Robotic Gripper Drive Pinion for Automated SMD Reel Changes
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Solution Overview
Problem
The process of joining the beginning of a new SMD component reel to the end of an idling reel in SMD placement machines is typically manual, leading to high personnel costs and inconsistent quality, and existing automation attempts still require manual intervention.
Innovation Solution
A gripper system for robotic arms that automatically handles SMD component reel cassettes, featuring a gripper with a drive pinion and motor to rotate the reel, allowing seamless integration of new reels into the system without manual handling, and a robotic arm controlled in force/torque modes to manage tape tension.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If manual joining of SMD component reels is performed, then personnel can handle reel replacement, but personnel costs increase and quality consistency deteriorates
Solution Approach 1:
The gripper system is divided into functional modules: a gripper body for holding the reel, a drive pinion for rotation, and an output wheel for tape dispensing. This segmentation allows each component to perform its specific function independently, enabling automated reel replacement while keeping individual component complexity manageable.
Solution Approach 2:
The gripper is designed with a universal interface that can handle different SMD component reel types. The coupling mechanism with the output wheel serves multiple functions: securing the reel, driving rotation through the pinion, and controlling tape feed. This multi-functionality reduces the need for multiple specialized devices, lowering overall system complexity while achieving automation.
2Productivity
If automated drive mechanism is added to gripper, then reel rotation and tape transport become automated, but gripper structure becomes more complex
Solution Approach 1:
The drive pinion is designed to be rotatably mounted on the gripper body rather than fixed, allowing it to engage and disengage dynamically with the output wheel of different reel types. This dynamic mounting enables quick reel changes while maintaining a simple drive mechanism structure, improving productivity without significantly increasing complexity.
Solution Approach 2:
The coupling between the drive pinion and output wheel is designed so that the reel's own structure (the output wheel) serves as part of the drive mechanism. The pinion automatically engages with the output wheel's teeth when the reel is mounted, eliminating the need for separate engagement mechanisms. This self-service approach accelerates reel replacement while keeping the drive mechanism simple.
3Manufacturing precision
If force/torque controlled movement is used for robotic arm, then tape tension is precisely managed, but control system complexity increases
Solution Approach 1:
The robotic arm employs force/torque controlled movement that provides feedback on the tension applied to the SMD tape during reel changes. This feedback mechanism allows the control system to automatically adjust the arm's movement to maintain optimal tape tension, ensuring precise tape positioning. The feedback loop manages complexity by using the tape's own tension characteristics as the control parameter, simplifying the control algorithm while achieving high precision.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables fully automated reel replacement with consistent quality, reducing personnel costs and ensuring uninterrupted operation of SMD placement machines by precisely managing tape tension during reel changes.
Implementation Method 1
a drive pinion, which is rotatably mounted on the gripper main body and is designed to mesh with an output wheel of the SMD component reel cassette
Implementation Method 2
a drive motor, which is disposed on the gripper main body and is designed to automatically drive the drive pinion
Implementation Method 3
a robotic arm which is designed to automatically move the first SMD component reel cassette from a change magazine of the SMD placement machine to a belt connector... in a force-/torque-controlled movement control manner
Data Source
AI summary
A gripper for handling SMD component reel cassettes using a robotic arm automatically controlled by a robot controller wherein the robotic arm carries and manipulates the gripper on a tool flange of the robotic arm. The gripper includes a drive pinion, which is rotatably mounted on the gripper main body and is designed to mesh with an output wheel of the SMD component reel cassette when the SMD component reel cassette is coupled to the gripper. The gripper includes a drive motor, which is disposed on the gripper main body and is designed to automatically drive the drive pinion.