be noted that the positioning system described, including both positioning devices and complementary positioning devices, can be used for both positioning by unmanned transport vehicles and positioning by the electrically powered vertical drive components described above. Of course, the positioning system described must be appropriately designed with respect to the respective degrees of freedom of movement of these components of the robotic system.

[0052] According to further exemplary embodiments of the present invention, the positioning device and complementary positioning device have mechanical positioning elements that mechanically contact and / or engage with each other when the handling device is correctly positioned.

[0053] At least a partial mechanical implementation of a positioning device (and complementary positioning device) can represent a particularly simple but effective method for ensuring the correct positioning of a handling device for replacement. The mechanical interaction may simply be a mechanical stop marking the end of a particular movement of the handling device. This may be useful, for example, for movement along the y-direction caused by an unmanned transport vehicle, so that the robotic system is positioned at the correct distance along the y-direction relative to the pick-and-place station (or the component feeding system of the pick-and-place station) before the component feeder is replaced.

[0054] However, mechanical interactions can also have a centering effect. This can be easily implemented by a complementary positioning device having at least one suitable inclined surface, the part of which slides when positioning a handling device, thereby placing it in a predetermined position. Alternatively or in combination, the positioning device of the robot system described may also have at least one such inclined surface. Such centering may occur, for example, during the movement of the robot system described or during the movement of the handling device at least along the y-direction, and may be related to a direction perpendicular to the y-direction.

[0055] Further advantages and features of the present invention are shown in the following exemplary description of currently preferred embodiments. [Brief explanation of the drawing]

[0056] [Figure 1] This is a plan view of a handling device having a movable drive component to which four coupling devices are attached, so that four component feeders can be handled in a single operation. [Figure 2] This is a perspective view showing details of a coupling device for handling 10 component feeders. [Figure 3] This figure shows a robot system according to an exemplary embodiment of the present invention. [Figure 4A] This diagram illustrates the various steps involved in replacing an "old" component feeder with a "new" component feeder. [Figure 4B] This diagram illustrates the various steps involved in replacing an "old" component feeder with a "new" component feeder. [Figure 4C] This diagram illustrates the various steps involved in replacing an "old" component feeder with a "new" component feeder. [Figure 4D] This diagram illustrates the various steps involved in replacing an "old" component feeder with a "new" component feeder. [Figure 4E] This diagram illustrates the various steps involved in replacing an "old" component feeder with a "new" component feeder. [Figure 4F] This diagram illustrates the various steps involved in replacing an "old" component feeder with a "new" component feeder. [Figure 4G] This diagram illustrates the various steps involved in replacing an "old" component feeder with a "new" component feeder. [Figure 4H] This diagram illustrates the various steps involved in replacing an "old" component feeder with a "new" component feeder. [Figure 4I] This diagram illustrates the various steps involved in replacing an "old" component feeder with a "new" component feeder. [Modes for carrying out the invention]

[0057] In the following detailed description, features or components of different embodiments that are identical, or at least functionally identical, to corresponding features or components of other embodiments will be given the same reference number, or reference numbers in which the last two digits of the reference number of the corresponding identical or at least functionally identical feature or component are the same. To avoid unnecessary repetition, features or components already described based on previously described embodiments will no longer be described in detail at this point.

[0058] Furthermore, it should be noted that the embodiments described below represent only a limited selection of possible modifications of the embodiments of the present invention. In particular, the features of individual embodiments can be combined in a suitable manner, and thus many different embodiments can be considered as obviously disclosed to those skilled in the art, together with the embodiments explicitly described herein.

[0059] Furthermore, please note that spatial terms such as "front" and "back," "up" and "down," and "left" and "right" are used to describe the relationship between one element and another, or to describe other elements, as illustrated in the diagrams. Therefore, these spatial terms may apply to alignments different from those shown in the diagrams. However, please understand that all such spatial terms refer to the alignments shown in the diagrams for explanatory purposes and are not necessarily limiting, as the devices, components, etc., shown in each case are expected to have orientations that differ from those shown in the diagrams when in use.

[0060] Figure 1 shows a plan view of a handling device 100 according to an exemplary embodiment of the present invention. The handling device 100 shown herein has a chassis 110, which also functions as the frame structure of the handling device 100, to which various components of the handling device, also not shown, are mounted. Furthermore, the handling device 100 has a drive unit 120 having a fixed drive component 122 and a movable drive component 126 mounted on the chassis 110. An electrically driven component 124 is positioned between the two drive components 122 and 126, so that when properly actuated, the movable drive component 126 moves relative to the chassis 110 along a direction of movement 126a. The direction of movement 126a is parallel to the y-direction. The corresponding Cartesian coordinate system is shown in the lower right of Figure 1.

[0061] The movable drive component 126, also referred to herein as a gripper, is designed to selectively grasp individual component feeders and move along the y-axis (to the left in Figure 1), as will be described in detail below.

[0062] As can be seen in Figure 1, according to the exemplary embodiment shown herein, four coupling devices, a first coupling device 130a, a second coupling device 130b, a third coupling device 130c, and a fourth coupling device 130d, are attached to the movable drive component or the gripper 126. Each of the coupling devices 130a through 130d has an actuator and a coupling element, which are not shown in Figure 1.

[0063] The handling device 100 further comprises a control device 102, which is communicatively connected to both the electric drive component 124 and the four coupling devices 130a to 130d. Through corresponding communication signals, the control device 102 controls the operation of the handling device 100 with respect to the electric components essential to the embodiment described herein, namely the electric drive component 124 of the drive unit 120 and the four coupling devices 130a to 130d.

[0064] The coupling elements of four coupling devices 130a to 130d, not shown, are designed to mechanically connect to the movable drive component 126, provided that when their respective assigned actuators are activated, each component feeder is in contact with, or able to contact, its respective coupling device. This connection or coupling is shown in Figure 1 in the operating state of the handling device 100, in which the four component feeders are connected to the movable drive component or gripper 126. Specifically, in the operating state shown herein, the first component feeder 190a is coupled to the gripper 126 via the first coupling device 130a. Furthermore, as can be seen in Figure 1, the second component feeder 190b is connected to the gripper 126 via the second coupling device 130b, and the third component feeder 190c is connected to the gripper 126 via the third coupling device 130c. According to the operating state shown herein, no component feeder is connected to the fourth coupling device 130d. The coupling interface between one component feeder and one coupling device in each case is shown in Figure 1, reference numeral 131.

[0065] Figure 1 shows the handling devices in an operating state where the gripper 126 is in a retracted position relative to the chassis 110. In Figure 1, this means that the gripper 126 is in its rightmost position. Previously, the gripper 126 was in an extended position, where the distance to the fixed drive component 122 was significantly greater than in Figure 1. In this extended position, each of the four coupling devices 130a to 130d was in contact with, or at least mechanically able to contact, a component feeder (not shown), which is located in the component feed system of a pick-and-place station, also not shown. Before moving the gripper 126 back to its retracted position, only three coupling devices 130a, 130b, and 130c were activated, thereby "taking away" or removing only the three "old" component feeders 190a, 190b, and 190c from the component feeders on the path to return the gripper 126 to its retracted position. The feed tracks thus freed can then be filled with "new" component feeders.

[0066] Figure 2 is a perspective view showing details of a coupling device of a handling device for handling up to 10 component feeders (not shown). The movable drive component or gripper 126 is illustrated along with numerous technical details that are not of further significance to the invention described herein. According to the exemplary embodiments shown herein, various coupling devices, in this case 10 devices, are combined to form a coupling system designated reference numeral 230.

[0067] The coupling system 230 has a housing 231 that accommodates a total of 10 coupling devices. These 10 actuators 232 are arranged in rows parallel to the x-direction. A coupling element 234 is positioned below each of the actuators 232. In their lower front region, each coupling element 234 has a recess 234a which can be mechanically engaged with a complementary engagement structure within the respective component feeder (not shown). This mechanical engagement is achieved through the actuation of the respective associated actuator 232.

[0068] Figure 3 shows a robotic system 350 according to an exemplary embodiment of the present invention. The robotic system 350 has an automated transport vehicle 360. On the underside of the automated transport vehicle 360 ​​are a number of wheels 362 in a known manner that allows the automated transport vehicle 360 ​​to move along any spatial direction, for example, on a factory floor. For example, the automated transport vehicle 360 ​​can move the entire robotic system 350 from a temporary storage area for component feeders to a pick-and-place station where at least one component feeder is replaced, and then back to the temporary storage area.

[0069] According to the exemplary embodiment shown herein, the mechanical support structure 370 extends upward from the unmanned transport vehicle 360. The mechanical support structure 370 represents a frame structure to which numerous parts, some of which are not shown, are attached to the robotic system 350.

[0070] The robot system 350 further includes the handling devices described above for automatically changing component feeders. In the side view shown here (the drawing plane extends in the y-direction and vertical z-direction), only a single engaging component feeder 390 and its corresponding coupling device 330 can be seen. In particular, it is not visible in this figure that there are several such coupling devices 330 on the movable drive component or gripper 126, each configured to mechanically connect the component feeder 390 to the gripper 126.

[0071] In addition to the gripper 126 shown herein with the attached coupling device 330, the handling device has a support structure 340 designed as a support table. The support table 340 and the gripper 126 are connected to each other in a spatially fixed manner, although not shown. The component feeder 390 is displaced along the y-direction on the surface of the support structure 340 during the operation of the robot system 350 or the handling device. In this process, the component feeder 390 in question slides or moves along this surface. According to the exemplary embodiment shown herein, a guide structure, not shown, implemented by rails, is used to displace the component feeder 390 in question along a precisely defined displacement path along the y-direction.

[0072] The robot system 350 shown in Figure 3 also has a vertical drive unit 380. According to the exemplary embodiment shown herein, the vertical drive unit 380 comprises a fixed vertical drive component 382 attached to a mechanical support structure 370 and a movable vertical drive component 386 attached to a handling device, which is displaceable along the vertical z-direction relative to the fixed vertical drive component 382. As can be seen in Figure 3, the movable vertical drive component 386 is multi-piece and includes multiple mounting blocks that are connected to or embedded in the support table 340.

[0073] The vertical drive unit 380 further comprises an electric vertical drive component 384. According to the exemplary embodiment shown herein, this electric vertical drive component 384 is an electric motor M, which has a plurality of pulleys 385, each of which a traction cable 387 is wound around. In the side view of Figure 3, only two of the total four pulleys 385 and associated traction cables 387 are visible. In fact, in the exemplary embodiment shown herein, there are exactly four traction cables 387, each of which holds the support table 340 at one corner.

[0074] Through suitable control of the electrically powered vertical drive component 384, for example by control device 102 shown in Figure 1, the height position of the support table 340, and therefore the height position of the entire handling device, can be set so that this height position precisely corresponds to the height at which the associated component feeder 390 is transported to the component feeding system of the pick-and-place station by purely linear movement along the y-direction. The same applies to transporting the “old” component feeder 390 from the pick-and-place station or from its component feeding system to the handling device.

[0075] As can be seen in Figure 3, the robot system 350 also has a positioning device 315, which is mounted on or formed on the support table 340. The positioning device 315 is designed to interact (only) with a complementary positioning device of a pick-and-place station or component feed system when the handling device is correctly positioned with respect to a pick-and-place station (not shown), or more precisely, with respect to a component feed system of a pick-and-place station (also not shown). This ensures the correct positioning of the handling device for reliably replacing the "old" component feeder with a "new" component feeder.

[0076] According to the exemplary embodiments shown herein, the positioning device 315 comprises an engaging element 315a and a stopping element 315b. When the robot system 350 is correctly positioned, these engage with or mechanically contact the corresponding complementary engaging element or the corresponding complementary stopping element on the side of the pick-and-place station or its component feeding system. Exemplary embodiments of these complementary elements are shown in Figures 4a to 4i and are briefly described with reference to these figures.

[0077] Figures 4a to 4i illustrate the various steps involved in replacing the “old” component feeder 4190a with the “new” component feeder 4190b. In all these figures, the pick-and-place station where the “old” component feeder 4190a is removed and the “new” component feeder 4190b is inserted is identified by reference number 4000.

[0078] The pick-and-place station 4000 has a transport device 4010 for component carriers, which are not shown. Component carriers to be assembled are moved to a loading area of ​​the pick-and-place station 4000 using the transport device 4010 in a known manner, and component carriers that are at least partially assembled are removed from this assembly area using the transport device 4010 in a similarly known manner. Component carriers are transported along the x-direction, which is perpendicular to the drawing plane and extends in the y- and z-directions.

[0079] The pick-and-place station 4000 is equipped with the component feeding system already described above. This system has several feed tracks 4020 for receiving component feeders in each case. In the cross-sectional views of Figures 4a to 4i, only one feed track 4020 is visible in each case.

[0080] The pick-and-place station 4000, or more precisely its component feed system, has elements of the complementary positioning device already described above. These elements are the complementary engagement element 4315a and the complementary stopping element 4315b.

[0081] The replacement of the "old" component feeder 4190a with the "new" component feeder 4190b begins with the robotic system being moved towards the pick-and-place station 4000. The final state of this "approach" is shown in Figure 4a.

[0082] Next, the vertical drive unit 380 of the robot system 350 is activated, the support table 340 is lowered, and the engaging element 315a of the robot system 350 engages with the complementary engaging element 4315a of the pick-and-place station 4000. The lowered state is shown in Figure 4b. In this lowered state, the stopping element 315b of the robot system 350 is in contact with the complementary stopping element 4315b of the pick-and-place station 4000. The mechanical contact shown here between the two engaging elements 315a and 4315a, and the mechanical contact between the two stopping elements 315b and 4315b, ensure the correct positioning of the robot system 350 relative to the pick-and-place station along the y-direction and along the x-direction perpendicular to the drawing plane. The engagement between the two engaging elements 315a and 4315a also ensures the correct height positioning of the handling device or the support table 340 of the handling device.

[0083] In the next step, shown in Figure 4c, the gripper 126 is removed from the handling device (along with all the coupling devices 330). In the cross-sectional view of Figure 4c, again, only one coupling device 330 is visible. This is activated by its actuator (not shown), which engages the old component feeder 4190a, thereby connecting it to the gripper 126.

[0084] Next, as shown in Figure 4d, the gripper 126 is returned to its retracted position and the “old” component feeder 4190a is retracted into the handling device. In Figure 4d, the “old” component feeder 4190a is positioned behind the “new” component feeder 4190b and is therefore no longer visible in this Figure 4d.

[0085] Next, the robot system 350 moves a short distance from the drawing plane along the x-direction until the “new” component feeder 4190b is then aligned with the feed track 4020 in place of the “old” component feeder 4190a. This “side step” of the robot system 350 is shown in Figures 4e and 4f. These two figures show, respectively, (i) the pick-and-place station 4000 (having two component feed systems 4195 on either side of the transport device 4010), and (ii) a top view showing the component feeders 4190a and 4190b in a plan view, where the transport direction of the component carrier is indicated by the arrow “T”.

[0086] Following this "side step," the coupling device 330 assigned to the "new" component feeder 4190b is first activated. Then, the gripper 126 is pulled out again, and the "new" component feeder 4190b is inserted into the pick-and-place station 4000 or its component feeding system. This state is shown in Figure 4g.

[0087] In the next step, the coupling between the "new" component feeder 4190b and its associated coupling device 330 is released, and the gripper 126 is returned to its initial position. This state is shown in Figure 4h.

[0088] Before the “old” component feeder 4190a can be returned to a temporary storage location not shown, the mechanical coupling between the robot system 350 and the pick-and-place station 4000 must be disengaged. For this purpose, the support table 340 is lifted by appropriately activating the vertical drive unit 380, thereby disengaging, in particular, the engagement between the engaging element 315a of the robot system 350 and the complementary engaging element 4315a of the pick-and-place station 4000. This disengaged state is shown in Figure 4i.

[0089] Note that the phrase "possess" does not exclude other elements, and the phrase "one" or the singular countable noun in the original English text does not exclude plurals. Elements described in relation to different exemplary embodiments may also be combined. Note that reference numerals in the claims should not be construed as limiting the scope of the claims. [Explanation of symbols]

[0090] 100 Handling Devices 102 Control devices 110 Chassis 120 Drive unit 122 Fixed drive components 124 Electric Drive Components 126 Movable drive components / grippers 126a Direction of movement 130a First coupling device 130b Second coupling device 130c Third coupling device 130d Fourth coupling device 131 Joint Interfaces 190a First component feeder 190b Second component feeder 190c Third component feeder 230 coupling systems 231 Combined Housing 232 Actuators 234 connecting elements 234a recess 315 Positioning device 315a Engagement element 315b Stop element 330 coupling devices 340 Support structure / support table 350 Robot Systems 360 Unmanned Transport Vehicles 362 wheels 370 Mechanical support structure 380 Vertical drive unit 382 Fixed Vertical Drive Component 384 Electric Vertical Drive Components 385 Pulley 386 Movable Vertical Drive Component 387 Coupling structure / traction cable 390 Component Feeder 4000 Pick and Place Stations 4010 Transport device for component carrier 4020 Feed Track 4190a "Old" Component Feeder 4190b "New" Component Feeder 4195 Component Feed System 4315a Complementary Engagement Element 4315b Complementary Stop Element T Component carrier transport direction

Claims

1. A handling device (100) for automatically replacing a component feeder (390) in a pick-and-place station (4000) for automatically placing electronic components onto a component carrier, Chassis (110) and, A drive unit (120) having a fixed drive component (122) attached to the chassis (110) and a movable drive component (126) that can be spatially positioned along the y-direction, A first coupling device (130a) is attached to the aforementioned movable drive component (126) and comprises a first coupling element (234) and a first actuator (232), A second coupling device (130b) is attached to the movable drive component (126) and comprises a second coupling element (234) and a second actuator (232), A control device (102) configured to individually operate the first actuator (232) and the second actuator (232), and Equipped with, The first coupling element (234) is positioned and configured to couple with the first component feeder (190a) when the first actuator (232) is activated. The second coupling element (234) is configured to be coupled to the second component feeder (190b) when the second actuator (232) is activated. The first coupling element includes a first engaging element (234) having a recess (234a) configured to be mechanically engaged by the first actuator (232) with a complementary first engaging element on the first component feeder (190a), and the second coupling element includes a second engaging element (234) having a recess (234a) configured to be mechanically engaged by the second actuator (232) with a complementary second engaging element on the second component feeder (190b). Handling device (100).

2. The handling device (100) according to claim 1, wherein the coupling devices (130a, 130b) are arranged adjacent to each other along the x-direction, and the x-direction is angled, in particular perpendicular to the y-direction.

3. The handling device according to claim 1, wherein the drive device further comprises a movable intermediate component that forms an extension system together with the fixed drive component and the movable drive component.

4. The first coupling device further comprises a further first coupling element spatially spaced apart from the first coupling element along the y-direction, the further first coupling element being configured to couple with the first component feeder when (i) the first actuator is operated, or (ii) a further first actuator of the first coupling device is operated, and / or The handling device according to claim 1, wherein the second coupling device further comprises a further second coupling element spatially separated from the second coupling element along the y-direction, the further second coupling element being configured to couple to the second component feeder when (i) the second actuator is operated, or (ii) a further second actuator of the second coupling device is operated.

5. A third coupling device (130c) is attached to the movable drive component (126) and further comprises a third coupling element (234) and a third actuator (232), The control device (102) is further configured to operate the third actuator (232) individually, The handling device (100) according to claim 1, wherein the third coupling element (234) is configured to couple with the third component feeder (190c) when the third actuator (232) is operated.

6. The handling device (100) according to claim 1, further comprising a support structure (340) for supporting the first component feeder (190a) and / or the second component feeder (190b).

7. Unmanned transport vehicles (360) and A mechanical support structure (370) attached to the aforementioned unmanned transport vehicle (360), A handling device (100) according to any one of claims 1 to 6 is attached to the mechanical support structure (370) and A robotic system (350), including the above.

8. The robot system (350) according to claim 7, further comprising a vertical drive device (380) having a fixed vertical drive component (382) attached to the mechanical support structure (370) and a movable vertical drive component (386) attached to the handling device (100) which is displaceable relative to the fixed vertical drive component (382) along the vertical z direction.

9. The vertical drive unit (380) further comprises an electric vertical drive component (384), The robot system (350) according to claim 8, wherein the movable vertical drive component (386) is connected to the electrically operated vertical drive component (384) by a coupling structure (387).

10. The robot system (350) according to claim 9, wherein the coupling structure comprises at least one support rod and / or at least one traction cable (387).

11. The robotic system (350) according to claim 7, further comprising a positioning device (315) which is directly or indirectly attached to the chassis (110) of the handling device (100) and is designed to interact with a complementary positioning device of the pick-and-place station (4000) when the handling device (100) is correctly positioned with respect to the pick-and-place station (4000).

12. The robot system (350) according to claim 11, wherein the positioning device (315) and the complementary positioning device are further comprising mechanical positioning elements (315a, 315b, 4315a, 4315b) that mechanically contact and / or engage with each other when the handling device (100) is correctly positioned.

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