Suction frame

Abstract

The present invention relates to a suction frame for conveying flat workpieces (e.g. circuit boards), a manipulator for equipping the suction frame, and a system for handling flat workpieces, e.g. circuit boards. A method for adjusting a suction frame is also claimed. Overall, the present invention allows suction frames to be equipped in a fully automatic, freely programmable manner for the production of different components within a production line.

Claims

1. A system for handling planar workpieces that have dissimilar contours, said system comprising a manipulator, an adapter, a multiplicity of suction units, a transfer station, and a magazine, wherein the manipulator is connected to the adapter; wherein the adapter comprises a fluid connector and a line network; wherein the adapter comprises a multiplicity of coupling receptacles that by way of the line network are connected to the fluid connector; wherein the coupling receptacles and the coupling heads are mutually adapted in such a manner that each suction unit is in each case coupleable in a latching manner to the adapter, and is decoupleable in an unlatching manner from the adapter; and wherein at least one suction element of each suction unit in the coupled state is connected through the coupling head to the line network of the adapter.

2. The system as claimed in claim 1, wherein the transfer station for dispensing one of the suction units to the adapter that is connected to the manipulator provides a suction unit in such a manner that either the manipulator by way of a linear repositioning movement drives the adapter by way of a free coupling receptacle in the coupling direction toward the coupling head until the latter latches into the free coupling receptacle; or the transfer station by way of a linear repositioning movement drives the suction unit in the direction of a free coupling receptacle of the adapter that is positioned toward the transfer station in such a manner that the coupling head of said transfer station latches into the coupling receptacle.

3. The system as claimed in claim 1, wherein the transfer station for removing one of the suction units from the adapter that is connected to the manipulator stands by in such a manner that the manipulator and the transfer station by at least one of a movement of the manipulator and a movement of the transfer station for removing a suction unit that is held in the adapter are mutually positioned in such a manner that an activation means of the transfer station unlocks a latching mechanism of the suction unit, and the coupling head of the suction unit and the coupling receptacle of the adapter are subsequently separated from one another by a relative movement between the transfer station and the adapter.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Further aspects of the present invention are described in an exemplary manner in the exemplary embodiments hereunder. However, the present invention is not limited to the embodiment illustrated.

(2) FIG. 1 shows a schematic view of a suction frame on a robot having a transfer station and a linear accumulator;

(3) FIG. 2 shows a fragment of an adapter without a suction unit being disposed thereon;

(4) FIG. 3 shows a coupling head on a suction stick;

(5) FIG. 4 shows in fragments an assembled suction stick on the adapter, having a plugged-in coupling head;

(6) FIG. 5 shows a section through a suction stick on a fragment of an adapter;

(7) FIG. 6 shows a transfer station having a revolving accumulator; and

(8) FIG. 7 shows a transfer station having a linear accumulator.

DETAILED DESCRIPTION OF THE INVENTION

(9) In detail, FIG. 1 shows a suction frame 1 on a robotic arm 2 (illustrated in part). Suction sticks 3 are illustrated on the suction frame 1, the suction sticks 3 having been disposed by way of a transfer station 20 from a linear accumulator 21. The transfer station illustrated will be explained in more detail in FIG. 8.

(10) The suction frame 1 comprises an adapter 4 which is visible in the form of an upper plate 5. Vacuum couplings 6 which are contacted from the lower side by the coupling heads of the suction sticks 3 are located on the upper plate 5. For reasons of clarity, there is no line network illustrated on the upper side.

(11) A plug-in raster which can optionally be provided with respective vacuum couplings in order for equipping that is as flexible as possible to be allowed is illustrated on the upper side of the plate 5.

(12) The suction frame 1 furthermore comprises outriggers 7 which enable additional flexibility when equipping.

(13) FIG. 2 in fragments shows a sandwich construction of the adapter 4 according to the present invention. The sandwich construction comprises an upper plate 5 and a lower plate 10. The upper plate 5 supports the vacuum coupling 11 to which a line 13 for a line network is connected by way of a fluid connector 12. The upper plate 5 by way of screw connections 14 is screw-fitted to a support profile 15 and has an opening 16 for the passage of a coupling head, in order for the vacuum coupling 11 to be connected. The lower plate 10, likewise by way of a screw connections 17, is connected to the support profile 15 and comprises a coupling receptacle 18 for the feedthroughs the coupling head. A suction stick on account of the two receptacles in the opening 16 and in the coupling receptacle 18 is held in such a manner that the suction stick can withstand the motion forces when the suction frame 1 is being used.

(14) FIG. 3 shows an upper portion of a suction stick 3 having a coupling head 30. The coupling head 30 has dissimilar diameters on different portions. The receptacle in the coupling receptacle 18 is provided in a lower portion 31. The diameter is adapted so as to correspond to the lead through in the lower plate 10.

(15) A handling region 32 for the transfer station is located therebelow. Means 33 for activating the locking mechanism 34 which presently is configured in the form of a latching catch are provided in the handling region. The means 32 are depressed by the transfer station, on account of which the catches 34 are retracted, allowing the suction stick 3 to be removed from the adapter 4 or to be inserted in the latter.

(16) The feedthrough through the opening 16, which thereafter contact the vacuum coupling 11, is provided in the upper portion 35.

(17) FIG. 4 shows an assembled state of a suction stick 3 in a fragment of an adapter 4.

(18) The suction stick is shown in FIG. 5 in section in the assembled state, in a fragment of the adapter.

(19) The suction stick 3 comprises a suction bellows 50 for receiving a planar workpiece 51 by suction. The suction bellows 50 is connected to the vacuum coupling 11 on the adapter 4 by way of an inboard vacuum line 52. A lower portion 53 of the suction stick 3 can be configured so as to be telescopic.

(20) The suction stick 3, for fastening in the adapter 4, comprises a catch assembly 33 which can be pivoted by way of axles 54. The catches 33 latch into the coupling receptacle 18 and in the lower region 55 are simultaneously supported on the lower plate 10. The upper portion 35 is supported in the upper plate 5 and thus offers the assembled suction stick 3 a sufficient foothold in relation to transverse forces.

(21) FIG. 6 shows a transfer station 60. The transfer station comprises a suction gripper 61 which is disposed on a linear axis in the Z-direction 62 and on a linear axis in the X-direction 63. A chain 65 having receptacles 66 for suction sticks 3 is provided so as to revolve on a chain drive 64 in a revolving accumulator 70. The receptacles 66 likewise utilize the catches 33 having the latching catches 34 in order for the suction sticks 3 to be picked up and to be held.

(22) The suction gripper encompasses the region 32 and herein depresses the means 33 in order for the latching catches to be moved in a radially inward manner and for the latter to be released. The suction stick can thereupon be removed from the accumulator 70 in the Z-direction by way of the Z-axis 62, along the longitudinal axis 58 of the suction stick, be fed to the adapter (not illustrated here) by way of the X-axis 63, and be inserted into said adapter. The revolving accumulator 70, by way of the conveyance of the chain 65, moves the next suction stick 3 onward in the conveying direction 71 and for removing or receiving provides the suction stick 3, or a free space, respectively.

(23) A respective assembly having a linear accumulator is illustrated in FIG. 7.

(24) The transfer station 20 comprises a suction gripper 24 which is disposed on a linear axis in the Z-direction 22 and on a linear axis in the X-direction 23. Receptacles 25 for suction sticks 3 are provided longitudinally in a linear accumulator 21. The receptacles 25 likewise utilize the catches 32 having the latching catches 34 in order for the suction sticks 3 to be picked up and to be held.

(25) The suction gripper 24 encompasses the region 32 and herein depresses the means 33 in order for the latching catches to be moved in a radially inward manner and for the latter to be released. The suction stick can thereupon be removed from the accumulator 21 in the Z-direction by way of the Z-axis 22, along the longitudinal axis 58 of the suction stick, be fed to the adapter (not illustrated here) by way of the X-axis 23, and be inserted into the adapter. The linear accumulator 21, for removing or receiving, respectively, is correspondingly approached by way of the X-axis 23 at a stored suction stick 3 or at a free space.