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EP1097025A1 - Device for the automated tooling of works - Google Patents

Device for the automated tooling of works

Info

Publication number
EP1097025A1
EP1097025A1 EP99942730A EP99942730A EP1097025A1 EP 1097025 A1 EP1097025 A1 EP 1097025A1 EP 99942730 A EP99942730 A EP 99942730A EP 99942730 A EP99942730 A EP 99942730A EP 1097025 A1 EP1097025 A1 EP 1097025A1
Authority
EP
European Patent Office
Prior art keywords
station
workpiece
gripper
work station
grippers
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP99942730A
Other languages
German (de)
French (fr)
Inventor
Werner Jung
Birgit Haase
Daniel Metz
Stefan Dietrich
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens Production and Logistics Systems AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Production and Logistics Systems AG filed Critical Siemens Production and Logistics Systems AG
Publication of EP1097025A1 publication Critical patent/EP1097025A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/0061—Tools for holding the circuit boards during processing; handling transport of printed circuit boards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/047—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers the gripper supporting the workpiece during machining
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/048—Multiple gripper units

Definitions

  • the invention relates to a device for the automated processing of workpieces, in particular electrical printed circuit boards by means of at least one handling device with a movable gripper for the workpieces, the device having at least one work station and on each of its two sides a further station.
  • the invention has for its object to increase the unit performance of the device.
  • the workpiece can be designed, for example, as a multiplicity of electrical chip carriers which are combined in one use to form a printed circuit board which is held directly by the gripper.
  • the work station can have, for example, a laser unit, under whose laser beam the chip carriers are successively exposed.
  • the first gripper can move to a loading station, pick up a new workpiece and drive back to the work station while the previous workpiece held in the other handling device is being processed.
  • the machining can be moved to an unloading station and the waiting workpiece can be guided into the machining area of the work station.
  • the second gripper can be moved back to the work station immediately after unloading and take over the semi-finished workpiece or the workpiece carrier there. It is thus possible to machine the workpieces in the device almost without interruption and to increase the piece output accordingly.
  • the work content of the workpiece is approximately evenly distributed over both handling systems, whereby approximately the same amount of time is available for the travel and loading or unloading processes.
  • the device according to claim 3 only requires a longitudinal guide, which is particularly advantageous in the case of a linear motor drive whose magnetic rail can be used by both handling devices.
  • the transverse guide according to claim 4 makes it possible to move the workpiece in the work station in two coordinate directions and to process it accordingly.
  • the workpiece carrier can be moved in a single working plane, which the Structure of the device and the handling of the workpiece carrier favored.
  • the working level is also extended to the transport route, so that the grippers can act without lifting movement.
  • Such a system can e.g. get by with just three workpiece carriers, which are picked up all the way round, passed on, and transported back to the loading station.
  • the transverse movement of the grippers is used not only for the machining operations, but also for the transverse transport, so that the transport path can run in a straight line in the plane of the grippers.
  • FIG. 1 shows a side view of a device for laser processing flat workpieces
  • FIG. 2 shows a plan view of the device according to FIG. 1
  • FIGS. 3 to 6 schematically illustrate different working phases of the device according to FIG. 2.
  • a device for processing workpieces 1 designed as printed circuit boards is provided with a rail-like longitudinal guide 2 on which two transverse guides 3 of two handling devices 4 independently of one another, e.g. can be moved by means of two linear motors.
  • a holder 5 can be moved on each of the transverse guides 3, the end of which is designed as a gripper 6 for a workpiece carrier 7 which receives the workpiece 1.
  • the device has an input station 8, a work station 9 and an output station 10.
  • the input station 9 is located in the area of one end of the longitudinal guide 2, the work station 9 in the central area and the output station 10 in the other end area of the longitudinal guide 2.
  • a linear transport device also extends parallel to this. device 11, which connects the output station 10 with the input station 8 at the height of the workpiece carrier 7, this transport plane and the moving planes of the workpiece carrier 7 forming a common working plane in the handling devices.
  • An input side of the handling devices can be moved between the input station and the work station.
  • the other handling device on the output side can be moved between the work station and the output station.
  • the workpiece carriers 7 are loaded with the workpiece 1 in the input station 8 and gripped with the gripper 6 of the first handling device 4.
  • the other gripper 6 of the other handling device 4 is currently holding another workpiece carrier 7 and moves it in two coordinate directions under a deflection area 12 of a laser unit 13, which directs a deflectable laser beam 14 onto the surface of the workpiece 1. This makes it possible to finely structure a printed circuit board in the deflection area 12 of the laser beam 14, without requiring a high mechanical outlay.
  • FIGS. 3 to 6 show the handling of the workpiece carrier 7 by the two handling devices in different phases.
  • one of the workpiece carriers 7 is held by the gripper 6 of the handling device on the input side and is in a waiting position immediately in front of the work station 9.
  • the gripper 6 of the handling device on the output side holds one of the other workpiece carriers 7, which is located under the deflection area 12 of the Laser beam of the work station 9 is located.
  • a third of the workpiece carriers 7 is located on the transport path between the output station 10 and the input station 8.
  • the workpiece carrier 7 is with the finished workpiece 1 by means of the gripper 6 on the output side to the dispensing station where it can be unloaded.
  • the waiting workpiece carrier 7 has been moved directly into the deflection area 12, so that the machining can be continued with a short interruption.
  • the third workpiece carrier 7 has already reached the input station 8 and has been loaded with a new workpiece 1.
  • the workpiece 1 held by the gripper on the input side is already half finished in the work station 9.
  • the gripper 6 on the output side has moved back from the dispensing station 10 to the work station, leaving the workpiece carrier 7 behind and now grips the workpiece carrier 7 located there with the gripper 7 on the input side.
  • This transfer takes place without during a movement step in which the workpiece carrier 7 also moves the workpiece 1 from one machining area to another. It is thereby achieved that transfer-related malfunctions on the machining can have no influence on the machining accuracy.
  • Workpiece carrier 7 has already been gripped by the gripper 6 on the input side and can now return to the waiting position shown in FIG. 3 in front of the work station 9, while the unloaded workpiece carrier 7 travels on the transport route to the input station 8.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Feeding Of Workpieces (AREA)
  • Specific Conveyance Elements (AREA)
  • Laser Beam Processing (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

According to the present invention, works (1) in the shape of plates are transported in a working plane from an input station (8) to a working station (9) and from there to an output station (10) using two manipulation units (4). A gripping member (6) in one manipulation unit is capable of displacement between the input station (8) and the working station (9), while the gripping member (6) in the other manipulation unit (4) is capable of displacement between the working station (9) and the output station (10), wherein the two displacement areas overlap. As the first half approximately of the tooling process has been completed in the working station (9), the work (1) is transferred from the gripping member (6) on the input side to the gripping member (6) on the output side. Meanwhile, the free gripping member (6) returns towards its station and towards the working station (9) so that the tooling process can be carried out essentially without any interruption.

Description

Beschreibungdescription
Vorrichtung zum automatisierten Bearbeiten von WerkstückenDevice for the automated machining of workpieces
Die Erfindung bezieht sich auf eine Vorrichtung zum automatisierten Bearbeiten von Werkstücken, insbesondere elektrischen Leiterplatten mittels zumindest einer Handhabungseinrichtung mit einem verfahrbaren Greifer für die Werkstücke, wobei die Vorrichtung zumindest eine Arbeitsstation und zu deren beiden Seiten je eine weitere Station aufweist.The invention relates to a device for the automated processing of workpieces, in particular electrical printed circuit boards by means of at least one handling device with a movable gripper for the workpieces, the device having at least one work station and on each of its two sides a further station.
Es ist üblich, Werkstücke z.B. mittels eines Roboters in einer Eingabestation abzuholen, von dort zu einer Arbeitsstation und von dieser zu einer Ausgabestation zu transportieren, wobei die Stationen im Wesentlichen in einer Ebene liegen. Um die Bearbeitungsvorgänge an verschiedenen Stellen des Werkstücks durchführen zu können, muß dieses in der Arbeitsstation frei positionierbar sein. Dies wird dadurch erreicht, daß das Werkstück auch während der Bearbeitung von einem Greifer des Roboters gehalten und entsprechend verfahren wird. Die gesamte Zykluszeit ist bestimmt durch den Zeitaufwand des Beiadens, Hintransports, des Abtransports und des Entladens .It is common to work pieces e.g. to be picked up by means of a robot in an input station, to be transported from there to a work station and from there to an output station, the stations essentially lying on one plane. In order to be able to carry out the machining operations at different points on the workpiece, it must be freely positionable in the work station. This is achieved in that the workpiece is held by a gripper of the robot even during processing and is moved accordingly. The total cycle time is determined by the time required for loading, transporting, transporting and unloading.
Der Erfindung liegt die Aufgabe zugrunde, die Stückleistung der Vorrichtung zu erhöhen.The invention has for its object to increase the unit performance of the device.
Diese Aufgabe wird durch die Erfindung gemäß Anspruch 1 gelöst. Das Werkstück kann z.B. als eine Vielzahl von elektri- sehen Chipträgern ausgebildet sein, die in einem Nutzen zu einer Leiterplatte zusammen gefaßt sind, die unmittelbar vom Greifer gehalten wird. Es ist aber auch möglich, die einzelnen Chipträger in einem Werkstückträger aufzunehmen, der wie die Leiterplatte vom Greifer erfasst wird. Die Arbeitsstation kann z.B. eine Lasereinheit aufweisen, unter deren Laserstrahl die Chipträger sukzessive ausgesetzt werden. Durch den Greiferwechsel in der Arbeitsstation wird nun der Bearbeitungsinhalt des Werkstücks bzw. des Werkstückträgers auf die beiden Handhabungseinrichtungen aufgeteilt. Sobald der zweite Greifer das Werkstück übernommen hat kann der er- ste Greifer zu einer Beladestation verfahren, ein neues Werkstück aufnehmen und zur Arbeitsstation zurück fahren, während das in der anderen Handhabungseinrichtung gehaltene vorhergehende Werkstück bearbeitet wird. Ist dessen Bearbeitung beendet, kann dieses zu einer Entladestation verfahren werden und das wartende Werkstück in den Bearbeitungsbereich der Arbeitsstation geführt werden. Der zweite Greifer kann nach dem Entladen sofort wieder zur Arbeitsstation zurückgefahren werden und dort das halbfertige Werkstück bzw. den Werkstückträger übernehmen. Damit ist es möglich, die Werkstücke in der Vorrichtung nahezu unterbrechungsfrei zu bearbeiten und die Stückleistung entsprechend zu steigern.This object is achieved by the invention according to claim 1. The workpiece can be designed, for example, as a multiplicity of electrical chip carriers which are combined in one use to form a printed circuit board which is held directly by the gripper. However, it is also possible to accommodate the individual chip carriers in a workpiece carrier which, like the printed circuit board, is gripped by the gripper. The work station can have, for example, a laser unit, under whose laser beam the chip carriers are successively exposed. By changing the gripper in the work station, the machining content of the workpiece or the workpiece carrier is now divided between the two handling devices. As soon as the second gripper has taken over the workpiece, the first gripper can move to a loading station, pick up a new workpiece and drive back to the work station while the previous workpiece held in the other handling device is being processed. When the machining is finished, it can be moved to an unloading station and the waiting workpiece can be guided into the machining area of the work station. The second gripper can be moved back to the work station immediately after unloading and take over the semi-finished workpiece or the workpiece carrier there. It is thus possible to machine the workpieces in the device almost without interruption and to increase the piece output accordingly.
Vorteilhafte Weiterbildungen der Erfindung sind in den Ansprüchen 2 bis 6 gekennzeichnet.Advantageous developments of the invention are characterized in claims 2 to 6.
Durch die Weiterbildung nach Anspruch 2 wird der Arbeitsinhalt des Werkstücks annähern gleichmäßig auf beide Handhabungssysteme verteilt, wodurch für die Verfahr- und Be- bzw. Entladevorgänge etwa gleichviel Zeit zur Verfügung steht.Due to the development according to claim 2, the work content of the workpiece is approximately evenly distributed over both handling systems, whereby approximately the same amount of time is available for the travel and loading or unloading processes.
Die Vorrichtung nach Anspruch 3 benötigt nur eine Längsführung, was insbesondere bei einem Linearmotorantrieb von Vorteil ist, dessen Magnetschiene von beiden Handhabungseinrichtungen genutzt werden kann.The device according to claim 3 only requires a longitudinal guide, which is particularly advantageous in the case of a linear motor drive whose magnetic rail can be used by both handling devices.
Durch die Querführung nach Anspruch 4 ist es möglich, das Werkstück in der Arbeitsstation in zwei Koordinatenrichtungen zu verfahren und entsprechend zu bearbeiten.The transverse guide according to claim 4 makes it possible to move the workpiece in the work station in two coordinate directions and to process it accordingly.
Durch die Weiterbildung nach Anspruch 5 können die Werkstückträger in einer einzigen Arbeitsebene bewegt werden, was den Aufbau der Vorrichtung und die Handhabung der Werkstückträger begünstigt.Through the development according to claim 5, the workpiece carrier can be moved in a single working plane, which the Structure of the device and the handling of the workpiece carrier favored.
Durch die Werkstückträger nach Anspruch 6 wird die Arbeits- ebene auch auf die Transportstrecke ausgedehnt, so daß die Greifer ohne Hubbewegung agieren können. Ein solches System kann z.B. mit nur drei Werkstückträgern auskommen, die umlaufend aufgenommen, weitergegeben abgelegt und zur Ladestation zurück transportiert werden. Dabei wird die Querbewegung der Greifer nicht nur für die Bearbeitungsvorgänge, sondern auch für den Quertransport genutzt, so daß die Transportstrecke geradlinig in der Ebene der Greifer verlaufen kann.Due to the workpiece carrier according to claim 6, the working level is also extended to the transport route, so that the grippers can act without lifting movement. Such a system can e.g. get by with just three workpiece carriers, which are picked up all the way round, passed on, and transported back to the loading station. The transverse movement of the grippers is used not only for the machining operations, but also for the transverse transport, so that the transport path can run in a straight line in the plane of the grippers.
Im folgenden wird die Erfindung anhand eines in der Zeichnung dargestellten Darstellungsbeispieles näher erläutert.The invention is explained in more detail below with the aid of an illustration shown in the drawing.
Figur 1 zeigt eine Seitenansicht einer Vorrichtung zum Laserbearbeiten von flachen Werkstücken,FIG. 1 shows a side view of a device for laser processing flat workpieces,
Figur 2 eine Draufsicht auf die Vorrichtung nach Figur 1, Figur 3 bis 6 schematisiert verschiedene Arbeitsphasen der Vorrichtung nach Figur 2.2 shows a plan view of the device according to FIG. 1, FIGS. 3 to 6 schematically illustrate different working phases of the device according to FIG. 2.
Nach den Figuren 1 und 2 ist eine Vorrichtung zum Bearbeiten von als Leiterplatten ausgebildeten Werkstücken 1 mit einer schienenartigen Längsführung 2 versehen, auf der zwei Querführungen 3 zweier Handhabungseinrichtungen 4 unabhängig von einander z.B. mittels zweier Linearmotoren verfahrbar sind. Auf den Querführungen 3 ist je ein Halter 5 verfahrbar, dessen Ende als Greifer 6 für einen Werkstückträger 7 ausgebil- det ist, der das Werkstück 1 aufnimmt.According to FIGS. 1 and 2, a device for processing workpieces 1 designed as printed circuit boards is provided with a rail-like longitudinal guide 2 on which two transverse guides 3 of two handling devices 4 independently of one another, e.g. can be moved by means of two linear motors. A holder 5 can be moved on each of the transverse guides 3, the end of which is designed as a gripper 6 for a workpiece carrier 7 which receives the workpiece 1.
Die Vorrichtung weist eine Eingabestation 8, eine Arbeitsstation 9 und eine Ausgabestation 10 auf. Die Eingabestation 9 befindet sich im Bereich eines Endes der Längsführung 2, die Arbeitsstation 9 in deren Mittelbereich und die Ausgabestation 10 im anderen Endbereich der Längsführung 2. Zu dieser parallel erstreckt sich ferner eine lineare Transporteinrich- tung 11, die die Ausgabestation 10 mit der Eingabestation 8 in der Höhe der Werkstückträger 7 verbindet, wobei diese Transportebene und die Verfahrebenen der Werkstückträger 7 in den Handhabungseinrichtungen eine gemeinsame Arbeitsebene bilden. Eine eingabeseitige der Handhabungseinrichtungen ist zwischen der Eingabestation und der Arbeitsstation verfahrbar. Die andere ausgabeseitige Handhabungseinrichtung ist zwischen der Arbeitsstation und der Ausgabestation verfahrbar.The device has an input station 8, a work station 9 and an output station 10. The input station 9 is located in the area of one end of the longitudinal guide 2, the work station 9 in the central area and the output station 10 in the other end area of the longitudinal guide 2. A linear transport device also extends parallel to this. device 11, which connects the output station 10 with the input station 8 at the height of the workpiece carrier 7, this transport plane and the moving planes of the workpiece carrier 7 forming a common working plane in the handling devices. An input side of the handling devices can be moved between the input station and the work station. The other handling device on the output side can be moved between the work station and the output station.
Die Werkstückträger 7 werden in der Eingabestation 8 mit dem Werkstück 1 beladen und mit dem Greifer 6 der ersten Handhabungseinrichtung 4 erfaßt. Der andere Greifer 6 der anderen Handhabungseinrichtung 4 hält gerade einen anderen Werkstück- träger 7 und verfährt diesen in zwei Koordinatenrichtungen unter einem Ablenkbereich 12 einer Lasereinheit 13, die einen ablenkbaren Laserstrahl 14 auf die Oberfläche des Werkstücks 1 richtet. Dadurch ist es möglich, eine Leiterplatte im Ablenkbereich 12 des Laserstrahls 14 fein zu strukturieren, oh- ne daß es dazu eines hohen mechanischen Aufwandes bedarf.The workpiece carriers 7 are loaded with the workpiece 1 in the input station 8 and gripped with the gripper 6 of the first handling device 4. The other gripper 6 of the other handling device 4 is currently holding another workpiece carrier 7 and moves it in two coordinate directions under a deflection area 12 of a laser unit 13, which directs a deflectable laser beam 14 onto the surface of the workpiece 1. This makes it possible to finely structure a printed circuit board in the deflection area 12 of the laser beam 14, without requiring a high mechanical outlay.
In den Figuren 3 bis 6 ist die Handhabung der Werkstückträger 7 durch die beiden Handhabungseinrichtungen in verschiedenen Phasen dargestellt.FIGS. 3 to 6 show the handling of the workpiece carrier 7 by the two handling devices in different phases.
Nach Figur 3 ist einer der Werkstückträger 7 von dem Greifer 6 der eingabeseitigen Handhabungseinrichtung gehalten und befindet sich in einer Wartestellung unmittelbar vor der Arbeitsstation 9. Der Greifer 6 der ausgabeseitigen Handha- bungseinrichtung hält einen der anderen Werkstückträger 7, der sich unter dem Ablenkbereich 12 des Laserstrahls der Arbeitsstation 9 befindet. Ein dritter der Werkstückträger 7 befindet sich auf dem Transportweg zwischen der Ausgabestation 10 und der Eingabestation 8.According to FIG. 3, one of the workpiece carriers 7 is held by the gripper 6 of the handling device on the input side and is in a waiting position immediately in front of the work station 9. The gripper 6 of the handling device on the output side holds one of the other workpiece carriers 7, which is located under the deflection area 12 of the Laser beam of the work station 9 is located. A third of the workpiece carriers 7 is located on the transport path between the output station 10 and the input station 8.
Nach Figur 4 ist der Werkstückträger 7 mit dem fertig bearbeiteten Werkstück 1 mittels des ausgabeseitigen Greifers 6 zur Ausgabestation verfahren worden, wo er entladen werden kann. Der wartende Werkstückträger 7 ist unmittelbar nachfolgend in den Ablenkbereich 12 verfahren worden, so daß die Bearbeitung mit einer kurzen Unterbrechung fortgesetzt werden kann. Der dritte Werkstückträger 7 hat bereits die Eingabestation 8 erreicht und ist mit einem neuen Werkstück 1 beladen worden.According to FIG. 4, the workpiece carrier 7 is with the finished workpiece 1 by means of the gripper 6 on the output side to the dispensing station where it can be unloaded. The waiting workpiece carrier 7 has been moved directly into the deflection area 12, so that the machining can be continued with a short interruption. The third workpiece carrier 7 has already reached the input station 8 and has been loaded with a new workpiece 1.
Nach Figur 5 ist das vom eingabeseitigen Greifer gehaltene Werkstück 1 in der Arbeitsstation 9 bereits zur Hälfte fertig bearbeitet. Der ausgabeseitige Greifer 6 ist von der Ausgabestation 10 unter Zurücklassung des Werkstückträgers 7 zur Arbeitsstation zurück verfahren und greift nun gleichzeitig mit dem eingabeseitigen Greifer 7 den dort befindlichen Werk- stückträger 7. Diese Übergabe findet ohne während eines Verfahrschritts statt, in dem der Werkstückträger 7 mit dem Werkstück 1 von einem Bearbeitungsbereich zu einem anderen verfährt. Dadurch wird erreicht, daß übergabebedingte Störungen auf die Bearbeitung keinen Einfluß auf die Bearbeitungs- genauigkeit haben können. Daraufhin kann der eingabeseitigeAccording to FIG. 5, the workpiece 1 held by the gripper on the input side is already half finished in the work station 9. The gripper 6 on the output side has moved back from the dispensing station 10 to the work station, leaving the workpiece carrier 7 behind and now grips the workpiece carrier 7 located there with the gripper 7 on the input side. This transfer takes place without during a movement step in which the workpiece carrier 7 also moves the workpiece 1 from one machining area to another. It is thereby achieved that transfer-related malfunctions on the machining can have no influence on the machining accuracy. Then the input side
Greifer 6 den Werkstückträger 7 loslassen und zur Eingabestation 8 zurückfahren, während das nun nur vom ausgabeseitigen Greifer gehaltene Werkstück fertig bearbeitet werden kann.Release the gripper 6 from the workpiece carrier 7 and return to the input station 8, while the workpiece held only by the gripper on the output side can now be finished.
Nach Figur 6 ist der in der Eingabestation 8 befindlicheAccording to FIG. 6, the one located in the input station 8
Werkstückträger 7 bereits vom eingabeseitigen Greifer 6 erfaßt und kann nun zu der in Figur 3 gezeigten Wartestellung vor der Arbeitsstation 9 zurückfahren, während der entladene Werkstückträger 7 auf der Transportstrecke zur Eingabestation 8 verfährt. Workpiece carrier 7 has already been gripped by the gripper 6 on the input side and can now return to the waiting position shown in FIG. 3 in front of the work station 9, while the unloaded workpiece carrier 7 travels on the transport route to the input station 8.

Claims

Patentansprüche claims
1. Vorrichtung zum automatisierten Bearbeiten von Werkstücken (1) insbesondere elektrischen Leiterplatten mittels zumindest einer Handhabungseinrichtung (4) mit einem verfahrbaren Greifer (6) zum mittelbaren oder unmittelbaren Halten der Werkstücke (1) , wobei die Vorrichtung zumindest eine Arbeitsstation (9) und zu deren beiden Seiten je eine weitere Station (z.B. 8, 10) aufweist und wobei die Bearbeitungslage des Werkstücks in der Arbeitsstation (9) durch Verfahrschritte des Greifers (6) veränderbar ist, dadurch gekennzeichnet, daß die Vorrichtung zwei der von einander unabhängig betreibbaren Handhabungseinrichtungen (4) aufweist, daß sich die Verfahrbereiche der beiden Greifer (6) im wesentlichen in einer Ebene zwischen jeweils einer der Stationen (z.B. 8, 10) und der Arbeitsstation (9) erstrecken und sich in dieser überlappen, daß die beiden Greifer (6) in der Arbeitsstation (9) während des und/oder zwischen den Verfahrschritten vorübergehend gleichzeitig an das Werkstück (1) ansetzbar sind, und daß das Werkstück (1) dabei vom einem an den anderen Greifer übergebbar ist.1. Device for the automated processing of workpieces (1), in particular electrical circuit boards, by means of at least one handling device (4) with a movable gripper (6) for holding the workpieces (1) directly or indirectly, the device comprising at least one work station (9) and the two sides of which each have a further station (for example 8, 10) and the machining position of the workpiece in the work station (9) can be changed by moving the gripper (6), characterized in that the device has two of the handling devices (which can be operated independently of one another) 4) has that the traversing ranges of the two grippers (6) extend essentially in one plane between each of the stations (eg 8, 10) and the work station (9) and overlap in this, that the two grippers (6) in the work station (9) during and / or between the travel steps temporarily to the workshop at the same time ck (1) can be used, and that the workpiece (1) can be transferred from one to the other gripper.
2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß der Greiferwechsel im mittleren Zeitabschnitt der Bear- beitung erfolgt.2. Device according to claim 1, characterized in that the gripper change takes place in the middle period of the processing.
3. Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß für beide Greifer (6) eine gemeinsame Längsführung (2) vorgesehen ist. 3. Apparatus according to claim 1 or 2, characterized in that a common longitudinal guide (2) is provided for both grippers (6).
4. Vorrichtung nach Anspruch 3, dadurch gekennzeichnet, daß die Greifer (6) in der gemeinsamen Längsführung (2) und je einer eigenen Querführung (3) geführt sind.4. The device according to claim 3, characterized in that the grippers (6) in the common longitudinal guide (2) and each have its own transverse guide (3).
5. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Werkstücke (1) in der Eingabestation (8) in umlaufen- de Werkstückträger (7) der Vorrichtung einsetzbar sind, daß ein erster der Greifer (6) den Werkstückträger (7) erfaßt und in der Arbeitsstation (9) an den zweiten Greifer (6) übergibt, daß die Werkstücke in einer Ausgabestation (10) aus dem Werk- stückträger (7) entnehmbar sind und daß zwischen der Ausgabestation (10) und der Eingabestation (8) eine Transporteinrichtung (11) angeordnet ist, mittels der die Werkstückträger (7) zur Eingabestation (8) zurück transportierbar sind.5. Device according to one of the preceding claims, characterized in that the workpieces (1) can be used in the input station (8) in the rotating workpiece carrier (7) of the device, that a first of the grippers (6) the workpiece carrier (7) detected and transferred in the work station (9) to the second gripper (6) that the workpieces can be removed from the workpiece carrier (7) in an output station (10) and that between the output station (10) and the input station (8) a transport device (11) is arranged, by means of which the workpiece carriers (7) can be transported back to the input station (8).
6. Vorrichtung nach Anspruch 5, dadurch gekennzeichnet, daß die Transporteinrichtung (11) eine lineare Transportstrecke bildet, die in der Arbeitsebene der von den Greifern (6) gehaltenen Werkstückträger (7) liegt, daß die Transportstrecke außerhalb des Verstellbereichs der Werkstückträger (7) in der Arbeitsstation (9) verläuft und daß der maximale Verfahrweg in der Querführung (3) größer ist als der mittlere Abstand zwischen der Arbeitsstation (9) und der Transportstrecke. 6. The device according to claim 5, characterized in that the transport device (11) forms a linear transport path which lies in the working plane of the workpiece carriers (7) held by the grippers (6), that the transport path is outside the adjustment range of the workpiece carriers (7) runs in the work station (9) and that the maximum travel path in the transverse guide (3) is greater than the average distance between the work station (9) and the transport path.
EP99942730A 1998-07-14 1999-07-01 Device for the automated tooling of works Withdrawn EP1097025A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19831560 1998-07-14
DE19831560 1998-07-14
PCT/DE1999/001911 WO2000003837A1 (en) 1998-07-14 1999-07-01 Device for the automated tooling of works

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EP1097025A1 true EP1097025A1 (en) 2001-05-09

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US (1) US6412622B1 (en)
EP (1) EP1097025A1 (en)
JP (1) JP2002520180A (en)
KR (1) KR20010053460A (en)
CN (1) CN1110400C (en)
TW (1) TW424037B (en)
WO (1) WO2000003837A1 (en)

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KR20010053460A (en) 2001-06-25
WO2000003837A1 (en) 2000-01-27
US6412622B1 (en) 2002-07-02
JP2002520180A (en) 2002-07-09
TW424037B (en) 2001-03-01
CN1110400C (en) 2003-06-04
CN1312745A (en) 2001-09-12

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