CN112474425A - Multi-position pick-and-place control and conveying system and control and conveying method for circuit board - Google Patents
Multi-position pick-and-place control and conveying system and control and conveying method for circuit board Download PDFInfo
- Publication number
- CN112474425A CN112474425A CN202011362057.8A CN202011362057A CN112474425A CN 112474425 A CN112474425 A CN 112474425A CN 202011362057 A CN202011362057 A CN 202011362057A CN 112474425 A CN112474425 A CN 112474425A
- Authority
- CN
- China
- 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.)
- Pending
Links
Images
Classifications
-
- 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
- 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
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- 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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
-
- 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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- 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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- 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
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Supply And Installment Of Electrical Components (AREA)
Abstract
本发明公开了一种电路板多位置取放控制及运送系统、控制及运送方法，控制系统包括第一驱动机构，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；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；取放定位装置具有末端执行器，用于加载或卸载电路板；传感器模块，用于采集各驱动机构和/或末端执行器的状态；控制器，用于接收传感器模块的采集信号、控制第一驱动机构驱动抽屉进行供料和/或收料，以及控制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末端执行器加载或卸载电路板。本发明集成控制、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。
The invention discloses a circuit board multi-position pick-and-place control and transportation system, control and transportation method. The control system includes a first drive mechanism, which is used as an actuator of a drawer to realize batch feeding and/or receiving of circuit boards. The second drive 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 sensor module is used for collecting The state of each drive mechanism and/or end effector; the controller is used to receive the acquisition signal of the sensor module, control the first drive mechanism to drive the drawer for feeding and/or receiving materials, and control the second drive mechanism to drive the pick-and-place positioning The device moves to multiple target positioning positions and controls the end effector to load or unload the circuit board. The invention integrates functions such as control, alarm, safety control and production data management, and has the characteristics of high efficiency, high stability, convenient operation and the like.
Description
Technical Field
The invention relates to the field of automation control, in particular to a multi-position pick-and-place control and conveying system and a control and conveying method for a circuit board.
Background
In recent years, the automatic circuit board conveying, picking and placing technology plays an important role in Automatic Visual Inspection (AVI) automatic detection, and can meet the requirements of regularity of circuit board (PCB) placement and picking and placing automation in automatic circuit board detection. But the existing picking, placing and carrying technology has low efficiency and high equipment failure rate, and can not meet the present pursuits of high efficiency, high accuracy and low failure rate.
In addition, in the prior art, a manipulator replaces a human hand to carry the PCB, the PCB is generally taken and placed back and forth between two points, the control logic is relatively simple, and a control technology for taking and placing the circuit board at multiple positions, which is suitable for the detection process of AVI automatic detection equipment, does not exist in the prior art.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a multi-position pick-and-place control and conveying system and a control and conveying method for a circuit board, which are applied to multi-position pick-and-place on AVI automatic detection equipment, and the technical scheme is as follows:
in one aspect, the invention provides a multi-position pick-and-place control system for a circuit board, comprising
The first driving mechanism is used as an actuator of the drawer to realize batch feeding and/or receiving of the circuit boards, and the drawer comprises a feeding drawer and/or a receiving drawer;
the second driving mechanism is used as an actuator of the pick-and-place positioning device to drive the pick-and-place positioning device to move to a target positioning position; the pick-and-place positioning device is provided with an end effector and is used for loading or unloading the circuit board;
the sensor module is used for acquiring the states of all the driving mechanisms and/or the end effector;
and the controller is used for receiving the acquisition signal of the sensor module, controlling the first driving mechanism to drive the drawer to feed and/or receive materials, controlling the second driving mechanism to drive the pick-and-place positioning device to move to a plurality of target positioning positions and controlling the end effector to load or unload the circuit board.
Furthermore, the multi-position circuit board taking and placing control system also comprises a human-computer interaction module electrically connected with the controller, wherein the human-computer interaction module is used for displaying state information, setting parameters for multi-position circuit board taking and placing and/or giving an alarm prompt.
Further, the controller is a programmable logic controller, the pick-and-place control system also comprises an input module, an output module and a positioning module,
the controller receives the acquisition signal of the sensor module through an input module;
the controller controls the first driving mechanism to drive the drawer to feed and/or receive materials and controls the end effector to load or unload the circuit board through the output module;
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.
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.
Furthermore, 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.
Further, the controller automatically counts and stores the feeding quantity and the receiving data, and automatically counts the state of the multi-position picking and placing worktable surface.
In another aspect, the present invention provides a control method based on the above multi-position pick-and-place control system for circuit boards, the system can set different pick-and-place positions, a logic operation program is input into a controller of the system, and the controller automatically makes a decision to pick a circuit board to be detected or to pick a circuit board which has been detected in advance according to a detection result of the sensor module.
In another aspect, the present invention provides a multi-position pick-and-place conveying system for circuit boards, which includes a pick-and-place drawer, a first detection mechanism, a turnover mechanism, a second detection mechanism, a material receiving drawer, and the multi-position pick-and-place control system for circuit boards as described above.
Furthermore, the number of the first driving mechanisms of the multi-position taking and placing control system for the circuit board is multiple, and the first driving mechanisms are respectively in one-to-one correspondence with the material taking drawer and the material receiving drawer;
the circuit board multi-position taking and placing control system is characterized in that the number of the second driving mechanisms and the number of the taking and placing positioning devices of the circuit board multi-position taking and placing control system are two and are in one-to-one correspondence, one of the taking and placing positioning devices moves among the taking drawer, the first detection mechanism and the turnover mechanism, and the other taking and placing positioning device moves among the turnover mechanism, the second detection mechanism and the material receiving drawer.
In another aspect, the present invention provides a conveying method based on the above multi-position pick-and-place conveying system for circuit boards, under the control of the controller of the pick-and-place control system, the following actions are respectively performed:
the first end effector is driven to load a circuit board at the material taking drawer, unload the circuit board to be detected and the circuit board subjected to primary detection at the first detection mechanism, and unload the circuit board at the turnover mechanism, so that the circuit board is taken out of the material taking drawer and reaches the turnover mechanism after being subjected to front detection;
the second end effector is driven to load the circuit board at the turnover mechanism, unload the circuit board to be detected and the circuit board subjected to secondary detection at the second detection mechanism, and unload the circuit board at the material receiving drawer, so that the circuit board turned over at the turnover mechanism reaches the material receiving drawer after reverse side detection;
the first end effector and the second end effector run in parallel, wherein in the process that the first detection mechanism detects the current circuit board, the first end effector conveys the last circuit board which is detected to the turnover mechanism, and then loads the next circuit board from the material taking drawer to the first detection mechanism; in the process that the second detection mechanism detects the current circuit board, the second end effector conveys the detected last circuit board to the material receiving drawer, and then loads the next circuit board from the turnover mechanism to the second detection mechanism.
The invention has the following beneficial effects:
a. the scanning condition of the equipment can be monitored in real time, so that the automatic cycle operation is realized, the reliability of the equipment is greatly improved, and the capacity of the equipment is improved by more than 50%;
b. the human-computer interaction interface, the PLC, the INPUT module, the OUTPUT module, the sensor and the execution electrical appliance are mutually combined and controlled to jointly complete the requirements of each process section, realize the automatic control of the flow and alarm abnormal conditions in the automatic picking and placing process;
c. the control system integrates the functions of control, alarm, safety control, production data management and the like, and has the characteristics of high efficiency, high stability, convenience in operation and the like.
Drawings
The subject matter which is regarded as the invention is particularly pointed out and distinctly claimed in the concluding portion of the specification. The invention, however, both as to organization and method of operation, together with objects, features, and advantages thereof, may best be understood by reference to the following detailed description when read with the accompanying drawings in which:
fig. 1 is a schematic block diagram of a multi-position pick-and-place transport system for circuit boards according to an embodiment of the present invention;
fig. 2 is a schematic block diagram of a multi-position pick-and-place control system for a circuit board according to an embodiment of the present invention.
Detailed Description
In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be understood by those skilled in the art 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.
The subject matter which is regarded as the invention is particularly pointed out and distinctly claimed in the concluding portion of the specification. The invention, however, both as to organization and method of operation, together with objects, features, and advantages thereof, may best be understood by reference to the following detailed description when read with the accompanying drawings.
Because the illustrative embodiments of the present invention may be implemented, to a great extent, using electronic components and circuits known to those skilled in the art, as described above, no greater detail is necessary to understand or appreciate the underlying concepts of the invention so as not to obscure or distract from the teachings of the present invention.
In the background of the prior art, according to the picking and placing requirements, a multi-position control system capable of picking and placing circuit boards on two XY platforms simultaneously is designed by utilizing a PLC (programmable logic controller), and the multi-position control system can be applied to the existing AVI automatic detection equipment. A PLC (logic programmable controller) has many advantages such as high reliability, good real-time property, good expansibility, and easy maintenance, and is widely used in the field of industrial automation. The positioning module is an important component in PLC position control and motion control, the motion and position of the servo motor are accurately controlled by utilizing optical fiber bus communication, and the communication mode has high reliability and high speed; in addition, the high-speed pulse output function is an important component of the PLC in the field of position control and motion control, and the PLC drives the stepping motor by high-speed pulses.
In one embodiment of the present invention, a multi-position pick-and-place control system for circuit boards is provided, which comprises, referring to fig. 1
The first driving mechanism is used as an actuator of the drawer to realize batch feeding and/or receiving of the circuit boards, and the drawer comprises a feeding drawer and/or a receiving drawer; specifically, the first driving mechanism can be selected as a stepping motor which can realize the up-and-down floating of the drawer, and the stepping motor is connected with the PLC through a stepping driver;
the second driving mechanism is used as an actuator of the pick-and-place positioning device to drive the pick-and-place positioning device to move to a target positioning position; the pick-and-place positioning device is provided with an end effector and is used for loading or unloading the circuit board; specifically, the second driving mechanism may be a servo motor, the servo motor is configured to drive a synchronous belt into an end effector, and the end effector may be a pneumatic valve (or a clamping jaw); 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;
the sensor module is used for acquiring the state of an executing electric appliance (comprising a first driving mechanism and/or an end effector); the sensor module comprises a plurality of limit switch sensors, an original point signal sensor, a magnetic switch sensor and a vacuum negative pressure meter sensor, the limit switch sensors, the original point signal sensor, the magnetic switch sensor and the vacuum negative pressure meter sensor are respectively used for limiting two LINER servo walking distances and controlling LINER servo original point regression, the magnetic switches are used for monitoring and executing the working state of the electric appliance, and the vacuum negative pressure sensors are used for detecting whether the circuit board is successfully grabbed.
The controller, preferably a programmable logic controller (hereinafter referred to as PLC), is configured to receive an acquisition signal from the sensor module, control the first driving mechanism to drive the drawer to perform feeding and/or receiving, control the second driving mechanism to drive the pick-and-place positioning device (end effector) to move to a plurality of target positioning positions, and control the end effector to load or unload the circuit board, and the PLC is configured to perform logic and arithmetic operations on the signal, perform mathematical operations on relevant coordinates, and the like, obtain motion pulses of the servo motor and the stepping motor, and send a control instruction.
In an embodiment of the invention, the multi-position circuit board pick-and-place control system further comprises a human-computer interaction module in communication connection with the controller (via ethernet), wherein the human-computer interaction module is used for displaying the product feeding count, the product discharging count, the first STAGE (STAGE1) beat, the second STAGE (STAGE2) beat and the current equipment state information in real time; the circuit board picking and placing positions can be taught manually, and the current position information can be recorded. The touch screen can also monitor the state of the equipment in real time, control each executive electrical appliance to operate independently, read a fault alarm point and process corresponding alarm, and simultaneously can control one-key reset and origin return of the equipment. The first STAGE (STAGE1), second STAGE (STAGE2) are detailed below.
Furthermore, 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; the controller automatically counts and stores the feeding quantity and the receiving data, and automatically counts the state of the multi-position picking and placing worktable.
As shown in fig. 2, the pick-and-place control system further includes an INPUT module (hereinafter referred to as INPUT module), an OUTPUT module (hereinafter referred to as OUTPUT module) and a positioning module,
the INPUT module is used for collecting relevant signals of an external sensor, such as the real-time collection of the position state of a cylinder; the condition of materials in the feeding drawer and the receiving drawer; the OUTPUT module is used for executing a control command of the PLC and controlling actuating mechanisms such as an air cylinder, a stepping motor and the like; the positioning module is used for executing a positioning instruction of PLC control servo, wherein the servo motor is used as an actuator of the pick-and-place positioning device, so that the accurate positioning of an end actuator (namely a clamping jaw or a sucking disc for grabbing a circuit board) of the pick-and-place positioning device can be realized, and the accurate high-speed pick-and-place of the circuit board can be realized. The stepping motor is used as an actuator of the feeding/receiving drawer, and batch feeding/receiving of the circuit boards can be realized (waiting for the end actuator of the taking and placing positioning device to load the circuit boards one by one). And the INPUT module, the OUTPUT module and the positioning module are all connected with the PLC.
The controller receives the acquisition signal of the sensor module through an input module;
the controller controls the first driving mechanism to drive the drawer to feed and/or receive materials and controls the end effector to load or unload the circuit board through the output module;
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.
In an embodiment of the present invention, there is provided 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, a logic operation program is input inside a controller of the system, and the controller automatically makes a decision to pick a circuit board to be detected or a circuit board which has been detected firstly according to a detection result of the sensor module.
In an embodiment of the invention, the invention provides a multi-position pick-and-place conveying system for circuit boards, which comprises a pick-and-place drawer, a first detection mechanism, a turnover mechanism, a second detection mechanism, a material receiving drawer and the multi-position pick-and-place control system for circuit boards.
Specifically, the first detection mechanism, the turnover mechanism and the second detection mechanism are AVI equipment parts, and the material taking drawer and the material receiving drawer are peripheral parts of the AVI equipment. Specifically, the circuit board multi-position taking and placing control system is provided with a plurality of first driving mechanisms, and the first driving mechanisms are respectively in one-to-one correspondence with the material taking drawer and the material receiving drawer;
the circuit board multi-position taking and placing control system is characterized in that the number of the second driving mechanisms and the number of the taking and placing positioning devices of the circuit board multi-position taking and placing control system are two and are in one-to-one correspondence, one of the taking and placing positioning devices moves among the taking drawer, the first detection mechanism and the turnover mechanism, and the other taking and placing positioning device moves among the turnover mechanism, the second detection mechanism and the material receiving drawer.
The operation of the above-mentioned multi-position pick-and-place transport system for circuit boards is described in detail as follows:
under the control of a controller of the taking and placing control system, one of the second driving mechanisms drives one taking and placing positioning device to synchronously bring the corresponding end effector to move among the taking drawer, the first detection mechanism and the turnover mechanism, which is the first STAGE (STAGE1), namely, a circuit board in the taking drawer is taken out and placed on the first detection mechanism to carry out front detection on the circuit board, and then the circuit board is placed on the turnover mechanism to be turned for 180 degrees; in the second STAGE (STAGE2), another second driving mechanism drives another pick-and-place positioning device to synchronously bring the other pick-and-place positioning device into the corresponding end effector to move among the turnover mechanism, the second detection mechanism and the material receiving drawer, namely, the circuit board turned 180 degrees on the turnover mechanism is placed on the second detection mechanism to carry out reverse side detection on the circuit board, and then the circuit board is classified and placed into the corresponding material receiving drawer (specifically described below) according to the results of the two detections.
The operation method comprises the following steps:
the first end effector is driven to load a circuit board at the material taking drawer, unload the circuit board to be detected and the circuit board subjected to primary detection at the first detection mechanism, and unload the circuit board at the turnover mechanism, so that the circuit board is taken out of the material taking drawer and reaches the turnover mechanism after being subjected to front detection;
the second end effector is driven to load the circuit board at the turnover mechanism, unload the circuit board to be detected and the circuit board subjected to secondary detection at the second detection mechanism, and unload the circuit board at the material receiving drawer, so that the circuit board turned over at the turnover mechanism reaches the material receiving drawer after reverse side detection;
the first end effector and the second end effector run in parallel, wherein in the process that the first detection mechanism detects the current circuit board, the first end effector conveys the last circuit board which is detected to the turnover mechanism, and then loads the next circuit board from the material taking drawer to the first detection mechanism; in the process that the second detection mechanism detects the current circuit board, the second end effector conveys the detected last circuit board to the material receiving drawer, and then loads the next circuit board from the turnover mechanism to the second detection mechanism.
The first STAGE (STAGE1) and the second STAGE (STAGE2) are connected by the turnover mechanism, and preferably, the time for detecting a single circuit board by the first detection mechanism is less than or equal to the sum of the time for the first end effector to transfer the last circuit board detected by the first detection mechanism to the turnover mechanism and then return to the material taking drawer and the time for transferring the circuit board to the first detection mechanism after taking the material from the material taking drawer; in the same way, the time for the second detection mechanism to detect the single circuit board is preferably less than or equal to the sum of the time for the second end effector to transfer the last circuit board detected by the second detection mechanism to the material receiving drawer and then return the circuit board to the turnover mechanism and the time for loading the circuit board from the turnover mechanism and transferring the circuit board to the second detection mechanism; preferably, the circuit board on the flipping mechanism has completed a 180 ° flip each time the second end effector returns to the flipping mechanism.
In a preferred embodiment of the present invention, while the circuit board 1 is detected by the second detection mechanism, the circuit board 2 is turned over by the turning mechanism, and the circuit board 3 is detected by the first detection mechanism, the first end effector is provided with the first suction cup and the second suction cup, the second end effector is provided with the third suction cup and the fourth suction cup, when the first suction cup is transferred to the first detection mechanism from the feeding drawer to suck the circuit board 4, the second suction cup sucks the circuit board 3, the first suction cup places the circuit board 4 on the first detection mechanism, in this process, the third suction cup sucks the circuit board 2 from the turning mechanism and transfers the circuit board 2 to the second detection mechanism, and after the fourth suction cup sucks the circuit board 1, the third suction cup places the circuit board 2 on the second detection mechanism; then, the second sucker transfers the circuit board 3 to the turnover mechanism, the fourth sucker transfers the circuit board 1 to the material receiving drawer, and when the fourth sucker returns to the turnover mechanism, the circuit board 3 is turned over, so that the two end effectors act continuously, and the operation efficiency is improved.
The specific operation flow is as follows:
step 1, after the control system is started, according to the setting of a STAGE1 LINER INPUT material taking position and a STAGE2 LINER INPUT material taking waiting position by a man-machine interface, the STAGE1 LINER waits for materials at the material taking position, the STAGE2 LINER waits for the material taking waiting position, the material feeding drawer sends the materials to the material taking position, and signals of the detected materials are transmitted to the PLC.
And 2, the STAGE1 LINER INPUT end effector achieves a material taking position to absorb the circuit board, and sends a signal to the PLC after the action is finished, and meanwhile, counting is carried out. The end effector is realized in a pneumatic mode.
And 3, after the circuit board is sucked, moving the servo motor to the position according to the setting of the human-computer interface on the detection placing position, and placing the circuit board to the detection position by the STAGE1 LINER INPUT end effector. After the action is finished, a signal is sent to the PLC, and the end effector is realized in a pneumatic mode.
And 4, after the circuit board is placed, the detection platform starts to detect, meanwhile, the STAGE1 LINER INPUT end effector sucks the circuit board to the material taking position, and after the action is completed, a signal is sent to the PLC, and meanwhile, counting is carried out. The end effector is realized in a pneumatic mode.
And 5, after the material is taken again, moving the servo motor to the position according to the setting of the STAGE1 LINER OUTPUT material taking position by the human-computer interface, taking the scanned circuit board away by the end effector, and sending a signal to the PLC after the action is finished. The end effector is realized in a pneumatic mode.
And 6, after material taking of the STAGE1 LINER OUPUT is completed, setting a turnover discharging position of the STAGE1 LINER OUPUT according to a human-computer interface, moving the servo motor to the position, placing the circuit board on a reverse table board through an end effector, sending a signal to the PLC after the action is completed, wherein the end effector is realized in a pneumatic mode.
And 7, after the STAGE1 LINER OUTPUT overturns and discharges materials, setting a material taking position of the STAGE1 LINER OUTPUT according to a human-computer interface, moving the servo motor to the position, and taking materials by the end effector. The end effector is realized in a pneumatic mode.
And 8, overturning the overturning table board INPUT, switching the air suction of the overturning INPUT to the overturning OUTPUT air suction after the overturning table board is overturned in place, and reversing the overturning table board INPUT to the original position. All actuators are realized in a pneumatic mode.
And 9, moving the servo motor to the position according to the overturning OUTPUT material taking position set by the STAGE2 LINER INPUT according to the man-machine interface, taking the circuit board away by the end effector, sending a signal to the PLC after the action is finished, and realizing the end effector by a pneumatic mode.
And step 10, after the circuit board is sucked, the servo motor moves to the position according to the setting of the man-machine interface on the detection placing position, and the STAGE2 LINER INPUT end effector places the circuit board to the detection position. After the action is finished, a signal is sent to the PLC, and the end effector is realized in a pneumatic mode.
And step 11, after the circuit board is placed, the detection platform starts to detect, meanwhile, the STAGE2 LINER OUTPUT end effector waits for scanning to the material taking position, and after the action is completed, a signal is sent to the PLC. The end effector is realized in a pneumatic mode.
And step 12, after the circuit board is scanned, the servo motor moves to the position according to the position set by the human-computer interface, the circuit board is placed in the material receiving drawer by the end effector, the material receiving counting is carried out, and meanwhile the material receiving drawer floats up and down to complete material receiving. And after the action is finished, sending a signal to the PLC. The end effector is realized in a pneumatic mode.
The step 12 specifically comprises:
and step 12.1, when the scanning result is OK, indicating that the circuit board is good, moving the circuit board to the position by a servo motor according to the STAGE2 LINER OUTPUT OK discharging position set by the man-machine interface, placing the circuit board in a material receiving drawer by an end effector, counting, floating the OK material receiving drawer up and down to complete material receiving, and sending a signal to the PLC after the action is completed. The end effector is realized in a pneumatic mode.
And step 12.2, when the scanning result is NG, the NG represents a defective product, the NG moves to the position by the servo motor according to the feeding position of STAGE2 LINER OUTPUT NG set by the man-machine interface, the circuit board is placed in the material receiving drawer by the end effector and counted, meanwhile, the NG material receiving drawer floats up and down to complete material receiving, and a signal is sent to the PLC after the movement is completed. The end effector is realized in a pneumatic mode.
Step 12.3 when the scanning result is Verification, indicate that can't confirm whether the good products or defective products, according to STAGE2 LINER OUTPUT VERIFY blowing position that human-computer interface set up, move to this position by servo motor to receive the material drawer with circuit board placement by end effector, and count, it receives the material drawer to float from top to bottom to accomplish simultaneously and receives the material, it is subsequent right again circuit board in the material drawer is received to VERIFY carries out the reinspection operation, sends the signal and gives PLC after the action is accomplished. The end effector is realized in a pneumatic mode.
In other words, in an embodiment of the present invention, three receiving drawers are provided for receiving the circuit boards with the scanning results of OK, NG, Verification, respectively. In this embodiment, the number of the first driving mechanisms (i.e., the stepping motors) is four, the first stepping motor is used for driving the material taking drawer to be opened, the second stepping motor is used for driving the OK material receiving drawer to be opened, the third stepping motor is used for driving the NG material receiving drawer to be opened, and the fourth stepping motor is used for driving the VERIFY material receiving drawer to be opened.
And step 13, after all the circuit boards of the feeding drawer are taken away, the equipment does not stop, but the circuit boards can be prompted to be added on the human-computer interface, and meanwhile, the equipment can continue to scan the circuit boards which are not scanned completely. When the circuit board is added, the device will still operate automatically by pressing the start key.
The invention combines all modules together, can finish the automatic picking and placing scanning of the circuit board, and automatically judges whether the picking waiting or the prior picking of the scanned circuit board is finished according to whether the scanning is finished.
The sensor module provides a detection signal to the PLC in the operation process, the PLC drives the servo motor to a corresponding position through the positioning module according to a process flow according to coordinates taught in the human-computer interface in the operation process, and meanwhile, the servo motor encoder feeds back a real-time position to the servo drive driver and feeds back the position to the positioning module and the PLC for comparing whether the current coordinates are consistent with the coordinates set by the human-computer interface. Meanwhile, each electromagnetic valve is driven, and then the pneumatic element is driven to work, so that the circuit board taking and placing actions are completed. And each running state has respective safety detection, safety dynamic is reported to the PLC and the man-machine interaction interface in real time, and the PLC judges various fault conditions and makes corresponding actions.
Further, those skilled in the art will appreciate that the boundaries between the above described operations are merely illustrative. Multiple operations may be combined into a single operation, a single operation may be distributed in additional operations, and operations may be performed at least partially overlapping times. Further, alternative embodiments may include multiple illustrations of specific operations, and the order of operations may be varied in various other embodiments.
However, other modifications, variations, and alternatives are also possible. The specification and drawings are, accordingly, to be regarded in an illustrative sense rather than a restrictive sense.
In the claims, 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 than those listed in a claim. Furthermore, the terms "a" or "an," as used herein, are defined as one or more than one. Moreover, the use of the introductory phrases such as "at least one" and "one or more" in the claim recitations should not be interpreted to imply that the introduction of an indefinite articles "a" or "an" into another claim element limits any particular claim containing such introduced claim element to inventions containing only one such element, even when the same claim includes the introductory phrases "one or more" or "at least one" and indefinite articles such as "a" or "an". The same holds true for the use of definite articles. Unless otherwise specified, terms such as "first" and "second" are used to arbitrarily distinguish between the elements such terms describe. Thus, these terms are not necessarily intended to indicate temporal or other prioritization of such elements. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.
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. It is, therefore, to 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. A multi-position pick-and-place control system for circuit board is characterized by comprising
The first driving mechanism is used as an actuator of the drawer to realize batch feeding and/or receiving of the circuit boards, and the drawer comprises a feeding drawer and/or a receiving drawer;
the second driving mechanism is used as an actuator of the pick-and-place positioning device to drive the pick-and-place positioning device to move to a target positioning position; the pick-and-place positioning device is provided with an end effector and is used for loading or unloading the circuit board;
the sensor module is used for acquiring the states of all the driving mechanisms and/or the end effector;
and the controller is used for receiving the acquisition signal of the sensor module, controlling the first driving mechanism to drive the drawer to feed and/or receive materials, controlling the second driving mechanism to drive the pick-and-place positioning device to move to a plurality of target positioning positions and controlling the end effector to load or unload the circuit board.
2. The multi-position pick-and-place circuit board control system as claimed in claim 1, further comprising a human-machine interaction module electrically connected to the controller, the human-machine interaction module being configured to display status information, set parameters for multi-position pick-and-place of circuit boards and/or perform alarm prompts.
3. The multi-position pick-and-place control system for circuit boards of claim 1 wherein the controller is a programmable logic controller, the pick-and-place control system further comprising an input module, an output module and a positioning module,
the controller receives the acquisition signal of the sensor module through an input module;
the controller controls the first driving mechanism to drive the drawer to feed and/or receive materials and controls the end effector to load or unload the circuit board through the output module;
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. The multiple circuit board position pick and place control system of claim 3 wherein said first drive mechanism is a stepper motor, said second drive mechanism is a servo motor, and said end effector is a pneumatic valve.
5. The circuit board multi-position pick-and-place control system of claim 4 wherein the servo motor power cable and encoder cable are coupled to a servo drive, the servo drive being coupled to the positioning module by a fiber optic bus.
6. The multiple position pick-and-place control system for circuit boards as claimed in claim 1 wherein the controller automatically counts and stores the feeding amount and receiving data and automatically counts the status of the multiple position pick-and-place table.
7. A control method based on the multi-position pick-and-place control system for circuit boards according to any one of claims 1-6, characterized in that the system can set different pick-and-place positions, a logic operation program is inputted into the controller of the system, and the controller automatically makes a decision to pick the circuit board to be detected or the circuit board which has been detected firstly according to the detection result of the sensor module.
8. A multi-position pick-and-place transport system for circuit boards, comprising a pick-up drawer, a first detection mechanism, a turnover mechanism, a second detection mechanism, a receiving drawer and a multi-position pick-and-place control system for circuit boards according to any one of claims 1 to 6.
9. The multi-position pick-and-place circuit board conveying system according to claim 8, wherein the number of the first driving mechanisms of the multi-position pick-and-place circuit board control system is plural, and the first driving mechanisms correspond to the material taking drawer and the material receiving drawer one by one respectively;
the circuit board multi-position taking and placing control system is characterized in that the number of the second driving mechanisms and the number of the taking and placing positioning devices of the circuit board multi-position taking and placing control system are two and are in one-to-one correspondence, one of the taking and placing positioning devices moves among the taking drawer, the first detection mechanism and the turnover mechanism, and the other taking and placing positioning device moves among the turnover mechanism, the second detection mechanism and the material receiving drawer.
10. A transporting method of a circuit board multi-position pick-and-place transporting 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 executed:
the first end effector is driven to load a circuit board at the material taking drawer, unload the circuit board to be detected and the circuit board subjected to primary detection at the first detection mechanism, and unload the circuit board at the turnover mechanism, so that the circuit board is taken out of the material taking drawer and reaches the turnover mechanism after being subjected to front detection;
the second end effector is driven to load the circuit board at the turnover mechanism, unload the circuit board to be detected and the circuit board subjected to secondary detection at the second detection mechanism, and unload the circuit board at the material receiving drawer, so that the circuit board turned over at the turnover mechanism reaches the material receiving drawer after reverse side detection;
the first end effector and the second end effector run in parallel, wherein in the process that the first detection mechanism detects the current circuit board, the first end effector conveys the last circuit board which is detected to the turnover mechanism, and then loads the next circuit board from the material taking drawer to the first detection mechanism; in the process that the second detection mechanism detects the current circuit board, the second end effector conveys the detected last circuit board to the material receiving drawer, and then loads the next circuit board from the turnover mechanism to the second detection mechanism.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011362057.8A CN112474425A (en) | 2020-11-27 | 2020-11-27 | Multi-position pick-and-place control and conveying system and control and conveying method for circuit board |
| TW110201296U TWM613960U (en) | 2020-11-27 | 2021-02-02 | System for inspection of circuit board |
| TW110103886A TWI765559B (en) | 2020-11-27 | 2021-02-02 | A system and method for multi-position fetching and placing control and transportation of circuit board |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011362057.8A CN112474425A (en) | 2020-11-27 | 2020-11-27 | Multi-position pick-and-place control and conveying system and control and conveying method for circuit board |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112474425A true CN112474425A (en) | 2021-03-12 |
Family
ID=74936616
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011362057.8A Pending CN112474425A (en) | 2020-11-27 | 2020-11-27 | Multi-position pick-and-place control and conveying system and control and conveying method for circuit board |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112474425A (en) |
| TW (2) | TWM613960U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022110000A1 (en) * | 2020-11-27 | 2022-06-02 | 苏州康代智能科技股份有限公司 | Circuit board multi-position pick-and-place control and transport system, and control and transport method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112474425A (en) * | 2020-11-27 | 2021-03-12 | 苏州康代智能科技股份有限公司 | Multi-position pick-and-place control and conveying system and control and conveying method for circuit board |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208078352U (en) * | 2018-02-01 | 2018-11-09 | 昆山创亿视自动化科技有限公司 | A kind of connector detection laser carving equipment integrating |
| CN111570325A (en) * | 2020-06-11 | 2020-08-25 | 苏州健雄职业技术学院 | Circuit board double-side detection equipment based on artificial intelligence and working method thereof |
| CN214184139U (en) * | 2020-11-27 | 2021-09-14 | 苏州康代智能科技股份有限公司 | Circuit board detection system |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100257625B1 (en) * | 1997-01-27 | 2000-06-01 | 강정근 | PCB inspection device |
| CN2670940Y (en) * | 2003-12-04 | 2005-01-12 | 技嘉科技股份有限公司 | A testing device for circuit boards |
| TW201418738A (en) * | 2012-11-02 | 2014-05-16 | Kinsus Interconnect Tech Corp | Terminal inspection system |
| CN206906533U (en) * | 2017-04-12 | 2018-01-19 | 北京华科仪科技股份有限公司 | A kind of circuit board self-checking device |
| CN206740163U (en) * | 2017-06-01 | 2017-12-12 | 北京攀藤科技有限公司 | Sensor detection circuit plate |
| CN211627743U (en) * | 2019-07-23 | 2020-10-02 | Jot自动化技术(北京)有限公司 | Circuit board detection workbench |
| CN111257725A (en) * | 2020-01-14 | 2020-06-09 | 赣州市盈匠科技有限公司 | Inspection platform is used in production of computer circuit board |
| CN112474425A (en) * | 2020-11-27 | 2021-03-12 | 苏州康代智能科技股份有限公司 | Multi-position pick-and-place control and conveying system and control and conveying method for circuit board |
-
2020
- 2020-11-27 CN CN202011362057.8A patent/CN112474425A/en active Pending
-
2021
- 2021-02-02 TW TW110201296U patent/TWM613960U/en unknown
- 2021-02-02 TW TW110103886A patent/TWI765559B/en active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208078352U (en) * | 2018-02-01 | 2018-11-09 | 昆山创亿视自动化科技有限公司 | A kind of connector detection laser carving equipment integrating |
| CN111570325A (en) * | 2020-06-11 | 2020-08-25 | 苏州健雄职业技术学院 | Circuit board double-side detection equipment based on artificial intelligence and working method thereof |
| CN214184139U (en) * | 2020-11-27 | 2021-09-14 | 苏州康代智能科技股份有限公司 | Circuit board detection system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022110000A1 (en) * | 2020-11-27 | 2022-06-02 | 苏州康代智能科技股份有限公司 | Circuit board multi-position pick-and-place control and transport system, and control and transport method |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI765559B (en) | 2022-05-21 |
| TW202221431A (en) | 2022-06-01 |
| TWM613960U (en) | 2021-07-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110104421B (en) | Material switching device, feeding equipment, discharging equipment and detection system | |
| CN102830343B (en) | A kind of circuit board testing system | |
| CN112474425A (en) | Multi-position pick-and-place control and conveying system and control and conveying method for circuit board | |
| CN203521465U (en) | Led die bonder | |
| CN1113032C (en) | Pick and place apparatus for transferring objects | |
| CN105510357A (en) | Smart chip defect inspection machine | |
| CN214184139U (en) | Circuit board detection system | |
| CN105538314A (en) | Automatic feeding-discharging glass-mechanical-arm control system | |
| CN213558530U (en) | Pressure resistance tester for circulator | |
| CN114309991B (en) | Laser automatic cutting control system and control method thereof | |
| CN205651352U (en) | Automatic go up unloading glass machinery hand control system | |
| CN106966162A (en) | Egg washing production line feeding system and control method | |
| KR102458131B1 (en) | Die bonding apparatus and method of manufacturing semiconductor device | |
| CN111620030B (en) | Automatic blanking method and system | |
| CN104907225A (en) | Automatic turntable glue injection system and glue injection detection method thereof | |
| WO2022110000A1 (en) | Circuit board multi-position pick-and-place control and transport system, and control and transport method | |
| CN110672600B (en) | Optical filter online detection device and method | |
| CN209259076U (en) | A kind of feeder for charging tray | |
| CN112208070A (en) | Automatic excision and detection equipment | |
| Smeu | Automatic conveyor belt driving and sorting using SIEMENS step 7-200 programmable logic controller | |
| CN111650893B (en) | Automatic core sheet material cake feeding control method and system | |
| CN117289654A (en) | Structure and control method of intelligent detection unit of intelligent production line | |
| CN212622723U (en) | Full-automatic wafer probe station | |
| CN110342258B (en) | Glass plate taking and placing device | |
| CN204799500U (en) | Automatic revolving stage injecting glue system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |