TWI603821B - Electronic components picker and its application of operating equipment - Google Patents

Description

Electronic component pick-and-place device and its application equipment

The invention provides a method for the utility model to: when the pick-and-place tool is subjected to an external force, the elastic outer cover of the top support card member can be swayed downward to be separated from the card, so that the pick-and-place tool is separated from the carrier seat, thereby preventing damage to the carrier seat, thereby saving cost and An electronic component pick and place device that improves the convenience of replacement work.

In today's electronic component operating equipment, a moving device with a plurality of pick-and-place devices is used to transfer the electronic components to be operated/operated between the feeding and receiving device and the carrying device, or to the carrying device and the working device. The operation/operation electronic components are transferred between them, and in order to control the timing of the operation of each device, the electronic component operation device controls the operation of each device by a central control device having an electronic control program, and senses the sensors of the respective devices. The signal measurement signal is transmitted to the central control device, and the central control device determines the actuation position of each device to make the devices operate smoothly in sequence; referring to FIG. 1 , the material transfer device 10 is provided with a mechanical arm A belt action first. Two or three directions (such as X, Y, Z direction) displacement panel 11, the panel 11 is equipped with a plurality of first motors 12 to drive a plurality of pulley sets 13 in front of the panel 11, respectively, the belt of the pulley set 13 The linkage drives the transmission frame 14 for displacement in the Z direction, and the transmission frame 14 drives the moving rod 15 to be displaced in the Z direction. One end of the moving rod 15 is assembled with a pick-and-place device 16 for picking and placing electronic components, and the loading device 10 The sensor can be used to sense whether the picker 16 is displaced to the working position (such as the original working position), or to control the working position of the picker 16 with the motor 12, in the present embodiment, between the carriage 14 and the panel 11. A sensor 17 is provided for sensing whether the pick-up unit 16 is reset upward to a preset working position, and the second motor 18 is fixed on the panel 11, and a belt tower wheel set 19 is driven by the second motor 18, Belt The tower wheel set 19 drives the moving rod 15 and the pick-and-place unit 16 for the X-direction displacement adjustment interval; referring to FIG. 2, during the material transfer, the central control device (not shown) of the electronic component working device controls the material-feeding device. 10, the robot arm A of the moving device 10 drives the panel 11 and the plurality of moving rods 15 and the pick-up unit 16 and the like are displaced in the XY direction to the feeding tray 21 of a feeding device 20, and The first motor 12 and the pulley set 13 drive the moving rod 15 and the pick-up unit 16 to be displaced downward in the Z direction, so that the pick-up unit 16 takes out the electronic component 22 to be tested on the feeding tray 21 of the feeding device 20, and After the take-up, the Z-direction is displaced upwards to the preset working position to avoid collision with components of other related devices (such as the carrier of the carrying device, not shown), and the sensor 17 senses the pick-and-place device 16 After the displacement has been reset to the preset working position, the sensing signal is transmitted to the central control device, and the central control device controls the loading device 10 to transfer the plurality of electronic components 22 to be tested to the next carrier device; however, please refer to Figure 3, if the central control unit is wrong or perceived by the electronic control program 17 The poor sensing and other factors cause the pick-and-place device 16 of the loading device 10 to be displaced in the Z direction without being displaced upward, but still protruded and placed in the abnormal state of the reclaiming position, when the loading device 10 is XY The directional displacement transfers the electronic component 22 to be tested to the carrier device 30, that is, the pick-and-place device 16 that protrudes and collides against the carrier 31 of the carrier device 30, since the pick-up device 16 is directly locked The rod 15 is vertically assembled. When the picker 16 is impacted by an external force, not only the picker 16 itself is damaged, but also during the shifting of the loading device 10 in the X direction, the picker 16 is caused by The deformation of the moving rod 15 is continuously caused by the external force pushing, and the related components such as the moving rod 15 and the belt tower wheel set 19 are damaged, so that the operator not only needs to replace the pick-and-place unit 16, but also needs to replace the moving rod 15 and the like, thereby causing the components to be replaced. Increased cost and lack of inconvenience in replacement work.

An object of the present invention is to provide an electronic component pick-and-place device comprising a carrier, a pick-and-place tool and a plurality of latching members, the carrier is fixed to a moving rod of the device to be applied, and the pick-and-place device is provided At least one connecting block disposed under the carrying seat, and at least one pick-up member for picking and placing electronic components under the connecting block, the plurality The card member is provided with a positioning portion at the first end, a card abutting portion is disposed at the second end, and the positioning portion and the card abutting portion respectively connect and latch the carrier seat and the pick-and-place device to make the carrier seat and the carrier The device is used as a non-rigid assembly. When the pick-and-place device performs the operation of picking and placing electronic components, the pick-and-place electronic component can be picked up by the pick-up device of the pick-and-place device, and can be obtained when the pick-and-place device of the pick-and-place device is subjected to an external force collision. The card is separated from the card holder and separated from the carrier; thereby, the carrier of the pick-and-place device can be prevented from being damaged by the pulling and pulling of the pick-and-place device, so that the pick-and-place device only needs to be separately replaced and placed. Cost savings and practical benefits of improving the convenience of replacement operations.

The object of the present invention is to provide an electronic component pick-and-place device, wherein the carrier of the pick and place device is fixedly mounted on the device to be applied, and is assembled non-rigidly with the pick-and-place tool, and the pick-and-place device is subjected to external force collision. At the same time, the connecting block can be pushed by the connecting block as an elastic outer piece, so that the pick-and-place tool can be separated from the latch of the latching member, and the pick-and-place tool is separated from the carrying seat to avoid components on the device to be applied (such as a moving rod). ) It is damaged by the pulling and pulling of the pick-and-place tool, thereby improving the service life of the device to be applied, and achieving the practical benefit of saving component cost.

A third object of the present invention is to provide a working device for applying an electronic component pick-and-place device, which is provided with a feeding device, a receiving device, a working device, a conveying device, a device to be applied, and a central control device. The feeding device is provided with at least one feeding device for accommodating the electronic components to be operated, and the receiving device is provided with at least one receiving device for accommodating the working electronic components, the working device is provided with at least one operation Performing a preset operation on the electronic component, the conveying device is provided with at least one carrier for carrying the electronic component, and the device to be applied is provided with at least one pick-and-place device of the present invention for picking up and moving The electronic control unit is used to control and integrate the operation of each device to perform automated operations, thereby achieving practical benefits of improving production efficiency.

[study]

10‧‧‧Transfer device

A‧‧‧ robotic arm

11‧‧‧ panel

12‧‧‧First motor

13‧‧‧ Pulley set

14‧‧‧Driver

15‧‧‧ moving rod

16‧‧‧ picker

17‧‧‧ Sensor

18‧‧‧second motor

19‧‧‧Belt tower wheel set

20‧‧‧Feeding device

21‧‧‧ Feeding tray

22‧‧‧Electronic components

30‧‧‧ Carrying device

31‧‧‧ stage

〔this invention〕

40‧‧‧ picker

41‧‧‧ bearing seat

411‧‧‧Perforation

412‧‧‧Equip

413‧‧‧First ventilation section

414‧‧‧Exhaust pipe fittings

415‧‧‧Guide

42‧‧‧Retrieving equipment

421‧‧‧Connecting block

422‧‧‧ Pickups

423‧‧‧second ventilation section

424‧‧‧ joints

425‧‧‧Pushing Department

426‧‧‧Care Department

43‧‧‧ Cards

431‧‧‧ Positioning Department

432‧‧‧ card arrival

50‧‧‧Transfer device

51‧‧‧ moving arm

52‧‧‧Variable distance mechanism

53‧‧‧ moving rod

60‧‧‧Feeding device

61‧‧‧Electronic components

62‧‧‧Feeder

70‧‧‧Conveyor

71‧‧‧ stage

72‧‧‧First feeding platform

73‧‧‧First discharge stage

74‧‧‧Second feed stage

75‧‧‧Second discharge stage

76‧‧‧First pressure shifter

77‧‧‧Second pressure shifter

80‧‧‧ machine

90‧‧‧ Receiving device

91‧‧‧Receipt receiver

100‧‧‧Working device

101‧‧‧ boards

102‧‧‧ test seat

110‧‧‧First transfer device

120‧‧‧Second moving device

Figure 1: Schematic diagram of a conventional transfer device.

Figure 2: Schematic diagram of the normal use state of the conventional material transfer device.

Figure 3: Schematic diagram of the abnormal use state of the conventional material transfer device.

Fig. 4 is an exploded view of the parts of the pick and place device of the present invention.

Figure 5: Appearance of the pick and place device of the present invention.

Figure 6: Side view of the pick and place device of the present invention.

Figure 7 is a schematic view of the pick and place device of the present invention assembled to a material transfer device.

Figure 8: Schematic diagram of the use of the pick and place device of the present invention to perform a reclaiming operation (1).

Figure 9: Schematic diagram of the use of the pick and place device of the present invention to perform the reclaiming operation (2).

Fig. 10 is a schematic view showing the use of the pick-up stage of the pick and place device of the present invention (1).

Figure 11: Schematic diagram of the use of the pick-and-place carrier of the pick and place device of the present invention (2).

Figure 12: Schematic diagram of the use of the pick-and-place carrier of the pick and place device of the present invention (3).

Figure 13: Schematic diagram of the use of the pick and place collision carrier of the present invention (4).

Figure 14: Schematic diagram of the pick and place device of the present invention applied to test classification equipment.

In order to make the present invention further understand the present invention, a preferred embodiment will be described in conjunction with the drawings, as described in detail below. Referring to Figures 4, 5 and 6, the electronic component pick-and-place unit 40 of the present invention comprises a carrier. The seat 41, the pick-and-place tool 42 and the plurality of latching members 43 can be a separate component or directly formed on a part of the relevant mechanical component (such as the moving rod of the feeding device), in this embodiment The carrier 41 is a separate component, and is provided with a plurality of through holes 411 for receiving a plurality of fastening members for the bolts 412, and the carrier 411 is used to lock the carrier 41 to the moving rod of the device to be applied. The pick-and-place tool 42 is provided with at least one connecting block 421 which is mounted under the carrying base 41, and at least one pick-up member 422 for picking and placing electronic components is disposed under the connecting block 421. The member 422 can be a suction nozzle or a clamp. If the pick-up member 422 is a suction nozzle, the pick-and-place tool 42 can be provided with an air suction passage between the connecting block 421 and the pick-up member 422, and the connection block 421 is equipped with the connection pumping. The airway pipe fittings enable the pick-up member 422 to suck and discharge the electronic components, and the pick-and-place tool 42 is also connected Block 421, the pickup 422 and the bearing base 41 is provided with the suction communication passage, and the bearing base 41 is fitted with the bleed passage communicating the exhaust pipe, In the embodiment, the pick-up member 422 is a suction nozzle. The pick-up member 42 is connected to the connecting block 421, the pick-up member 422, and the carrier 41. The air passage is provided with a first ventilation section 413. The first end of the first ventilation section 413 is connected to a suction pipe 414, and the second end is connected to the bottom surface of the carrier 41. The air passage and the connecting block 421 of the pick-and-place tool 42 are provided with a second air-venting section 423. The first end of the second air-venting section 423 is connected to the top surface of the connecting block 421, and the second end is connected to the pick-up member 422. Further, the connecting block 421 and the carrier 41 are provided with a matching guiding portion and a joint portion. In the embodiment, the bearing portion 41 is provided with a plurality of guiding portions for the jack on the bottom surface. 415, the connecting block 421 of the pick-and-place tool 42 is disposed at a position corresponding to the guiding portion 415 of the top surface, and is provided with a joint portion 424 which can be inserted into the guiding portion 415 of the carrying base 41 for the pick-and-place tool The connecting block 421 of the 42 is mounted on the bottom surface of the carrier 41, so that the first ventilation section 413 of the bearing seat 41 is accurately aligned with the second of the pick-and-place tool 42. The gas section 423 connects the suction pipe 414 to the pickup member 422 via the first and second ventilation sections 413, 423 of the air passage, so that the pickup member 422 can suck and discharge the electronic component; at least one latching member 43 is attached to the first end A positioning portion 431 is disposed, and a locking portion 432 is disposed at the second end, and the positioning portion 431 and the locking portion 432 are respectively coupled to and latched by the positioning base 41 and the pick-and-place tool 42 to enable the carrier 41 and the pick-and-place tool 42 is a non-rigid assembly, and further, the positioning portion 431 of the latching member 43 can be fixed on the carrier 41, and the connecting block 421 of the pick-and-place tool 42 can be locked by the card abutting portion 432, or the card The positioning portion 431 of the clamping member 43 can be fixed to the connecting block 421 of the pick-and-place tool 42 and can be latched by the engaging portion 432. Therefore, the above two methods can be carried by the latching member 43. The seat 41 and the pick-and-place tool 42 are assembled in a non-rigid manner, and can be disengaged from the carrier 41 when the pick-and-place tool 42 is subjected to an external force, and the latching portion 432 of the latching member 43 can also be bent inwardly. The holders are placed on the bottom surface of the connecting block 421 of the pick-and-place tool 42 to receive the placing member 42 by the elastic card. The plurality of the latching members 43 can be separate components or integrally formed, in this embodiment. Each of the engaging member 43 is an elastic sheet-based, and the first end is provided with a planar shape The positioning portion 431 is bent outwardly at the second end to form a latching portion 432. The plurality of latching members 43 are disposed opposite to each other and can be mounted before, behind or to the left of the carrier 41 according to the moving direction. In the present embodiment, the plurality of latching members 43 are disposed opposite to each other, and are fixedly mounted on the front and rear sides of the carrying base 41 with the positioning portion 431 so that the latching portion 432 faces downward. The plurality of the latching members 43 form an accommodating space for the connecting block 421 of the pick-and-place tool 42 to be used to latch the connecting block 421 of the pick-and-place tool 42 by the card abutting portion 432, thereby the pick-and-place tool 42 is assembled under the carrier 41, and the pick-and-place device 40 is respectively disposed on the front and rear corners of the top surface of the connecting block 421 of the pick-and-place tool 42 to provide a chamfering pushing portion 425 for pushing the The card abutting portion 432 of the latching member 43 is elastically stretched, so that the connecting block 421 of the pick-and-place tool 42 can be easily placed into the accommodating space between the plurality of latching members 43, and the bottom surface of the connecting block 421 of the pick-and-place tool 42 The front and rear corners are respectively provided with chamfered engaging portions 426 for the card abutting portion 432 of the latching member 43 to be positioned and collided by the external force of the pick and place member 42. When the engaging portion 426 is used, the engaging portion 432 of the latching member 43 is easily elastically stretched, so that the connecting block 421 of the pick-and-place tool 42 is easily separated from the latching member 43.

Referring to FIGS. 6 and 7, the electronic component pick-and-place device 40 of the present invention can be mounted on a device to be applied, and the device to be applied can be a transfer device or a pressure shifting device, etc. In the present embodiment, the pick and place device of the present invention The 40 series is applied to the transfer device 50, and the transfer device 50 is controlled by a central control device (not shown), and is provided with a variable pitch mechanism 52 driven by the moving arm 51 for XYZ displacement. The mechanism 52 is a well-known technique, and therefore, the variable pitch mechanism 52 is provided with a plurality of moving rods 53 for assembling the picker 40 of the present invention, and the pick-and-place 40 is placed by the bolts 412. The through hole 411 of the bearing seat 41 is locked to the moving rod 53 of the variable distance mechanism 52, and the carrying seat 41 of the pick-and-place unit 40 is used to chuck the pick-and-place tool 42 by using a plurality of latching members 43. The connecting block 421 is assembled and positioned, so that the pick-and-place tool 42 is smoothly assembled under the carrying base 41, and then the plurality of moving rods 53 can drive the plurality of pick-and-placers 40 to be displaced in the XZ direction, and the pick-and-places of the plurality of pick and placeers 40 are taken. With 42 pick and place electronics element.

Referring to Figures 8 and 9, in the reclaiming, the central control device controls the moving arm 51 of the loading device 50 to drive the variable pitch mechanism 52 and the plurality of pick and placeers 40 to be displaced in the XY direction to an electronic component 61 to be operated. Above the feeding device 60, and a plurality of moving rods 53 of the variable distance mechanism 52 drive the plurality of pickers 40 to be displaced downward in the Z direction, because the first ventilation section 413 in the carrier 41 of the picker 40 is A second venting section 423 in the connecting block 421 of the ejector tube 414 and the accommodating device 42 is connected. The second venting section 423 is in turn connected to the picking member 422, so that the plurality of pickers 40 are used by the picking member 422 to the feeding device 60. The feeding device 62 takes out the electronic component 61 to be operated, and then the central control device controls the plurality of moving rods 53 of the variable pitch mechanism 52 of the loading device 50 to drive the plurality of pickers 40 in the Z direction upward according to the timing. The displacement is reset to transfer a plurality of electronic components 61 to be operated to a next delivery device (not shown).

Referring to Figures 10, 11, 12, and 13, when the central control unit is inaccurate due to an electronic control program error or a sensor sensing failure on the material transfer device 50, a pick-and-place device 40 of the transfer device 50 does not occur. When the Z direction is displaced upward and reset, but still protrudes and is placed in the abnormal state of the reclaiming position, since the worker cannot know immediately, the moving arm 51 of the moving device 50 still drives the variable distance mechanism 52 according to the actuation timing. A plurality of pick-and-place devices 40 and a plurality of electronic components 61 to be operated are displaced in the X direction to the stage 71 of the transport device 70. At this time, since the working height of the pick-up unit 40 is lower than the set height of the stage 71, The pick-and-place tool 42 of the ejector 40 collides with the loading table 71 during the displacement stroke. Since the pick-and-place unit 40 uses the plurality of latching members 43 on the carrying platform 41 to chuck the connecting block 421 of the pick-and-place tool 42, The loading platform 41 and the pick-and-place tool 42 are non-rigidly assembled, and when the pick-up member 422 of the pick-and-place tool 42 is subjected to a collision external force, the external force pushing and lowering the picking device 42 is turned downward to make the pick-and-place tool 42 The connecting portion 421 pushes the card abutting portion 432 of the latching member 43 to be elastically stretched, due to the engagement of the connecting block 421 426 based chamfered, the connecting block 421 may facilitate the detachment of the engaging members 43, so that take place The tool 42 is separated from the carrier 41 to prevent the pick-and-place tool 42 from pulling the carrier 41 and the moving rod 53 in a continuous displacement stroke, thereby ensuring the service life of the components such as the carrier 41 and the moving rod 53 without replacing the whole The group pick-and-place device 40 can be replaced only by the pick-and-place tool 42, thereby achieving the practical benefit of saving cost and improving the convenience of the replacement operation.

Referring to Figures 4, 5, 6, and 14, the pick-and-place device 40 of the present invention can be applied to an electronic component working device including a machine table 80, a feeding device 60, a receiving device 90, and a working device. 100, a conveying device 70, at least one device to be applied, at least one pick-and-place device 40 of the present invention and a central control device (not shown) assembled in the device to be applied; in the embodiment, the pick-and-place device 40 is applied In the first working device for testing the sorting device, the device to be applied is a moving device, and the test sorting device is provided on the machine 80 with a first moving device 110 and a second moving device 120, the feeding device The 60 series is mounted on the machine table 80, and is provided with at least one feeding device 62 for feeding trays for accommodating at least one electronic component to be operated; the receiving device 90 is mounted on the machine table 80, and is provided There is at least one receiving tray 91 for receiving trays for accommodating at least one electronic component that has been operated; the working device 100 is mounted on the machine table 80 and is provided with at least one operator for electronic The component performs a preset operation. In this embodiment, the operator is electrically connected. The circuit board 101 and the plurality of test sockets 102 are connected to perform a test operation on a plurality of electronic components. The transport device 70 is mounted on the machine 80 and is provided with at least one carrier for carrying electronic components. In the embodiment, the first loading stage 72 and the first discharging stage 73 are disposed on the first side of the working device 100, and the second loading stage 74 and the second side are disposed on the second side of the working device 100. a discharge stage 75, the other conveying device 70 is provided with a first pressure shifter 76 for transferring the electronic components to be operated and the electronic components to be operated between the working device 100 and the first inlet and outlet loading stations 72, 73, and The first shifting device 110 is mounted on the machine 80 when the working device 100 and the second loading and unloading station 74, 75 transfer the electronic component to be operated and the second pressure shifter 77 of the operated electronic component. And provided with at least one moving rod for assembling the picker 40 of the present invention for In the present embodiment, the first moving device 110 takes out the electronic components to be operated by using the plurality of pickers 40 at the feeding device 62 of the feeding device 60, and transfers them to the respective components. The first loading stage 72 and the second loading stage 74, the first loading stage 72 and the second loading stage 74 carry the electronic components to be operated to the working device 100, the first pressure shift The device 76 and the second pressure shifter 77 respectively transfer the electronic components to be operated on the first loading stage 72 and the second loading stage 74 to the working device 100 to perform a test operation, and place the working device 100 The operated electronic components are transferred to the first discharge stage 73 and the second discharge stage 75, and the first discharge stage 73 and the second discharge stage 75 carry the electronic components that have been operated, and the second movement The material device 120 is mounted on the machine table 80 and is provided with at least one moving rod for assembling the pick-and-place device 40 of the present invention for picking and placing electronic components. In the embodiment, the second moving device 120 utilizes a plurality of materials. The pick-and-place device 40 takes out the electronic components of the work on the first discharge stage 73 and the second discharge stage 75, and according to the test result, The electronic components of the operation are transported to the receiving and receiving device 91 of the receiving device 90 for sorting and storage; the central control device is used for controlling and integrating the operations of the devices to perform automated operations, thereby achieving practical benefits of improving work efficiency.

40‧‧‧ picker

41‧‧‧ bearing seat

411‧‧‧Perforation

412‧‧‧Equip

413‧‧‧First ventilation section

414‧‧‧Exhaust pipe fittings

415‧‧‧Guide

42‧‧‧Retrieving equipment

421‧‧‧Connecting block

422‧‧‧ Pickups

423‧‧‧second ventilation section

424‧‧‧ joints

425‧‧‧Pushing Department

426‧‧‧Care Department

43‧‧‧ Cards

431‧‧‧ Positioning Department

432‧‧‧ card arrival

Claims (10)

An electronic component pick and place device comprising: a carrier; a pick and place device: at least one connecting block mounted under the carrying seat, and at least one pick-up member for picking and placing electronic components below the connecting block At least one card member is provided with a positioning portion at the first end, a card abutting portion at the second end, and the positioning portion and the card abutting portion respectively connect and latch the carrier seat and the pick and place device The connection block. The electronic component pick-and-place device of claim 1, wherein the pick-up member of the pick-and-place tool is a suction nozzle, and an air suction passage is provided between the connecting block and the pick-up member, the connecting block An exhaust pipe member connected to the suction passage is assembled. According to the electronic component pick-and-place device of claim 1, wherein the pick-up member of the pick-and-place tool is a suction nozzle, and an air suction passage is provided between the connecting block, the pick-up member and the carrier. The carrier is equipped with a suction pipe member that communicates with the suction passage. The electronic component pick-and-place device of claim 3, wherein the air passage of the pick-and-place device is provided with a first ventilation section in the carrier, and the first end of the first ventilation section is connected to the pumping a second end is connected to the bottom surface of the carrier, and the air passage is connected to the connecting block of the pick and place with a second airing section, and the first end of the second airing section is connected to the connecting block The top surface and the first venting section, and the second end is connected to the pick-up member. The electronic component pick-and-place device according to claim 1, wherein the connecting block of the pick-and-place device and the carrier are provided with a guiding portion and a joint portion. The electronic component pick-and-place device of claim 1, wherein the positioning portion of the latching member is fixed on the carrier, and the card is offset by the card The connecting block of the placing device or the positioning portion of the latching member is fixed to the connecting block of the pick-and-place device, and the bearing seat is clamped by the card abutting portion. The electronic component pick-and-place device of claim 1, wherein the carrier can be a separate component or directly formed on a part of the related component. The electronic component pick-and-place device according to claim 1, wherein the latching member is an elastic sheet body, and the positioning portion is provided at the first end, and the card is bent and formed at the second end. unit. The electronic component pick-and-place device of claim 1, wherein the pick-and-place device is provided with a plurality of latching members, and the plurality of latching members are mounted on the carrier or the connecting device The front, back or left and right sides of the block or a plurality of opposite corners. An operation device for applying an electronic component pick-and-place device, comprising: a machine table; a feeding device: disposed on the machine table, and provided with at least one feeding device for accommodating at least one electronic component to be operated; The receiving device is disposed on the machine and is provided with at least one receiving device for accommodating at least one electronic component that has been operated; the working device is disposed on the machine and has at least one a working device for performing a preset operation on the electronic component; the conveying device is disposed on the machine, and is provided with at least one carrier for carrying the electronic component; the device to be applied is disposed on the machine And at least one electronic component pick-and-place device according to claim 1 for transferring the electronic component; the central control device is used for controlling and integrating the operation of each device to perform an automated operation.