JP7311687B2 - Two-dimensional robot system for supplying assembly parts to mounting machines - Google Patents

Description

The present invention relates generally to the technical field of electronic assembly manufacturing. At this time, an electronic assembly component is mounted on the assembly component carrier. The invention particularly relates to the supply of electronic assembly parts to mounting machines, which must process a large number of electronic assembly parts in continuous motion. More particularly, the present invention relates to (a) a mounting machine that enables automatic exchange of a first assembly component feeder with a second assembly component feeder using a robotic device. The invention further provides (b) a mounting system comprising the mounting machine, (c) a manufacturing line comprising the mounting machine for manufacturing electronic assemblies, and (d) a manufacturing facility comprising at least two such manufacturing lines. Regarding. Further, the present invention relates to (e) a method for automatically mounting electronic assembly components on an assembly component carrier using the mounting machine.

The mounting of electronic assembly parts, in particular surface-mounted device (SMD) assembly parts, onto printed circuit boards or assembly part carriers is generally carried out using mounting machines following the so-called "pick & place" or "collect & place" principle. done. At this time, the assembly components supplied using the assembly component supply device are (i) received by the mounting head of the mounting machine, (ii) transported to the mounting area where the assembly component carriers to be mounted exist, and (iii) ) is placed at a predetermined assembly component mounting position on the assembly component carrier.

In order to ensure a high mounting result, i.e. to ensure that a large number of assembly parts are processed within a given time interval, the assembly parts are preferably provided, for example, with belts with so-called plastic blisters or with recesses. They are also assembled in proprietary stable paper strips and fed into the packaging process using suitable assembly component feeders. With such a belt it is possible to operate the mounting machine for a certain length of time without stopping.

However, the supply of assembly parts tends to be interrupted when the last assembly part is removed at the end of the belt. Nevertheless, in order to continue the mounting process as uninterrupted as possible, the leading edge of the new belt is connected, as is known, with the trailing edge of the immediately preceding, at least generally worn, belt. Such connections are still typically done manually in practice. Therefore, to transport the reel with the wound assembly part belt to the appropriate assembly part feeder and attach the leading edge of the new assembly part belt (using a splice) to the trailing edge of the generally worn assembly part belt. In addition, the manufacturing of electronic devices may involve (i) a relatively large mounting machine with multiple assembly component feeders, (ii) a manufacturing line with multiple mounting machines, or (iii) multiple manufacturing processes within a factory. The line requires one or more operators to be on standby at all times. An alternative, but operation-intensive variant for the supply of assembly parts is to combine the pre-configured assembly part feeder with the assembly part belt already installed (to the extent used until now). to replace the device.

In order to further reduce the operational burden, it is further known to attach rails to the mounting machines of the manufacturing line, along which pre-configured assembly component feeders are mounted from the beginning or end of the manufacturing line. for transporting to the machine, automatically replacing the assembly component feeder with a preset assembly component feeder at the mounting machine, and transporting the replaced assembly component feeder back to the end of the production line. , the robot is displaceable. However, the drawback of this approach is that the robot requires a relatively large installation space on the side of the production line in order to be able to be used without risking collisions with e.g. It is in. This increases the installation space required for the production line, and relatively few mounting machines or production lines can be installed on a given side of the factory. This is especially true for (a) a production line with a relatively large mounting machine fed with assembly parts from two sides, the left and right sides of the production line, and (b) a production line beside another production line. It applies to production lines that are installed in parallel and thus require increased spacing for each adjacent production line. It is clear that the increased demand for installation space or surface reduces the packaging performance that can be supplied in the factory.

U.S. Patent No. 10259649

The object of the present invention is to enable high implementation results within a given "provided plane" with a high degree of automation.

The problem is solved by the subject matter of the independent claims. Advantageous embodiments of the invention are described in the dependent claims.

According to a first aspect of the invention, a mounting machine is described for automatically mounting electronic assembly components to assembly component carriers. The described mounting machine includes: (a) a chassis; (b) at least one interface for releasably securing a first assembly component feeder in place on the chassis; A mounting head for picking up assembly parts from one assembly part supply device and placing the picked-up assembly parts at a predetermined installation position on an assembly part carrier introduced into the mounting area of the mounting machine; d) having a horizontally and vertically extending rail system attached to the chassis; The rail system has a plurality of rail elements along which a robotic device for transporting and manipulating the second assembly parts feeder extends horizontally and vertically. can be displaced along

The realization underlying the described mounting machine is that the two-dimensional movement of the robotic device on the mounting machine chassis facilitates the predetermined position of the first assembly component feeder through various displacement paths. It means that it can be reached by The described two-dimensional movement allows the robotic device to reach the first assembly component feeder quickly and flexibly from various starting points. Self-evidently, the same applies to the movement of the robotic device away from the predetermined position towards any stop position on the rail system or, if necessary, outside the race system.

Furthermore, due to the two-dimensional movement or displaceability of the robot device, the material transport of the assembly parts (in a preconfigured assembly part feeder) can be realized particularly flexibly. For example, in the case of two relatively closely spaced mounting machines located on two different production lines running parallel to each other in a factory production floor, the spacing of both production lines is Despite their small size, the at least one robotic device avoids the other robotic devices, particularly along the vertical direction, thereby allowing the first robotic device on the first mounting machine and the second robotic device on the second mounting machine to can be avoided. The same applies to possible collisions between the robotic device and the operator or other device located (at least temporarily) between both adjacent mounting machines.

According to the invention, the described rail system extends both along the horizontal direction and along the vertical direction. However, this does not necessarily mean that one part of the rail system must extend exactly (and exclusively) vertically and another part of the rail system must extend exactly horizontally. Rails running "diagonally" may also be provided. This allows the robot device to move both vertically and horizontally when moving along the rail. This can, in many embodiments, reduce the distance the robotic device must travel to a given location. Obliquely extending rails may also have the advantage that upward travel of the robotic device, depending on the inclination angle of the rail in question, is possible more easily or with less expenditure of force.

According to a further embodiment of the invention, the rail system comprises at least one first rail element extending at least partially vertically and at least one second rail element extending at least partially horizontally. have elements and This has the advantage that the rail system can be easily constructed modularly and, if necessary, can be reconfigured by simple retrofitting.

According to a further embodiment of the invention, the rail system comprises a first rail partial system and a second rail partial system with respect to the transport system for the assembly component carrier extending through the chassis along the transport direction. A first rail part system is located on a first side of the chassis and a second rail part system is located on an opposite second side of the chassis.

The bilateral or positioned rail system described with this embodiment allows assembly component feeders to be exchanged on both sides of the mounting machine. This is particularly advantageous for relatively large or high performance packaging machines. This is because, basically, a large number of assembly part feeders present at different predetermined positions can be exchanged easily and efficiently.

Two or more robotic devices may be used, depending on the installation space available. In this case, a first robotic device can move on at least one first rail element and a second robotic device can move on at least one second rail element. is.

According to a further embodiment of the invention, the rail system has at least one third rail element connecting both rail sub-systems. This allows access to both sides of the chassis or mounting machine with only one robotic device, so that this one robotic device can access the assembly component feeder on both sides or on both sides of the mounting machine. The advantage arises that it can be used for exchange.

According to a further embodiment of the invention, the at least one third rail element is arranged above a mounting area of the mounting machine, on which the assembly component carrier is mounted.

In this context, the mounting area is thus the spatial area of the mounting machine in which the assembly component carriers to be mounted arrive (using a transport system) and, if necessary, are temporarily mechanically fixed using clamps. is. After at least partial mounting, the relevant assembly component carrier is again transported out of the mounting area (using a transport system) for further processing, e.g. (a) further mounting on a further mounting machine, (b) automatic optical inspection. and/or (c) supplied to a soldering oven for permanently fixing the mounted assembly components.

Preferably, at least one third rail element is located not only above the mounting area, but also on the surface of the chassis. The at least one third rail element may then be the highest (along the vertical direction) of the mounting machine. This has the advantage that the described mounting machine can be realized or manufactured with relatively simple modifications based on conventional mounting machines. In particular, no modifications are required in the (high) area of the mounting machine which is typically used for movement of the mounting head.

It is pointed out that in another embodiment at least one third rail element may also be arranged on the underside of the mounting area. However, in this case, it may be necessary to adapt the structure of conventional mounting machines to a greater extent.

According to a further embodiment of the invention, at least one of the plurality of rail elements has a (lower) rising ramp portion, which is installed by the robotic device and by the mounting machine. It is constructed so that it can be lifted onto the rail system from the floor where it is installed.

The ascending ramp section may have any suitable shape and/or structure allowing (autonomous) transport from the floor upwards to or on the rail system. This is particularly advantageous if the robotic device is configured to move from the floor onto the rail system under its own power. To this end, the robotic device can have two "moving mechanisms", a first moving mechanism allowing (horizontal) movement of the robotic device on the floor, and a second moving mechanism , allows horizontal and vertical movement of the robotic device along the rail system. The first movement mechanism may include wheels or tires, for example. The second movement mechanism may include guide structures adapted to the shape of the rail elements, which guide structures engage each rail element such that "dropping" of the robotic device is not possible. can be

According to a further embodiment of the invention, at least one further rail element of the plurality of rail elements has at least one further (lower) ascending ramp portion, the ascending ramp portion (also ), the robotic device is configured to move from the floor to above the rail system or on the rail system.

So, to put it plainly, there are multiple positions where (autonomous) transport is possible from the floor of the robotic device facing the rail system or onto the rail system. By appropriately selecting one of the at least two ascending ramp sections depending on the (predetermined) position of the respective assembly part feeder to be exchanged, the maximum possible increase of the robotic device on the rail system A rising ramp section requiring a short displacement path can always be selected. This may speed up replacement of the assembly parts feeder.

Furthermore, when using more than one robotic device, the provision or presence of multiple rising ramp sections may contribute to the fact that collisions of the two robotic devices can be easily avoided. In particular, it may not (no longer) be required that at least one of the robotic devices present must take a "detour" in order to avoid such a collision.

According to a further embodiment of the invention, the mounting machine further comprises an energy supply device, the energy supply device being electrically coupled with the rail system. In this case, the rail system is configured such that the robotic device can be supplied with electric power (for the robotic device to operate).

By electrical energy supply through the rail system, the robotic device can easily and reliably be supplied with the energy necessary for its movement. This energy includes not only the energy required for movement on the rail system, but also the energy required by the robotic device for exchanging the first assembly part feeder with the second assembly part feeder. Also the energy required to operate the (grip) member.

The energy supply described makes it possible to use robotic systems with no or only very small electrical energy stores, which are used, for example, only for horizontal movement of the robot device along the floor. is.

The rail system can have suitable current guide wires, to which the robotic device can be contacted, for example by sliding contact. In this case, in a manner known per se, special current-carrying wires are used only for the supply of electrical energy, and the (metallic) rail elements are used both for the mechanical coupling of the robot device and for the transmission of electrical energy. It can also be used for feeding.

According to a further aspect of the invention, a mounting system for automatically mounting electronic assembly components to assembly component carriers is described. The mounting system described includes mounting machines and robotic devices of the type described above. At this time, the robotic device (a) moves horizontally and vertically on the rail system, (b) transports the second assembly parts supply device to a predetermined position, and (c) the second assembly. and (d) configured to transport the first assembly parts feeder away from the predetermined location.

The realization underlying the described mounting system is that the two-dimensional movability or displaceability of the robotic device allows the assembly component feeder to be positioned on the mounting machine chassis in various paths and thus spatially flexibly. It means that it can be placed or attached to the This allows the at least one assembly part feeding device to be easily and reliably transported along two different directions to a predetermined position and fixed to the chassis in a predetermined position without manual intervention. , can replace previously operating assembly component feeders. A substantially continuous supply of assembly parts to the mounting machine or mounting head can thus be ensured reliably.

Preferably, the robotic device is capable of transporting assembly part feeders preset with corresponding assembly parts. For assembly parts packed into a belt in place, this eliminates the difficult and at the same time error-prone splicing of a new assembly part belt to the end of a generally worn assembly part belt. Furthermore, it is not necessary to attach a new assembly part belt to an assembly part feeding device which is fixed during the belt change, as is known from other concepts.

The robotic device described may be any robot that is (commercially) available, the robot being adapted by suitable mechanical engagement with a rail system and preferably by at least one inherent suitable Any drive means can be used to move along the two-dimensional or, if desired, three-dimensional structure of the rail system. For manipulating and transporting the first assembly part feeder or the second assembly part feeder, the robotic device can have a suitable grip or holding element, which grips or holds the assembly part The assembly parts feeder is adapted in such a way that not only a secure transport of the feeder but also a secure replacement can be ensured.

The robotic device may be, for example, a robot marketed by the company BionicHIVE (https://www.bionichive.com/) and described in detail in US Pat. According to this, such robots are conventionally used (simply) in warehouses to pick up cases and place them on shelves.

According to a further embodiment of the invention, the robotic device comprises a container adapted to at least partially receive the first assembly parts feeder and/or the second assembly parts feeder. It is configured. As a result, reliable transportation to the predetermined position of the first assembly component supply device and reliable transportation from the predetermined position of the second assembly component supply device can be realized.

According to a further embodiment of the invention, the container comprises, in addition to the first assembly part feeder and/or the second assembly part feeder, a further first assembly part feeder and/or a further second assembly part feeder. Configured to receive a delivery device.

For simplicity, in this embodiment the robotic device can transport at least two assembly parts feeders. Thereby, after replacing the first assembly component supply device with the second assembly component supply device, the robot device can replace the further first assembly component supply device without traveling a relatively long route back to the base station. It can be replaced with a further second assembly parts feeder. Rather, the robotic device can move directly from a given position of a first assembly parts feeder to a further given position (on the rail system) of a further first assembly parts feeder.

According to a further embodiment of the invention, the robotic device has at least two casters, which allow movement on the floor on which the mounting machine resides. Such a configuration of robotic devices can advantageously be used to self-pick a "new" assembly part feeder from a (central) base and/or to send a replaced assembly part feeder to the base. can be used to return to Such a base may be a station where assembly parts feeders are packed and assembled with respective matching assembly parts, preferably on belts.

Therefore, the transport of the assembly component feeding device between such a (central) base and each of the predetermined locations (i) does not have a special transport device between the (central) base and the mounting machine; Both (ii) are possible without handing over each assembly parts feeder from the transport robot to the described robotic device.

According to a further embodiment of the invention, the robotic device is adapted to be supplied with electrical energy by a rail system.

As mentioned above, this electrical energy supply is provided by a suitable configuration of the robotic device, for example using electrical sliding contacts, and by a rail system electrically coupled with a suitable energy supply device adapted to the configuration. It can be realized depending on the configuration.

According to a further aspect of the invention, a manufacturing line for manufacturing electronic assembly components is described. The manufacturing line described includes (a) a mounting system of the type described above, and (b) at least one mounting machine of the type described above. The rail system of the mounting system and the rail system of at least one mounting machine are connected to a superordinate rail system.

The at least one mounting machine mentioned above and the mounting machines of the described mounting system are arranged one behind the other along the transport direction mentioned above, whereby the assembly component carriers (to be mounted) along a direction, transported (using a transport system) from one (upstream placed) mounting machine to another (downstream placed) mounting machine, each (typically different) assembly part can be implemented.

Advantageously, by means of the described superordinate rail system, assembly component feeders arranged on different mounting machines can be exchanged using only one robotic device. A detour of the robotic device, for example over the floor, is no longer necessary.

The upper rail system may be located at least partially on one or both sides of the production line with respect to the transportation direction mentioned above. A plurality of third rail elements (above different mounting machines) may also be provided that connect the left-hand part of the superior rail system and the right-hand part of the superior rail system with each other with respect to the transport direction mentioned above. This allows the robotic device to move from one side to the other along (the transport direction of) the production line at different positions.

According to a further embodiment of the invention, the production line further comprises processing machines for further processing of the transported assembly part carriers. The processing machine described is basically any kind of machine that performs at least the functions that are necessary or important in the production of the electronic assembly part constructed or to be constructed on the assembly part carrier. It's okay.

According to a further embodiment of the present invention, the processing machine comprises: (i) a soldering paste printer for selectively applying soldering paste to assembly component connection surfaces of the printed circuit board; (ii) assembly component connection of the printed circuit board; using a soldering machine for melting a soldering paste present between the surface and the electrical connection contacts of the assembly parts arranged on the printed circuit board, and (iii) an inspection process, at least partially an inspection machine for detecting product-characterizing structures of assembly component carriers to be mounted.

The soldering paste printers described are typically located at the front of the production line. The soldering machines described, for example so-called reflow ovens, are typically located at the end of the production line. The inspection machine described may be present inside a production line, for example at a location where analysis of the quality of the processing performed so far, especially the packaging, is necessary or important. Obviously, a production line may have one or more inspection machines.

In the present application the concept "product characterizing structure" can be understood as all structural or spatial physical features that are characteristic of a particular type of assembly part carrier. In particular, one type of assembly part carrier can be distinguished from another type of assembly part carrier based on the structure that characterizes the product. Such features may be, for example, the position, size and/or shape of the pads. A "product characterizing structure" further includes, for example, (at least) an assembly part connection surface or a pad configured on the surface of the relevant printed circuit board, which is or is applied by means of soldering paste printing. It may be the volume of the application paste. Further, the "product characterizing structure" may be the spatial position in two or three dimensions of an electronic assembly component or an electronic assembly component placed or placed on a printed circuit board using a mounting machine. .

According to a further embodiment of the invention, the upper rail system extends spatially up to or beyond the processing machine. This allows the robot device to travel relatively long sections along the production line. This provides great freedom in the spatial and physical configuration of the rail system as to the position at which the robotic device is loaded with a new assembly feeder or unloaded with a replaced assembly feeder.

According to a further embodiment of the invention the production line further comprises a further rail system which is spatially separated from the superordinate rail system.

Due to the described spatial separation, the production line may be provided with rail elements in a resource efficient manner only in the installation space where the described robotic device is to be used in a meaningful way. A further rail system which may be arranged or configured on one or both sides of such a production line may be a further upper rail system consisting of at least two further rail systems.

According to a further embodiment of the invention, the production line further comprises at least one infeed/outfeed position, the infeed/delivery position for (i) transporting the robotic device to a superior rail system, and/or , to enable transport from a superior rail system, or (ii) transportation of assembly part belts to and/or from an assembly part feeder held by a robotic device. configured to allow

With respect to transportation of the robotic device, for example, the ramp section mentioned above may be an infeed/outfeed position that allows transportation between the floor and the rail system of the robotic device. In another embodiment, the infeed/outfeed position may be a pre-determined delivery position that allows attachment of the robotic device to the rail system, for example, performed by an operator.

For transportation of assembly part belts, the infeed/outfeed position may be a predetermined stopping position of the robotic device on or within the rail system. The stop position can be selected so that the operator can carry the assembly part belt in an ergonomically comfortable position.

The infeed/outfeed positions described are preferably arranged at the front or rear end along the transport position of the upper rail system. Advantageously, this can reduce the transport or displacement path of the robotic device outside the superordinate rail system.

According to a further aspect of the invention, a manufacturing facility for manufacturing electronic assembly components is described. The manufacturing facility described includes (a) a first manufacturing line of the type described and (b) a second manufacturing line of the type described.

Recognition that the described production facility requires relatively little installation space for the production line due to the two-dimensional movement of the robotic device on the mounting machine, made possible by the rail system or superordinate rail system. is based on Thus, the manufacturing facility can be built on a relatively small footprint, despite the described advantageous functionality of automatic exchange of assembly part feeders by robotic devices.

Both production lines are preferably arranged or oriented parallel to each other. This means that both transport directions of each transport system of the assembly component carrier run parallel.

According to a further embodiment of the invention, the robotic device of the first production line is also displaceable along the upper rail system of the second production line. This advantageously means that one and the same robotic device can be used by or in both production lines prior to replacement of the assembly parts feeder. Obviously, the robotic devices of the second production line are also movable in at least two dimensions along the rail system above the first production line.

Moving from the upper rail system of the second production line towards or on the upper rail system of the first production line, or vice versa, for example on the floor, This can be done using the uphill ramp section described above. Obviously, manually "transferring" the robotic device from the rail system above the second production line to above or on the rail system above the first production line; Or vice versa.

According to a further aspect of the invention, a mounting machine is used to mount electronic assembly components on an assembly component carrier, in particular the components or entities described above: (a) mounting machine, (b) mounting system, (c) production line, and/or or (d) a method for automatically mounting using manufacturing equipment. A method according to the present invention comprises using a robotic device to transport a second assembly component feeder to a predetermined location on a mounting machine chassis, the robotic device along a horizontal direction and moving along a vertical direction over a plurality of rail elements of a rail system mounted on a chassis; removing a first assembly parts feeder at a predetermined position; releasably securing with an interface assigned to a predetermined position of the chassis at the position of . The method according to the invention further comprises the steps of removing assembly parts from a second fixed assembly part supply device using the mounting head; and placing at a predetermined installation position of the.

The described method also recognizes that the predetermined position of the first assembly component feeder can easily be reached through various movement paths by two-dimensional or possibly three-dimensional movement of the robotic device. Based on Such movement allows the robotic device to reach the first assembly component feeder from various starting points in a fast and flexible manner, and at the first assembly component feeder move the first assembly component feeder to the second assembly feeder. It can be replaced with an assembly parts feeder.

It should be noted that embodiments of the invention have been described with respect to various inventive subject matter. In particular, some embodiments of the invention are described using apparatus claims and other embodiments of the invention are described using method claims. However, a person skilled in the art will, upon reading the present application, understand that in addition to the combination of features belonging to the type of subject matter of the invention, any combination of features belonging to different types of subject matter, unless explicitly stated otherwise. It will become immediately clear that it is also possible.

Further advantages and features of the invention will become apparent from the following exemplary description of presently preferred embodiments.

Fig. 2 shows a production line with a plurality of mounting machines fitted with a rail system for robotic devices for automatically changing assembly part feeders; FIG. 10 illustrates transportation of an assembly component feeder from the floor to a rail system attached to multiple mounting machines using a robotic device; FIG. 10 illustrates transportation of an assembly component feeder from the floor to a rail system attached to multiple mounting machines using a robotic device; 1 shows a production facility with two production lines, in which a common robotic device is arranged for automatically exchanging assembly part feeders in the mounting machines of both production lines; FIG.

In the following detailed description, features or components of different embodiments that are the same, or at least functionally the same, as corresponding features or components of another embodiment are denoted with the same reference numerals, or , the last two digits being the same as those of corresponding identical or at least functionally identical features or components. In order to avoid unnecessary repetition, features or components referred to on the basis of already described embodiments are not referred to in detail in the following.

Furthermore, it is pointed out that the embodiments described below are merely a limited selection from the possible implementation variations of the invention. In particular, the features of each embodiment can be combined with each other as appropriate, and therefore many different embodiments are considered by those skilled in the art to be clearly disclosed by the implementation variants detailed herein. be

FIG. 1 shows a manufacturing line 100 for electronic assembly parts. The manufacturing line 100 includes various devices arranged along a transport leg of printed circuit boards. The transport direction of the transport section of the printed circuit board is indicated in FIG. 1 by two arrows, each labeled with the letter "T".

Along the transport direction T, the production line 100 has, as is known, an infeed station 102 through which ready-made but not yet printed assembly part carriers or prints are produced. A substrate is supplied to the manufacturing line 100 . Downstream of the infeed station 102 is a soldering paste printer 104 that selectively applies soldering paste to each printed circuit board using known silk-screening techniques. Apply to the areas of These points are typically the connecting surfaces of assembly parts or pads on the surface of the relevant printed circuit board.

Downstream of the soldering paste printer 104 is a soldering paste inspection machine 106 that is used to optically inspect whether the soldering paste printing has sufficient quality. It makes sense to further process the fresh printed circuit board. Soldering paste inspection machine 106 is also called an SPI machine, based on the English expression "Solder Paste Inspection".

Along the transport direction T, there are a plurality of mounting machines 120 in series, with each of which a certain number of (different) assembly parts is determined by the accumulation of the soldering paste applied so far. assembly part position.

Mounting machine 120 is followed downstream by mounting inspection machine 132, which is used to inspect whether the mounting of the printed circuit board performed by mounting machine 120 was correct. According to the illustrated embodiment, mount inspector 132 optically detects mounted assemblies in two dimensions (2D) and three dimensions (3D). Mount inspection machine 132 is a known "Automatic Optical Inspection" (AOI) machine.

The AOI machine 132 is followed downstream by a soldering machine 134 which, as is known, is configured as a so-called reflow oven. In the reflow oven 134, the viscous soldering paste is melted so that after the soldering paste cools down later, the assembly parts are in firm and conductive contact with each assembly part connecting surface.

According to the embodiment shown in this figure, the reflow oven 134 is followed downstream by a solder inspector 136, which is used to determine the soldering process performed in the reflow oven 134. The (qualitative) success is checked. The solder inspection machine 136 is also a known AOI machine.

The AOI machine 136 is followed downstream by a delivery station 138 . At the delivery station 138, the completed electronic assemblies may be removed by an operator.

According to the embodiment shown in this figure, the manufacturing line 100 includes eleven mounting machines 120 in total, which are further divided into two groups of directly adjacent mounting machines 120 . However, it should be apparent that the number of mounting machines 120 and groups are each arbitrarily chosen numbers. Depending on the particular application, manufacturing line 100 may have fewer or more mounting machines 120 and/or groups than the mounting machine 120 and/or groups in question.

The supply of assembly parts to the mounting process carried out on each mounting machine 120 is, as is known, through an assembly part feeder 124, which is located laterally of each mounting machine 120. It is releasably attached to a suitable interface (not shown) of chassis 122 . According to the embodiment shown in this figure, the assembly parts are supplied using assembly part belts, as is known. The belt has a number of recesses, each of which receives an electronic assembly component. In FIG. 1, a reel device is recognized, in which or on which the assembly part belt is wound and which is unwound one after the other for the supply of the assembly parts.

If the assembly part belt is worn out, or if a new type of assembly part is to be supplied, it is necessary to use a new assembly part belt. According to the embodiment shown in this figure, this could not only be done by replacing the assembly part belt or by splicing a new assembly part belt onto the old (worn out) assembly part belt. do not have. Rather, the (second) assembly part feeder 124 pre-assembled with a new assembly part belt replaces the previously used first assembly part feeder 124 and possibly the remaining old assembly part belt. Replaced with the remaining part.

As is clear from FIG. 1, this replacement of the assembly component feeder 124 is performed automatically using the robot device 170 rather than manually by an operator. In order to allow suitable movement on the mounting machine 120 of the robotic device 170 to the respective assembly component feeder 124 to be replaced, the mounting machine 120 is arranged with a rail system 150, which includes a rail system. 150 has a plurality of rail elements fixed directly or indirectly to the chassis 122 of each mounting machine 120 . Since this rail system 150 extends over a plurality of mounting machines 120, it is also referred to as a superior rail system 150 in the present application.

According to the embodiment shown in this figure, there is additionally a further rail system, which along the transport direction is spaced from the (first) rail system 150 and It is attached to two mounting machines 120 arranged downstream of the mounting inspection machine 132 . In FIG. 1 this further rail system is not labeled for clarity. Both rail systems have qualitatively the same structure and the same function.

Rail system 150 includes a plurality of rail elements. The first rail element 152 extends along the vertical direction and the second rail element 154 extends along the transport direction T horizontally. Furthermore, the rail system 150 further comprises two third rail elements 156, which extend horizontally and vertically with respect to the transport direction T, respectively, of the mounting machine 120. It is attached to the chassis member. A third rail element 156 rearwards the illustrated rail sub-system, including first rail element 152 and second rail element 154, on the opposite side of mounting machine 120 in FIG. , is connected with a rail part system not shown.

The rail system 150 further comprises two rising ramp sections 153 which connect the first rail element 152 with the floor 140 on which the entire production line 100 is installed. The rising ramp portion 153 and the different rail elements 152, 154, 156 allow the robotic device 170 to move from the floor 140 to the rail system 150 under its own power while moving the first assembly parts feeder 124 to the second. assembly parts feeder 124 to reach various locations. Collectively, first rail element 152 and second rail element 154 allow for two-dimensional movement of robotic device 170 on mounting machine 120 . Collectively, first rail element 152, second rail element 154 and third rail element 156 allow movement of robotic device 170 in three dimensions.

In order to be able to move relatively long distances under its own power over the floor 140 in an (energy-wise) efficient manner, the robotic device 170 has a plurality of casters 172 on which the casters are mounted. At least two of 172 are powered by motors, not shown, which are also energized by batteries, not shown.

In order to make it possible to move upwards on the rail system 150, in particular in the vertical direction, without a relatively large current consumption from the accumulator, a suitable current induction, not shown in detail, is provided. A wire is provided in which the robotic device 170 can draw current, for example through a sliding contact. According to the embodiment shown in this figure, this current is supplied by an energy supply device 159 to the current conducting wires of the rail system 150 .

2a and 2b show the transport of two assembly parts feeders using a robotic device 270. FIG. Both assembly part feeders, the (new) second assembly part feeder 224a and the (new) further second assembly part feeder 224b are securely transported to the mounting machine and each (old) first assembly part feeder To replace the feeders, the robotic device 270 has a container 274 in which both assembly part feeders 224a, 224b are received with their respective (new) assembly device belts. ing.

FIG. 2a illustrates the transportation of both assembly parts feeders 224a, 224b from above the floor 140 to the rail system 150. FIG. FIG. 2b shows horizontal transport of both assembly component feeders 224a, 224b along the second rail element 154. FIG.

It is pointed out that in FIGS. 2a and 2b the mounting machine is not only referenced 120 but also referenced 260 . The selection of this reference number arises from the fact that the mounting machine 120 is provided with a robotic device 270 . A corresponding (arbitrarily) defined set of mounting machine 120 and robotic device 270 is denoted as mounting machine 260 in this application. Obviously, the robotic device 270 could be located on each of the different mounting machines 120 .

FIG. 3 shows a manufacturing facility 380 having two manufacturing lines 300a and 300b, which are installed side by side on a factory floor 140 in a parallel array relative to each other. Both production lines 300a and 300b have a common robotic device 270 that enables automatic exchange of assembly part feeders in the mounting machines of both production lines. For clarity, the rail system according to the invention is not shown in FIG.

As is evident from FIG. 3, the robotic device 270 "works" in a spatial (intermediate) region lying on the right side R of the production line 300a and the left side L of the production line 300b, viewed along the transport direction T. FIG. As a result, the "right assembly part supply device" of the first production line 300a and the "left assembly part supply device" of the second production line 300b are replaced by the new assembly part supply devices in a short route. can be Another assembly parts feeder, if traveling to the other side of the relevant production line 300a or 300b through the aforementioned third rail element (also not shown in FIG. 3), is the robotic device shown. 270. Alternatively or in combination, it is also possible to use at least one further robotic device, not shown, which "handles" the other side of both production lines 300a, 300b. Since such a further robotic device can also "handle" a further, not shown production line installed in parallel to the left of the first production line 300a or to the right of the second production line. , a further (intermediate) region occurs between two adjacent production lines.

It is pointed out that the term "comprising" does not exclude other elements, and that "one" does not exclude a plurality. Also elements described in association with different embodiments may be combined. It should also be pointed out that reference signs in the claims shall not be construed as limiting the scope of protection of the claims.

REFERENCE SIGNS LIST 100 production line 102 feeding station 104 soldering paste printer 106 soldering paste inspection machine/SPI machine 120 mounting machine 122 chassis 124 assembly parts supply device 132 mounting inspection machine/AOI machine 134 soldering machine/reflow furnace 136 soldering inspection machine /AOI machine 138 delivery station 140 floor 150 rail system/upper rail system 152 first rail element 153 ascending ramp section 154 second rail element 156 third rail element 159 energy supply device 170 robot device 172 caster T transport Direction 224a Second assembly part feeder 224b Further second assembly part feeder 260 Mounting system 270 Robotic device 274 Container 300a First production line 300b Second production line 380 Manufacturing equipment L First side R Second ~ side

Claims (22)

A mounting machine (120) for automatically mounting electronic assembly components to an assembly component carrier, the mounting machine (120) comprising:
a chassis (122),
at least one interface for releasably securing a first assembly component feeder (124) in place on said chassis (122);
For picking up the assembly parts from the fixed first assembly part supply device (124), and placing the picked-up assembly parts in a predetermined position on the assembly part carrier introduced into the mounting area of the mounting machine (120). a mounting head for arranging at the installation position of the
a horizontally and vertically extending rail system (150) attached to the chassis (122);
Said rail system (150) comprises a plurality of rail elements (152, 154) along which a robotic device (1) for transporting and manipulating a second assembly parts feeder (224a). 170, 270) is displaceable along the horizontal direction and along the vertical direction. Said rail system (150) comprises at least one first rail element (152) extending at least partially vertically and at least one second rail element (152) extending at least partially horizontally ( 154), and the mounting machine (120) of claim 1. With respect to the transport system for the assembly component carrier extending along the transport direction (T) through the chassis (122), the rail system (150) comprises a first rail partial system and a second rail. wherein the first rail partial system is located on a first side of the chassis (122) and the second rail partial system is opposite the chassis (122). The mounting machine (120) of claim 1 , disposed on a second side of the side. 4. The implementation of claim 3 , wherein the rail system (150) comprises at least one third rail element (156) connecting a first rail sub-system and a second rail sub-system. Machine (120). 5. The method according to claim 4, wherein at least one third rail element (156) is arranged above a mounting area of the mounting machine (120), in which the assembly component carrier is mounted. A mounting machine (120). At least one rail element of said plurality of rail elements (152) has an ascending ramp portion (153), said ascending ramp portion being adapted for said robotic device, said mounting machine (120) to The mounting machine (120) of claim 1 , configured to be elevated to said rail system (150) from a floor (140) in which it is located. At least one further rail element of said plurality of rail elements (152) has at least one further ascending ramp portion (153), said ascending ramp portion being connected to said robotic device (170, 270). 7. The mounting machine (120) of claim 6 , wherein the mounting machine (120) is configured to be movable from a floor (140) to the rail system (150). further comprising an energy supply (159) electrically coupled with said rail system (150);
The mounting machine (120) of claim 1 , wherein the rail system (150) is configured such that the robotic device (170, 270) can be powered. A mounting system (260) for automatically mounting electronic assembly components to an assembly component carrier, the mounting system (260) comprising:
A mounting machine (120) according to claim 1 ; and
having a robot device (170, 270),
The robotic device (170, 270) comprises:
(a) moving along the rail system (150) horizontally and vertically;
(b) transporting the second assembly component feeder (224a) to a predetermined location;
(c) replacing the second assembly parts feeder (224a) with the first assembly parts feeder (124); and
(d) a mounting system (260) configured to transport said first assembly component feeder (124) away from a predetermined location; The robotic device (270) has a container (274) that at least partially contains the first assembly parts feeder (124) and/or the second assembly parts feeder (224a). 10. The mounting system (260) of claim 9, wherein the mounting system (260) is configured to be commercially receptive. Said container (274) comprises, in addition to said first assembly part feeder (124) and/or said second assembly part feeder (224a), a further first assembly part feeder and/or a further second assembly part feeder (224a). 11. The mounting system (260) of claim 10, wherein the mounting system (260) is configured to receive an assembly component feeder (224b) of . said robotic device (170) having at least two casters (172), said casters allowing movement on a floor (140) on which said mounting machine (120) is located; The mounting system (260) of claim 9 . The mounting system (260) of claim 9 , wherein the robotic device (170, 270) is configured to be supplied with electrical energy by the rail system (150). A manufacturing line (100) for manufacturing electronic assembly parts, the manufacturing line (100) comprising:
A mounting system (260) according to claim 9 ; and
Having at least one mounting machine (120) according to claim 1 ,
A rail system (150) of said mounting system (260) and a rail system (150) of at least one said mounting machine (120) are connected to a superior rail system (150) in a manufacturing line (100). 15. The production line (100) according to claim 14, further comprising processing machines (106, 132, 134, 136) for further processing of the transported assembly part carriers. The processing machine is
(i) a soldering paste printer (106) for selectively applying soldering paste to assembly component connecting surfaces of the printed circuit board;
(ii) a soldering machine (134) for melting a soldering paste present between the assembly part connection surface of the printed circuit board and the electrical connection contacts of the assembly parts arranged on the printed circuit board; ,as well as,
(iii) an inspection machine (132, 136) that uses an inspection process to detect product-characterizing structures of said at least partially mounted assembly component carrier. A production line (100) according to claim 1. 15. The production line (100) of claim 14 , wherein the upper rail system extends spatially to or beyond a processing machine. 15. The production line (100) according to claim 14 , further comprising a further rail system spatially separated from said superior rail system (150). Furthermore, it has at least one infeed/delivery position (153), said infeed/delivery position comprising:
(i) to enable transportation of a robotic device (170, 270) to and/or from said superior rail system, or
15. The assembly part belt of claim 14 , configured to allow transport of an assembly part belt to and/or from an assembly part feeder held by said robotic device. production line (100). A manufacturing facility (380) for manufacturing electronic assembly components, comprising:
A first production line (300a), which is the production line according to claim 14 , and
a second production line (300b), which is the production line of claim 14 ;
a manufacturing facility (380) having: 21. The manufacturing facility (380) of claim 20, wherein said first manufacturing line robotic device is also displaceable along a rail system above said second manufacturing line. using a machine (120) to mount an electronic assembly component on an assembly component carrier;
In particular (a) a mounting machine (120) according to claim 1 , (b) a mounting system (260) according to claim 9 , (c) a production line (100) according to claim 14 , and/or (d) a method for automatically packaging using the manufacturing facility (380) of claim 20 , comprising:
(A) Using a robot device (170, 270),
transporting a second assembly component feeder (224a) to a predetermined position on a chassis (122) of said mounting machine (120), wherein said robotic device (170, 270) moves along a horizontal direction and moving along a vertical direction on a plurality of rail elements (152, 154) of a rail system (150) attached to said chassis (122);
removing a first assembly component feeder (124) in place; and
releasably securing the second assembly component feeder (224a) in place with an interface assigned to the chassis (122) in place;
(B) Furthermore, using a mounting head,
removing assembly parts from the fixed second assembly part feeder (224a); and
locating the retrieved assembly component in a predetermined installation position on the assembly component carrier introduced into the mounting area of the mounting machine (120).

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