CN106546903A - A kind of frock test system and frock test control method - Google Patents
A kind of frock test system and frock test control method Download PDFInfo
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- CN106546903A CN106546903A CN201610901205.6A CN201610901205A CN106546903A CN 106546903 A CN106546903 A CN 106546903A CN 201610901205 A CN201610901205 A CN 201610901205A CN 106546903 A CN106546903 A CN 106546903A
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- frock
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
- G01R31/2801—Testing of printed circuits, backplanes, motherboards, hybrid circuits or carriers for multichip packages [MCP]
- G01R31/2806—Apparatus therefor, e.g. test stations, drivers, analysers, conveyors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
- G01R31/2801—Testing of printed circuits, backplanes, motherboards, hybrid circuits or carriers for multichip packages [MCP]
- G01R31/2806—Apparatus therefor, e.g. test stations, drivers, analysers, conveyors
- G01R31/2808—Holding, conveying or contacting devices, e.g. test adapters, edge connectors, extender boards
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- Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a kind of frock test system and frock test control method, solve existing frock test labor intensive and there is the technical problem of artificial defective products.Including test fixture rest area, multiple frock measurement jigs, certified products rest area, non-certified products rest area, gripper robot and tool control platform；Gripper robot includes the first mechanical hand and the second mechanical hand；First mechanical hand captures test fixture to be tested from test fixture rest area, and the test fixture of crawl is placed on the frock measurement jig of free time；Second mechanical hand captures the test fixture that test is completed from frock measurement jig, and the test fixture for completing to test is placed in certified products rest area or non-certified products rest area by the tool status information sent based on tool control platform.By the first mechanical hand of reasonable disposition and the operation order of the second mechanical hand, automatic detection and classification of the test fixture on tool are realized, manual operation is saved, it is to avoid the mistake that manual operation is present.
Description
Technical field
The invention belongs to technical field of automatic control, specifically, is to be related to a kind of frock test system and work survey
Examination control method.
Background technology
SMT（Surface Mount Technology, surface mounting technology）It is that current electronic assembly industry is most popular
A kind of technique, most electronics producer produce circuit board based on SMT technologies using chip mounter.
After the completion of machine printed circuit board and surface mount, can exist unavoidably and mount bad or dislocation and cause mistake, because
This, after the completion of attachment, needs test fixture tool on every product to carry out the detection of circuit board line and voltage etc., initialization
The a series of test jobs such as the burnings of other information such as setting, program and version.Generally, every product is in test fixture tool
On testing time be three to five minutes.
At present, in test fixture tool this link, be using multiple stage identical tool mostly while by the way of test,
Quickly go out part requirement with meet production line.This needs is manually put into circuit board to be tested on tool, completes it in test
Afterwards circuit board is removed and qualified products rest area or substandard product rest area are put into respectively according to test result.Multiple tools
Repeat identical operation, labor intensive and artificial defective products can be caused.
The content of the invention
This application provides a kind of frock test system and frock test control method, solve existing frock test and expend people
Power and there is the technical problem of artificial defective products.
To solve above-mentioned technical problem, the application is employed the following technical solutions and is achieved：
Propose a kind of frock test system, including test fixture rest area, multiple frock measurement jigs, certified products rest area and non-
Certified products rest area, also including gripper robot and tool control platform；The control centre of the gripper robot is controlled with described
Tool control platform interconnection；The tool control platform, for obtaining the tool status information of multiple frock measurement jigs；It is described to grab
Handss robot includes the first mechanical hand；First mechanical hand, for capturing survey to be tested from the test fixture rest area
Trial work is filled, and the test fixture of crawl is placed on the frock measurement jig of free time；Control centre's control of the gripper robot
Make first mechanical hand frock to be tested is captured from the test fixture rest area；And obtain the tool control platform
The tool status information of transmission, based on the tool status information, whether there is sky in judging the plurality of frock measurement jig
It is not busy；If so, then control first mechanical hand frock to be tested for capturing is placed on an idle frock measurement jig, with
So that the frock to be tested completes test.
Further, the gripper robot also includes the second mechanical hand；Second mechanical hand, for from the plurality of
The test fixture that the crawl test of frock measurement jig is completed, and the test fixture of crawl is positioned over by certified products according to test result
Rest area or non-certified products rest area；The control centre of the gripper robot obtains controlling for the tool control platform transmission
Tool status information；And based on the tool status information for obtaining, whether there is in judging the plurality of frock measurement jig and complete to survey
The frock measurement jig of examination；If existing, complete described in control the second mechanical hand crawl on the frock measurement jig of test
Test fixture；Control first mechanical hand and the frock to be tested for capturing is placed in into the frock measurement jig for completing and testing
On, so that the frock to be tested completes test.
Further, the control centre of the gripper robot is controlling the trial work to be measured that first mechanical hand will be captured
After being installed on the frock measurement jig for completing and testing, based on the tool state letter obtained from the tool control platform
Breath, acquisition complete the test result of the frock measurement jig tested；Based on test result, controlling second mechanical hand will be described
Test fixture is placed in certified products rest area or non-certified products rest area；And/or, control the gripper robot and return initial bit
Put.
Further, frock to be tested is placed in an idle frock test and is controlled by the control centre of the gripper robot
After on tool, control the gripper robot and return initial position.
Further, the system also includes the induction installation that the control centre with the gripper robot interconnects；It is described
Induced signal for obtaining the induced signal of the test fixture rest area, and is sent to the handgrip machine by induction installation
The control centre of people；The control centre of the gripper robot after the induced signal for obtaining the induction installation, based on described
Induced signal judges that the test fixture rest area whether there is frock to be tested；If existing, control first mechanical hand from
The test fixture rest area captures a frock to be tested；If not existing, control the gripper robot and keep standby mould
Formula.
A kind of frock test control method is proposed, is applied in above-mentioned frock test system, including：Control first machine
Tool handss capture a frock to be tested from the test fixture rest area；Obtain the tool state that the tool control platform sends
Information；Based on the tool status information, in judging the plurality of frock measurement jig, whether there is the free time；If so, control institute
State the first mechanical hand the frock to be tested for capturing is placed on an idle frock measurement jig, so that the trial work to be measured
Install into test.
Further, based on the tool status information, in judging the plurality of frock measurement jig, there is no the free time
When, methods described also includes：Obtain the tool status information that the tool control platform sends；Based on the tool state letter for obtaining
Breath, whether there is the frock measurement jig for completing to test in judging the plurality of frock measurement jig；If existing, described the is controlled
The test fixture on the frock measurement jig of test is completed described in the crawl of two mechanical hands；First mechanical hand is controlled by crawl
Frock to be tested is placed on the frock measurement jig for completing and testing, so that the frock to be tested completes test.
Further, the frock to be tested for capturing is placed in into the frock for completing and testing in control first mechanical hand
After on measurement jig, methods described also includes：Based on the tool status information for obtaining, acquisition completes the frock measurement jig tested
Test result；Based on test result, control second mechanical hand and the test fixture is placed in into certified products rest area or non-
Certified products rest area；And/or, control the gripper robot and return initial position.
Further, after be placed in, methods described is also wrapped
Include：Control the gripper robot and return initial position.
Further, control first mechanical hand from the test fixture rest area capture a frock to be tested it
Before, methods described also includes：Judge that the test fixture rest area whether there is frock to be tested；It is if existing, described in control
First mechanical hand captures a frock to be tested from the test fixture rest area；If not existing, the handgrip machine is controlled
People keeps standby mode.
Compared with prior art, the advantage and good effect of the application is：Frock test system and work that the application is proposed
In dress test control method, the first mechanical hand of control captures frock to be tested from test fixture rest area, and by frock to be tested
It is positioned on the frock measurement jig of free time, controls the second mechanical hand and the test work that test is completed is captured from frock measurement jig
Dress, based on the tool status information obtained from tool control platform, it is qualified and non-qualified that the test fixture that test is completed is carried out
Classification, and test fixture is placed in certified products rest area or non-certified products rest area, thus, by right according to classification results
The control of first mechanical hand and the second mechanical hand of gripper robot, realization are treated test fixture and complete the test fixture tested
Automatic crawl and certified products and non-certified products classification and placement, realize test fixture in tool by Automated condtrol
On detection, save manual operation, it is to avoid the mistake that manual operation is present.And with reference to controlling that tool control platform is obtained
The operation order of tool status information, the first mechanical hand of reasonable disposition and the second mechanical hand, effectively saves test fixture placement
The classification of frock and the time of placement to after tool, test, it will be apparent that improve testing efficiency, meet what production line was quickly produced
Require, solve labor intensive present in available man-power operation and there is the technical problem of artificial defective products.
Frock test system and frock test control method that the application is proposed, are also suitable for automatic charging, blanking, intelligence point
Pick
After the detailed description of the application embodiment is read in conjunction with the accompanying, other features of the application and advantage will become more clear
Chu.
Description of the drawings
Fig. 1 is the system block diagram of the frock test system that the embodiment of the present application is proposed；
Fig. 2 is the frock test control method flow chart that the application is proposed.
Specific embodiment
Below in conjunction with the accompanying drawings the specific embodiment of the application is described in more detail.
The application proposes a kind of frock test system, as shown in figure 1, surveying including test fixture rest area 11, multiple frocks
Examination tool 12, certified products rest area 13, non-certified products rest area 14, gripper robot 15 and tool control platform 16.
The control centre of gripper robot 15 is interconnected with tool control platform 16；Tool control platform is responsible for controlling and is managed
Multiple frock measurement jigs, and obtain the tool status information of multiple frock measurement jigs and be sent in the control of gripper robot
The heart；Gripper robot 15 includes the first mechanical hand 151, for capturing test fixture to be tested from test fixture rest area 11,
And the test fixture of crawl is placed on the frock measurement jig of free time.Here tool status information is including but not limited to every
Individual frock measurement jig tests the information such as the test mode for producing, test data report, test result to test fixture.
It is to be measured from the crawl of test fixture rest area 11 one that the control centre of gripper robot 15 controls the first mechanical hand 151
Trial work is filled；And the tool status information that tool control platform 16 sends is obtained, based on tool status information, judge that multiple frocks are surveyed
With the presence or absence of the free time in examination tool 12；If so, then control the first mechanical hand 151 by capture frock to be tested be placed in one it is idle
Frock measurement jig 12 on so that frock to be tested complete test.
In the embodiment shown in fig. 1, multiple frock measurement jigs 12, test fixture rest area 11, certified products rest area
13 and non-certified products rest area 14 be centered around around gripper robot 15 by the center of circle of gripper robot 15, when test fixture place
When there is test fixture to be tested in area 11, gripper robot controls the first mechanical hand and captures a work from test fixture rest area 11
Dress, is put on the test fixture tool of free time, when idle test fixture is more than one, can be according to closest or wait
Most long etc. condition of duration is placed in frock to be tested on the high frock measurement jig of priority level according to priority arrangement.Afterwards,
Control gripper robot returns initial position and repeats said process.
In the frock test system that the application is proposed, gripper robot 15 also includes the second mechanical hand 152, for from multiple
The test fixture that the crawl test of frock measurement jig is completed, and the test fixture of crawl is positioned over by certified products according to test result
Rest area 13 or non-certified products rest area 14.Specifically, when the first mechanical hand 151 of gripper robot 15 has captured frock
Afterwards, if the control centre that frock measurement jig 12 does not have free time, gripper robot 15 obtains controlling for 16 transmission of tool control platform
Tool status information, and based on the tool status information for obtaining, judge that multiple frock measurement jigs 12 whether there is and complete what is tested
Frock measurement jig, if existing, controls the crawl of the second mechanical hand 152 and completes the test work on the frock measurement jig of test
Dress, controls then the first mechanical hand 151 and the frock to be tested for capturing is placed on the frock measurement jig for completing to test, so that
Frock to be tested can complete test.Afterwards, based on the tool status information obtained from tool control platform 16, acquisition completes to survey
The test result of the frock measurement jig of examination, based on test result, control second is mechanical, and test fixture is placed in certified products by 152
Rest area or non-certified products rest area.
Then, control centre's control gripper robot returns initial position or runs to test fixture rest area 11 and continues
Capture frock to be tested and repeat said process, so as to realizing treating test fixture and completing grabbing automatically for the test fixture tested
Take, and certified products and non-certified products classification and placement, detection of the test fixture on tool is realized by Automated condtrol,
Save manual operation, it is to avoid the mistake that manual operation is present.
The frock test system that the application is proposed also includes the induction installation that the control centre with gripper robot 15 interconnects
17, the induction installation 17 is used for the induced signal for obtaining test fixture rest area 11, and induced signal is sent to handgrip machine
The control centre of people 15；The control centre of gripper robot 15 is believed based on the sensing after the induced signal for obtaining induction installation
Test fixture rest area 11 number is judged with the presence or absence of frock to be tested, if existing, the first mechanical hand 151 of control is put from test fixture
Put area and capture a frock to be tested, if not existing, control handgrip machine, 15 keep standby mode, to save energy consumption, in weight
Automatic operation when there is frock to be tested is sensed newly.
Based on frock test system set forth above, the application also proposes a kind of frock test control method, apply on
State in frock test system, as shown in Fig. 2 comprising the steps：
Step S21：Control the first mechanical hand a frock to be tested is captured from test fixture rest area.
With the control centre of gripper robot to run main body, an initial position is set, it is standby not in gripper robot
During work, initial position wait work is rested on, meanwhile, the induced signal sent from induction installation is received, and according to sensing
Signal judges that with the presence or absence of frock to be tested in test fixture rest area, if not existing control gripper robot keeps standby
Pattern, if existing, controls the first mechanical hand and runs to one frock to be tested of test fixture rest area crawl from initial position.
Step S22：Obtain the tool status information that tool control platform sends.
Step S23：Based on tool status information, in judging multiple frock measurement jigs, whether there is the free time.
Tool control platform is responsible for controlling and managing multiple stage frock measurement jig, obtains multiple frock measurement jigs to test
Test mode that frock is produced when testing, test data report, the tool status information such as test result, and will acquisition tool shape
State information is sent to the control centre of gripper robot.
Control centre is based on tool status information, whether there is the free time, if depositing in can interpolate that multiple frock measurement jigs
In the free time, then
Step S24：Control the first mechanical hand the frock to be tested for capturing is placed on an idle frock measurement jig, so that
Obtain frock to be tested and complete test.
In multiple frock measurement jigs, it is understood that there may be the idle situation of more than one frock measurement jig, now can be by
According to most long etc. condition of closest or waiting time by idle frock measurement jig according to priority arrangement, by frock to be tested
It is placed on the high frock measurement jig of priority level.Afterwards, control gripper robot and return initial position repetition said process.
Or, in multiple frock measurement jigs, there is no the frock measurement jig of free time, then
Step S25：Obtain the tool status information that tool control platform sends；
Step S26：Based on the tool status information for obtaining, whether there is the work for completing to test in judging multiple frock measurement jigs
Dress measurement jig；If existing,
Step S27：Control the crawl of the second mechanical hand and complete the test fixture on the frock measurement jig of test.
After judging to have learnt that frock measurement jig completes test, control centre controls the second mechanical hand and runs and capture
Test fixture on the frock measurement jig, so that the frock measurement jig is freed out and can be used in new test fixture
Test.Then,
Step S28：Control the first mechanical hand the frock to be tested for capturing is placed on the frock measurement jig for completing to test, so that
Obtain frock to be tested and complete test.
After the frock measurement jig for completing to test is freed out, the test work that the first mechanical hand will be captured for waiting is controlled
Be installed on it is idle go out frock measurement jig on tested.
Step S29：Based on the tool status information for obtaining, acquisition completes the test result of the frock measurement jig tested；
Step S30：Based on test result, test fixture is placed in the second mechanical hand of control certified products rest area or non-certified products are put
Put area.
Include test log in tool status information, the survey of test can be known according to test log analysis test results
Whether trial work dress is qualified, if qualified, control the second mechanical hand and is placed on certified products rest area, if test failure,
Control the second mechanical hand and be placed on non-certified products rest area.
Thus, complete a complete cycle of operation, including the first mechanical hand capture frock to be tested, tool in wait,
Judge whether multiple frock measurement jigs have test fixture crawl that complete test, that the second mechanical hand of control will complete to test de-
From frock measurement jig, the first mechanical hand of control by etc. test fixture to be placed be placed in it is idle go out frock measurement jig on,
Control the second mechanical hand and the test fixture for completing to test for capturing is inserted into certified products rest area or non-conjunction according to test result
Lattice product rest area.
Then control gripper robot to return initial position into next cycle of operation or enter holding state.
In above-mentioned frock test control method, the first mechanical hand of control captures frock to be tested from test fixture rest area,
And frock to be tested is positioned on the frock measurement jig of free time, the second mechanical hand of control captures survey from frock measurement jig
The test fixture that examination is completed, based on the tool status information obtained from tool control platform, enters to the test fixture that test is completed
The qualified and non-qualified classification of row, and test fixture is placed in into certified products rest area or non-certified products rest area according to classification results
Interior, thus, by the control of the first mechanical hand and the second mechanical hand to gripper robot, realization is treated test fixture and is completed
The automatic crawl of the test fixture of test and the classification and placement of certified products and non-certified products, are realized by Automated condtrol
Detection of the test fixture on tool, save manual operation, it is to avoid the mistake that manual operation is present.And with reference to tool control
The operation order of the tool status information that platform processed is obtained, the first mechanical hand of reasonable disposition and the second mechanical hand, effectively saves
Test fixture is placed into tool, the classification of frock and time of placement after test, it will be apparent that improves testing efficiency, meets life
The requirement that producing line is quickly produced, the technology for solving labor intensive present in available man-power operation and there is artificial defective products are asked
Topic.
It should be noted that described above is not limitation of the present invention, the present invention is also not limited to the example above,
Change, remodeling, addition or replacement that those skilled in the art are made in the essential scope of the present invention, also should
Belong to protection scope of the present invention.
Claims (10)
1. a kind of frock test system, including test fixture rest area, multiple frock measurement jigs, certified products rest area and non-conjunction
Lattice product rest area, it is characterised in that also including gripper robot and tool control platform；
The control centre of the gripper robot is interconnected with the tool control platform；The tool control platform, for obtaining
The tool status information of multiple frock measurement jigs；
The gripper robot includes the first mechanical hand；
First mechanical hand, for capturing test fixture to be tested, and the survey that will be captured from the test fixture rest area
Trial work is installed on the frock measurement jig of free time；
The control centre of the gripper robot controls first mechanical hand and treats for one from test fixture rest area crawl
Test fixture；And the tool status information that the tool control platform sends is obtained, based on the tool status information, judge institute
Whether there is the free time in stating multiple frock measurement jigs；If so, then control the frock to be tested that first mechanical hand will be captured
It is placed on an idle frock measurement jig, so that the frock to be tested completes test.
2. frock test system according to claim 1, it is characterised in that the gripper robot is also mechanical including second
Handss；
Second mechanical hand, for capturing the test fixture that test is completed from the plurality of frock measurement jig, and according to survey
The test fixture of crawl is positioned over certified products rest area or non-certified products rest area by test result；
The control centre of the gripper robot obtains the tool status information that the tool control platform sends；And based on acquisition
Tool status information, judge in the plurality of frock measurement jig with the presence or absence of the frock measurement jig for completing to test；If depositing
Controlling described in the second mechanical hand crawl, to complete the test fixture on the frock measurement jig of test；Control described first
Mechanical hand is placed in the frock to be tested for capturing on the frock measurement jig for completing and testing, so that the frock to be tested
Complete test.
3. frock test system according to claim 2, it is characterised in that the control centre of the gripper robot is in control
Make after first mechanical hand is placed in the frock to be tested for capturing on the frock measurement jig for completing and testing, based on from institute
The tool status information of tool control platform acquisition is stated, acquisition completes the test result of the frock measurement jig tested；Based on survey
Test result, controls second mechanical hand and the test fixture is placed in certified products rest area or non-certified products rest area；With/
Or, the control gripper robot returns initial position.
4. frock test system according to claim 1, it is characterised in that the control centre of the gripper robot will treat
After test fixture is placed on an idle frock measurement jig, controls the gripper robot and return initial position.
5. frock test system according to claim 1, it is characterised in that the system also includes and the handgrip machine
The induction installation of control centre's interconnection of people；
The induction installation, for obtaining the induced signal of the test fixture rest area, and induced signal is sent to described
The control centre of gripper robot；
The control centre of the gripper robot after the induced signal for obtaining the induction installation, based on the induced signal
Judge that the test fixture rest area whether there is frock to be tested；If existing, first mechanical hand is controlled from the test
Frock rest area captures a frock to be tested；If not existing, control the gripper robot and keep standby mode.
6. frock test control method, is applied in the frock test system as described in any one of claim 1-5, its feature
It is, including：
Control first mechanical hand frock to be tested is captured from the test fixture rest area；
Obtain the tool status information that the tool control platform sends；
Based on the tool status information, in judging the plurality of frock measurement jig, whether there is the free time；If so,
Control first mechanical hand frock to be tested for capturing is placed on an idle frock measurement jig, so that institute
State frock to be tested and complete test.
7. frock test control method according to claim 6, it is characterised in that based on the tool status information,
Do not deposit at one's leisure in judging the plurality of frock measurement jig, methods described also includes：
Obtain the tool status information that the tool control platform sends；
Based on the tool status information for obtaining, survey with the presence or absence of the frock for completing to test in judging the plurality of frock measurement jig
Examination tool；If existing,
Control described in the second mechanical hand crawl, to complete the test fixture on the frock measurement jig of test；
Control first mechanical hand frock to be tested for capturing is placed on the frock measurement jig for completing and testing, so that
Obtain the frock to be tested and complete test.
8. frock test control method according to claim 7, it is characterised in that will grab first mechanical hand is controlled
After the frock to be tested for taking is placed on the frock measurement jig for completing and testing, methods described also includes：
Based on the tool status information for obtaining, acquisition completes the test result of the frock measurement jig tested；
Based on test result, the test fixture is placed in control second mechanical hand certified products rest area or non-certified products are put
Put area；And/or,
Control the gripper robot and return initial position.
9. frock test control method according to claim 6, it is characterised in that by frock to be tested be placed in one it is empty
After on not busy frock measurement jig, methods described also includes：
Control the gripper robot and return initial position.
10. frock test control method according to claim 6, it is characterised in that control first mechanical hand from
Before the test fixture rest area captures a frock to be tested, methods described also includes：
Judge that the test fixture rest area whether there is frock to be tested；If existing, first mechanical hand is being controlled from institute
State test fixture rest area and capture a frock to be tested；If not existing, control the gripper robot and keep standby mode.
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| CN201610901205.6A CN106546903A (en) | 2016-10-14 | 2016-10-14 | A kind of frock test system and frock test control method |
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| CN201610901205.6A CN106546903A (en) | 2016-10-14 | 2016-10-14 | A kind of frock test system and frock test control method |
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| CN114735467A (en) * | 2022-02-25 | 2022-07-12 | 杭州长川科技股份有限公司 | Feeding method and system for multilayer detection equipment |
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| CN108169934A (en) * | 2017-12-15 | 2018-06-15 | 苏州华兴源创电子科技有限公司 | A kind of liquid crystal panel detecting method and system |
| CN108169933A (en) * | 2017-12-15 | 2018-06-15 | 苏州华兴源创电子科技有限公司 | A kind of liquid crystal panel detecting method and system |
| CN108789405A (en) * | 2018-05-28 | 2018-11-13 | 广东科学技术职业学院 | A kind of automatic test path planing method and its system based on six shaft mechanical arms |
| CN108789405B (en) * | 2018-05-28 | 2021-04-27 | 广东科学技术职业学院 | Automatic test path planning method and system based on six-axis mechanical arm |
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| CN109015659A (en) * | 2018-09-29 | 2018-12-18 | 天津七所高科技有限公司 | A kind of the robot offset grasping mechanism and its method of view-based access control model |
| CN109015659B (en) * | 2018-09-29 | 2023-05-23 | 天津七所高科技有限公司 | Vision-based robot offset grabbing mechanism and method thereof |
| CN109445392A (en) * | 2018-11-08 | 2019-03-08 | 歌尔股份有限公司 | It is a kind of to mend the control method of fixture system, device and mend fixture system |
| CN109709348A (en) * | 2019-01-10 | 2019-05-03 | 上海汇像信息技术有限公司 | A kind of automatization test system based on information exchange |
| CN110083536B (en) * | 2019-04-25 | 2022-12-06 | 厦门网宿有限公司 | Test resource allocation method and device, electronic equipment and storage medium |
| CN110083536A (en) * | 2019-04-25 | 2019-08-02 | 厦门网宿有限公司 | Test resource distribution method and device, electronic equipment and storage medium |
| CN111683333A (en) * | 2020-06-19 | 2020-09-18 | 青岛歌尔微电子研究院有限公司 | Microphone testing equipment, calibration method thereof and readable storage medium |
| CN112014582A (en) * | 2020-08-31 | 2020-12-01 | 成都艾科斯伦医疗科技有限公司 | Scheduling method of full-automatic coagulation analyzer |
| CN112014582B (en) * | 2020-08-31 | 2024-05-03 | 成都艾科斯伦医疗科技有限公司 | Scheduling method of full-automatic coagulation analyzer |
| CN113971914A (en) * | 2021-10-22 | 2022-01-25 | 苏州华兴源创科技股份有限公司 | Detection method, device, equipment and medium for display module |
| CN114229489A (en) * | 2021-11-12 | 2022-03-25 | 江西绿萌科技控股有限公司 | Robot destacking method and device, destacking robot and storage medium |
| CN114735467A (en) * | 2022-02-25 | 2022-07-12 | 杭州长川科技股份有限公司 | Feeding method and system for multilayer detection equipment |
| CN114735467B (en) * | 2022-02-25 | 2024-08-20 | 杭州长川科技股份有限公司 | Feeding method and system for multi-layer detection equipment |
| CN115365164A (en) * | 2022-09-08 | 2022-11-22 | 内蒙古第一机械集团股份有限公司 | Double-gripper robot motion system and method |
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