Abstract:
A system having improved cycle time for removing PC boards from a connected panel. In accordance with the present invention, a pair of walking clamps are used to receive a panel from a subsequent processing system, and a movable receiving nest is used to provide the PC boards to a subsequent processing station. The processes of receiving a panel, depaneling the PC board, and delivering the PC boards do not use common components and are able to operate independently and concurrently to reduce idle time in the system and improve the cycle time. The present invention also provides a secondary vacuums which removes debris from the PC boards as the PC boards are being transporting to a subsequent processing system to improve the removal of debris.

Description:
FIELD OF THE INVENTION 
     The present invention relates to removing PC boards from a panel containing the PC boards. More particularly, the present invention relates to providing systems for receiving the panel from a feeder system, for depaneling the PC boards, and delivering the PC boards to a subsequent processing system that operate concurrently. The present invention also relates to providing a secondary vacuum to remove debris from the PC boards as the PC boards are delivered to the subsequent processing station. 
     PROBLEM 
     In today&#39;s society, most electronic devices, such as televisions and telephones, have at least one printed circuit board (“PC board”) in their circuitry. As the use of PC boards in electronic devices has increased, it has become necessary to be able to mass produce PC boards in order to mass produce the electronic equipment. A common method in the mass production of PC boards is to assemble multiple PC boards at one time in a single panel. By using a single panel, assembly equipment only has to manipulate a single panel to operate on multiple PC boards. This simplifies the processes required to produce the PC boards and reduces the time needed to produce each PC board. 
     Mass production of PC boards in a single panel requires that each individual PC board must be removed or depaneled from the panel before the individual PC boards can be integrated into the electronic equipment. The time needed to depanel individual PC boards from a panel is a critical factor in the production time of PC boards. In order to decrease the time needed to produce a PC board as well as electronic equipment, it is necessary to reduce the time needed to depanel individual PC boards from a panel. 
     In order to depanel PC boards from a panel, all connections between each individual PC board and the panel must be severed. Automated depaneling systems are commonly used to sever all of the connections between the individual PC boards and a panel. The individual PC boards are then moved by the automated depaneling system to a subsequent processing system or to a registration element which provides the individual PC boards to the subsequent processing system. It is a problem to reduce the time needed to depanel all of the individual circuit boards from a panel. 
     Depaneling individual PC boards from a panel of PC boards typically involves three separate processes in a depaneling system. The three processes are delivery of a panel, depaneling individual PC boards from the panel, and providing the individual PC boards to a subsequent processing system. In a typical depaneling system, the three processes occur sequentially. First, the panel is delivered to the depaneling system. Second, the individual PC boards are depaneled. Finally, the individual PC boards are provided to a subsequent processing system. 
     These three operations must be done sequentially because of the physical constraints of the depaneling system. A depaneling system typically includes a table, a router and a robotic arm. A panel is received by the system and placed on the table in a preprogramed or registered position. A robotic hand at an end of the robotic arm grips each individual PC board in the panel. The router or some other cutting equipment then severs all of the connections between each PC board and the panel. After all of the connections are severed, the robotic arm moves the individual PC boards to a registration nest or a subsequent processing system. The depaneling system is not ready to receive a subsequent panel until the robotic arm returns and is able to hold the PC boards from the new panel. 
     There is a long felt need in the art for a depaneling system having improved cycle time to increase the number of circuit boards per unit of time produced. This can be achieved by decreasing the idle time of a panel delivery system, a depaneling system, and a system for transporting the PC boards to a subsequent processing system. One possible method of decreasing the idle time of the depaneling system is to provide three processes that can operate concurrently. In order to perform the operations concurrently, it is necessary to provide a automated depaneling system in which each process can operate independently from the other processes. 
     A second problem in depaneling systems is defective PC boards caused by the ineffective removal of excess debris from the PC boards. Debris remaining on a PC board can cause a short in the circuitry of the board or other elements of a circuit containing the PC board or can cause misalignment of the PC board with connectors inside a device. The excess debris must be removed to prevent such defects. 
     One method for removing excess debris is to remove the debris using a vacuum during the severing of connections between the PC board and the panel. As of the connections between the individual PC boards and a panel are being severed by the depaneling system, a vacuum inside the depaneling is then moved across the PC boards. Excess debris remaining on the PC boards is removed by the vacuum. However, the vacuum is not always successful in removing all of the excess debris from the PC board. One reason for the ineffectiveness of the vacuum is the physical constraints of the depaneling system which may prohibit the movement of the vacuum across the entirety of each individual PC board. There is a need for a method for improving the removal of excess debris from PC boards removed from a panel. 
     SOLUTION 
     The above and other problems are solved and an advance in the arts is made by the provision of a depaneling system having walking clamps for receiving a panel from a feeder system; a movable registration nest for removing individual PC boards from a depaneling subsystem and for providing the PC board to a subsequent processing system; and a secondary vacuum for removing excess debris from PC boards removed from the depaneler. Cycle time of a automated depaneling system and removal of excess waste from PC boards is improved by the present invention. In accordance with the present invention, a subsystem for receiving a panel from a feeder, the depaneling subsystem for removing the PC boards from the panel, and a subsystem for removing the PC boards from the depaneler and providing the boards to a subsequent processing system may operate independently. This improves cycle time since each subsystem may perform its function concurrently with the other two subsystems and idle time of each subsystem is reduced. The three subsystems are able to operate concurrently because the three subsystems do not share common elements. A first subsystem does not have to wait for a common element in a second subsystem to complete a task before the common element is available to perform a task in the first system. Additionally, the present invention provides a secondary vacuum to remove excess debris from a PC board after the PC board has been removed from a panel. 
     In accordance with the present invention, a subsystem for receiving a panel in a depaneling system is provided by a pair of walking clamps. A first walking clamp and a second walking clamp are juxtaposed to each other and are spaced apart to allow the first walking clamp to clamp to a first side of a panel and the second walking clamp to clamp to a second side of the panel. A pneumatic motor moves the first and the second walking clamps linearly along a defined path between a feeder system and a depaneler. 
     The first walking clamp starts in a first position proximate the feeder system such as a cartridge, and clamps a first corner on a first side of a panel from the feeder system. The pneumatic motor moves the first walking clamp toward the depaneler to a second position pulling the panel out of the cartridge. The second walking clamp starts in a first position along a second side the panel when the first walking clamp is in the second position and clamps the second side of the panel. The first walking clamp releases the first corner of the panel after the second walking clamp has clamped the second side of the panel. The second walking clamp is then moved toward the depaneler to a second position proximate the depaneler. The first walking clamp is then moved toward the depaneler to a position along the first side of the panel across from the second walking clamp and clamps the first side of the panel. The panel is held in place by the first and second walking clamps until the depaneling system is in a ready state to receive the panel from the walking clamps. 
     When the depaneling system is in a ready state, the first walking clamp releases the first side of the panel and moves to the first position to receive a subsequent panel. A third walking clamp from inside the depaneling system is moved along the first side of the panel, and clamps the first side of the panel. Sensors on the third walking clamp are used to adjust the position of the panel and to register the position of the panel for the depaneling subsystem. The third clamp moves the panel into the depaneler which removes the PC boards from the panel. The second walking clamp releases the second side of the panel when the third walking clamp from the depaneling system clamps the first side of the panel and moves to the first position of the second walking clamp to clamp to a subsequent panel. 
     The depaneling subsystem of the present invention depanels the PC boards in the following manner. The third walking clamp moves the panel into a proper position in the depaneling subsystem. The panel is held in place by the third walking clamp and a clamp on the opposing side of the panel. A robotic hand attached to a robotic arm grips each PC board in the panel. A router then severs all of the connections between the PC boards and the panels allowing debris to fall away from the PC boards as the PC boards are held in place by the robotic hand. A primary vacuum in the depaneling subsystem removes excess debris from the PC boards as the router severs the connections. 
     After each PC board has been depaneled from a panel, the PC boards must be removed from the depaneling subsystem and provided to a subsequent processing system. In accordance with the present invention, a movable receiving nest removes the PC boards from the depaneler and provides the depaneled PC boards to a subsequent processing system. The movable receiving nest receives the PC boards in the depaneling subsystem instead of having the robotic arm move the PC boards to a receiving nest outside the depaneling system. This allows the depaneling subsystem to receive a subsequent board after the movable nest receives the PC boards. 
     The movable receiving nest operates in the following manner. After all of the connections between the panel and PC boards have been severed, the movable receiving nest is moved to a first position under the severed PC boards in the depaneling subsystem by a servo motor. The robotic hand then places each PC board into a separate compartment in the movable receiving nest. The servo motor then moves the movable receiving nest from the first position to a second position outside of the depaneling subsystem. A subsequent processing system then retrieves the PC boards from the movable receiving nest at the second position. 
     As the movable receiving nest is being moved from the first position to the second position, a secondary vacuum removes excess debris from the PC boards. A secondary vacuum is positioned over a path of the movable receiving nest between the first and second positions. As the movable receiving nest moves from the first to the second position, the movable receiving nest moves through a head of a the secondary vacuum. Any excess debris remaining on the PC boards is removed by the secondary vacuum. 
     These and other advantages of the present invention will be apparent to those skilled in the art upon a reading of the detailed description below in combination with the accompanying drawings. 
    
    
     DESCRIPTION OF THE DRAWINGS 
     FIG. 1 illustrates a panel of PC boards; 
     FIG. 2 illustrates a preferred exemplary embodiment of a depaneling system of the present invention; 
     FIG. 3 illustrates a pair of walking clamps of the preferred exemplary embodiment in a first position; 
     FIG. 4 illustrates the pair of walking clamps of the preferred exemplary embodiment in a second position; 
     FIG. 5 illustrates the pair of walking clamps in a third position; 
     FIG. 6 illustrates a clamp from the depaneling area receiving a panel of PC boards; 
     FIG. 7 illustrates a routing system for severing connections between the panel and the individual PC boards in the present invention; 
     FIG. 8 illustrates a movable receiving nest in a position inside a depaneling subsystem; and 
     FIG. 9 illustrates a pick and place arm removing PC boards from the movable receiving nest inside a registration subsystem. 
     FIG. 10 illustrates the components of a walking clamp inside groove of a preferred exemplary embodiment. 
    
    
     DETAILED DESCRIPTION 
     Panel of PC Boards—FIG.1 
     FIG. 1 illustrates an exemplary panel  100  containing four PC boards  101 . Panel  101  is representative of a panel used in the present invention and in no way limits the type of panel or PC board which may be depaneled by the present invention Slots  105  and tabs  104  define the edges of PC boards  101 . Tabs  104  connect PC boards  101  to panel  100  and are cut during the depaneling process to liberate PC boards  101  from panel  100 . Registration holes  106  in each PC board  101  are used to grip PC board  101  as described below. Frame  103  is the material of panel  100  that hold PC boards  101  together as one panel  100 . Slots  109  define the edges of PC board  101  and are used by grippers in system  100  to hold PC boards  101 . After tabs  104  are cut the material of frame  103  becomes debris. Although panel  100  is described with four panels  101 , it is understood that panel  100  can have any number of PC boards that are arranged on panel  100  in any configuration. The actual number and configuration of PC boards  101  on panel  100  is a design choice left to the maker of the panel. 
     A Preferred Exemplary Embodiment of a Depaneling System in Accordance With the Present Invention—FIG. 2 
     FIG. 2 illustrates an assembled view of all of the sub-systems of depaneling system  200  on a table  206 . FIGS. 3-9 illustrate isolated views of the subsystems of depaneling system  200  in accordance with the present invention. In general, depaneling system  200  operates in the following manner. A panel  100  is received by a staging subsystem  202  and delivered to a depaneling system  203  by a process described below and illustrated in FIGS. 3-6. Depaneling system  203  severs all of the connections between panel  100  and PC boards  101 . Depaneling system  203  is described below and illustrated in FIG.  7 . After all of the connections have been severed by depaneling system  203 , movable receiving nest  240  receives PC boards  101  from depaneling system  203  and moves PC boards  101  to a registration subsystem  204 . Movable receiving nest  240  is illustrated in FIG.  8  and the process for moving movable receiving nest  240  is described below. Registration subsystem  204  delivers PC boards  101  to a subsequent processing system (not shown). Registration subsystem  204  is illustrated in FIG.  9  and described below. 
     All of the processes performed by the subsystems of depaneling system  200  are controlled by controller  201 . Controller  201  is a general purpose programmable computer such as an IBM personal computer capable of executing a series of instructions for operating each subsystem stored in a memory. Signals are transmitted between staging subsystem  202  and controller  201  via paths  218  and  219 , between depaneling subsystem  203  and controller  201  via path  227 , and between registration subsystem  204  and controller  201  via path  246 . 
     Staging Subsystem  202 —FIGS. 3-6 
     FIGS. 3-6 illustrate the various positions of the components of staging subsystem  202  during the process of receiving panel  100  from a previous processing system (not shown) and delivering panel  100  to depaneling subsystem  203 . Unlike the prior art, subsystem  202  operates independently of depaneling subsystem  203 . This allows staging subsystem  202  to be receiving and delivering another panel  100  as depaneling subsystem  200  is severing the connections between PC boards  101  and the prior panel  100 . 
     As illustrated in FIG. 3-6, staging subsystem  202  is comprised of a first walking clamp  210  and a second walking clamp  211 . Walking clamps  210  and  211  are juxtaposed from each other and are spaced so that a panel  100  fits between the clamps. A groove is defined between the upper clamping member  213  and the clamping  212  of each walking clamp  210 - 211 . One side of panel  100  fits into the groove. Pneumatic motors (not shown) cause upper clamping member  213  and lower clamping member  212  to open and close in response to signals from controller  201  in order to clamp and release a panel  101 . 
     First walking clamp  210  is slidably affixed to guide  217 . A pneumatic motor (not shown) moves first walking clamp  210  along guide  217  in response to signals from controller  201 . Second walking clamp  211  is slidably affixed to guide  216 . A pneumatic motor (not shown) moves second walking clamp  212  along guide  216  in response to signals received from controller  201 . 
     FIGS. 3-6 illustrate the positions in which controller  201  places first walking clamp  210  and second walking clamp  211  to receive panel  101  and deliver panel  101  to depaneling subsystem  203 . First, staging subsystem  202  must receive panel  101  from a previous processing station (not shown) such as a cartridge containing multiple panels  101 FIG. 3 illustrates the position  300  in which first and second clamping means are placed by controller  201  in order to receive panel  101 . 
     In first position  300 , first walking clamp  210  is at a first end of guide  217  and second walking clamp  211  is at a first end of guide  216 . Guides  216  and guide  217  are near a first end of table  206 . This allows first walking clamp  210  and second walking clamp  211  to overhang table  206 . The previous processing station (not shown) positions panel  100  so that a first corner of a first side of panel  100  is inserted inside the groove of first walking clamp  210 . Controller  201  then signals upper clamping member  213  and lower clamping member  212  of first walking clamp  210  to close and clamp panel  101 . 
     FIG. 4 illustrates a second position  400  of staging system  202 . Controller  201  signals the pneumatic motor (not shown) to move first walking clamp  210  along guide  217  to second position  400  after panel  101  has been clamped by first walking clamp  210 . The moving of first walking clamp  210  causes panel  100  to move to a position where a second side of panel  100  is inside the grove of second walking clamp  211 . After the second side of panel  100  is fully inside the grove of second walking clamp  211 , controller  201  signals a pneumatic motor (not shown) to close upper clamping member  213  and lower clamping member  212  of second walking clamp  211  in order to clamp panel  100 . Controller  201  then signals the upper and lower clamping members of first walking clamp  210  to open and release panel  101   
     FIG. 5 illustrates a third position  500  of staging system  202 . First walking clamp  210  and second walking clamp  211  are moved to third position  500  in response to second walking clamp clamping panel  100 . After panel  100  is clamped by second walking clamp  211 , controller  201  signals a pneumatic motor (not shown) to move second walking clamp  211  to a second end of guide  216 . At the second end of guide  216 , second walking clamp  211  is proximate depaneling subsystem  213 . After second walking clamp  211  is moved, controller  201  signals the pneumatic motor (not shown) to move first walking clamp  210  to a second end of guide  217  as shown in FIG.  5 . This places the first side of panel  100  inside the groove of first walking clamp  211 . Controller  201  then signals a pneumatic motor (not shown) to close upper clamping member  213  and lowerclamping member  212  of first walking clamp  210  in order to clamp the first side of panel  100 . First walking clamp  210  and second walking clamp  210  hold panel  100  in position  500  until depaneling subsystem  203  is ready for panel  100 . 
     When controller  201  receives a signal indicating that depaneling subsystem  203  is in ready state and able to receive another panel  100 , controller  201  moves first walking clamp  210 , second walking clamp  211 , and third walking clamp  228  from depaneling subsystem  203  to position  600  illustrated in FIG.  6 . First, controller  201  signals the pneumatic motors (not shown) to open upper clamping member  213  and lower clamping member  212  of first walking clamp  210  in order to release panel  100  and deenergizes the pneumatic motor (not shown) for moving first walking clamp  210 . Signals are then sent to servo motor  262  to move the third walking clamp  228  along lead screw  260  to a first end of lead screw  260 . As third wiking clamp  228  moves along side panel  100 , first walking clamp  210  is displaced by third walking clamp  228  and moved to a first position along guide  217 . When third walking clamp  228  is at the first end of lead screw  260 , the first side of panel  100  is in the groove of third walking clamp  228 . Controller  201  signals a pneumatic motor (not shown) to close upper clamping member  213  and lower clamping member  212  of third walking clamp  228 . 
     After third walking clamp  228  is along side panel  100  and panel  100  is in the groove of walking clamp  228 , a registration process is performed. FIG. 10 illustrates the components of walking clamp  228  inside groove  1000 . As panel  100  slide inside groove  1000 , optical sensor  1020  scans for a middle opening  102  in panel  100 . After the middle opening  102  is sensed under optical sensor  1020 , walking clamp  228  is moved in a programed motion in order to align middle registration pin  1002  and the middle opening  102  of panel  100 . This also aligns registration pins  1001  and  1003  with openings  102  on opposing ends of panel  100 . After registration pins  1001 - 1003  are aligned with openings  102 , controller  201  signals a pneumatic motor to close upper clamping member  212  and lower clamping member  213 . Registration pins  1001 - 1003  go through openings  102  and into receiving apertures  1011 - 1013  to hold panel  100  in a known position to allow depaneling subsystem  203  to sever the connections between panel  100  and PC boards  101 . 
     After third walking clamp  228  clamps to panel  100 , controller  201  then signals the pneumatic motors (not shown) to open upper clamping member  213  and lower clamping member  212  of second walking clamp  211  to release panel  100 . After second walking clamp  211  has released panel  100 , controller  201  signals the servo motor  261  to move third walking clamp  228  to a second end of lead screw  260  inside depaneling subsystem  203 . This moves the second side of panel  100  into the groove of a clamp  229 . A signal is then sent to pneumatic motor (not shown) to close upper clamping member  213  and lower clamping member  212  of clamp  229  in order to secure panel  100  in place during the depaneling process. Controller  201  then signals the pneumatic motor (not shown) to move second walking clamp  211  to a first end of guide  216  to wait for a subsequent panel. 
     Depaneling Subsystem  203 —FIG. 7 
     The components of depaneling subsystem  203  are illustrated in FIG.  7 . Router assembly  700  is mounted below table  206 . Depaneler arm assembly  220  and pick and place arm assembly  290  are positioned on top of table  206 . Router assembly  700  can move in all three axes. Pneumatic cylinder  710  operates in response to signals from controller  201  to move router head  715  up and down along the z axis. Motor  711  turns lead screw  712  in response to signals from controller  201  in order to cause router head  715  to along the x axis. Router head  715 , motor  711  and lead screw  712  are mounted on frame  716 . Motor  713  is connected to a lead screw (not shown) to move frame  716  and router head  715  along a y-axis in response to signals from controller  201 . 
     In order for router  702  to cut all of the tabs  104  to depanel the PC boards, panel  100  is clamped into place by third walking clamp  228  and clamp  229  over an opening  299  as illustrated in FIG.  2 . FIG. 2 also shows Depaneler arm assembly  220  on top of table  204 . A base  224  is connected to guides  222  of depaneler arm assembly  220 . A pneumatic cylinder  221  moves base  224  up and down along guides  222  responsive to signals from controller  201 . Hand  226  extends out from base  224  over opening  299 . Grippers  225  on the bottom of hand  226  has fingers  298  extending downwards towards opening  299 . 
     When panel  100  is clamped into place controller  201  signals pneumatic cylinder  221  to move base  224  downwards towards opening  299 . Fingers  298  of each gripper  225  are received by slots  109  on opposing sides of PC boards  101  to hold PC boards  101  in place after tabs  104  have been cut. Controller  201  signals routing assembly  700  to move in a programmed sequence to allow router  502  to cut all tabs  104  connecting PC board  101  to panel  101 . As router  702  is cutting tabs  104 , a primary vacuum (not shown) is moved over PC board  101  to remove debris caused by the cutting. 
     After all of the tabs  104  have been cut, controller  201  signals pneumatic cylinder  221  to move base  224  up guides  222 . This moves grippers  225  holding PC boards  101  upward. Controller  201  transmits signals to the upper clamping members  213  and lower clamping members  212  of third walking clamp  228  to open and release panel  100  and to servo  261  to move third walking clamp  228  to receive another panel  100 . After third walking clamp is moved, upper clamping member  212  and lower clamping member  213  of clamp  229  are opened and frame  103  is allowed to fall through opening  299 . As third walking clamp  228  moves to receive another panel  100 , movable receiving nest  240  receives the depaneled PC boards  101 . 
     Movable Receiving nest  240 —FIG. 8 
     FIG. 8 illustrates movable receiving nest  240  in a position  800  inside depaneling subsystem  203  to receive PC board  101  from grippers  225 . Each compartment  241  in movable receiving nest  240  receives one PC board  101 . Movable receiving nest  240  is mounted on platform  244 . Platform  244  is, in turn, slidably mounted on lead screw  243 . Motor  245  receives signals from controller  201  to turn lead screw  243  to move platform  244  between a first end and a second end of lead screw  243  which moves movable receiving nest  240  between position  800  and a position inside the registration subsystem  204  (depicted in FIG.  2 ). 
     Movable receiving nest  240  transports PC boards  101  from depaneling subsystem  203  to registration subsystem  204  in the following manner. Movable receiving nest  240  begins in the position depicted in FIG.  2 . After third walking clamp  228  moves to receive another panel  100 , controller  201  signals motor  245  to turn lead screw  243  to move movable receiving nest  240  into depaneling subsystem  203  directly under robotic hand  226  as illustrated in FIG.  8 . After movable receiving nest  240  is in position  800 , controller  201  signals pneumatic cylinder  221  to move hand  226  downwards by moving base  224  down guides  222 . When grippers  225  of hand  226  reach a point that PC boards  101  are inside compartments  241 , controller  201  signals pneumatic cylinder  221  to stop. The pneumatic motors (not shown) controlling fingers  298  of grippers  226  are then signaled by controller  201  to open. The openings of fingers  298  releases PC boards  101  into compartments  241 . Controller  201  then signals pneumatic cylinder  221  to move base  224  upward to move grippers  225  out of movable receiving nest  240 . 
     After grippers  225  have moved out of compartments  241 , controller  201  signals motor  245  to turn lead screw  243  and move movable receiving nest  240  from the position  800  depicted in FIG. 8 to the position illustrated in FIG.  1 . Depaneling subsystem  203  is then ready to receive and depanel another panel  100 . 
     Movable receiving nest  240  passes through vacuum head  233  of secondary vacuum (not shown) as movable receiving nest  240  moves from position  800  to the position depicted in FIG.  1 . Vacuum head  233  is substantially a cubic block with a substantially cubic opening  233  along it x-axis to allow receiving nest  240  to pass through head  233 . Groove  233  allows the platform  244  to pass through vacuum head  233 . An opening (not shown) the inside of vacuum head  233  is connected to tube  232  to provide an inlet for the secondary vacuum. 
     Controller  201  activates the secondary vacuum (not shown) that is connected to vacuum head  230  via tube  232  as movable receiving nest  240  passes through vacuum head  233 . The secondary vacuum removes excess debris from PC boards  101  by causing air to flow into the secondary vacuum carrying the debris. After all of compartments  241  have passed through vacuum head  233 , controller  201  signals the secondary vacuum to deactivate. 
     After movable receiving nest  240  has moved into registration subsystem  204 , PC boards  101  are removed from movable receiving nest  240  by pick and place arm  291 . FIG. 9 illustrates the components of registration subsystem  204 . 
     Registration Subsystem  205 —FIG. 9 
     FIG. 9 is a detailed view of registration subsystem  204  shown in FIG.  2 . In FIG. 9, pick and place arm assembly  290  is illustrated in detail. Platform  295  spans from first leg  293  to second leg  294 . First leg  293  and  294  are slidably mounted on guides  902  of rails  903 . A pneumatic motor (not shown) moves first leg  293  and second leg  294  along guides  902 . Base  297  is slidably mounted on platform  295  and is moved along platform  295  by a motor (not shown). Robotic hand  291  is attached to the bottom of base  297 . Fingers  292  on robotic hand protrude downward from hand  291 . Each finger  292  has pins (not shown) which are mated with holes  106  in PC boards  101  to grip PC boards  101 . 
     Registration subsystem  204  provides PC boards  101  to a subsequent processing system in the following manner. After movable receiving nest  240  moves to the position illustrated in FIG. 2, controller  201  signals the pneumatic motor (not shown) to slide pick and place arm assembly along guides  902  to a position directly over movable receiving nest  240 . Robotic hand  291  is then lowered by controller  201  to place the pins (not shown) of fingers  292  into the hole  106  of the PC boards  101  in compartments  241 . Fingers  292  are then signaled to grip PC boards  101  and robotic hand  291  is raised by controller  201 . Controller  201  then signals a motor (not shown) to move base  297  along platform  295  to position over receiving slots  906 . Controller  201  lowers robotic hand  291  to cause PC boards  101  to be lowered into the receiving slots  906 . Fingers  292  are then signaled to release PC boards  101 . Controller  201  repeats this process until all of PC boards  201  are removed from movable receiving nest  240 . After all PC boards  101  are removed from compartments  241 , movable receiving nest  240  is ready to receive more PC boards  101  from depaneling subsystem  203 . 
     SUMMARY 
     The above disclosed invention provides three subsystems that operate independently from one another. This allows each subsystem to perform its function independently from the functions of the other subsystems. The idle time of each system is decreased by the independent functions which in turn improves cycle time for system  100  to depanel PC boards  101 . The above detailed description is a description of one possible exemplary embodiment of a system having improved cycle time for depaneling PC boards. It is envisioned that one skilled in the art can and will design a system for depaneling PC boards that infringes the present invention as claimed below either literally or through the Doctrine of Equivalents.