WO2022110000A1 - Circuit board multi-position pick-and-place control and transport system, and control and transport method - Google Patents

Circuit board multi-position pick-and-place control and transport system, and control and transport method 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
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PCT/CN2020/132174
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French (fr)
Chinese (zh)
Inventor
丁鹤群
胡冰峰
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苏州康代智能科技股份有限公司
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Priority to PCT/CN2020/132174 priority Critical patent/WO2022110000A1/en
Publication of WO2022110000A1 publication Critical patent/WO2022110000A1/en

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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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Abstract

Disclosed in the present invention are a circuit board multi-position pick-and-place control and transport system, and a control and transport method. The control system comprises: first driving mechanisms used as actuators for drawers to realize batch feeding and/or receiving of circuit boards; second driving mechanisms used as actuators for pick-and-place positioning devices to drive the pick-and-place positioning devices to move to target positioning locations, wherein each pick-and-place positioning device has an end effector for loading or unloading the circuit boards; a sensor module configured to acquire a state of each driving mechanism and/or end effector; and a controller configured to receive an acquisition signal of the sensor module, to control the first driving mechanisms to drive the drawers to perform feeding and/or receiving, control the second driving mechanisms to drive the pick-and-place positioning devices to move to a plurality of target positioning locations, and to control the end effectors to load or unload the circuit boards. The present invention integrates functions such as control, alarming, security control, and production data management, and has the characteristics of high efficiency, high stability, convenient operations.

Description

一种电路板多位置取放控制及运送***、控制及运送方法A circuit board multi-position pick-and-place control and transportation system, control and transportation method 技术领域technical field
本发明涉及自动化控制领域，尤其涉及一种电路板多位置取放控制及运送***、控制及运送方法。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.
背景技术Background technique
近年来，电路板自动搬送取放技术在Automated Visual Inspection(简称AVI)自动化检测中发挥着重要作用，可以满足电路板自动化检测中电路板(以下简称PCB)摆放的规则性和取放自动化要求。但是现有的取放和搬送技术效率低，设备故障率高，不能满足现在对效率高、准确性高、故障率低的追求。In recent years, the automatic transfer and pick-and-place technology of circuit boards has played an important role in the automatic inspection of Automated Visual Inspection (AVI), which can meet the regularity of circuit board (hereinafter referred to as PCB) placement and the automation requirements of pick-and-place in the automatic inspection of circuit boards. . However, the existing pick-and-place and conveying technology has low efficiency and high equipment failure rate, which cannot meet the current pursuit of high efficiency, high accuracy and low failure rate.
另外，现有技术中的以机械手代替人手搬运PCB通常仅在两点之间来回取放，控制逻辑相对简单，现有技术中不存在适用于AVI自动检测设备的检测流程的多位置取放电路板的控制技术。In addition, 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.
发明内容SUMMARY OF THE INVENTION
为了解决现有技术的问题，本发明提供了一种电路板多位置取放控制及运送***、控制及运送方法，运用于AVI自动检测设备上多位置取放，所述技术方案如下：In order to solve the problems of the prior art, 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:
一方面，本发明提供了一种电路板多位置取放控制***，包括In one aspect, the present invention provides a circuit board multi-position pick and place control system, comprising:
第一驱动机构，用于作为抽屉的执行器，以实现电路板的批量供料和/或收料，所述抽屉包括供料抽屉和/或收料抽屉；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;
第二驱动机构，用于作为取放定位装置的执行器，以驱动其移动至目标定位位置；所述取放定位装置具有末端执行器，用于加载或卸载电路板；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;
传感器模块，用于采集各驱动机构和/或末端执行器的状态；A sensor module for collecting the state of each drive mechanism and/or end effector;
控制器，用于接收所述传感器模块的采集信号、控制所述第一驱动机构驱动抽屉进行供料和/或收料，以及控制所述第二驱动机构驱动取放定位装置移动至多个目标定位位置并控制所述末端执行器加载或卸载电路板。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.
进一步地，所述电路板多位置取放控制***还包括与所述控制器电连接的人机交互模块，所述人机交互模块用于显示状态信息、设置电路板多位置取放的参数及/或进行报警提示。Further, 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.
进一步地，所述控制器为可编程逻辑控制器，所述取放控制***还包括输入模块、输出模块和定位模块，Further, the controller is a programmable logic controller, and the pick-and-place control system further includes an input module, an output module and a positioning module,
所述控制器通过输入模块接收所述传感器模块的采集信号；The controller receives the acquisition signal of the sensor module through the input module;
所述控制器通过输出模块控制所述第一驱动机构驱动抽屉进行供料和/或收料以及控制所述末端执行器加载或卸载电路板；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;
所述控制器通过定位模块控制所述第二驱动机构驱动取放定位装置移动至目标定位位置。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.
优选地，所述第一驱动机构为步进电机，所述第二驱动机构为伺服电机，所述末端执行器为气动阀。Preferably, the first driving mechanism is a stepping motor, the second driving mechanism is a servo motor, and the end effector is a pneumatic valve.
进一步地，所述伺服电机供电线缆和编码器线缆与伺服驱动器相联，伺服驱动器通过光纤总线与所述定位模块相联。Further, 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.
进一步地，所述控制器对供料数量、收料数据进行自动计数并存储，并自动统计多位置取放工作台面的状态。Further, the 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.
另一方面，本发明提供了一种基于如上所述的电路板多位置取放控制***的控制方法，所述***能够设定不同的取放位置，***的控制器内部输入逻辑运算程序，所述控制器根据传感器模块的检测结果自动作出先取待检测的电路板还是先取已完成检测的电路板的决策。On the other hand, 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.
另一方面，本发明提供了一种电路板多位置取放运送***，包括取料抽屉、第一检测机构、翻转机构、第二检测机构、收料抽屉以及如上所述的电路板多位置取放控制***。In another aspect, 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.
进一步地，所述电路板多位置取放控制***的第一驱动机构的数量为多个，且分别与取料抽屉、收料抽屉一一对应；Further, 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;
所述电路板多位置取放控制***的第二驱动机构和取放定位装置的数量为两个且一一对应，其中一个取放定位装置在所述取料抽屉、第一检测机构、翻转机构之间移动，另一个取放定位装置在所述翻转机构、第二检测机构、收料抽屉之间移动。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.
再一方面，本发明提供了一种基于上述的电路板多位置取放运送***的运 送方法，在取放控制***的控制器控制下，分别执行以下动作：On the other hand, 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:
第一末端执行器被驱动在取料抽屉处加载电路板、在第一检测机构处卸载待检测的电路板及加载完成一次检测的电路板、并在翻转机构处卸载电路板，使得电路板从取料抽屉取出，并经过正面检测后到达翻转机构；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;
第二末端执行器被驱动在翻转机构处加载电路板、在第二检测机构处卸载待检测的电路板及加载完成二次检测的电路板、并在收料抽屉处卸载电路板，使得在翻转机构处被翻转的电路板经过反面检测后到达收料抽屉；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;
所述第一末端执行器与第二末端执行器并行运行，其中，在第一检测机构对当前电路板检测的过程中，所述第一末端执行器将已完成检测的上一块电路板运送至翻转机构，再从取料抽屉处加载下一块电路板至第一检测机构处；在第二检测机构对当前电路板检测的过程中，所述第二末端执行器将已完成检测的上一块电路板运送至收料抽屉，再从翻转机构处加载下一块电路板至第二检测机构处。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.
本发明具有如下有益效果：The present invention has the following beneficial effects:
a.可以实时监测设备扫描状况，进而自动循环运算，大大提升设备可靠性，设备产能提高50％以上；a. It can monitor the scanning status of the equipment in real time, and then automatically cycle the calculation, greatly improve the reliability of the equipment, and increase the equipment capacity by more than 50%;
b.人机交互界面、PLC、INPUT模块、OUTPUT模块、传感器和执行电器相互结合控制，共同完成各工艺段要求，实现流程的自动控制，对自动取放过程中出现的异常情况进行报警；b. 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;
c.控制***综合集成控制、报警、安全控制和生产数据管理等功能，具有效率高、稳定性高、操作方便等特点。c. 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.
附图说明Description of drawings
被视为本发明的主题在说明书的结论部分中被特别指出并清楚地主张权利。然而，当结合附图一起参阅时，通过参考以下详细描述可以最佳地理解本发明的组织、操作方法，以及主题、特征和优点，其中：The subject matter that is regarded as the invention is particularly pointed out and distinctly claimed in the concluding portion of the specification. However, the organization, method of operation, and subject matter, features, and advantages of the present invention are best understood by reference to the following detailed description when read in conjunction with the accompanying drawings, wherein:
图1是本发明实施例提供的电路板多位置取放运送***的示意框图；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;
图2是本发明实施例提供的电路板多位置取放控制***的示意框图。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.
具体实施方式Detailed ways
在以下详细描述中，阐述了许多具体细节以便提供对本发明的透彻理解。然而，本领域技术人员将理解，可以在没有这些具体细节的情况下实践本发明。在其他情况下，没有详细描述众所周知的方法，过程和组件，以免模糊本发明。In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, one skilled in the art will understand that the present invention may be practiced without these specific details. In other instances, well-known methods, procedures and components have not been described in detail so as not to obscure the present invention.
被视为本发明的主题在说明书的结论部分中被特别指出并清楚地主张权利。然而，当结合附图一起参阅时，通过参考以下详细描述可以最佳地理解本发明的组织、操作方法，以及主题、特征和优点。The subject matter that is regarded as the invention is particularly pointed out and distinctly claimed in the concluding portion of the specification. However, the organization, method of operation, and subject matter, features, and advantages of the present invention are best understood by reference to the following detailed description, when read in conjunction with the accompanying drawings.
由于本发明的说明性实施例在很大程度上可使用本领域技术人员熟知的电子元件和电路来实施，如上文所述，在认为必要的范围之外，不会对细节作更大的解释，以便理解和体会本发明的基本概念，以免混淆或分散本发明的教导。Since the illustrative embodiments of the invention may be practiced to a large extent using electronic components and circuits well known to those skilled in the art, as described above, no further detail will be explained beyond what is deemed necessary , in order to understand and appreciate the basic concepts of the present invention so as not to obscure or distract the teachings of the present invention.
在现有技术背景下，按照取放要求，利用PLC设计一个可以同时在两个XY平台取放电路板的多位置控制***，可运用于现在的AVI自动检测设备。PLC(逻辑可编程控制器)具有可靠性高、实时性好、拓展性好、易维护等良多有点，所以在工业自动化领域被广泛运用。定位模块是PLC位置控制和运动控制中的重要组成部分，利用光纤总线通讯实现伺服电机的运动及位置的精准控制，该通讯方式可靠性高，速度快；此外，高速脉冲输出功能是PLC在位置控制和运动控制领域中的重要组成部分，PLC通过高速脉冲来驱动步进电机。In the background of the prior art, according to the pick and place requirements, a multi-position control system that can pick and place circuit boards on two XY platforms at the same time is designed by using PLC, which can be applied to the current AVI automatic detection equipment. PLC (Logical Programmable Logic Controller) has many advantages such as high reliability, good real-time performance, good scalability, and easy maintenance, so it is widely used in the field of industrial automation. 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.
在本发明的一个实施例中，提供了一种电路板多位置取放控制***，参见图1，所述电路板多位置取放控制***包括In an embodiment of the present invention, a circuit board multi-position pick-and-place control system is provided. Referring to FIG. 1 , the circuit board multi-position pick-and-place control system includes:
第一驱动机构，用于作为抽屉的执行器，以实现电路板的批量供料和/或收料，所述抽屉包括供料抽屉和/或收料抽屉；具体地，所述第一驱动机构可选为步进电机，能实现抽屉上下浮动，所述步进电机通过步进驱动器与PLC相联；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;
第二驱动机构，用于作为取放定位装置的执行器，以驱动其移动至目标定位位置；所述取放定位装置具有末端执行器，用于加载或卸载电路板；具体地，所述第二驱动机构可选为伺服电机，所述伺服电机用于带动同步带进末端执行器，所述末端执行器可选为气动阀(也可以是夹爪)；伺服电机供电线缆和编码器线缆与伺服驱动器相联，伺服驱动器通过光纤总线与定位模块相联；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;
传感器模块，用于采集执行电器(包括第一驱动机构和/或末端执行器)的状态；所述传感器模块包括多个限位开关传感器、原点信号传感器、磁性开关传感器、真空负压表传感器，分别用于限制两个LINER伺服行走距离、控制LINER伺服原点回归，多个磁性开关用于监测执行电器工作状态，多个真空负 压传感器用于检测是否成功抓取电路板。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.
控制器，优选为可编程逻辑控制器(以下简称PLC)，用于接收所述传感器模块的采集信号、控制所述第一驱动机构驱动抽屉进行供料和/或收料，以及控制所述第二驱动机构驱动取放定位装置(的末端执行器)移动至多个目标定位位置并控制所述末端执行器加载或卸载电路板，PLC用于对信号进行逻辑与算数运算，对相关坐标等进行数学运算，得出伺服电机和步进电机的运动脉冲，并发出控制指令。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. 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.
在本发明的一个实施例中，所述电路板多位置取放控制***还包括与所述控制器(可通过以太网)通讯连接的人机交互模块，所述人机交互模块用于实时显示产品进料计数、出料计数、第一阶段(STAGE1)节拍、第二阶段(STAGE2)节拍、设备当前状态信息；还可以手动示教电路板取放位置并记录当前位置信息。触摸屏还可以实时监测设备状态，控制各执行电器单独运转，读取故障报警点和处理相应的报警，同时能控制设备一键复位及原点回归。所述第一阶段(STAGE1)、第二阶段(STAGE2)在下文详述。In an embodiment of the present invention, 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.
进一步地，所述伺服电机供电线缆和编码器线缆与伺服驱动器相联，伺服驱动器通过光纤总线与所述定位模块相联；所述控制器对供料数量、收料数据进行自动计数并存储，并自动统计多位置取放工作台面的状态。Further, 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.
如图2所示，所述取放控制***还包括输入模块(以下称INPUT模块)、输出模块(以下称OUTPUT模块)和定位模块，As shown in Figure 2, 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模块用于收集外部传感器的相关信号，比如实时采集气缸位置状态；供料、收料抽屉中物料情况；OUTPUT模块用于执行PLC的控制命令，控制气缸、步进电机等执行机构；定位模块用于执行PLC控制伺服的定位指令，其中，伺服电机作为取放定位装置的执行器，可实现取放定位装置的末端执行器(即抓取电路板的夹爪或吸盘)的准确定位，可实现电路板的准确高速取放。步进电机作为供料/收料抽屉的执行器，可实现电路板的批量供料/收料(等待取放定位装置的末端执行器逐个地加载电路板)。所述INPUT模块、OUTPUT模块、定位模块均与PLC相联。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. As the actuator of the feeding/receiving drawer, 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.
所述控制器通过输入模块接收所述传感器模块的采集信号；The controller receives the acquisition signal of the sensor module through the input module;
所述控制器通过输出模块控制所述第一驱动机构驱动抽屉进行供料和/或收料以及控制所述末端执行器加载或卸载电路板；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;
所述控制器通过定位模块控制所述第二驱动机构驱动取放定位装置移动至多个目标定位位置。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.
在本发明的一个实施例中，提供了一种基于如上所述的电路板多位置取放控制***的控制方法，所述***能够设定不同的取放位置，***的控制器内部输入逻辑运算程序，所述控制器根据传感器模块的检测结果自动作出先取待检测的电路板还是先取已完成检测的电路板的决策。In one embodiment of the present invention, 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.
在本发明的一个实施例中，本发明提供了一种电路板多位置取放运送***，包括取料抽屉、第一检测机构、翻转机构、第二检测机构、收料抽屉以及如上所述的电路板多位置取放控制***。In one embodiment of the present invention, 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.
具体地，所述第一检测机构、翻转机构、第二检测机构为AVI设备部分，所述取料抽屉、收料抽屉为AVI设备的***部分。具体地，所述电路板多位置取放控制***的第一驱动机构的数量为多个，且分别与取料抽屉、收料抽屉一一对应；Specifically, 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. Specifically, 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;
所述电路板多位置取放控制***的第二驱动机构和取放定位装置的数量为两个且一一对应，其中一个取放定位装置在所述取料抽屉、第一检测机构、翻转机构之间移动，另一个取放定位装置在所述翻转机构、第二检测机构、收料抽屉之间移动。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.
下面就上述的电路板多位置取放运送***的工作过程进行详细的说明：The working process of the above-mentioned circuit board multi-position pick-and-place transportation system is described in detail below:
在取放控制***的控制器控制下，其中一个第二驱动机构驱动一个取放定位装置同步带进相应的末端执行器在取料抽屉、第一检测机构、翻转机构之间移动，这是上述第一阶段(STAGE1)，即取出取料抽屉中的电路板放到第一检测机构上进行电路板正面检测，然后放到翻转机构上翻转180°；所述第二阶段(STAGE2)为另一个第二驱动机构驱动另一个取放定位装置同步带进相应的末端执行器在翻转机构、第二检测机构、收料抽屉之间移动，即将翻转机构上翻转180°以后的电路板放到第二检测机构上进行电路板的反面检测，然后根据两次检测的结果，分类放到相对应的收料抽屉中(具体下述)。Under the control of the controller of the pick-and-place control system, 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).
运转方法如下：The operation method is as follows:
第一末端执行器被驱动在取料抽屉处加载电路板、在第一检测机构处卸载待检测的电路板及加载完成一次检测的电路板、并在翻转机构处卸载电路板，使得电路板从取料抽屉取出，并经过正面检测后到达翻转机构；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;
第二末端执行器被驱动在翻转机构处加载电路板、在第二检测机构处卸载待检测的电路板及加载完成二次检测的电路板、并在收料抽屉处卸载电路板，使得在翻转机构处被翻转的电路板经过反面检测后到达收料抽屉；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;
所述第一末端执行器与第二末端执行器并行运行，其中，在第一检测机构对当前电路板检测的过程中，所述第一末端执行器将已完成检测的上一块电路板运送至翻转机构，再从取料抽屉处加载下一块电路板至第一检测机构处；在第二检测机构对当前电路板检测的过程中，所述第二末端执行器将已完成检测的上一块电路板运送至收料抽屉，再从翻转机构处加载下一块电路板至第二检测机构处。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.
所述第一阶段(STAGE1)与第二阶段(STAGE2)以翻转机构为衔接，优选地是第一检测机构进行单片电路板检测的时间小于或等于第一末端执行器将上一片由第一检测机构完成检测的电路板移送至翻转机构后返回取料抽屉的时间与从取料抽屉取料后移送至第一检测机构的时间之和；同理，所述第二检测机构进行单片电路板检测的时间优选小于或等于第二末端执行器将上一片由第二检测机构完成检测的电路板移送至收料抽屉后返回至翻转机构的时间与从翻转机构上加载电路板并移送至第二检测机构处的时间之和；优选地，每次第二末端执行器返回至翻转机构时，翻转机构上的电路板已经完成180°翻转。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 sum of the time taken by the detection mechanism to complete the detection of the circuit board after it is transferred to the turning mechanism and returned to the reclaiming drawer and the time taken from the reclaiming drawer to be transferred to the first detection mechanism; similarly, the second detection mechanism performs a single-chip circuit 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.
在本发明的一个优选实施例中，电路板1第二检测机构上检测的同时，电路板2在翻转机构上翻转，且电路板3在第一检测机构上检测，所述第一末端执行器上设有第一吸盘和第二吸盘，所述第二末端执行器上设有第三吸盘和第四吸盘，第一吸盘从供料抽屉吸取电路板4移送至第一检测机构时，第二吸盘将电路板3吸取后，第一吸盘将电路板4放在第一检测机构上，这个过程中第三吸盘从翻转机构处吸取电路板2移送至第二检测机构，第四吸盘将电路板1吸取后，第三吸盘将电路板2放在第二检测机构上；接下来同步进行的是第二吸盘将电路板3移送至翻转机构，而第四吸盘将电路板1移送至收料抽屉，等第四吸盘返回翻转机构时，电路板3已经完成翻转，这样两个末端执行器的动作连续，提高作业效率。In a preferred embodiment of the present invention, while the circuit board 1 is detected on the second detection mechanism, 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. When the first suction cup sucks the circuit board 4 from the feeding drawer and transfers it to the first detection mechanism, the second suction cup After the sucker sucks the circuit board 3, the first sucker puts the circuit board 4 on the first detection mechanism. During this process, the third sucker sucks the circuit board 2 from the turning mechanism and transfers it to the second detection mechanism. 1 After sucking, 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.
具体的运转操作流程如下：The specific operation process is as follows:
步骤1.控制***启动后，根据人机界面对STAGE1 LINER INPUT取料位和STAGE2 LINER INPUT取料等待位置的设定，STAGE1 LINER到取料位待料， STAGE2 LINER到取料等待位，供料抽屉将物料送至取料位，并将检测到物料的信号传送至PLC。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.
步骤2.STAGE1 LINER INPUT末端执行器达到取料位进行电路板吸取，动作完成后发送信号给PLC，同时计数。末端执行器采用气动方式实现。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.
步骤3.电路板吸取完成后，根据人机界面对检测放置位置的设定，伺服电机运动到该位置，STAGE1 LINER INPUT末端执行器将电路板放置至检测位置。动作完成后发送信号给PLC，末端执行器采用气动方式实现。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.
步骤4.电路板放置完成后检测平台开始检测，同时STAGE1 LINER INPUT末端执行器到取料位置进行电路板吸取，动作完成后发送信号给PLC，同时计数。末端执行器采用气动方式实现。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.
步骤5.再次取料完成后，根据人机界面对STAGE1 LINER OUTPUT取料位置的设定，伺服电机运动到该位置，并由末端执行器将扫描完成的电路板取走，动作完成后发送信号给PLC。末端执行器采用气动方式实现。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.
步骤6.STAGE1 LINER OUPUT取料完成后，根据人机界面对STAGE1 LINER OUTPUT翻转放料位置的设定，伺服电机运动到该位置，并由末端执行器将电路板放置于反转台面，动作完成后发送信号给PLC，末端执行器由气动方式实现。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.
步骤7.STAGE1 LINER OUTPUT翻转放料完成后，根据人机界面对STAGE1 LINER INPUT取料位置的设定，伺服电机运动到该位置，由末端执行器进行取料。末端执行器采用气动方式实现。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.
步骤8.翻转台面INPUT翻转，翻转到位后将翻转INPUT的吸气切换至翻转OUTPUT吸气，并将翻转台面INPUT反转至原来位置。所有执行器采用气动方式实现。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.
步骤9.STAGE2 LINER INPUT根据人机界面设置的翻转OUTPUT取料位置，伺服电机运动到该位置，并由末端执行器将电路板取走，动作完成后发送信号给PLC，末端执行器由气动方式实现。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.
步骤10.电路板吸取完成后，根据人机界面对检测放置位置的设定，伺服电机运动到该位置，STAGE2 LINER INPUT末端执行器将电路板放置至检测位置。动作完成后发送信号给PLC，末端执行器采用气动方式实现。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.
步骤11.电路板放置完成后检测平台开始检测，同时STAGE2 LINER  OUTPUT末端执行器到取料位置等待扫描，动作完成后发送信号给PLC。末端执行器采用气动方式实现。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.
步骤12.电路板扫描完成后，根据人机界面设置的位置，伺服电机运动到该位置，并由末端执行器将电路板放置收料抽屉，并进行收料计数，同时收料抽屉上下浮动完成收料。动作完成后发送信号给PLC。末端执行器采用气动方式实现。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.
步骤12具体为：Step 12 is as follows:
步骤12.1当扫描结果为OK时，表示其为良品，根据人机界面设置的STAGE2 LINER OUTPUT OK放料位置，由伺服电机运动到该位置，并由末端执行器将电路板放置收料抽屉，并计数，同时OK收料抽屉上下浮动完成收料，动作完成后发送信号给PLC。末端执行器采用气动方式实现。Step 12.1 When the scan result is OK, it means it is a good product. According to the STAGE2 LINER OUTPUT OK discharge 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 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.
步骤12.2当扫描结果为NG时，NG代表不良品，根据人机界面设置的STAGE2 LINER OUTPUT NG放料位置，由伺服电机运动到该位置，并由末端执行器将电路板放置收料抽屉，并计数，同时NG收料抽屉上下浮动完成收料，动作完成后发送信号给PLC。末端执行器采用气动方式实现。Step 12.2 When the scan result is NG, NG stands for defective products. According to the STAGE2 LINER OUTPUT NG discharge 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 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.
步骤12.3当扫描结果为Verification时，表示无法确定是良品还是不良品，根据人机界面设置的STAGE2 LINER OUTPUT VERIFY放料位置，由伺服电机运动到该位置，并由末端执行器将电路板放置收料抽屉，并计数，同时VERIFY收料抽屉上下浮动完成收料，后续再对所述VERIFY收料抽屉中的电路板进行复检操作，动作完成后发送信号给PLC。末端执行器采用气动方式实现。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. According to the STAGE2 LINER OUTPUT VERIFY discharge position set by the man-machine interface, the servo motor will move to this position, and the end effector will place the circuit board in the receiving position. At the same time, 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.
即在本发明的一个实施例中，设置三个收料抽屉，分别用于收容扫描结果为OK、NG、Verification的电路板。在此实施例中，则所述第一驱动机构(即步进电机)的数量为四个，第一步进电机用于驱动取料抽屉打开，第二步进电机用于驱动所述OK收料抽屉打开，第三步进电机用于驱动所述NG收料抽屉打开，第四步进电机用于驱动VERIFY收料抽屉打开。That is, in an embodiment of the present invention, three receiving drawers are provided, which are respectively used to accommodate circuit boards whose scanning results are OK, NG, and Verification. In this embodiment, the number of the first driving mechanisms (ie, stepping motors) is four, the first stepping motor is used to drive the reclaimer to open, and 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, and the fourth stepping motor is used to drive the VERIFY receiving drawer to open.
步骤13.当供料抽屉全部电路板均被取走后，设备不停机，但能在人机界面提示添加电路板，同时设备能继续将未扫描完成的电路板继续扫描完成。当添加完成电路板后，按下启动键设备仍将自动运转。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.
本发明将各个模块组合一起，可以完成电路板自动取放扫描，根据扫描是否完成自动判定该取料等待还是优先拾取已扫描完成的电路板。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.
传感器模块提供在运行过程中的检测信号给PLC，PLC在运行过程中根据人机界面中示教的坐标按工艺流程，通过定位模块驱动伺服电机到相应位置，同时伺服电机编码器反馈实时位置到伺服驱驱动器进而反馈给定位模块和PLC，用于比对当前坐标是否与人机界面设置的坐标一致。同时驱动各个电磁阀，进而带动气动元件工作，以完成电路板取放动作。各种运行状态都存在着各自的安全检测，实时报告安全动态至PLC和人机交互界面，PLC对各种故障情况做出判断和相应的动作。The sensor module provides the detection signal during the operation to the PLC. During the operation, 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. At the same time, 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.
此外，本领域技术人员将意识到，上述操作之间的界限仅为示例性的。多个操作可以合并为单个操作，单个操作可以分布于额外操作中，且可在至少部分重叠的时间下执行操作。此外，可选实施例可包括特定操作的多个举例说明，并且操作顺序可在各种其他实施例中变化。Furthermore, those skilled in the art will appreciate that the boundaries between the operations described above are exemplary only. Multiple operations may be combined into a single operation, a single operation may be distributed among additional operations, and operations may be performed at at least partially overlapping times. Furthermore, alternative embodiments may include multiple illustrations of particular operations, and the order of operations may vary in various other embodiments.
然而，其他修改、变化及替代也是可能的。因此，应在示例性意义上而非限制性意义上看待说明书及附图。However, other modifications, changes and substitutions are also possible. Accordingly, the specification and drawings are to be regarded in an illustrative rather than a restrictive sense.
在权利要求声明中，置于圆括号之间的任何参考符号不应被视为限制请求项。词语“包括”并不排除那些列在权利要求声明中的其他元件或步骤的存在。此外，本文所使用的术语“一”或“一个”，被定义为一个或多于一个。而且，引言短语例如权利要求声明中的“至少一个”及“一个或多个”的使用不应该解释为暗示不定冠词“一”或“一个”引入另一个权利要求要素将包含这种引入的权利要求的任何特定权利要求限制于仅包含一个这样的要素的发明，即使同一权利要求包括引言短语“一个或多个”或“至少一个”和不定冠词，如“一个”或“一个”。使用定冠词也是如此。除非另有说明，否则诸如“第一”和“第二”之类的术语用于任意区分这些术语所描述的元素。因此，这些术语不一定旨在表示这些元素的时间或其他优先级。在彼此不同的权利要求中叙述某些措施的仅有事实并不表示这些措施的组合不能加以利用。In the claims declaration, 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. Also, as used herein, the terms "a" or "an" are defined as one or more than one. Furthermore, the use of introductory phrases such as "at least one" and "one or more" in a claim statement should not be construed to imply that the introduction of the indefinite article "a" or "an" into another claim element would encompass such an introduction Any particular claim of a claim is limited to inventions containing only one of such elements, even if the same claim includes the introductory phrases "one or more" or "at least one" and an indefinite article such as "a" or "an." The same goes for using the definite article. Unless stated otherwise, terms such as "first" and "second" are used to arbitrarily distinguish between the elements these terms describe. Therefore, these terms are not necessarily intended to denote a temporal or other priority of these elements. The mere fact that certain measures are recited in mutually different claims does not indicate that a combination of these measures cannot be used to advantage.
虽然本文已经说明和描述了本发明的某些特征，但是本领域普通技术人员现在将想到许多修改、替换、改变和等同物。因此，应该理解，所附权利要求旨在覆盖落入本发明的真正精神内的所有这些修改和变化。While certain features of the invention have been illustrated and described herein, many modifications, substitutions, changes and equivalents will now occur to those of ordinary skill in the art. Therefore, it should be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention.

Claims (10)

  1. 一种电路板多位置取放控制***，其特征在于，包括A circuit board multi-position pick-and-place control system is characterized in that comprising:
    第一驱动机构，用于作为抽屉的执行器，以实现电路板的批量供料和/或收料，所述抽屉包括供料抽屉和/或收料抽屉；a first drive 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;
    第二驱动机构，用于作为取放定位装置的执行器，以驱动其移动至目标定位位置；所述取放定位装置具有末端执行器，用于加载或卸载电路板；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;
    传感器模块，用于采集各驱动机构和/或末端执行器的状态；A sensor module for collecting the status of each drive mechanism and/or end effector;
    控制器，用于接收所述传感器模块的采集信号、控制所述第一驱动机构驱动抽屉进行供料和/或收料，以及控制所述第二驱动机构驱动取放定位装置移动至多个目标定位位置并控制所述末端执行器加载或卸载电路板。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 board.
  2. 根据权利要求1所述的电路板多位置取放控制***，其特征在于，还包括与所述控制器电连接的人机交互模块，所述人机交互模块用于显示状态信息、设置电路板多位置取放的参数及/或进行报警提示。The multi-position pick-and-place control system for circuit boards according to claim 1, further comprising a human-computer interaction module electrically connected to the controller, wherein the human-computer interaction module is used for displaying status information, setting circuit boards Multi-position pick and place parameters and/or alarm prompts.
  3. 根据权利要求1所述的电路板多位置取放控制***，其特征在于，控制器为可编程逻辑控制器，所述取放控制***还包括输入模块、输出模块和定位模块，The circuit board multi-position pick-and-place control system according to claim 1, wherein the controller is a programmable logic controller, and the pick-and-place control system further comprises an input module, an output module and a positioning module,
    所述控制器通过输入模块接收所述传感器模块的采集信号；The controller receives the acquisition signal of the sensor module through the input module;
    所述控制器通过输出模块控制所述第一驱动机构驱动抽屉进行供料和/或收料以及控制所述末端执行器加载或卸载电路板；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;
    所述控制器通过定位模块控制所述第二驱动机构驱动取放定位装置移动至目标定位位置。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.
  4. 根据权利要求3所述的电路板多位置取放控制***，其特征在于，所述第一驱动机构为步进电机，所述第二驱动机构为伺服电机，所述末端执行器为气动阀。The circuit board multi-position pick-and-place control system according to claim 3, wherein the first driving mechanism is a stepping motor, the second driving mechanism is a servo motor, and the end effector is a pneumatic valve.
  5. 根据权利要求4所述的电路板多位置取放控制***，其特征在于，所述伺服电机供电线缆和编码器线缆与伺服驱动器相联，伺服驱动器通过光纤总线与所述定位模块相联。The circuit board multi-position pick-and-place control system according to claim 4, wherein 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 .
  6. 根据权利要求1所述的电路板多位置取放控制***，其特征在于，所述控制器对供料数量、收料数据进行自动计数并存储，并自动统计多位置取放工作台面的状态。The circuit board multi-position pick-and-place control system according to claim 1, wherein the controller automatically counts and stores the feeding quantity and the material receiving data, and automatically counts the status of the multi-position pick-and-place work surface.
  7. 一种基于如权利要求1-6中任意一项所述的电路板多位置取放控制***的控制方法，其特征在于，所述***能够设定不同的取放位置，***的控制器内部输入逻辑运算程序，所述控制器根据传感器模块的检测结果自动作出先取待检测的电路板还是先取已完成检测的电路板的决策。A control method based on the circuit board multi-position pick-and-place control system according to any one of claims 1-6, wherein the system can set different pick-and-place positions, and the internal input of the controller of the system In the logic operation 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.
  8. 一种电路板多位置取放运送***，其特征在于，包括取料抽屉、第一检测机构、翻转机构、第二检测机构、收料抽屉以及如权利要求1-6中任意一项所述的电路板多位置取放控制***。A multi-position pick-and-place transportation system for circuit boards, characterized in that it includes a reclaiming drawer, a first detection mechanism, a flipping mechanism, a second detection mechanism, a receiving drawer, and a reclaimer according to any one of claims 1-6. Circuit board multi-position pick and place control system.
  9. 根据权利要求8所述的电路板多位置取放运送***，其特征在于，所述电路板多位置取放控制***的第一驱动机构的数量为多个，且分别与取料抽屉、收料抽屉一一对应；The circuit board multi-position pick-and-place transportation system according to claim 8, wherein the number of the first drive mechanisms of the circuit board multi-position pick-and-place control system is multiple, and they are respectively connected with the reclaiming drawer, the receiving One-to-one correspondence of drawers;
    所述电路板多位置取放控制***的第二驱动机构和取放定位装置的数量为两个且一一对应，其中一个取放定位装置在所述取料抽屉、第一检测机构、翻转机构之间移动，另一个取放定位装置在所述翻转机构、第二检测机构、收料抽屉之间移动。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.
  10. 一种基于权利要求8所述的电路板多位置取放运送***的运送方法，其特征在于，在取放控制***的控制器控制下，分别执行以下动作：A transportation method based on the circuit board multi-position pick-and-place transportation system according to claim 8, characterized in that, under the control of the controller of the pick-and-place control system, the following actions are respectively performed:
    第一末端执行器被驱动在取料抽屉处加载电路板、在第一检测机构处卸载待检测的电路板及加载完成一次检测的电路板、并在翻转机构处卸载电路板， 使得电路板从取料抽屉取出，并经过正面检测后到达翻转机构；The first end effector is driven to load the circuit board at the take-out drawer, unload the circuit board to be tested and 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;
    第二末端执行器被驱动在翻转机构处加载电路板、在第二检测机构处卸载待检测的电路板及加载完成二次检测的电路板、并在收料抽屉处卸载电路板，使得在翻转机构处被翻转的电路板经过反面检测后到达收料抽屉；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;
    所述第一末端执行器与第二末端执行器并行运行，其中，在第一检测机构对当前电路板检测的过程中，所述第一末端执行器将已完成检测的上一块电路板运送至翻转机构，再从取料抽屉处加载下一块电路板至第一检测机构处；在第二检测机构对当前电路板检测的过程中，所述第二末端执行器将已完成检测的上一块电路板运送至收料抽屉，再从翻转机构处加载下一块电路板至第二检测机构处。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.
PCT/CN2020/132174 2020-11-27 2020-11-27 Circuit board multi-position pick-and-place control and transport system, and control and transport method WO2022110000A1 (en)

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CN1336008A (en) * 1998-12-02 2002-02-13 纽波特公司 Specimen holding robotic arm end effector
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