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WO2022110000A1 - Système de transport et de commande de transfert à positions multiples à carte de circuit imprimé, procédé de commande et de transport - Google Patents

Système de transport et de commande de transfert à positions multiples à carte de circuit imprimé, procédé de commande et de transport Download PDF

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Publication number
WO2022110000A1
WO2022110000A1 PCT/CN2020/132174 CN2020132174W WO2022110000A1 WO 2022110000 A1 WO2022110000 A1 WO 2022110000A1 CN 2020132174 W CN2020132174 W CN 2020132174W WO 2022110000 A1 WO2022110000 A1 WO 2022110000A1
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WO
WIPO (PCT)
Prior art keywords
circuit board
pick
place
drawer
end effector
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.)
Ceased
Application number
PCT/CN2020/132174
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English (en)
Chinese (zh)
Inventor
丁鹤群
胡冰峰
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Cims Suzhou Co Ltd
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Cims Suzhou Co Ltd
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 Cims Suzhou Co Ltd filed Critical Cims Suzhou Co Ltd
Priority to PCT/CN2020/132174 priority Critical patent/WO2022110000A1/fr
Publication of WO2022110000A1 publication Critical patent/WO2022110000A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators

Definitions

  • the invention relates to the field of automation control, in particular to a circuit board multi-position pick-and-place control and transportation system, and a control and transportation method.
  • the manipulator in the prior art usually only picks and places the PCB back and forth between two points, and the control logic is relatively simple, and there is no multi-position pick and place circuit suitable for the detection process of the AVI automatic detection equipment in the prior art. board control technology.
  • the present invention provides a circuit board multi-position pick-and-place control and transport system, control and transport method, which are applied to the multi-position pick and place on the AVI automatic detection equipment, and the technical scheme is as follows:
  • the present invention provides a circuit board multi-position pick and place control system, comprising:
  • a first driving mechanism used as an actuator of a drawer to realize batch feeding and/or receiving of circuit boards, wherein the drawer includes a feeding drawer and/or a receiving drawer;
  • the second driving mechanism is used as the actuator of the pick-and-place positioning device to drive it to move to the target positioning position;
  • the pick-and-place positioning device has an end effector for loading or unloading the circuit board;
  • a sensor module for collecting the state of each drive mechanism and/or end effector
  • a controller configured to receive the acquisition signal of the sensor module, control the first drive mechanism to drive the drawer to feed and/or receive materials, and control the second drive mechanism to drive the pick-and-place positioning device to move to multiple target positions position and control the end effector to load or unload the circuit board.
  • the circuit board multi-position pick-and-place control system also includes a human-computer interaction module electrically connected to the controller, and the human-computer interaction module is used to display status information, set the parameters of the circuit board multi-position pick-and-place and / or make an alarm prompt.
  • controller is a programmable logic controller
  • pick-and-place control system further includes an input module, an output module and a positioning module
  • the controller receives the acquisition signal of the sensor module through the input module
  • the controller controls the first drive mechanism to drive the drawer to supply and/or receive materials through the output module, and controls the end effector to load or unload the circuit board;
  • the controller controls the second driving mechanism to drive the pick-and-place positioning device to move to the target positioning position through the positioning module.
  • the first driving mechanism is a stepping motor
  • the second driving mechanism is a servo motor
  • the end effector is a pneumatic valve
  • the servo motor power supply cable and the encoder cable are connected with a servo driver, and the servo driver is connected with the positioning module through an optical fiber bus.
  • controller automatically counts and stores the feeding quantity and the receiving data, and automatically counts the status of the multi-position pick-and-place work surface.
  • the present invention provides a control method based on the above-mentioned multi-position pick-and-place control system for circuit boards, the system can set different pick-and-place positions, and a logic operation program is input inside the controller of the system, so According to the detection result of the sensor module, the controller automatically makes a decision to take the circuit board to be detected or the circuit board that has been detected first.
  • the present invention provides a circuit board multi-position pick-and-place transportation system, including a take-out drawer, a first detection mechanism, a turning mechanism, a second detection mechanism, a receiving drawer, and the above-mentioned circuit board multi-position pick-up and delivery system. release the control system.
  • the number of the first drive mechanisms of the circuit board multi-position pick-and-place control system is multiple, and they are in one-to-one correspondence with the reclaiming drawer and the receiving drawer;
  • the number of the second drive mechanism and the pick-and-place positioning device of the circuit board multi-position pick-and-place control system is two and one-to-one correspondence.
  • the other pick-and-place positioning device moves between the turning mechanism, the second detection mechanism, and the receiving drawer.
  • the present invention provides a kind of transportation method based on the above-mentioned circuit board multi-position pick-and-place transportation system, under the control of the controller of the pick-and-place control system, respectively perform the following actions:
  • the first end effector is driven to load the circuit board at the take-out drawer, unload the circuit board to be tested and load the circuit board that has completed one test at the first detection mechanism, and unload the circuit board at the flip mechanism, so that the circuit board is removed from the circuit board.
  • the take-out drawer is taken out, and after the frontal inspection, it reaches the turning mechanism;
  • the second end effector is driven to load the circuit board at the flipping mechanism, unload the circuit board to be tested and load the circuit board that has completed the secondary test at the second detection mechanism, and unload the circuit board at the receiving drawer, so that the circuit board is unloaded at the flipping mechanism.
  • the circuit board turned over at the mechanism reaches the receiving drawer after being detected on the reverse side;
  • the first end effector and the second end effector run in parallel, wherein, during the process of the current circuit board being inspected by the first inspection mechanism, the first end effector transports the last circuit board that has been inspected to a Flip mechanism, and then load the next circuit board from the take-out drawer to the first detection mechanism; in the process of the current circuit board detection by the second detection mechanism, the second end effector will complete the detection of the previous circuit board The board is transported to the receiving drawer, and the next circuit board is loaded from the turning mechanism to the second detection mechanism.
  • the human-computer interaction interface, PLC, INPUT module, OUTPUT module, sensors and executive electrical appliances are combined to control each other, jointly complete the requirements of each process section, realize the automatic control of the process, and give an alarm to the abnormal situation in the automatic pick-and-place process;
  • the control system integrates functions such as control, alarm, safety control and production data management, and has the characteristics of high efficiency, high stability and convenient operation.
  • FIG. 1 is a schematic block diagram of a circuit board multi-position pick-and-place transportation system provided by an embodiment of the present invention
  • FIG. 2 is a schematic block diagram of a circuit board multi-position pick and place control system provided by an embodiment of the present invention.
  • PLC Logical Programmable Logic Controller
  • the positioning module is an important part of the PLC position control and motion control. It uses the optical fiber bus communication to realize the precise control of the motion and position of the servo motor. This communication method has high reliability and high speed; An important part in the field of control and motion control, PLC drives stepper motors through high-speed pulses.
  • a circuit board multi-position pick-and-place control system is provided.
  • the circuit board multi-position pick-and-place control system includes:
  • a first drive mechanism used as an actuator of a drawer to realize batch feeding and/or receiving of circuit boards
  • the drawer includes a feeding drawer and/or a receiving drawer; specifically, the first driving mechanism It can be selected as a stepper motor, which can realize the up and down of the drawer, and the stepper motor is connected with the PLC through the stepper driver;
  • the second driving mechanism is used as the actuator of the pick-and-place positioning device to drive it to move to the target positioning position;
  • the pick-and-place positioning device has an end effector for loading or unloading the circuit board;
  • the second drive mechanism can be selected as a servo motor, and the servo motor is used to drive the synchronous belt into the end effector, and the end effector can be selected as a pneumatic valve (it can also be a gripper); the servo motor power supply cable and encoder cable The cable is connected with the servo drive, and the servo drive is connected with the positioning module through the optical fiber bus;
  • a sensor module for collecting the state of the executive electrical appliance (including the first drive mechanism and/or the end effector); the sensor module includes a plurality of limit switch sensors, origin signal sensors, magnetic switch sensors, and vacuum negative pressure gauge sensors, They are used to limit the walking distance of the two LINER servos and control the LINER servo origin return. Multiple magnetic switches are used to monitor the working status of the executive electrical appliances. Multiple vacuum negative pressure sensors are used to detect whether the circuit board is successfully grasped.
  • the controller preferably a programmable logic controller (hereinafter referred to as PLC), is used to receive the acquisition signal of the sensor module, control the first drive mechanism to drive the drawer to supply and/or receive materials, and control the first drive mechanism.
  • PLC programmable logic controller
  • Two drive mechanisms drive the pick-and-place positioning device (the end effector) to move to multiple target positioning positions and control the end effector to load or unload the circuit board. Operation, get the motion pulse of the servo motor and stepper motor, and issue control commands.
  • the multi-position pick and place control system for circuit boards further includes a human-computer interaction module that is communicatively connected to the controller (which can be via Ethernet), and the human-computer interaction module is used for real-time display Product infeed count, outfeed count, first stage (STAGE1) beat, second stage (STAGE2) beat, equipment current status information; also can manually teach the circuit board pick and place position and record the current position information.
  • the touch screen can also monitor the equipment status in real time, control the individual operation of each executive electrical appliance, read the fault alarm point and handle the corresponding alarm, and at the same time can control the one-key reset and origin return of the equipment.
  • the first stage (STAGE1) and the second stage (STAGE2) are described in detail below.
  • the servo motor power supply cable and the encoder cable are connected with the servo driver, and the servo driver is connected with the positioning module through the optical fiber bus; Store and automatically count the status of multi-position pick and place work surfaces.
  • the pick and place control system further includes an input module (hereinafter referred to as an INPUT module), an output module (hereinafter referred to as an OUTPUT module) and a positioning module,
  • INPUT module input module
  • OUTPUT module output module
  • positioning module positioning module
  • the INPUT module is used to collect relevant signals from external sensors, such as real-time collection of cylinder position status; material conditions in feeding and receiving drawers; OUTPUT module is used to execute PLC control commands to control cylinders, stepper motors and other actuators; positioning module It is used to execute the positioning command of PLC-controlled servo, in which the servo motor is used as the actuator of the pick-and-place positioning device, which can realize the accurate positioning of the end-effector of the pick-and-place positioning device (that is, the gripper or suction cup that grasps the circuit board), which can Accurate and high-speed pick and place of circuit boards is achieved.
  • the stepper motor can realize the batch feeding/receiving of the circuit boards (waiting for the end effector of the pick-and-place positioning device to load the circuit boards one by one).
  • the INPUT module, OUTPUT module and positioning module are all connected with PLC.
  • the controller receives the acquisition signal of the sensor module through the input module
  • the controller controls the first drive mechanism to drive the drawer to supply and/or receive materials through the output module, and controls the end effector to load or unload the circuit board;
  • the controller controls the second driving mechanism to drive the pick-and-place positioning device to move to a plurality of target positioning positions through the positioning module.
  • a control method based on the above-mentioned multi-position pick-and-place control system for circuit boards is provided, the system can set different pick-and-place positions, and the controller of the system internally inputs logic operations program, the controller automatically makes a decision according to the detection result of the sensor module to take the circuit board to be detected or the circuit board that has been detected first.
  • the present invention provides a multi-position pick-and-place transportation system for circuit boards, including a take-up drawer, a first detection mechanism, a flip mechanism, a second detection mechanism, a receiving drawer, and the above-mentioned Circuit board multi-position pick and place control system.
  • the first detection mechanism, the turning mechanism, and the second detection mechanism are parts of the AVI equipment, and the reclaiming drawer and the receiving drawer are the peripheral parts of the AVI equipment.
  • the number of the first drive mechanisms of the circuit board multi-position pick and place control system is multiple, and the first drive mechanisms are in one-to-one correspondence with the reclaiming drawer and the receiving drawer;
  • the number of the second drive mechanism and the pick-and-place positioning device of the circuit board multi-position pick-and-place control system is two and one-to-one correspondence.
  • the other pick-and-place positioning device moves between the turning mechanism, the second detection mechanism, and the receiving drawer.
  • one of the second driving mechanisms drives a pick-and-place positioning device to bring the corresponding end effector into the corresponding end effector to move between the pick-up drawer, the first detection mechanism, and the turning mechanism.
  • the first stage (STAGE1) is to take out the circuit board in the reclaiming drawer and put it on the first detection mechanism for frontal detection of the circuit board, and then put it on the flipping mechanism and turn it over 180°;
  • the second stage (STAGE2) is another The second drive mechanism drives another pick-and-place positioning device to bring the synchronous belt into the corresponding end effector to move between the flip mechanism, the second detection mechanism, and the receiving drawer, that is, the circuit board that has been flipped 180° on the flip mechanism is placed on the second
  • the reverse side of the circuit board is detected on the detection mechanism, and then according to the results of the two detections, it is classified and placed in the corresponding receiving drawer (details below).
  • the operation method is as follows:
  • the first end effector is driven to load the circuit board at the take-out drawer, unload the circuit board to be tested and load the circuit board that has completed one test at the first detection mechanism, and unload the circuit board at the flip mechanism, so that the circuit board is removed from the circuit board.
  • the take-out drawer is taken out, and after the frontal inspection, it reaches the turning mechanism;
  • the second end effector is driven to load the circuit board at the flipping mechanism, unload the circuit board to be tested and load the circuit board that has completed the secondary test at the second detection mechanism, and unload the circuit board at the receiving drawer, so that the circuit board is unloaded at the flipping mechanism.
  • the circuit board turned over at the mechanism reaches the receiving drawer after being detected on the reverse side;
  • the first end effector and the second end effector run in parallel, wherein, during the process of the current circuit board being inspected by the first inspection mechanism, the first end effector transports the last circuit board that has been inspected to a Flip mechanism, and then load the next circuit board from the take-out drawer to the first detection mechanism; in the process of the current circuit board detection by the second detection mechanism, the second end effector will complete the detection of the previous circuit board The board is transported to the receiving drawer, and the next circuit board is loaded from the turning mechanism to the second detection mechanism.
  • the first stage (STAGE1) and the second stage (STAGE2) are connected by a flipping mechanism, and preferably, the time for the first detection mechanism to perform single-chip circuit board detection is less than or equal to the first end effector.
  • the time for board detection is preferably less than or equal to the time for the second end effector to transfer the last piece of circuit board detected by the second detection mechanism to the receiving drawer and then return to the flipping mechanism and the time for loading the circuit board from the flipping mechanism and transferring it to the first.
  • the sum of the time at the two detection mechanisms; preferably, every time the second end effector returns to the inversion mechanism, the circuit board on the inversion mechanism has completed 180° inversion.
  • the circuit board 2 is flipped on the flip mechanism, and the circuit board 3 is detected on the first detection mechanism.
  • the first end effector A first suction cup and a second suction cup are provided on the second end effector, and a third suction cup and a fourth suction cup are provided on the second end effector.
  • the third suction cup puts the circuit board 2 on the second detection mechanism; next, the second suction cup transfers the circuit board 3 to the turning mechanism, and the fourth suction cup transfers the circuit board 1 to the receiving drawer , when the fourth suction cup returns to the turning mechanism, the circuit board 3 has been turned over, so that the actions of the two end effectors are continuous and the work efficiency is improved.
  • Step 1 After the control system is started, according to the setting of the STAGE1 LINER INPUT reclaiming position and the STAGE2 LINER INPUT reclaiming waiting position according to the man-machine interface, the STAGE1 LINER goes to the reclaiming position and waits for the material, and the STAGE2 LINER goes to the reclaiming waiting position, and feeds the material.
  • the drawer sends the material to the reclaiming position, and transmits the signal of the detected material to the PLC.
  • Step 2 The STAGE1 LINER INPUT end effector reaches the pick-up position to absorb the circuit board. After the action is completed, it sends a signal to the PLC and counts at the same time.
  • the end effector is implemented pneumatically.
  • Step 3 After the circuit board is sucked, according to the setting of the detection placement position by the man-machine interface, the servo motor moves to this position, and the STAGE1 LINER INPUT end effector places the circuit board to the detection position. After the action is completed, a signal is sent to the PLC, and the end effector is realized by pneumatic means.
  • Step 4 After the circuit board is placed, the detection platform starts to detect. At the same time, the STAGE1 LINER INPUT end effector moves to the reclaiming position to absorb the circuit board. After the action is completed, a signal is sent to the PLC and counts at the same time.
  • the end effector is implemented pneumatically.
  • Step 5 After taking the material again, according to the setting of the STAGE1 LINER OUTPUT reclaiming position on the man-machine interface, the servo motor moves to this position, and the end effector takes away the scanned circuit board, and sends a signal after the action is completed. to the PLC.
  • the end effector is implemented pneumatically.
  • Step 6 After the STAGE1 LINER OUPUT reclaiming is completed, according to the setting of the STAGE1 LINER OUTPUT flipping and discharging position according to the man-machine interface, the servo motor moves to this position, and the end effector places the circuit board on the reversing table, and the action is completed. After sending a signal to the PLC, the end effector is realized by pneumatic means.
  • Step 7 After the STAGE1 LINER OUTPUT is turned over and unloaded, according to the setting of the STAGE1 LINER INPUT reclaiming position according to the man-machine interface, the servo motor moves to this position, and the end effector takes the material.
  • the end effector is implemented pneumatically.
  • Step 8 Flip the table INPUT and turn it in place, switch the suction of the flip INPUT to the suction of the flip OUTPUT, and reverse the INPUT of the flip table to its original position. All actuators are implemented pneumatically.
  • Step 9 The STAGE2 LINER INPUT flips the OUTPUT reclaiming position set by the man-machine interface, the servo motor moves to this position, and the end effector removes the circuit board. After the action is completed, a signal is sent to the PLC, and the end effector is pneumatically operated. accomplish.
  • Step 10 After the circuit board is sucked, according to the setting of the detection placement position on the man-machine interface, the servo motor moves to this position, and the STAGE2 LINER INPUT end effector places the circuit board at the detection position. After the action is completed, a signal is sent to the PLC, and the end effector is realized by pneumatic means.
  • Step 11 After the circuit board is placed, the detection platform starts to detect, and the STAGE2 LINER OUTPUT end effector goes to the reclaiming position to wait for scanning, and sends a signal to the PLC after the action is completed.
  • the end effector is implemented pneumatically.
  • Step 12 After the circuit board scan is completed, according to the position set by the man-machine interface, the servo motor moves to this position, and the end effector places the circuit board in the receiving drawer, and counts the receiving materials, and the receiving drawer floats up and down to complete Receipt. Send a signal to the PLC after the action is completed.
  • the end effector is implemented pneumatically.
  • Step 12 is as follows:
  • Step 12.1 When the scan result is OK, it means it is a good product.
  • the servo motor moves to this position, and the end effector places the circuit board in the receiving drawer, and Counting, at the same time the OK receiving drawer floats up and down to complete the receiving, and sends a signal to the PLC after the action is completed.
  • the end effector is implemented pneumatically.
  • Step 12.2 When the scan result is NG, NG stands for defective products.
  • the servo motor moves to this position, and the end effector places the circuit board in the receiving drawer, and Counting, at the same time, the NG receiving drawer floats up and down to complete the receiving, and sends a signal to the PLC after the action is completed.
  • the end effector is implemented pneumatically.
  • Step 12.3 When the scan result is Verification, it means that it is impossible to determine whether it is a good product or a defective product.
  • the servo motor will move to this position, and the end effector will place the circuit board in the receiving position.
  • the VERIFY receiving drawer floats up and down to complete the receiving, and then the circuit board in the VERIFY receiving drawer is re-checked, and a signal is sent to the PLC after the action is completed.
  • the end effector is implemented pneumatically.
  • three receiving drawers are provided, which are respectively used to accommodate circuit boards whose scanning results are OK, NG, and Verification.
  • the number of the first driving mechanisms ie, stepping motors
  • the first stepping motor is used to drive the reclaimer to open
  • the second stepping motor is used to drive the OK retractor.
  • the material drawer is opened
  • the third stepping motor is used to drive the NG receiving drawer to open
  • the fourth stepping motor is used to drive the VERIFY receiving drawer to open.
  • Step 13 When all the circuit boards in the feeding drawer are removed, the equipment does not stop, but can prompt to add circuit boards on the man-machine interface, and the equipment can continue to scan the unscanned circuit boards. When the board is added, press the start button and the device will still run automatically.
  • the invention combines each module together to complete the automatic pick-and-place scanning of the circuit board, and automatically determines whether the fetching waits or the circuit board that has been scanned is preferentially picked up according to whether the scanning is completed.
  • the sensor module provides the detection signal during the operation to the PLC.
  • the PLC drives the servo motor to the corresponding position through the positioning module according to the coordinates taught in the man-machine interface according to the process flow, and the servo motor encoder feeds back the real-time position to the corresponding position.
  • the servo drive then feeds back to the positioning module and PLC to compare whether the current coordinates are consistent with the coordinates set by the man-machine interface.
  • each solenoid valve is driven to drive the pneumatic components to work to complete the circuit board pick and place action.
  • Various operating states have their own safety detection, real-time reporting of safety dynamics to PLC and human-computer interaction interface, PLC makes judgments and corresponding actions for various fault conditions.
  • any reference signs placed between parentheses shall not be construed as limiting the claim.
  • the word “comprising” does not exclude the presence of other elements or steps listed in a claim statement.
  • the terms “a” or “an” are defined as one or more than one.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Supply And Installment Of Electrical Components (AREA)

Abstract

Sont divulgués dans la présente invention un système de commande et de transport de transfert à positions multiples à carte de circuit imprimé, ainsi qu'un procédé de commande et de transport. Le système de commande comprend : des premiers mécanismes d'entraînement utilisés en tant qu'actionneurs pour des tiroirs afin d'effectuer une alimentation discontinue et/ou de recevoir des cartes de circuit imprimé ; des seconds mécanismes d'entraînement utilisés en tant qu'actionneurs pour des dispositifs de positionnement de transfert pour entraîner les dispositifs de positionnement de transfert à se déplacer vers des emplacements de positionnement cibles, chaque dispositif de positionnement de transfert ayant un effecteur terminal pour charger ou décharger les cartes de circuit imprimé ; un module de capteur conçu pour acquérir un état de chaque mécanisme d'entraînement et/ou effecteur terminal ; un dispositif de commande conçu pour recevoir un signal d'acquisition du module de capteur, pour commander les premiers mécanismes d'entraînement à entraîner les tiroirs afin d'effectuer une alimentation et/ou une réception, pour commander les seconds mécanismes d'entraînement à entraîner les dispositifs de positionnement de transfert à se déplacer vers une pluralité d'emplacements de positionnement cibles, et pour commander les effecteurs terminaux à charger ou décharger les cartes de circuit imprimé. La présente invention intègre des fonctions telles que la commande, l'alarme, la commande de sécurité et la gestion de données de production, et présente les caractéristiques d'une efficacité et d'une stabilité élevées, ainsi que des fonctionnements pratiques.
PCT/CN2020/132174 2020-11-27 2020-11-27 Système de transport et de commande de transfert à positions multiples à carte de circuit imprimé, procédé de commande et de transport Ceased WO2022110000A1 (fr)

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Cited By (1)

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CN116216011A (zh) * 2022-11-17 2023-06-06 熵基科技股份有限公司 辅助取料系统的控制方法

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US20040068347A1 (en) * 2002-10-08 2004-04-08 Martin Aalund Substrate handling system for aligning and orienting substrates during a transfer operation
CN102045943A (zh) * 2009-10-09 2011-05-04 名硕电脑(苏州)有限公司 电路板裁切及取放方法
US20200108504A1 (en) * 2018-10-03 2020-04-09 Fanuc Corporation Robot system including feed device, and feed table device
CN112474425A (zh) * 2020-11-27 2021-03-12 苏州康代智能科技股份有限公司 一种电路板多位置取放控制及运送系统、控制及运送方法

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Publication number Priority date Publication date Assignee Title
CN1336008A (zh) * 1998-12-02 2002-02-13 纽波特公司 试片夹持机械手末端执行器
US20040068347A1 (en) * 2002-10-08 2004-04-08 Martin Aalund Substrate handling system for aligning and orienting substrates during a transfer operation
CN102045943A (zh) * 2009-10-09 2011-05-04 名硕电脑(苏州)有限公司 电路板裁切及取放方法
US20200108504A1 (en) * 2018-10-03 2020-04-09 Fanuc Corporation Robot system including feed device, and feed table device
CN112474425A (zh) * 2020-11-27 2021-03-12 苏州康代智能科技股份有限公司 一种电路板多位置取放控制及运送系统、控制及运送方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116216011A (zh) * 2022-11-17 2023-06-06 熵基科技股份有限公司 辅助取料系统的控制方法

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