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Substrate transfer robot control method, device, system, equipment and medium

A substrate transfer and control method technology, applied in the field of robotics, can solve the problems of long time and manpower, slow production progress of new products, and low conversion efficiency

Active Publication Date: 2021-03-12
合肥欣奕华智能机器股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The embodiment of the present invention provides a substrate transfer robot control method, device, system, equipment and media, which are used to solve the problems that the existing manual adjustment method consumes a lot of time and manpower, and the conversion efficiency is low, and the production progress of new products is slow.

Method used

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  • Substrate transfer robot control method, device, system, equipment and medium
  • Substrate transfer robot control method, device, system, equipment and medium
  • Substrate transfer robot control method, device, system, equipment and medium

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Embodiment 1

[0066] figure 1 It is a schematic diagram of a substrate transfer robot control process provided by an embodiment of the present invention, and the process includes the following steps:

[0067] S101: According to the target size of the target substrate after the production change carried in the received production change order and the correspondence between the size and the distance stored in advance, determine the first target distance between the mechanical fingers when the substrate transfer robot transports the target substrate.

[0068] The control method of the substrate transfer robot provided by the embodiment of the present invention is applied to electronic equipment, and the electronic device may be a control device of the substrate transfer robot, such as a smart terminal, PC, tablet computer, server, etc.; it may also be the substrate transfer robot itself.

[0069] In the embodiment of the present invention, when a substrate of another specification is used on t...

Embodiment 2

[0083] In order to determine the first target distance between the mechanical fingers when the substrate transfer robot transports the target substrate, on the basis of the above-mentioned embodiments, in the embodiment of the present invention, the target substrate after the transfer is carried in the received transfer instruction The target size of the target size, and the corresponding relationship between the pre-stored size and the pitch, and determining the first target pitch between the mechanical fingers when the substrate transfer robot transports the target substrate includes:

[0084] judging whether the target size exists in the pre-saved correspondence between the size and the spacing;

[0085] If it exists, determine the distance corresponding to the target size as the first target distance.

[0086] In order to determine the first target distance between the mechanical fingers when the substrate transfer robot transports the target substrate, in the embodiment o...

Embodiment 3

[0100] In order to automatically determine the first target distance between the mechanical fingers when the substrate transfer robot transports the target substrate when the first target distance corresponding to the target size does not exist in the corresponding relationship, on the basis of the above-mentioned embodiments, the present invention implements In an example, if there is no first target distance corresponding to the target size, the method further includes:

[0101] If the number of the pre-stored corresponding relationships reaches a set threshold, then determine the linear relationship between the width and the spacing according to the pre-stored corresponding relationship between the size and the spacing;

[0102] According to the target size and the linear relationship, a first target distance between robotic fingers when the substrate transport robot transports the target substrate is determined.

[0103] When the first target distance corresponding to the ...

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Abstract

The invention discloses a substrate transfer robot control method, a substrate transfer robot control device, a substrate transfer robot control system, substrate transfer robot control equipment anda medium. The substrate transfer robot control method includes the following steps of: determining a first target distance between mechanical fingers when the substrate transfer robot transfers a target substrate according to a corresponding relationship between the distance and a pre-stored size and a target size of the transferred target substrate in a received transfer instruction; determininga distance change of the substrate transferred by a substrate transfer robot according to the target size, a pre-stored reference size of a reference substrate before transfer and a preset alignment mode; and determining target demonstration data of the substrate transfer robot for transferring the target substrate according to the distance change and the reference demonstration data of the substrate transfer robot for transferring the reference substrate. In this way, the substrate transfer robot can be automatically adjusted, a large amount of time and manpower resources are saved, the transfer efficiency is improved, and the production progress of new products is accelerated.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a method, device, system, equipment and media for controlling a substrate transport robot. Background technique [0002] In production-oriented enterprises, when the market sales of a certain product are poor, they often switch production, that is, adjust the production line that produces a certain product to produce other products. [0003] Specifically, in panel production enterprises, a large number of substrate handling robots are usually used in each panel production line, and in order to improve production efficiency and production capacity, panel production enterprises will continue to use substrates of one specification to produce the same specification within a certain production cycle. However, as the market environment and customer needs change, panel companies need to switch production, that is, use another specification of substrates on the panel production li...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1602
Inventor 苏喜然王广炎
Owner 合肥欣奕华智能机器股份有限公司
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