A pick-and-place control system and method for a press pad

Abstract

The present application provides a method and system for controlling the placement of a pressing pad, the system comprising an information collection device, a first and a second automatic gripping device, and a control system; the control system is used to execute the following steps: obtaining the usage status information of the pressing pad; controlling the first automatic gripping device to place the pressing pad on the slot of the rack, and generating a mapping relationship between the pressing pad and the placement position; the rack is arranged on a transfer vehicle; determining the required first pressing pad according to the production requirements and the usage status information; according to the first pressing pad and the mapping relationship, obtaining the first placement position corresponding to the first pressing pad, and then controlling the second automatic gripping device to move to the corresponding position according to the first placement position to take out the first pressing pad. It can be seen that the use of the present application solution can improve the automation level of the overall PCB production process, and is conducive to the automatic gripping of the pressing pad. The present application can be widely used in the field of PCB production process.

Description

Technical Field

[0001] The present application belongs to the technical field of PCB manufacturing process, and in particular to a control system and method for placing and picking up a pressing pad during the manufacturing process of a PCB circuit substrate. Background Art

[0002] In the production process of PCB circuit substrate, multiple layers of copper foil and resin board are pressed together under high temperature and high pressure. During the pressing process, something needs to be placed above and / or below the above materials to act as a buffer to prevent the materials from being crushed. Generally, kraft paperboard was used as a buffer pad in the past, but it is difficult to meet the pressing requirements of high-precision PCB boards. Therefore, high-quality PCB boards now generally use special pressing pads as buffer pads. Such pressing pads are generally made of a mixture of glass fiber and resin rubber.

[0003] With the increasing maturity of automation technology, the production line of PCB circuit substrates - layout, pressing, and disassembly, is basically automated by automated equipment. However, the process of reusing the pressing pad after disassembly is still manually operated, which not only has low work efficiency, but also in the process of transporting the pressing pad to the layout station by the transfer vehicle, the pressing pad is randomly placed on the transfer vehicle, which is not conducive to the automatic clamping and layout of the pressing pad at the layout station. Summary of the invention

[0004] In view of this, the embodiment of the present application provides a pick-and-place control system and method for a pressing pad, so as to facilitate the automatic clamping and arranging of the pressing pad by the panel arrangement station, thereby improving the production efficiency of the PCB circuit substrate.

[0005] A first aspect of an embodiment of the present application provides a method for controlling the placement of a press pad, the method comprising the following steps:

[0006] Obtaining usage status information of the pressing pad;

[0007] After controlling the first automatic gripping device to place the pressing pad on the slot of the storage rack, a mapping relationship between the pressing pad and the placement position is generated; wherein the storage rack is a component for being arranged on the transfer vehicle;

[0008] Determine the required first pressing pad according to the manufacturing requirements and the usage status information;

[0009] After obtaining a first placement position corresponding to the first pressing pad according to the first pressing pad and the mapping relationship, the second automatic gripping device is controlled to move to a corresponding position according to the first placement position to take out the first pressing pad.

[0010] Furthermore, the usage status information includes the number of times the pressing pad has been used, and the step of obtaining the usage status information of the pressing pad includes:

[0011] Using a first card reader to scan information on a first tag chip embedded in the lamination pad; wherein the first card reader is disposed at a discharge port of the automatic lamination system;

[0012] The number of times the pressing pad has been used is determined based on the information obtained by scanning.

[0013] Furthermore, the number of times the pressing pad has been used is determined based on the information obtained by scanning, which is specifically:

[0014] Determine the number of times the first card reader scans the first tag chip according to the information obtained by the scan;

[0015] The number of scans is taken as the number of times the pressing pad has been used.

[0016] Furthermore, the use status information further includes end-of-use time information of the pressing pad, and the step of obtaining the use status information of the pressing pad further includes:

[0017] Obtain the end time information of the pressing process of the automatic pressing system;

[0018] The lamination process end time information is used as the end use time information of the lamination pad.

[0019] Further, the step of determining the required first pressing pad according to the manufacturing requirements and the usage status information includes:

[0020] According to the production requirements of the PCB board to be produced, a second pressing pad that meets the production requirements is selected;

[0021] The pressing pad with the largest number of uses and the earliest end-of-use time information is selected from the second pressing pads as the required first pressing pad.

[0022] Furthermore, according to the first placement position, controlling the second automatic gripping device to move to a corresponding position to take out the first pressing pad comprises:

[0023] According to the first placement position, the second automatic gripping device is controlled to move so that the gripping end of the second automatic gripping device is located above the first placement position, and then the second automatic gripping device is controlled to move downward until the gripping end of the second automatic gripping device grips the first pressing pad.

[0024] Furthermore, the rack is provided with a plurality of slots, and the opening direction of the slots is the direction away from the transfer vehicle.

[0025] Furthermore, the method further comprises the following steps:

[0026] Acquiring pressure signals detected by a plurality of pressure sensing elements, wherein the plurality of pressure sensing elements are respectively arranged at the inner sides of the bottoms of the plurality of slots;

[0027] Whether the grasping operations of the first automatic grasping device and the second automatic grasping device are successful is determined according to the acquired pressure signal.

[0028] A second aspect of an embodiment of the present application provides a pick-and-place control system for a press pad, the system comprising:

[0029] An information collection device, used to collect information on the use status of the pressing pad;

[0030] A first automatic grabbing device is used to grab the pressing pad and place it in a slot on the rack;

[0031] A second automatic gripping device, used to take the pressing pad out of the slot;

[0032] A control system, comprising at least one processor, for executing the steps of implementing the above-mentioned pick-and-place control method for the press pad;

[0033] The information collection device, the first automatic grasping device and the second automatic grasping device are respectively connected to the control system for communication.

[0034] Furthermore, the system also includes a first tag chip and a plurality of pressure sensing elements, the information acquisition device includes a first card reader for scanning the first tag chip, and the first card reader and the plurality of pressure sensing elements are both communicatively connected to the control system.

[0035] Compared with the prior art, the beneficial effects of the embodiments of the present application are as follows: the present solution generates a mapping relationship between the pressing pad and the placement position after placing the pressing pad on the slot of the storage rack by utilizing the first automatic gripping device, and then determines the required first pressing pad according to the manufacturing requirements and the usage status information, and obtains the first placement position corresponding to the first pressing pad according to the first pressing pad and the mapping relationship, and then controls the second automatic gripping device to move to the corresponding position according to the first placement position to take out the first pressing pad. It can be seen that this not only improves the degree of automation of the operation of transferring the pressing pad from the panel disassembly station to the panel arrangement station and improves work efficiency, but the present solution is also configured with a storage rack for placing the pressing pad, and a pressing pad is placed in a slot, so that according to the mapping relationship between the pressing pad and the placement position, the second automatic gripping device can accurately and quickly grab the required pressing pad for use. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A schematic diagram of the system structure of a pick-and-place control system for a press pad provided by the present application is shown;

[0038] Figure 2 A schematic diagram of the steps of a method for controlling the placement of a press pad provided by the present application is shown;

[0039] Figure 3 A schematic structural diagram of a transfer vehicle in a pick-and-place control system for a press pad provided by the present application is shown.

[0040] Illustration: 1. Storage rack; 2. Pressing pad. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described through the implementation method with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0042] In order to facilitate the automatic clamping and arranging of the pressing pads at the panel arrangement station, thereby improving the production efficiency and automation of the PCB circuit substrate, the present application provides a pick-and-place control system and method for the pressing pads.

[0043] Reference Figure 1-3 The present application provides a pick-and-place control system for a press pad, the system includes an information collection device, a first automatic gripping device, a second automatic gripping device, and a control system, wherein the information collection device, the first automatic gripping device, and the second automatic gripping device are respectively connected to the control system for communication. The specific working principle of the information collection device, the first automatic gripping device, the second automatic gripping device, and the control system is described as follows.

[0044] The information collecting device is used to collect the usage status information of the pressing pad.

[0045] Specifically, the usage status information may include the number of times the pressing pad is used, the start time information of the pressing pad, the end time information of the pressing pad, the current elastic state of the pressing pad, etc. Different information collection devices may be used to collect different usage status information. In other words, the device type included in the information collection device may be set according to the actual situation.

[0046] The first automatic grabbing device is used to grab the pressing pad 2 and place it in a slot of the storage rack 1, wherein the storage rack 1 is a component for being arranged on a transfer vehicle.

[0047] Specifically, the first automatic grabbing device is mainly used to grab the pressed pad 2 removed from the panel removal station and place it on the slot of the rack 1 on the transfer vehicle, and one slot corresponds to one pressed pad 2. In this way, according to the corresponding relationship between the pressed pad 2 and the slot where it is placed, the required pressed pad can be quickly grabbed and the panel arrangement operation can be performed later.

[0048] The second automatic grabbing device is used to take the pressing pad 2 out of the slot.

[0049] Specifically, after the transfer vehicle transports the pressing pad 2 from the panel disassembling station to the panel arranging station, the second automatic grabbing control can be used to take the pressing pad 2 out of the slot and place it at the panel arranging station.

[0050] For the first automatic grasping device and the second automatic grasping device, their grasping ends may include at least one grasping structure: the first type is a negative pressure adsorption grasping structure; the second type is a clamp grasping structure. As for which structure to choose to achieve, this can be selected according to actual needs and is not particularly limited here. In addition, for the first and second automatic grasping devices, they can be the same device or different devices.

[0051] The control system includes at least one processor for executing the steps of implementing the pick-and-place control method for the pressing pad. Specifically, the control system may include a PLC (programmable logic controller) and an MES system (manufacturing execution system), wherein the PLC is connected to the MES system for communication, and the information collection device, the first automatic gripping device, and the second automatic gripping device are directly connected to communicate with the PLC or directly connected to communicate with the MES system, which is mainly determined by the specific equipment models and types used by them. Therefore, the connection relationship between the information collection device, the first automatic gripping device, the second automatic gripping device and the PLC and MES system is not specifically limited here.

[0052] For the above-mentioned processors, the number can be at least 2, and at least any step in the above-mentioned method embodiment can be executed, and at least two processors can be connected to each other by communication, not limited to wired or wireless communication connection, and the at least one processor can be connected to the central server of the construction contractor by remote wireless communication to realize remote wireless transmission of data. In addition, the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0053] In one embodiment, the system of the present application also includes a first tag chip and a plurality of pressure sensing elements, the information acquisition device includes a first card reader for scanning the first tag chip, and the first card reader and the plurality of pressure sensing elements are both communicatively connected to the control system.

[0054] Specifically, the first label chip is used to be embedded in the pressing pad 2, and the first card reader is set at the discharge port of the automatic pressing system. It can be seen that when the pressing pad 2 completes the pressing process, it will be sent out of the discharge port of the automatic pressing system. Therefore, when the first card reader at the discharge port can scan the first label chip and obtain the relevant information about the pressing pad stored in the label chip, it means that the pressing pad 2 has been used once, that is, the number of times the label chip is scanned by the card reader can express the number of times the pressing pad 2 is used. By adopting this structure to realize the recognition of the number of times the pressing pad 2 is used, the recognition result is accurate, the structure is simple, and the cost is low.

[0055] In addition, several pressure sensing elements are respectively arranged on the inner sides of the bottoms of several of the slots, that is, a pressure sensing element is arranged on the inner side of the bottom of a slot, so that it is possible to determine whether a pressing pad 2 is placed in the current slot through the pressure information collected by the pressure sensor element, and using this judgment result can help to ensure that the state of the slot to be used is idle during the process of placing the pressing pad in the slot of the rack, that is, the slot in an idle state can be determined according to the pressure information, and then the first automatic grasping device can be controlled to place the pressing pad on the slot in the idle state of the rack, and after the pressing pad is placed on the slot, it is possible to identify whether the first automatic grasping device has successfully placed the pressing pad 2 into the slot (that is, whether the grasping operation of the first automatic grasping device is successful) through the pressure information, and if successful, the pressure sensing element on the slot can detect the pressure signal, otherwise no pressure signal can be detected.

[0056] Similarly, the above judgment results can help identify whether the second automatic grasping device successfully removes the pressing pad 2 from the slot during the process of removing the pressing pad 2 from the slot. That is, when receiving the information of the completion of the grasping action of the second automatic grasping device, whether the pressure sensor of the slot corresponding to the pressing pad grasped by the grasping action still collects the pressure information, if so, it means that the grasping action is abnormal and the pressing pad 2 is not successfully grasped. Otherwise, it means that the grasping action is normal and the pressing pad 2 is successfully grasped and taken out of the slot.

[0057] In one embodiment, if Figure 3 As shown, the rack 1 is provided with a plurality of slots, and the opening direction of the slots is the direction away from the transfer vehicle.

[0058] Specifically, the opening direction of the slot on the storage rack 1 can be horizontal, that is, the opening is opened horizontally to the left or right, so that the pressing pad 2 is inserted into the slot of the storage rack 1 in a horizontal direction for placement. However, this will cause the vibration caused by the transfer vehicle during transportation, which will easily cause the pressing pad 2 to fall out of the slot. In order to avoid this problem, it is necessary to provide a corresponding shielding structure at the slot opening, such as a baffle that can be opened and closed. It can be seen that this not only leads to a complex structure and increased costs, but also increases the execution operation steps of the automatic grasping device in the process of placing and removing the pressing pad. Therefore, in order to avoid the above problems, the opening direction of the slot in this embodiment is the direction away from the transfer vehicle, that is, the opening direction of the slot is upward, so that the pressing pad 2 can be placed in the slot from top to bottom in a vertical direction, and the pressing pad 2 can be taken out of the slot from bottom to top. It can be seen that such a structure is not only convenient for taking and placing the pressing pad 2, but also has a simple structure, and there is no particularly large constraint on the size of the rack. For example, the height value of the rack can be less than the length value of the pressing pad 2. That is to say, when the pressing pad 2 is placed vertically in the slot, the pressing pad 2 will be higher than the top surface of the slot, and such a structure will not cause any adverse effects on the stable transportation of the pressing pad 2, that is, the pressing pad 2 is not easy to fall out of the slot. It can be seen that the structural setting of the rack 1 in this embodiment is not only low in cost, but also highly safe and stable in use.

[0059] Reference Figure 2 Based on the above system structure, the control system includes at least one processor, which is used to execute the steps of the pick-and-place control method for the pressing pad, which are specifically shown as follows.

[0060] S1. Obtaining usage status information of a pressing pad.

[0061] Specifically, the usage status information of the pressing pad includes the number of times the pressing pad 2 has been used and the end time of use. For these two types of usage status information, the specific steps of obtaining them are as follows.

[0062] ①. When the usage status information includes the number of times the pressing pad 2 has been used, the step S1 specifically includes:

[0063] S101, using a first card reader to scan information on a first tag chip embedded in the lamination pad 2; wherein the first card reader is disposed at a discharge port of an automatic lamination system;

[0064] S102: Determine the number of times the pressing pad has been used according to the information obtained by scanning.

[0065] The step S102 specifically includes: determining the number of times the first card reader scans the first tag chip according to the information obtained by scanning; and using the number of times the pressing pad has been used.

[0066] ②, when the usage status information also includes the end-of-use time information of the pressing pad 2, the step S1 further includes:

[0067] S103, obtaining the end time information of the pressing process of the automatic pressing system;

[0068] S104, using the lamination process end time information as the lamination pad end use time information.

[0069] Specifically, since the pressing pad 2 itself has a certain elasticity, it will produce a certain deformation when it is performing the pressing process. However, after the pressing work is completed, the pressing pad 2 will no longer be compressed. At this time, based on its own elastic recovery ability, it can rebound and recover. Taking into account that the rebound recovery takes a certain amount of time, and to avoid the high-frequency use of the pressing pad, which causes its service life to be rapidly shortened, in the process of recycling the pressing pad, the pressing pad with the largest working time interval will be preferentially selected to work. The working time interval refers to the time difference between the time node when the pressing pad is transferred to the layout station again and the time node when the pressing process ends. The larger the time difference, the longer the time since the last work of the pressing pad, and the better the current state of the pressing pad has recovered. Then, using such a pressing pad for the second pressing work can better guarantee the quality of the pressing.

[0070] S2. After controlling the first automatic gripping device to place the pressing pad on the slot of the storage rack, a mapping relationship between the pressing pad and the placement position is generated; wherein the storage rack is a component for being arranged on the transfer vehicle.

[0071] Specifically, the step S2 may include:

[0072] S201. When the number of times the pressing pad has been used is greater than the preset number of times, control the first automatic gripping device to place the pressing pad in a first area. The first area can be understood as a discarding area, that is, the pressing pad 2 located here needs to be discarded.

[0073] The above-mentioned preset number of uses refers to the maximum number of uses of the pressing pad 2, which can be understood as its life span. When the pressing pad 2 has been used more than the maximum number of uses, the pressing pad needs to be eliminated, otherwise it can continue to be used.

[0074] S202: When the number of times the press pad has been used is less than or equal to the preset number of times, the first automatic gripping device is controlled to place the press pad on the slot of the rack, and then a mapping relationship between the press pad and the placement position is generated. It can be seen that the mapping relationship includes the basic information of the press pad (such as model, identification ID, etc.) and the identification ID of the slot where the press pad is located (such as ID 7, which indicates the 7th slot), so that when the press pad is placed in the appropriate slot, the basic information of the slot and the basic information of the corresponding press pad will be stored in the corresponding storage location, and their mapping relationship will be constructed.

[0075] Finally, when all the pressing pads are placed in the corresponding slots, the transfer vehicle transports them to the panel arrangement station and then performs the following steps.

[0076] S3. When the transfer vehicle is located near the panel arrangement station, the required first pressing pad is determined according to the production requirements and the usage status information.

[0077] Specifically, step S3 includes the following sub-steps.

[0078] S301, according to the manufacturing requirements of the PCB board to be manufactured, select the second pressing pad that meets the manufacturing requirements.

[0079] Specifically, different types of PCB boards to be manufactured require pressing pads of different thicknesses and specifications. Therefore, the pressing pads on the transfer vehicle are first screened according to the manufacturing requirements of the PCB boards to be manufactured, and the corresponding second pressing pads are selected.

[0080] S302: Select from the second pressing pads the pressing pad with the largest number of uses and the earliest end-of-use time information as the required first pressing pad.

[0081] Specifically, the pressing pads that have been used the most times are preferentially selected for use, so that the pressing pads that are about to reach the end of their service life can be used first, and the pressing pads that are about to reach the end of their service life can be used up first and discarded after use. It can be seen that this reduces the storage space required for the pressing pads while ensuring the use needs.

[0082] Then, when there are at least two alternative pressing pads in the second pressing pad, and the number of times these at least two alternative pressing pads have been used is the largest and the same, then at this time, the pressing pad with the earliest end of use time information is selected from the at least two alternative pressing pads, that is, the pressing pad with the longest time from the last working time is selected, because in comparison, the selected pressing pad is in the best condition.

[0083] It can be seen that the above selection method can achieve the purpose of reasonable use of resources and ensure the quality of pressing. Of course, it should be noted that the above selection method for the number of times of use and the end of use time information can also be set accordingly according to the different needs of different manufacturers, and will not be elaborated here.

[0084] S4. After obtaining a first placement position corresponding to the first pressing pad according to the first pressing pad and the mapping relationship, control the second automatic grasping device to move to a corresponding position according to the first placement position to take out the first pressing pad.

[0085] Specifically, if the first placement position is directly used as the destination position, the gripping end of the automatic gripping device is likely to touch the storage rack, and there is not enough space for the gripping end to rotate so that it can vertically grasp the pressing pad downward (because the pressing pad is placed vertically, so when grasping, it should move vertically downward until it touches the pressing pad and then grasp it). It can be seen that according to the first placement position, the step of controlling the second automatic gripping device to move to the corresponding position and then taking out the first pressing pad specifically includes:

[0086] According to the first placement position, the second automatic gripping device is controlled to move so that the gripping end of the second automatic gripping device is located above the first placement position, and then the second automatic gripping device is controlled to move downward until the gripping end of the second automatic gripping device grips the first pressing pad.

[0087] It can be seen that the area above the first placement position, that is, above the slot, is used as the destination position, which ensures that the automatic gripping device will not touch the rack when it moves to the destination position, and has enough space to rotate the gripping end of the automatic gripping device to the corresponding position so that it can grip the pressing pad vertically downward, thereby improving the effectiveness and safety of gripping.

[0088] In one embodiment, the method of this solution further includes the following steps:

[0089] S5, obtaining pressure signals detected by a plurality of pressure sensing elements, wherein the plurality of pressure sensing elements are respectively arranged at the inner sides of the bottoms of the plurality of slots;

[0090] S6. Determine whether the grasping operations of the first automatic grasping device and the second automatic grasping device are successful according to the acquired pressure signal.

[0091] Specifically, during step S2, after controlling the first automatic gripping device to place the pressing pad on the slot of the storage rack, it can be determined whether the pressing pad 2 has been successfully placed on the corresponding slot based on the obtained pressure signal (because if the gripping operation of the first automatic gripping device is successful, the pressure sensing element on the slot can detect the pressure information, otherwise, if no pressure information is detected, it means that the gripping operation of the first automatic gripping device is unsuccessful). When it is determined that the gripping operation of the first automatic gripping device is successful, the mapping relationship between the pressing pad and the placement position can be generated and the subsequent steps can be executed.

[0092] Similarly, during step S4, after obtaining the first placement position corresponding to the first pressing pad according to the first pressing pad and the mapping relationship, the second automatic grasping device is controlled to move to the corresponding position according to the first placement position to take out the first pressing pad; then, it is determined whether the pressing pad 2 has been successfully taken out according to the obtained pressure signal (because if the grasping operation of the second automatic grasping device is successful, the pressure sensing element on the slot should not be able to detect pressure information, or the pressure value of the detected pressure information is less than the pressure threshold; otherwise, if a pressure signal is detected, or a pressure signal greater than the pressure threshold is detected, it indicates that the grasping operation of the second automatic grasping device is unsuccessful, and the pressing pad 2 is still in the slot). If successful, it indicates that the grasping operation of the second automatic grasping device is completed; otherwise, it is necessary to control the second automatic grasping device to perform the grasping operation again, or directly send an early warning signal to the staff.

[0093] In summary, it can be seen that by using this solution, the required pressing pad can be accurately and quickly grasped for use, which can improve the automation level and work efficiency of the entire PCB manufacturing process.

[0094] In addition, the present application also provides a computer-readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the above method embodiment.

[0095] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0096] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0097] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for controlling the placement of a press pad, characterized in that: The method comprises the following steps: Obtaining usage status information of the pressing pad; After controlling the first automatic gripping device to place the pressing pad on the slot of the storage rack, a mapping relationship between the pressing pad and the placement position is generated; wherein the storage rack is a component for being arranged on the transfer vehicle; Determine the required first pressing pad according to the manufacturing requirements and the usage status information; After obtaining a first placement position corresponding to the first pressing pad according to the first pressing pad and the mapping relationship, the second automatic grasping device is controlled to move to a corresponding position according to the first placement position to take out the first pressing pad; The usage status information includes the number of times the pressing pad has been used and the end time information of the pressing pad; the obtaining of the usage status information of the pressing pad includes: Using a first card reader to scan information on a first tag chip embedded in the pressing pad; Determining the number of times the pressing pad has been used based on the information obtained by scanning; Obtain the end time information of the pressing process of the automatic pressing system; Using the end time information of the laminating process as the end time information of the laminating pad; The method of determining the required first pressing pad according to the manufacturing requirements and the usage status information includes: According to the production requirements of the PCB board to be produced, a second pressing pad that meets the production requirements is selected; Selecting from the second pressing pads the pressing pad with the most usage times and the earliest end-of-use time information as the required first pressing pad; The rack is provided with a plurality of slots, the opening direction of the slots is the direction away from the transfer vehicle; one slot corresponds to one pressing pad; According to the first placement position, controlling the second automatic grabbing device to move to a corresponding position to take out the first pressing pad comprises: According to the first placement position, controlling the second automatic gripping device to move so that the gripping end of the second automatic gripping device is located above the first placement position, and then controlling the second automatic gripping device to move vertically downward until the gripping end of the second automatic gripping device grips the first pressing pad; The method further comprises the following steps: Acquiring pressure signals detected by a plurality of pressure sensing elements, wherein the plurality of pressure sensing elements are respectively arranged at the inner sides of the bottoms of the plurality of slots; Whether the grasping operations of the first automatic grasping device and the second automatic grasping device are successful is determined according to the acquired pressure signal.

2. The method according to claim 1, characterized in that The first card reader is arranged at the discharge port of the automatic pressing system.

3. The method according to claim 2, characterized in that The number of times the pressing pad has been used is determined based on the information obtained by scanning, which is specifically: Determine the number of times the first card reader scans the first tag chip according to the information obtained by the scan; The number of scans is taken as the number of times the pressing pad has been used.

4. A pick-and-place control system for a press pad, characterized in that: The system includes: An information collection device, used to collect information on the use status of the pressing pad; A first automatic grabbing device is used to grab the pressing pad and place it in a slot on the rack; A second automatic gripping device, used to take the pressing pad out of the slot; A control system, comprising at least one processor, for executing the steps of implementing the method according to any one of claims 1 to 3; The information collection device, the first automatic grasping device and the second automatic grasping device are respectively connected to the control system for communication.

5. The system according to claim 4, characterized in that The system also includes a first tag chip and a plurality of pressure sensing elements. The information acquisition device includes a first card reader for scanning the first tag chip. The first card reader and the plurality of pressure sensing elements are both communicatively connected to the control system.

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