Pick-and-place device of display screen substrate and control method for picking and placing display screen substrate

A control method for picking and placing a display screen substrate, the display screen substrate being suitable for being stored in a pick-and-place device, the pick-and-place device comprising a housing, a support assembly, a control component, a sensing component, and a weight sensor, the support assembly being provided inside the housing, the support assembly comprising a support plate and two sets of support bars, the support plate extending along a first direction, the two sets of support bars being disposed opposite to each other and spaced apart from each other in the first direction, each set of the two sets of support bars comprising a plurality of support bars, the plurality of support bars being arranged at intervals along a second direction perpendicular to the first direction in a plane of the support plate, and each of the plurality of support bars being movable along a third direction perpendicular to the plane of the support plate, the support plate and each of the plurality of support bars being connected with the housing respectively, and the support plate being provided with an opening configured to allow the support bar to move along the third direction, and the display screen substrate being suitable for being placed on the support plate, the control component being disposed on the housing and configured to control a movement of the support assembly, the sensing component being disposed inside the housing and configured to receive information indicative of picking and placing of the display screen substrate, the weight sensor being disposed on the support bar and configured to detect a change in a support weight on the support bar;

• and
• the control method comprising:
• upon receiving a signal from a mechanical arm configured to pick and place the display screen substrate by the sensing component, controlling the two sets of support bars of the support assembly to move towards the mechanical arm along the third direction to a preset position by the control component to reserve a working space for the mechanical arm, and
• upon detecting a change in the support weight on the support bar by the weight sensor, determining a picking or placing state of the display screen substrate by the control component according to information of the change in the support weight in such a manner that:
• the support weight being increased indicates the display screen substrate being placed on the two sets of support bars by the mechanical arm, then controlling the two sets of support bars to move away from the mechanical arm along the third direction to a position below the support plate by the control component so that the display screen substrate is supported on the support plate;
• and the support weight being reduced indicates the display screen substrate being moving away from the support plate by the two sets of support bars while the two sets of support bars moving towards the mechanical arm along the third direction, then picking the display screen substrate by the mechanical arm and maintaining the two sets of support bars in the preset position.