Cooperative positioning system and positioning method of integrated circuit board cooperative unit

Abstract

The invention discloses a cooperative positioning system and method for an integrated circuit cooperative unit, and relates to the field of cooperative positioning, and the method comprises the steps: S1, a circuit board is fed into a positioning groove, the size of the positioning groove is gradually reduced in the vertical direction close to a positioning workbench, and the minimum size of the positioning groove is matched with the size of the circuit board; s2, carrying out cooperative positioning on the circuit board; the longitudinal positioning shaft moves downwards to be in contact with the circuit board and is matched with horizontal vibration of the vibration positioning seat, so that the circuit board can only move towards the bottom of the positioning groove and can quickly and accurately move to the bottom of the positioning groove, and cooperative positioning of the circuit board is completed; s3, coordinates of welding point positions on the circuit board are determined; s4, the positioned circuit board is moved out of the positioning groove through an arm of a feeding and discharging robot, so that the circuit board is in a suspended state; and S5, the component is welded to the circuit board according to the coordinates of the to-be-welded point positions, and it is ensured that the circuit board is rapidly and accurately returned to the bottom of the positioning groove.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of cooperative positioning, in particular to a cooperative positioning system and method for integrated circuit cooperative units. BACKGROUND

[0002] With the vigorous development of integrated circuit manufacturing industry, electronic products are constantly evolving towards miniaturization, high integration and high reliability, which puts increasingly stringent requirements on the production precision and efficiency of integrated circuit boards. As the core carrier of integrated circuits, the welding quality of the surface components of the circuit board directly determines the performance and reliability of the integrated circuit, and the prerequisite for the welding quality is the accurate positioning of the circuit board and component welding points. Therefore, as a key link in the production process of integrated circuits, the positioning speed, accuracy and cooperation ability with other processes of the positioning process become the core factors restricting the overall production efficiency and product quality.

[0003] Currently, traditional integrated circuit positioning technology generally has problems such as low positioning efficiency, insufficient accuracy and poor cooperation. In terms of positioning method, most traditional systems use static positioning or single-direction mechanical limiting, and realize circuit board positioning through manual auxiliary calibration or simple mechanical pushing. Not only is the positioning process time-consuming, but it is also easily affected by factors such as the size deviation of the circuit board itself and the surface flatness, making it difficult to guarantee the positioning accuracy and meet the welding needs of high-precision components. The welding failure rate caused by positioning deviation is high.

[0004] In terms of cooperative work, the traditional positioning system lacks effective linkage mechanism with loading and unloading, welding and other processes. After the positioning mechanism completes the positioning of a circuit board, it needs to wait for the loading and unloading equipment to move it away before positioning the next circuit board. There is a long waiting interval between the positioning process and the loading and unloading process. At the same time, the coordinate transfer accuracy of the positioned circuit board is insufficient, and the loading and unloading equipment is prone to horizontal position deviation during the transfer of the circuit board, which requires the welding robot arm to re-identify the welding points, further prolonging the production cycle. This serial operation mode of "positioning-waiting-transfer-repositioning" causes the equipment of each unit to be frequently idle, the continuity of the production process is poor, and the overall production efficiency is seriously restricted. SUMMARY

[0005] The purpose of the present application is to overcome the shortcomings of the prior art and provide a cooperative positioning system and method for integrated circuit cooperative units to solve the problems of the prior art.

[0006] The purpose of the present application is achieved by the following technical solution: a cooperative positioning method for integrated circuit cooperative units, comprising the following steps:

[0007] S1, circuit board feeding; a circuit board feeding box and a discharging conveying belt are arranged on one side of the positioning workbench, a feeding and discharging robot arm takes out the circuit board positioned in the positioning groove, and another feeding and discharging robot arm puts the circuit board in the circuit board feeding box into the positioning groove of the vibrating positioning seat, the size of the positioning groove gradually decreases along the vertical direction close to the positioning workbench, and the smallest size of the positioning groove matches the size of the circuit board;

[0008] S2, cooperative positioning of the circuit board; the longitudinal positioning shaft moves downward to contact the circuit board, the longitudinal positioning shaft can only move downward and cannot move upward, and the horizontal vibration of the vibrating positioning seat enables the circuit board to only move to the bottom of the positioning groove, the longitudinal positioning shaft moves with the circuit board under its own gravity, keeps one longitudinal positioning shaft contacting the circuit board for longitudinal limiting at all times, enables the circuit board to quickly and accurately move to the bottom of the positioning groove, and completes the cooperative positioning of the circuit board;

[0009] S3, determining the coordinates of the welding points on the circuit board; after the positioning of the circuit board is completed, the vibrating positioning seat is reset, the position coordinates of the vibrating positioning seat are determined, the sizes of the welding points of each component on the circuit board are known, the coordinates of the welding points of each component on the circuit board can be calculated based on the vibrating positioning seat as a reference, and a welding operation path is planned according to the coordinates of the welding points;

[0010] S4, the positioned circuit board is removed from the positioning groove by a feeding and discharging robot arm, so that the circuit board is in a suspended state, in the process of removing the circuit board, the feeding and discharging robot arm only drives the circuit board to move in the vertical direction, ensures that the coordinates of the circuit board in the horizontal direction do not change, the running height of the circuit board in the vertical direction is known, the coordinates of the circuit board in the suspended state are known, and the coordinates of the to-be-welded points on the suspended circuit board are obtained in combination with the coordinates of the welding points;

[0011] S5, welding components on the circuit board according to the coordinates of the to-be-welded points.

[0012] The application discloses a cooperative positioning system of an integrated circuit cooperative unit, adopts the cooperative positioning method of the integrated circuit cooperative unit, and comprises a positioning workbench, an upper and lower material cooperative unit and a cooperative positioning unit which are arranged on the positioning workbench.

[0013] Further, the longitudinal positioning seat is provided with an inner cavity, a synchronous plate is arranged in the inner cavity, the four longitudinal positioning shafts are connected with the synchronous plate by penetrating into the inner cavity, a first air cylinder is vertically arranged below the synchronous plate, the first air cylinder is arranged in the inner cavity, and the first air cylinder is used for lifting the synchronous plate upward to reset; a distance sensor is arranged on the inner bottom wall of the inner cavity, the distance sensor is used for judging whether the circuit board is positioned by detecting the position height of the synchronous plate, a support is arranged on the positioning workbench, a third air cylinder is horizontally arranged on the top of the support, and the third air cylinder is connected with the longitudinal positioning seat.

[0014] Further, the inner cavity is provided with an anti-backmoving mechanism, the anti-backmoving mechanism comprises a rack, a first anti-backmoving shaft and a second anti-backmoving shaft, the rack is vertically fixed on the top of the synchronous plate, the first anti-backmoving shaft and the second anti-backmoving shaft are rotatably connected with the longitudinal positioning seat, a gear and an anti-backmoving ratchet wheel are fixedly arranged on the first anti-backmoving shaft, the gear is engaged with the rack, an anti-backmoving pawl is rotatably arranged on the second anti-backmoving shaft, a reset spring is arranged on the second anti-backmoving shaft, two ends of the reset spring are connected with the anti-backmoving pawl and the longitudinal positioning seat respectively, an arc-shaped end of the anti-backmoving pawl is connected with a pawl spring, one end of the pawl spring away from the anti-backmoving pawl is connected with the longitudinal positioning seat, under the joint action of the reset spring and the pawl spring, the anti-backmoving pawl is adapted to the ratchet groove of the anti-backmoving ratchet wheel, so as to limit the upward movement of the synchronous plate, a second air cylinder is arranged on the side wall of the longitudinal positioning seat, and the anti-backmoving pawl is located on the movement path of the second air cylinder.

[0015] Further, the top of the positioning workbench is provided with a positioning sliding groove along the length direction of the positioning workbench, the positioning sliding groove is slidably provided with a positioning sliding seat, the vibration positioning seat is installed on the positioning sliding seat through screws, one end of the positioning sliding seat is provided with a driving mechanism, and the driving mechanism is used for reciprocating the positioning sliding seat along the length direction of the positioning sliding groove to generate vibration.

[0016] Further, the top of the positioning workbench is provided with a positioning sliding groove along the length direction of the positioning workbench, the positioning sliding groove is slidably provided with a positioning sliding seat, the vibration positioning seat is installed on the positioning sliding seat through screws, one end of the positioning sliding seat is provided with a driving mechanism, and the driving mechanism is used for reciprocating the positioning sliding seat along the length direction of the positioning sliding groove to generate vibration.

[0017] Further, the driving mechanism further comprises a driving cam, a switching rod and a driving push rod, one end of the collision shaft extending into the driving inner cavity is fixed with a spring mounting disc, the first spring is sleeved on the collision shaft, two ends of the first spring are connected with the positioning workbench and the spring mounting disc respectively, the bearing seat is fixed in the driving inner cavity, the switching rod is slidably arranged on the bearing seat, the switching rod has the freedom of moving along the width direction of the positioning slide, the driving push rod is slidably arranged on the switching rod, the driving push rod alternatively pushes the two collision shafts to impact the positioning slide, one end of the driving push rod away from the collision shaft penetrates through the switching rod and is connected with the mounting disc, the second spring is sleeved on the driving push rod, two ends of the second spring are connected with the mounting disc and the switching rod respectively, the driving main shaft is rotatably arranged in the driving inner cavity, the driving cam is fixedly sleeved on the driving main shaft, two annular notch grooves are formed in the side wall of the driving cam, the annular notch grooves extend along the circumferential direction of the driving cam and form notches at the near heart end of the driving cam, the two annular notch grooves correspond to the two collision shafts respectively, the first inclined guide groove and the second inclined guide groove are formed in the side wall of the near heart end of the driving cam, one end of the first inclined guide groove is connected with one end of the notch of one annular notch groove, the other end of the first inclined guide groove is connected with the other end of the notch of the other annular notch groove, one end of the second inclined guide groove is connected with the other end of the notch of one annular notch groove, the other end of the second inclined guide groove is connected with one end of the notch of the other annular notch groove, the first inclined guide groove and the second inclined guide groove are arranged in X shape, the mounting disc is rotatably connected with the guide piece, the guide piece is slidably arranged in the annular notch groove, the side wall of the positioning workbench is provided with the servo motor, and the output shaft of the servo motor is drivingly connected with the driving main shaft.

[0018] Further, the positioning workbench is further provided with a component welding machine set, the component welding machine set comprises a component feeding robot arm and a welding robot arm, the component feeding robot arm is used for feeding components onto the circuit board, and the welding robot arm is used for welding the components fed by the component feeding robot arm on the circuit board.

[0019] Further, the execution end of the feeding and discharging robot arm is provided with a motion switching assembly, the motion switching assembly comprises a mounting seat and a rotary switching plate, the mounting seat is fixed on the execution end of the feeding and discharging robot arm, the rotary switching plate is rotatably arranged on the mounting seat, and the negative pressure suction disc and the finger air cylinder are respectively mounted on the upper and lower end faces of the rotary switching plate.

[0020] Further, the rotating switch plate is fixed with a switch shaft at one end close to the mounting base, the switch shaft is rotatably connected with the mounting base through a bearing, the axis of the switch shaft is horizontally arranged, the mounting base is provided with a switch cavity, one end of the switch shaft penetrates into the switch cavity and is connected with a driven gear, a speed reducer motor is mounted on the mounting base, the output shaft of the speed reducer motor is connected with a driving gear, and the driving gear meshes with the driven gear.

[0021] The beneficial effects of the present application are:

[0022] 1. The cooperative positioning method of the integrated circuit cooperative machine group adopts a cooperative positioning method of a vibration positioning seat and a longitudinal positioning shaft, the vibration positioning seat provides horizontal driving force for the circuit board through horizontal reciprocating vibration, cooperates with the gradually decreasing size design of the positioning groove in the vertical direction, guides the circuit board to move to the bottom of the positioning groove, and the longitudinal positioning shaft is always in contact with the circuit board under the action of its own gravity, and in the cooperative positioning process, the longitudinal positioning shaft can only move downward and cannot move back due to vibration, thereby forming longitudinal limiting of the circuit board; the double positioning mechanism of "horizontal vibration + longitudinal limiting" ensures that the circuit board is quickly and accurately returned to the bottom of the positioning groove, the accurate positioning provides a reliable reference for subsequent determination of the soldering point coordinate, significantly reduces the soldering failure rate caused by positioning deviation, and guarantees the stability of product quality.

[0023] 2. The system adopts an alternating work mode of double upper and lower feeding robot arms, one robot arm can complete the feeding of the last circuit board while the other robot arm can simultaneously perform the feeding operation of the next circuit board, thereby breaking the traditional serial process limitation of "feeding - waiting - discharging", and greatly shortening the interval time of the feeding and discharging links. In the welding process, when the component feeding robot arm and the welding robot arm cooperate, the idle upper and lower feeding robot arm can complete the feeding and positioning action of the next circuit board in advance, so that the positioning process and the welding process are processed in parallel. This "welding - positioning" synchronous mode converts the idle time of the equipment in the traditional production into effective working time, significantly improves the continuous operation capacity of the overall production line, and greatly improves the production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 The flowchart of the cooperative positioning method of the integrated circuit cooperative machine group of the present application;

[0025] Figure 2 The structural schematic diagram of the cooperative positioning system of the integrated circuit cooperative machine group of the present application;

[0026] Figure 3 The structural schematic diagram of the positioning workbench in the cooperative positioning system of the integrated circuit cooperative machine group of the present application;

[0027] Figure 4It is the internal structure diagram of longitudinal positioning seat in the cooperative positioning system of the integrated circuit cooperative machine group of the application;

[0028] Figure 5 It is Figure 3 the enlarged view at A in the figure;

[0029] Figure 6 It is the front view of the positioning workbench in the cooperative positioning system of the integrated circuit cooperative machine group of the application;

[0030] Figure 7 It is Figure 6 the sectional view along A-A in the figure;

[0031] Figure 8 It is Figure 7 the enlarged view at B in the figure;

[0032] Figure 9 It is the structure diagram of the driving cam in the cooperative positioning system of the integrated circuit cooperative machine group of the application;

[0033] Figure 10 It is the structure diagram of the action switching assembly in the cooperative positioning system of the integrated circuit cooperative machine group of the application;

[0034] Figure 11 It is the top view of the positioning workbench in the cooperative positioning system of the integrated circuit cooperative machine group of the application;

[0035] Figure 12 It is Figure 11 the sectional view along B-B in the figure;

[0036] Figure 13 It is Figure 12 the enlarged view at C in the figure; DETAILED DESCRIPTION

[0037] The technical scheme of the application will be described in further detail below in combination with the drawings, but the protection scope of the application is not limited to the following description.

[0038] Example one

[0039] As Figure 1 shown, a cooperative positioning method of integrated circuit cooperative machine group, comprising the following steps:

[0040] S1, circuit board feeding; a circuit board feeding box and a discharging conveying belt are arranged on one side of the positioning workbench 1, a positioning slot 3 in which the positioning is completed is taken out by one of the feeding and discharging robot arms 4, and the other feeding and discharging robot arm 4 puts the circuit board in the circuit board feeding box into the positioning slot 3 of the vibration positioning seat 2, the size of the positioning slot 3 gradually decreases along the vertical direction close to the positioning workbench 1, and the smallest size of the positioning slot 3 matches the size of the circuit board;

[0041] S2, coordinate positioning of the circuit board; the longitudinal positioning shaft 16 moves downward to contact the circuit board, and the longitudinal positioning shaft 16 can only move downward and cannot move upward, and the horizontal vibration of the vibration positioning seat 2 makes the circuit board only move to the bottom of the positioning groove 3, the longitudinal positioning shaft 16 moves following the circuit board under its own gravity, and one longitudinal positioning shaft 16 always contacts the circuit board to limit the longitudinal direction, so that the circuit board can quickly and accurately move to the bottom of the positioning groove 3, and the coordinate positioning of the circuit board is completed;

[0042] S3, determining the coordinates of the welding points on the circuit board; after the positioning of the circuit board is completed, the vibration positioning seat 2 is reset, the position coordinates of the vibration positioning seat 2 are determined, the sizes of the welding points of each component on the circuit board are known, and the coordinates of the welding points of each component on the circuit board can be calculated based on the vibration positioning seat 2 as a reference, and the welding operation path is planned according to the coordinates of the welding points;

[0043] S4, the circuit board positioned in the positioning groove 3 is removed by an upper and lower material loading and unloading robot arm 4, so that the circuit board is in a suspended state, and in the process of removing the circuit board, the upper and lower material loading and unloading robot arm 4 only drives the circuit board to move in the vertical direction, ensures that the coordinates of the circuit board in the horizontal direction do not change, and the running height of the circuit board in the vertical direction is known, so that the coordinates of the circuit board in the suspended state are known, and the coordinates of the to-be-welded points on the suspended circuit board can be obtained in combination with the coordinates of the welding points;

[0044] S5, welding components on the circuit board according to the coordinates of the to-be-welded points.

[0045] Through the cooperative operation method of horizontal vibration and longitudinal limiting, the movement of the circuit board under vibration is guided, the circuit board gradually moves to the bottom of the positioning groove 3, and the positioning accuracy of the circuit board is not affected by being lifted. Since the bottom of the positioning groove 3 matches the size and shape of the circuit board, the position of the circuit board can be positioned.

[0046] Example two

[0047] As Figures 2 to 13As shown, a cooperative positioning system of an integrated circuit cooperative unit adopts the cooperative positioning method of the integrated circuit cooperative unit, and is used for completing rapid positioning of a circuit board. The cooperative positioning system comprises a positioning workbench 1, an upper and lower material cooperative unit arranged on the positioning workbench 1, and a cooperative positioning unit. The upper and lower material cooperative unit comprises two upper and lower material robot arms 4 oppositely arranged on the positioning workbench 1. The cooperative positioning unit comprises a vibrating positioning seat 2, a longitudinal positioning seat 15, and longitudinal positioning shafts 16. The vibrating positioning seat 2 is slidingly arranged on the positioning workbench 1. The vibrating positioning seat 2 can reciprocate in a horizontal direction to generate vibration. A positioning groove 3 is arranged on the top of the vibrating positioning seat 2. The size of the positioning groove 3 gradually decreases in a vertical direction close to the positioning workbench 1. The minimum size of the positioning groove 3 matches the size of the circuit board. The longitudinal positioning seat 15 is arranged above the vibrating positioning seat 2. The longitudinal positioning seat 15 has a moving degree of freedom in the horizontal direction. The longitudinal positioning seat 15 can move to the position directly above the vibrating positioning seat 2. Four longitudinal positioning shafts 16 are slidingly arranged on the bottom of the longitudinal positioning seat 15. The four longitudinal positioning shafts 16 correspond to the positions of four corners of the minimum size of the positioning groove 3 respectively. The four longitudinal positioning shafts 16 synchronously move downward under the action of their own gravity. The circuit board is gradually positioned to the bottom of the positioning groove 3 under the horizontal vibration of the vibrating positioning seat 2 and the longitudinal contact limiting of the longitudinal positioning shafts 16. The cooperative positioning method of the vibrating positioning seat 2 and the longitudinal positioning shafts 16 is adopted. The vibrating positioning seat 2 provides a driving force in the horizontal direction for the circuit board through horizontal reciprocating vibration. The size of the positioning groove 3 gradually decreases in the vertical direction, which guides the circuit board to move to the bottom of the positioning groove 3. The longitudinal positioning shafts 16 are always in contact with the circuit board under the action of their own gravity. In the process of cooperative positioning, the longitudinal positioning shafts 16 can only move downward and cannot move back due to vibration, thereby forming longitudinal limiting of the circuit board. The double positioning mechanism of “horizontal vibration + longitudinal limiting” ensures that the circuit board is quickly and accurately returned to the bottom of the positioning groove 3, prevents the circuit board from moving upward and being warped under the action of vibration, accurately positions the circuit board to provide a reliable reference for subsequent determination of a welding point coordinate, significantly reduces a welding failure rate caused by positioning deviation, and ensures stability of product quality.

[0048] Embodiment three

[0049] On the basis of embodiment two, as Figure 2 and Figure 3As shown, the positioning workbench 1 is further provided with a component welding machine group, the component welding machine group comprises a component feeding robot arm 9 and a welding robot arm 10, the component feeding robot arm 9 is used for feeding components onto the circuit board, and the welding robot arm 10 is used for welding the components fed by the component feeding robot arm 9 on the circuit board. The execution end of the feeding and discharging robot arm 4 is provided with an action switching assembly, the action switching assembly comprises a mounting seat 5 and a rotary switching plate 6, the mounting seat 5 is fixed on the execution end of the feeding and discharging robot arm 4, and the rotary switching plate 6 is rotationally arranged on the mounting seat 5. The upper and lower end faces of the rotary switching plate 6 are respectively provided with a negative pressure suction cup 7 and a finger cylinder 8. The circuit boards to be welded are stacked in a circuit board feeding box, and the circuit board feeding box and the discharging conveying belt are respectively close to the two feeding and discharging robot arms. When the robot system operates cooperatively, the circuit board in the circuit board feeding box is first taken out by one of the feeding and discharging robot arms 4, and the circuit board is adsorbed and placed into the positioning groove 3 of the vibration positioning seat 2 by the negative pressure suction cup 7. The vibration positioning seat 2 performs reciprocating linear motion to generate vibration, and the positioning of the circuit board is completed by matching the gradually changing size of the positioning groove 3. Since the coordinate position of the vibration positioning seat 2 is determined in the normal state, and the sizes of the welding points on the circuit board are designed with one side of the circuit board as a reference, the coordinates of the welding points on the circuit board are determined according to the coordinates of the vibration positioning seat 2. After positioning, the circuit board is taken up by the negative pressure suction cup 7 of one of the feeding and discharging robot arms 4, so that the circuit board is in a suspended state. At this time, the feeding and discharging robot arm 4 only drives the circuit board to move in the vertical direction, so as to ensure that the coordinates of the circuit board in the horizontal direction are unchanged. The taking-up operation height of the circuit board is known, so that the coordinates of the circuit board in the suspended state are known. The finger cylinder 8 of the other feeding and discharging robot arm 4 is switched to the working state, the suspended circuit board is clamped by the finger cylinder 8, and the previous feeding and discharging robot arm 4 is separated from the circuit board, so that the circuit board is in a suspended state by clamping. The stability of the circuit board is ensured by clamping, so as to ensure that the circuit board does not deviate during the welding process of the components. The component feeding robot arm 9 clamps the components and places them on the specified welding hole position of the circuit board, and the welding robot arm 10 cooperates with the feeding components to weld the components. In the process of welding the components on the circuit board, the idle feeding and discharging robot arm 4 feeds the next circuit board into the positioning groove 3 of the vibration positioning seat 2, and the next circuit board is pre-positioned. The traditional serial process of "feeding-waiting-discharging" is completely broken, and the interval time of the feeding and discharging link is greatly shortened. In the welding process, when the component feeding robot arm and the welding robot arm cooperate, the idle feeding and discharging robot arm can complete the feeding and positioning of the next circuit board in advance, so that the positioning process and the welding process are realized in parallel.This "welding-positioning" synchronous mode converts the idle time of the equipment in the traditional production into effective operation time, significantly improves the continuous operation ability of the overall production line, and greatly improves the production efficiency. After the component welding is completed, the circuit board is discharged on the discharging conveyor belt, and the above process is repeated to realize the batch of circuit board components.

[0050] Further, as shown in Figures 2 to 10 The switching shaft 38 is fixed at one end of the rotating switching plate 6 close to the mounting seat 5, the switching shaft 38 is rotatably connected to the mounting seat 5 through a bearing, the axis of the switching shaft 38 is horizontally arranged, the mounting seat 5 is provided with a switching cavity 39, one end of the switching shaft 38 penetrates into the switching cavity 39 and is connected with a driven gear 40, a speed reducer motor 41 is installed on the mounting seat 5, the output shaft of the speed reducer motor 41 is connected with a driving gear 42, the driving gear 42 engages with the driven gear 40, and the speed reducer motor 41 drives the switching shaft 38 to rotate through the engagement of the driving gear 42 and the driven gear 40, so that the negative pressure suction cup 7 is rotated to the lower position to be in the working state, or the finger air cylinder 8 is rotated to the lower position to be in the working state, and the action switching of the circuit board negative pressure adsorption and discharging and the circuit board clamping can be performed.

[0051] Further, as shown in Figures 2 to 13 The positioning workbench 1 is provided with a jacking cavity 32, the jacking cavity 32 is provided with a jacking mechanism, the jacking mechanism includes a jacking cylinder 33 and a jacking plate 34, the jacking cylinder 33 is vertically installed on the positioning workbench 1, the jacking cylinder 33 is connected with the jacking plate 34 through an extension shaft, the top of the jacking plate 34 is provided with a plurality of negative pressure holes 35, the jacking plate 34 is provided with a negative pressure cavity 36, the negative pressure holes 35 are communicated with the negative pressure cavity 36, the bottom of the positioning groove 3 is provided with a through hole 37 communicated with the jacking cavity 32, and the jacking plate 34 extends out of the through hole 37 to jack up the circuit board. Since the circuit board is positioned at the bottom of the positioning groove 3 and the finger air cylinder 8 horizontally clamps the circuit board, the finger air cylinder 8 cannot clamp the circuit board in the positioning groove 3. Therefore, when the positioning of the circuit board is completed, the jacking cylinder 33 drives the jacking plate 34 to move upward, the jacking plate 34 and the negative pressure suction cup 7 are both connected with a negative pressure device such as a negative pressure pump through a pipeline, the jacking plate 34 adsorbs the circuit board through negative pressure after contacting the circuit board, thereby preventing the circuit board from deviating, the jacking plate 34 jacks out the circuit board from the positioning groove 3, then the finger air cylinder 8 of one of the discharging robot arms 4 clamps the circuit board, so that the circuit board is in a suspended state, the component feeding robot arm 9 is convenient to feed above the circuit board, and the welding robot arm 10 is convenient to weld below the circuit board. Through the cooperative work mode, the working time of each unit is overlapped, and the component welding production efficiency of the circuit board is greatly improved.

[0052] Example four

[0053] On the basis of example three, as shown in Figures 2 to 5As shown, the longitudinal positioning seat 15 is provided with an inner cavity 17, a synchronous plate 18 is arranged in the inner cavity 17, four longitudinal positioning shafts 16 are all connected with the synchronous plate 18 and penetrate into the inner cavity 17, a first air cylinder 19 is vertically arranged below the synchronous plate 18 and is installed in the inner cavity 17, the first air cylinder 19 is used for lifting the synchronous plate 18 to move upward and reset, a distance sensor 29 is installed on the inner bottom wall of the inner cavity 17, the distance sensor 29 judges whether the circuit board is positioned by detecting the position height of the synchronous plate 18, a support 30 is installed on the positioning workbench 1, a third air cylinder 31 is horizontally installed on the top of the support 30, the third air cylinder 31 is connected with the longitudinal positioning seat 15 through the extension shaft, the third air cylinder 31 drives the longitudinal positioning seat 15 to move in the horizontal direction, when the circuit board is fed or discharged, the longitudinal positioning seat 15 is located on one side of the vibration positioning seat 2, so that the circuit board can be smoothly fed or discharged, when the circuit board is vibration positioned, the longitudinal positioning seat 15 is moved to the top of the vibration positioning seat 2, the four longitudinal positioning shafts 16 are moved downward to contact the circuit board, the bottom of the longitudinal positioning shaft 16 is fixed with an elastic pad, because the circuit board is in an inclined state, the four longitudinal positioning shafts 16 cannot all contact the circuit board, but one of them always contacts the circuit board to limit the circuit board from moving upward and warping under the vibration, at this time, the vibration positioning seat 2 vibrates, because of the limitation of the longitudinal positioning shaft 16, the circuit board can only move downward under the vibration, the longitudinal positioning shaft 16 moves with the circuit board under its own gravity, so that the longitudinal positioning shaft 16 always keeps in contact with the circuit board, thereby the circuit board can only move to the bottom of the positioning groove 3 under the vibration by the longitudinal limiting mode, and cannot vibrate back and forth to be in an inclined and warped state, so that the circuit board can quickly and accurately move to the bottom of the positioning groove 3, the distance sensor 29 detects the distance of the downward movement of the synchronous plate 18, thereby judging whether the circuit board is positioned, after the positioning is completed, the vibration positioning seat 2 stops vibrating, and the longitudinal positioning seat 15 is moved to one side of the vibration positioning seat 2 to perform the welding work of the circuit board components.

[0054] Example five

[0055] On the basis of example four, as Figures 2 to 5As shown, the inner cavity 17 is provided with a back movement prevention mechanism, the back movement prevention mechanism includes a rack 20, a first back movement prevention shaft 21 and a second back movement prevention shaft 22, the rack 20 is vertically fixed on the top of the synchronization plate 18, the first back movement prevention shaft 21 and the second back movement prevention shaft 22 are both rotationally connected with the longitudinal positioning seat 15, the first back movement prevention shaft 21 is fixedly sleeved with a gear 23 and a back movement prevention ratchet wheel 24, the gear 23 is engaged with the rack 20, the second back movement prevention shaft 22 is rotationally sleeved with a back movement prevention ratchet claw 25, the second back movement prevention shaft 22 is sleeved with a reset spring 26, two ends of the reset spring 26 are respectively connected with the back movement prevention ratchet claw 25 and the longitudinal positioning seat 15, an outer arc end of the back movement prevention ratchet claw 25 is connected with a ratchet spring 27, one end of the ratchet spring 27 away from the back movement prevention ratchet claw 25 is connected with the longitudinal positioning seat 15, under the joint action of the reset spring 26 and the ratchet spring 27, the back movement prevention ratchet claw 25 is adapted to the ratchet groove of the back movement prevention ratchet wheel 24, for limiting the upward movement of the synchronization plate 18, a second air cylinder 28 is mounted on the side wall of the longitudinal positioning seat 15, the back movement prevention ratchet claw 25 is located on the movement path of the telescopic shaft of the second air cylinder 28, initially, the second air cylinder 28 pushes the back movement prevention ratchet claw 25 to separate from the back movement prevention ratchet wheel 24, unlocking the freedom of upward movement of the synchronization plate 18, the first air cylinder 19 drives the upward movement of the synchronization plate 18, the synchronization plate 18 synchronously drives the upward movement of the four longitudinal positioning shafts 16, the longitudinal positioning shafts 16 are moved above the vibration positioning seat 2, then the second air cylinder 28 moves away from the back movement prevention ratchet claw 25, the back movement prevention ratchet claw 25 is reset under the action of the reset spring 26, the back movement prevention ratchet claw 25 is adapted to the ratchet groove of the back movement prevention ratchet wheel 24, the cooperation of the back movement prevention ratchet claw 25 and the back movement prevention ratchet wheel 24 limits the clockwise rotation freedom of the first back movement prevention shaft 21, so that the first back movement prevention shaft 21 can only rotate counterclockwise, the cooperation of the gear 23 and the rack 20 connects the synchronization plate 18 to the first back movement prevention shaft 21, so that the synchronization plate 18 can only move downward, when positioning the circuit board, the longitudinal positioning seat 15 is moved directly above the vibration positioning seat 2, the first air cylinder 19 moves downward, the synchronization plate 18 moves downward under its own gravity, the four longitudinal positioning shafts 16 are synchronously moved downward, the first air cylinder 19 is retracted to separate from the synchronization plate 18, the longitudinal positioning shafts 16 contact the circuit board and move downward with the circuit board under vibration, because the upward movement freedom of the longitudinal positioning shafts 16 is limited, the circuit board cannot move upward under vibration, but can only move downward, under the action of the elastic pad, the circuit board can vibrate under the action of the vibration positioning seat 2 without interference with the longitudinal positioning shafts 16, so that the circuit board can be accurately and quickly adapted to the positioning groove 3, after positioning is completed, the second air cylinder 28 drives the back movement prevention ratchet claw 25 to separate from the back movement prevention ratchet wheel 24, unlocking the freedom of upward movement of the synchronization plate 18, the first air cylinder 19 moves upward, pushing the synchronization plate 18 to move upward and reset, the synchronization plate 18 drives the longitudinal positioning shafts 16 to move out of the positioning groove 3, finally, the third air cylinder 31 drives the longitudinal positioning seat 15 to move to one side of the vibration positioning seat 2,This allows the circuit board to be smoothly removed from the positioning slot 3 for component soldering.

[0056] Example 6

[0057] Based on Example 5, such as Figures 2 to 9 As shown, a positioning groove 11 is formed on the top of the positioning worktable 1 along its length. A positioning slide 12 is slidably disposed in the positioning groove 11. A vibration positioning seat 2 is mounted on the positioning slide 12 by screws. A drive mechanism is provided at one end of the positioning slide 12. The drive mechanism is used to make the positioning slide 12 reciprocate along the length of the positioning groove 11 to generate vibration. A drive cavity 43 is provided at one end of the positioning worktable 1 near the positioning groove 11. The drive mechanism is disposed in the drive cavity 43. The drive mechanism includes a collision shaft 44. The side of the drive cavity 43... Two guide grooves 48 are spaced apart along the width of the positioning slide 12. The guide grooves 48 connect to the positioning slide 11. Impact shafts 44 are slidably installed in both guide grooves 48. The two impact shafts 44 alternately impact the positioning slide 12, generating high-frequency vibrations. A telescopic shaft 13 is connected to the end of the positioning slide 12 furthest from the drive mechanism. The end of the telescopic shaft 13 furthest from the positioning slide 12 is connected to the positioning worktable 1. A vibration spring 14 is mounted on the telescopic shaft 13. Under normal conditions, the positioning slide 12 rests against the side wall of one end of the positioning slide 11 under the action of the vibration spring 14. Used to locate the coordinates of each solder point on the circuit board, under normal conditions, the positioning slide 12 rests against the side wall of one end of the positioning groove 11 under the action of the vibration spring 14. The drive mechanism drives the collision shaft 44 to impact the positioning slide 12, causing the positioning slide 12 to reciprocate linearly within the positioning groove 11. The two collision shafts 12 alternately impact the positioning slide 12, causing it to vibrate at a high frequency, enhancing the movement of the circuit board and improving positioning efficiency. This is consistent with the gradually decreasing vertical dimensions of the positioning groove 3. The design allows the circuit board to automatically and accurately return to the bottom of the positioning groove 3 during vibration. After the circuit board is positioned, the positioning slide 12 is reset under the action of the vibration spring 14, and the positioning slide 12 abuts against the side wall of one end of the positioning groove 11, completing the positioning of each solder point on the circuit board. At this time, the vibration spring 4 is in a compressed state. Under the reaction force of the vibration spring 4, the positioning slide 12 is pressed tightly against the side wall of the positioning groove 11, maintaining the stability of the positioning slide 12. At the same time, the compressed vibration spring 4 ensures that the positioning slide 12 is accurately reset. Secondly, the vibration positioning seat 2 and the positioning slide 12 adopt a detachable connection method. The vibration positioning seat 2 is designed to match the model of the circuit board being produced. The corresponding vibration positioning seat 2 can be replaced for the production of different circuit boards.

[0058] Example 7

[0059] Based on Example 6, such as Figures 2 to 9As shown, the driving mechanism further comprises a driving cam 45, a switching rod 46 and a driving push rod 47, the end of the impact shaft 44 extending into the driving inner cavity 43 away from the positioning slide 12 is fixed with a spring mounting disc 49, the first spring 50 is sleeved on the impact shaft 44, the two ends of the first spring 50 are connected with the positioning workbench 1 and the spring mounting disc 49 respectively, a bearing seat 51 is fixed in the driving inner cavity 43, the switching rod 46 is slidably arranged on the bearing seat 51, the switching rod 46 has a degree of freedom of moving along the width direction of the positioning slide 12, the driving push rod 47 is slidably arranged on the switching rod 46, the driving push rod 47 alternatively pushes the two impact shafts 44 to impact the positioning slide 12, the end of the driving push rod 47 away from the impact shaft 44 penetrates through the switching rod 46 and is connected with a mounting disc, the second spring 52 is sleeved on the driving push rod 47, the two ends of the second spring 52 are connected with the mounting disc and the switching rod 46 respectively, the driving main shaft 53 is rotatably arranged in the driving inner cavity 43, the driving cam 45 is fixedly sleeved on the driving main shaft 53, two annular notch grooves 54 are formed in the side wall of the driving cam 45, the annular notch grooves 54 extend along the circumferential direction of the driving cam 45 and form notches at the paracentral end of the driving cam 45, the two annular notch grooves 54 correspond to the two impact shafts 44 respectively, the side wall of the paracentral end of the driving cam 45 is provided with a first inclined guide groove 55 and a second inclined guide groove 56, one end of the first inclined guide groove 55 is connected with one end of the notch of one annular notch groove 54, the other end of the first inclined guide groove 55 is connected with the other end of the notch of the other annular notch groove 54, one end of the second inclined guide groove 56 is connected with the other end of the notch of one annular notch groove 54, the other end of the second inclined guide groove 56 is connected with one end of the notch of the other annular notch groove 54, the first inclined guide groove 55 and the second inclined guide groove 56 are arranged in X shape, the mounting disc is rotatably connected with a guide piece 57, the guide piece 57 is slidably arranged in the annular notch groove 54, the side wall of the positioning workbench 1 is provided with a servo motor 58, the output shaft of the servo motor 58 is drivingly connected with the driving main shaft 53, the driving main shaft 53 is driven to rotate by the servo motor 58, the driving cam 45 is driven to rotate by the driving main shaft 53, the far end of the driving cam 45 lifts the guide piece 57, so that the driving push rod 47 moves close to the impact shaft 44, when the paracentral end of the driving cam 45 corresponds to the guide piece 57, the driving push rod 47 moves away from the impact shaft 44 under the reaction force of the second spring 52, so that the driving push rod 47 is driven to reciprocate by the rotation of the driving cam 45, the driving push rod 47 pushes the impact shaft 44 to impact the positioning slide 12, the positioning slide 12 moves under the compression of the vibration spring 14, after the driving push rod 47 moves away from the impact shaft 44, the impact shaft 44 is reset from the positioning slide 12 under the action of the first spring 50, so that the positioning slide 12 is reset under the reaction force of the vibration spring 14, the positioning slide 12 is vibrated by the reciprocating impact of the impact shaft 44.Specifically: because the first inclined guide groove 55 and the second inclined guide groove 56 are arranged on the proximal end of the drive cam 45, the guide piece 57 moves in the first inclined guide groove 55, the second inclined guide groove 56 and the two annular notch grooves 54, when the guide piece 57 is located in one of the annular notch grooves 54, the distal end of the drive cam 45 rotates upward, the guide piece 57 slides in the annular notch groove 54 and pushes the drive push rod 47 to move close to the impact shaft 44, the drive push rod 47 pushes one of the impact shafts 44 to move, the impact shaft 44 hits the positioning slide 12 to generate vibration, the drive cam 45 continues to rotate, when the proximal end of the drive cam 45 approaches the guide piece 57, the guide piece 57 will move into the first inclined guide groove 55, under the urging of the first inclined guide groove 55, the drive push rod 47 drives the switching rod 46 to move horizontally, so that the guide piece 57 moves to another annular notch groove 54, at this time, the other impact shaft 44 is located on the movement path of the drive push rod 47, so that the drive cam 45 drives the drive push rod 47 to push the other impact shaft 44 to move, the impact shaft 44 moves and hits the positioning slide 12, then the drive cam 45 continues to rotate, when the proximal end of the drive cam 45 deviates to approach the drive push rod 47, the guide piece 57 moves from the other annular notch groove 54 to the second inclined guide groove 56, under the guidance of the second inclined guide groove 56, the drive push rod 47 drives the switching rod 46 to move back to reset, so that the drive top rod 17 pushes the previous impact shaft 44 again, so that under the rotation of the drive cam 45, the switching rod 46 can reciprocate between the two impact shafts 44, the drive push rod 47 alternately pushes the two impact shafts 44 to move, the two impact shafts 44 alternately hit the positioning slide 12 to generate high-frequency vibration, which has good vibration effect and low vibration intensity, and can ensure that the circuit board completes the rapid positioning operation in the positioning groove 3.

Claims

1. A method for cooperative positioning of a team of integrated circuits, characterized in that, The method comprises the following steps: S1, circuit board feeding; a circuit board feeding box and a discharging conveying belt are arranged on one side of a positioning workbench, a positioning groove in which a positioning completed circuit board is taken out by one feeding and discharging robot arm, and the other feeding and discharging robot arm is used to grab the circuit board in the circuit board feeding box and put it into the positioning groove of the vibrating positioning seat, the size of the positioning groove gradually decreases along the vertical direction close to the positioning workbench, and the minimum size of the positioning groove matches the size of the circuit board; S2, cooperative positioning of the circuit board; the longitudinal positioning shaft moves downward to contact the circuit board, the longitudinal positioning shaft can only move downward and cannot move upward, the horizontal vibration of the vibrating positioning seat is matched, the circuit board can only move to the bottom of the positioning groove, the longitudinal positioning shaft moves under its own gravity to follow the circuit board, one longitudinal positioning shaft always contacts the circuit board to limit the longitudinal direction, the circuit board can quickly and accurately move to the bottom of the positioning groove, and the cooperative positioning of the circuit board is completed; S3, determining the coordinates of the welding points on the circuit board; after the positioning of the circuit board is completed, the vibrating positioning seat is reset, the position coordinates of the vibrating positioning seat are determined, the size of each welding point on the circuit board is known, the coordinates of each welding point of the components on the circuit board are calculated based on the vibrating positioning seat as a reference, the welding operation path is planned according to the coordinates of the welding points, and the components are welded on the circuit board according to the coordinates of the welding points. S4, the positioning completed circuit board is moved out from the positioning groove by one feeding and discharging robot arm, so that the circuit board is in a suspended state, in the process of moving out the circuit board, the feeding and discharging robot arm only drives the circuit board to move along the vertical direction, the coordinates of the circuit board in the horizontal direction are unchanged, the running height of the circuit board in the vertical direction is known, the coordinates of the circuit board in the suspended state are known, and the coordinates of the to-be-welded points on the suspended circuit board are obtained in combination with the coordinates of the welding points; S5, the components are welded on the circuit board according to the coordinates of the to-be-welded points.

2. A cooperative positioning system of an integrated circuit cooperative team, which employs the cooperative positioning method of an integrated circuit cooperative team as claimed in claim 1, characterized by The positioning workbench, the feeding and discharging cooperative unit arranged on the positioning workbench and the cooperative positioning unit are arranged on the positioning workbench, the feeding and discharging cooperative unit comprises two feeding and discharging robot arms oppositely arranged on the positioning workbench, the cooperative positioning unit comprises a vibrating positioning seat, a longitudinal positioning seat and longitudinal positioning shafts, the vibrating positioning seat is slidably arranged on the positioning workbench, the vibrating positioning seat can reciprocate along the horizontal direction to generate vibration, the top of the vibrating positioning seat is provided with a positioning groove, the size of the positioning groove gradually decreases along the vertical direction close to the positioning workbench, the minimum size of the positioning groove matches the size of the circuit board, the longitudinal positioning seat is arranged above the vibrating positioning seat, the longitudinal positioning seat has a movement degree of freedom along the horizontal direction, the longitudinal positioning seat can move to the top of the vibrating positioning seat, four longitudinal positioning shafts are slidably arranged on the bottom of the longitudinal positioning seat, the four longitudinal positioning shafts correspond to the positions of four corners of the minimum size of the positioning groove, the four longitudinal positioning shafts synchronously move downward under the action of their own gravity, the circuit board is gradually positioned to the bottom of the positioning groove under the horizontal vibration of the vibrating positioning seat and the longitudinal contact limiting of the longitudinal positioning shafts.

3. A co-location system for a group of integrated circuits as claimed in claim 2, wherein, The longitudinal positioning seat is provided with an inner cavity, a synchronous plate is arranged in the inner cavity, four longitudinal positioning shafts are connected with the synchronous plate and penetrate into the inner cavity, a first air cylinder is vertically arranged below the synchronous plate and is installed in the inner cavity, the first air cylinder is used for lifting the synchronous plate upward to reset, a distance sensor is installed on the inner bottom wall of the inner cavity, the distance sensor detects the position of the synchronous plate to determine whether the circuit board is positioned, a support is installed on the positioning workbench, a third air cylinder is horizontally installed on the top of the support, and the third air cylinder is connected with the longitudinal positioning seat through an extension shaft.

4. A co-location system for integrated circuit cooperative teams as recited in claim 3, wherein, The inner cavity is provided with an anti-back movement mechanism, the anti-back movement mechanism comprises a rack, a first anti-back movement shaft and a second anti-back movement shaft, the rack is vertically fixed on the top of the synchronous plate, the first anti-back movement shaft and the second anti-back movement shaft are both rotationally connected with the longitudinal positioning seat, a gear and an anti-back movement ratchet are fixedly sleeved on the first anti-back movement shaft, the gear is engaged with the rack, an anti-back movement pawl is rotationally sleeved on the second anti-back movement shaft, a reset spring is sleeved on the second anti-back movement shaft, the two ends of the reset spring are connected with the anti-back movement pawl and the longitudinal positioning seat respectively, the outer arc end of the anti-back movement pawl is connected with a pawl spring, the end of the pawl spring away from the anti-back movement pawl is connected with the longitudinal positioning seat, under the joint action of the reset spring and the pawl spring, the anti-back movement pawl is adapted to the ratchet groove of the anti-back movement ratchet, so as to limit the upward movement of the synchronous plate, a second air cylinder is installed on the side wall of the longitudinal positioning seat, and the anti-back movement pawl is located on the movement path of the extension shaft of the second air cylinder.

5. The system of claim 2, wherein the integrated circuit cooperative team is a team of microprocessors. A positioning sliding groove is formed in the top of the positioning workbench along the length direction of the positioning workbench, a positioning sliding seat is slidably arranged in the positioning sliding groove, the vibration positioning seat is installed on the positioning sliding seat through screws, and a driving mechanism is arranged at one end of the positioning sliding seat. The driving mechanism is used for reciprocating the positioning sliding seat along the length direction of the positioning sliding groove to generate vibration.

6. A co-location system for integrated circuit cooperative teams as recited in claim 5, wherein, One end of the positioning workbench close to the positioning sliding groove is provided with a driving inner cavity, the driving mechanism is arranged in the driving inner cavity, the driving mechanism comprises a collision shaft, two guide grooves are formed in the side wall of the driving inner cavity and are spaced apart along the width direction of the positioning sliding seat, the guide grooves are communicated with the positioning sliding groove, and the collision shaft is slidably arranged in the two guide grooves. The two collision shafts alternately strike the positioning sliding seat to generate high-frequency vibration, one end of the positioning sliding seat away from the driving mechanism is connected with an extension shaft, the other end of the extension shaft away from the positioning sliding seat is connected with the positioning workbench, a vibration spring is sleeved on the extension shaft, and under normal circumstances, the positioning sliding seat is abutted against the side wall of one end of the positioning sliding groove under the action of the vibration spring, so as to position the coordinates of each welding point on the circuit board.

7. A co-location system for integrated circuit cooperative teams as recited in claim 6, wherein, The driving mechanism further comprises a driving cam, a switching rod and a driving push rod, one end of the collision shaft extending away from the positioning slide is fixed with a spring mounting disc in the driving inner cavity, a first spring is sleeved on the collision shaft, two ends of the first spring are connected with the positioning workbench and the spring mounting disc respectively, a bearing seat is fixed in the driving inner cavity, the switching rod is slidably arranged on the bearing seat, the switching rod has a degree of freedom of moving along the width direction of the positioning slide, the driving push rod is slidably arranged on the switching rod, the driving push rod alternately pushes the two collision shafts to impact the positioning slide, one end of the driving push rod away from the collision shaft penetrates through the switching rod and is connected with the mounting disc, a second spring is sleeved on the driving push rod, two ends of the second spring are connected with the mounting disc and the switching rod respectively, a driving main shaft is rotatably arranged in the driving inner cavity, the driving cam is fixedly sleeved on the driving main shaft, two annular notch grooves are formed in the side wall of the driving cam, the annular notch grooves extend along the circumferential direction of the driving cam and form notches at the near heart end of the driving cam, the two annular notch grooves correspond to the two collision shafts respectively, a first inclined guide groove and a second inclined guide groove are formed in the side wall of the near heart end of the driving cam, one end of the first inclined guide groove is connected with one end of the notch of one annular notch groove, the other end of the first inclined guide groove is connected with the other end of the notch of the other annular notch groove, one end of the second inclined guide groove is connected with the other end of the notch of one annular notch groove, the other end of the second inclined guide groove is connected with one end of the notch of the other annular notch groove, the first inclined guide groove and the second inclined guide groove are arranged in X shape, a guide piece is rotatably connected to the mounting disc, the guide piece is slidably fitted in the annular notch groove, a servo motor is mounted on the side wall of the positioning workbench, and the output shaft of the servo motor is drivingly connected with the driving main shaft.

8. A cooperative positioning system for a cooperative team of integrated circuits as recited in claim 2, wherein, The positioning workbench is further provided with a component welding machine set, the component welding machine set comprises a component feeding robot arm and a welding robot arm, the component feeding robot arm is used for feeding components onto the circuit board, and the welding robot arm is used for welding the components fed by the component feeding robot arm on the circuit board.

9. The system of claim 2, wherein the integrated circuit cooperative team is a cooperative positioning system. The execution end of the feeding and discharging robot arm is provided with a motion switching assembly, the motion switching assembly comprises a mounting seat and a rotary switching plate, the mounting seat is fixed on the execution end of the feeding and discharging robot arm, and the rotary switching plate is rotatably arranged on the mounting seat. A negative pressure suction cup and a finger air cylinder are mounted on the upper and lower end faces of the rotary switching plate respectively.

10. A co-location system for integrated circuit cooperative teams as recited in claim 9, wherein, One end of the rotary switching plate close to the mounting seat is fixed with a switching shaft, the switching shaft is rotatably connected with the mounting seat through a bearing, and the axis of the switching shaft is horizontally arranged. A switching cavity is arranged in the mounting seat, a driven gear is connected to one end of the switching shaft penetrating into the switching cavity, a reduction motor is mounted on the mounting seat, a driving gear is connected to the output shaft of the reduction motor, and the driving gear meshes with the driven gear.

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