Collaborative robot control system and method

A technology of control system and control method, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problems of probe card temperature loss, data inaccuracy, blocking, etc., to avoid temperature loss, prevent mutual blocking, and improve efficiency Effect

Active Publication Date: 2020-12-11
WINBOND ELECTRONICS CORP
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  • Abstract
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Problems solved by technology

[0003] However, in the test factory, the width of each path can only allow one collaborative robot to pass through (that is, each path is a one-way street), and the location of the collaborative robot receiving the task may be different, so The collaborative robot corresponding to the test machine that may cause late testing and production is advanced to wait in front of the test machine, thus blocking the path for another collaborative robot to reach its corresponding test machine
Therefore, it will cause the probe card (Probe Card) in the test machine corresponding to another collaborative robot to lose temperature, resulting in the inaccuracy of the tested data

Method used

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  • Collaborative robot control system and method

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Embodiment Construction

[0019] figure 1 is a schematic diagram showing a collaborative robot control system 100 according to an embodiment of the present invention. Such as figure 1 As shown, the collaborative robot control system 100 may include a testing machine 110-1, a testing machine 110-2, a testing machine 110-3, a testing machine 110-4, and a testing machine 110-5 , a test machine 110-6, a collaborative robot (collaborative robot) 120-1, a collaborative robot 120-2, a collaborative robot 120-3, a first control system 130, and a second control system 140.

[0020] Such as figure 1 As shown, the testing machine 110-1, the testing machine 110-2 and the testing machine 110-3 are arranged on the first path P1, and the testing machine 110-4, the testing machine 110-5 and the testing machine 110- 6 is configured on the first path P2, in addition, if figure 1 As shown, in the embodiment of the present invention, the width of the first path P1 and the first path P2 can only accommodate a collabor...

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Abstract

The invention provides a collaborative robot control system and method. The collaborative robot control system comprises a plurality of test machines, a plurality of collaborative robots, a first control system and a second control system. The plurality of test machines are arranged on a plurality of paths. When a first collaborative robot of the plurality of collaborative robots in a waiting areais delivered to a first test machine of a first path of the plurality of paths, and the first collaborative robot in the first path is blocked by a second collaborative robot of the plurality of collaborative robots, and the second control system generates a forward pushing instruction, and transmits the forward pushing instruction to the first control system. And the first control system re-transmits the forward pushing instruction to the second collaborative robot so as to indicate that the second collaborative robot leaves the first path firstly. According to the collaborative robot control system, data interpretation errors caused by the fact that a probe card is cooled due to long waiting time can be avoided, and the task execution efficiency of the collaborative robot is improved.

Description

technical field [0001] The description of the present invention is mainly about the collaborative robot control technology, especially about the collaborative robot control system and method for controlling the collaborative robot through a push-forward mechanism. Background technique [0002] During the production test process, when a batch of chips is produced, the test machine will have idle cassette input and output ports for the next batch of wafers to be placed for production testing. [0003] However, in the test factory, the width of each path can only allow one collaborative robot to pass through (that is, each path is a one-way street), and the location of the collaborative robot receiving the task may be different, so The collaborative robot corresponding to the test machine that may cause late testing and production is advanced to wait in front of the test machine, thus blocking the path for another collaborative robot to reach its corresponding test machine. Th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1682B25J9/1664Y02P90/02
Inventor 朱特纬郑振孟黄浚铭陈广太张昱仁吴宗宪
Owner WINBOND ELECTRONICS CORP
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