CN116692130A - Tailing disc combination method and device, terminal equipment and storage medium - Google Patents
Tailing disc combination method and device, terminal equipment and storage medium Download PDFInfo
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- CN116692130A CN116692130A CN202310619835.4A CN202310619835A CN116692130A CN 116692130 A CN116692130 A CN 116692130A CN 202310619835 A CN202310619835 A CN 202310619835A CN 116692130 A CN116692130 A CN 116692130A
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
- B65B35/38—Arranging and feeding articles in groups by grippers by suction-operated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/50—Stacking one article, or group of articles, upon another before packaging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30148—Semiconductor; IC; Wafer
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Abstract
The application is applicable to the technical field of integrated circuits and provides a tailing tray closing method, a device, terminal equipment and a storage medium, wherein the tailing tray closing method is applied to a tailing tray closing device, and the tailing tray closing device comprises a visual detection module, a robot module and a feeding and discharging module; the tailing tray closing method comprises the following steps: the feeding and discharging module transmits the tail disc to the visual detection module; the visual detection module acquires distribution data of the integrated circuit chips in the tail tray and determines a tray combination scheme of the integrated circuit chips based on the distribution data; the feeding and discharging module transmits the tailstock disc after determining the disc closing scheme to the robot module; and the robot module performs taking and placing operation on the integrated circuit chips in the tailing tray based on the tray closing scheme to complete tray closing of the integrated circuit chips. The automatic disc closing device can replace manual operation, achieves full-automatic disc closing of the tailings, and effectively improves working efficiency.
Description
Technical Field
The application belongs to the technical field of integrated circuits, and particularly relates to a tailing tray combination method, a tailing tray combination device, terminal equipment and a storage medium.
Background
Currently, integrated circuits are widely used in various industries. Integrated circuits are in a variety of packaging forms, and different packaging forms must be matched with special packaging modes, and common packaging modes include tube packaging, TRAY packaging, braid packaging and the like. Each packaging mode has the problem of packaging tested tails, for example, a TRAY disc packaging mode is taken as an example, and before packaging, all the graded tails of each type are combined together to form an integer disc for packaging and shipment. However, the conventional TRAY closing operation is performed manually, that is, the integrated circuit chips in the tail TRAY are manually clamped onto the same TRAY one by using tweezers for TRAY closing, and the efficiency of the method is very low.
Disclosure of Invention
The embodiment of the application provides a tailing tray closing method, a device, terminal equipment and a storage medium, which can solve the problem that the tailing tray closing operation in the prior art is completely manually carried out by manpower and has very low efficiency.
The first aspect of the embodiment of the application provides a tailing tray closing method which is applied to a tailing tray closing device, wherein the tailing tray closing device comprises a visual detection module, a robot module and a feeding and discharging module;
the tailing tray closing method comprises the following steps:
the feeding and discharging module transmits the tail disc to the visual detection module;
the visual detection module acquires distribution data of the integrated circuit chips in the tail tray and determines a tray combination scheme of the integrated circuit chips based on the distribution data;
the feeding and discharging module transmits the tailstock disc after determining the disc closing scheme to the robot module;
and the robot module performs taking and placing operation on the integrated circuit chips in the tailing tray based on the tray closing scheme to complete tray closing of the integrated circuit chips.
Optionally, the visual detection module obtains distribution data of the integrated circuit chips in the tail tray, and determines a tray combination scheme of the integrated circuit chips based on the distribution data, including:
the visual detection module scans the tail tray to obtain distribution data of integrated circuit chips in the tail tray;
and the visual detection module analyzes the distribution data and determines a disc closing scheme of the integrated circuit chip.
Optionally, the distribution data comprises coordinate data; the visual detection module scans the tail tray to obtain the distribution data of the integrated circuit chips in the tail tray, and the visual detection module comprises the following components:
the visual detection module scans the tail tray to obtain a feeding scanning image, and the feeding scanning image represents the distribution information of the integrated circuit chips in the tail tray;
and the visual detection module analyzes the feeding scanning image to obtain coordinate data of the integrated circuit chip in the tail tray.
Optionally, the visual detection module analyzes the distribution data to determine a disc combination scheme of the integrated circuit chip, including:
and the visual detection module calculates the taking-out position and the putting-in position of the integrated circuit chip in the tail tray based on the distribution data to obtain a tray combination scheme of the integrated circuit chip.
Optionally, the robot module performs a pick-and-place operation on the integrated circuit chip in the tail tray based on the tray closing scheme, to complete tray closing of the integrated circuit chip, including:
the robot module determines a movement scheme based on the disc closing scheme;
and the robot module moves based on the movement scheme, and performs picking and placing operation on the integrated circuit chips in the tail tray to finish the tray combination of the integrated circuit chips.
Optionally, the tail material tray closing device further comprises a correction module;
the robot module is based on the disc closing scheme, performs taking and placing operation on the integrated circuit chip in the tail disc, and after completing disc closing of the integrated circuit chip, the robot module further comprises:
the visual detection module is used for detecting the integrated circuit chip after the disc is assembled to obtain detection data of the integrated circuit chip;
and the correction module is used for repairing the integrated circuit chip to eliminate the abnormality when the integrated circuit chip is abnormal based on the detection data.
Optionally, the visual detection module performs inspection on the integrated circuit chip after the bonding disc to obtain inspection data of the integrated circuit chip, including:
the visual detection module scans the integrated circuit chip behind the turntable to obtain a discharge scanning image, and the discharge scanning image represents the quality information of the integrated circuit chip;
and the visual detection module analyzes the discharge scanning image to obtain the inspection data of the integrated circuit chip.
A second aspect of an embodiment of the present application provides a tail stock closing disc apparatus, including:
the visual detection module is used for acquiring the distribution data of the integrated circuit chips in the tail tray and determining a tray combination scheme of the integrated circuit chips based on the distribution data;
the robot module is used for carrying out picking and placing operation on the integrated circuit chips in the tailing tray based on the tray closing scheme to finish tray closing of the integrated circuit chips;
and the feeding and discharging module is used for transmitting the tail stock disc to the visual detection module and transmitting the tail stock disc after determining the disc closing scheme to the robot module.
A third aspect of the embodiments of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the tail stock closing method as described above when executing the computer program.
A fourth aspect of the embodiments of the present application provides a computer readable storage medium storing a computer program which when executed by a processor implements a tailstock closing method as described above.
According to the tailing disc closing method provided by the embodiment of the application, the visual detection module is used for acquiring the distribution data of the integrated circuit chips in the tailing disc, determining the disc closing scheme of the integrated circuit chips based on the distribution data, and the robot module is used for carrying out the taking and placing operation on the integrated circuit chips in the tailing disc based on the disc closing scheme to complete the disc closing of the integrated circuit chips, so that manual operation can be replaced, full-automatic disc closing of the tailing is realized, and the working efficiency is effectively improved.
It will be appreciated that the advantages of the second, third and fourth aspects may be found in the relevant description of the first aspect and are not repeated here.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of a tail stock closing disc device according to an embodiment of the present application;
fig. 2 is a perspective view of a tail tray closing device provided by an embodiment of the application;
FIG. 3 is a side view of a tail stock closing disc apparatus provided by an embodiment of the present application;
fig. 4 is a front view of a tail tray closing device provided by an embodiment of the present application;
fig. 5 is a schematic diagram of a first flow of a tail stock closing method according to an embodiment of the present application;
fig. 6 is a schematic diagram of a second flow chart of a tail stock closing method according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Reference numerals: 100. a visual detection module; 101. a light source system; 102. an industrial camera; 103. a light source controller; 200. a robot module; 201. a multi-axis robot body; 202. a picking and placing module; 203. a pitch calibration module; 204. a module control module; 300. a feeding and discharging module; 301. a safety grating; 302. a transmission mechanism; 303. a locking mechanism; 304. an objective table; 400. a system controller; 500. a data processing module; 600. a two-dimensional code module; 700. a correction module; 701. an X axis; 702. a Y axis; 703. a Z axis; 704. a rotation shaft; 800. a terminal device; 801. a memory; 802. a processor; 803. computer program.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise. "plurality" means "two or more".
Currently, integrated circuit chips are packaged in various forms, such as QFN (Quad Flat No-leads Package), SOP (Quad Flat No-lead Package)
Smalloutlineplack (small outline package), TSSOP (Thin Shrink Small Outline Package, thin, small outline package), BGA (Ball Grid Array package), QFP (Quad Flat Package, small square flat package), etc., which present new challenges for package shipment after testing of finished integrated circuits, different package forms must be matched with special package forms, and package shipment forms adopted by integrated circuits generally include tube package, tray package, braid package, etc., each package form has its own characteristics, but there is a problem of tail package, and the problem of tail in the package form of tray is more prominent.
The integrated circuit chip finished product testing process is relatively mature, and mass production is realized at home and abroad, however, for integrated circuit chip packaging and testing manufacturers, the mass production is not beneficial to material circulation at one time, so that the manufacturers can split mass materials into a plurality of small batches of materials for production during production, after the testing is finished, each small batch of products can generate tailings, but the tailings are all the same large batch of products, belong to the same specification and model, and are packaged together during shipment.
Taking a tray package method as an example, 500K products are batched according to 20K small batches before testing, and are totally divided into 25 small batches, after all the tests are completed, different test sub-BINs are generated in each batch, each BIN generates tailings (namely less than 1 tray), and according to 6 grades of each batch, 25 x 6 = 150 tailing trays are generated, and before packaging, the tailing trays of each BIN are all combined together to form an integer tray for packaging and shipment.
At present, the traditional tray closing operation is carried out manually, namely, integrated circuit chips in the tail tray are clamped onto the same tray one by tweezers for tray closing, and the efficiency of manual operation is very low. Generally, a tray is assembled for about 40 minutes, and then the tray is checked one by one to check whether the tray has quality abnormality such as reverse direction. In addition, during manual operation, new quality problems are often introduced, for example, tweezers are easy to scratch the surface of an integrated circuit chip in the process of clamping the integrated circuit chip, so that scratches are caused; clamping tweezers to pins resulting in bent pins; when the integrated circuit chip is put in place, the integrated circuit chip is not put in place, and the integrated circuit chip can be crushed when being stacked; after repeated operations for a long time, the personnel are easy to fatigue, and the integrated circuit chip is easy to reverse.
In view of the above problems, an embodiment of the present application provides a method, which is applied to a tailing tray closing device, where the tailing tray closing device includes a visual detection module, a robot module and a feeding and discharging module, the method obtains distribution data of integrated circuit chips in a tailing tray through the visual detection module, determines a tray closing scheme of the integrated circuit chips based on the distribution data, and the robot module performs a pick-and-place operation on the integrated circuit chips in the tailing tray based on the tray closing scheme, so as to complete tray closing of the integrated circuit chips, and can replace manual operation, thereby realizing full-automatic tray closing of the tailing tray and effectively improving working efficiency.
The following describes an exemplary tail tray combining method provided by the application with reference to specific embodiments.
The tailing tray closing method provided in the embodiment is applied to a tailing tray closing device, and as shown in fig. 1 to 4, the tailing tray closing device comprises a visual detection module 100, a robot module 200 and a feeding and discharging module 300. In application, the vision detection module 100, the robot module 200 and the feeding and discharging module 300 may be respectively connected with the system controller 400, where the system controller 400 is a main controller of the whole tail tray combining device, and each module is uniformly controlled by the system controller 400, and each function is implemented under the coordination of the system controller 400. The system controller 400 is not only responsible for controlling hardware resources of each module, but also performs real-time communication and exchange of data with the production system, for example, establishes functions such as network communication connection with an external MES (Manufacturing Execution System, production execution system) and EAP (Enterprise Application Platform ) systems, so that the system controller 400 has higher requirements on response speed of data processing and control, and the system controller host can usually use an industrial computer with reliable performance as a control host to complete an operation function, and the CPU with more than 8 cores completes data operation.
In application, the above-mentioned material feeding and discharging module 300 is mainly used for feeding and discharging materials of a tail tray, and as shown in fig. 2, includes a safety grating 301, a conveying mechanism 302, a locking mechanism 303 and an objective table 304. The safety grating 301 is mainly used for detecting whether the object stage 304 is shielded by foreign matters, preventing a hand from being clamped in the operation process, and simultaneously ensuring the safety and reliability of the feeding and discharging transmission process. The two objective tables 304 are respectively used for placing two tail trays for tray combination operation, and the objective tables 304 are respectively provided with material sensors, so that whether the tail trays are placed or not can be detected in real time. The locking mechanisms 303 are respectively arranged on the corresponding objective tables 304, after receiving the locking instruction of the system controller 400, the tail stock tray can be firmly locked on the objective tables 304, abnormal position deviation in the high-speed operation process is prevented, and after the operation is finished, the locking mechanisms 303 can be automatically released, so that the tail stock tray can be conveniently taken away by operators. The transfer mechanism 302 is mainly used for transferring the tail trays to various modules, such as from the material feeding and discharging area to the vision inspection module 100 and the robot module 200.
As shown in fig. 5, the tail stock closing method includes the following steps S100 to S400:
s100, the feeding and discharging module transmits the tail tray to the visual detection module.
In application, as shown in fig. 1 to 4, the above-mentioned tailing disc closing device may further include a data processing module 500 and a two-dimensional code module 600, where the data processing module 500 is a main connection channel for network data processing, and is responsible for completing data communication between the system controller 400 and external systems such as an MES system and an EAP system, and the two-dimensional code module 600 mainly implements a production work order ID input function, including scan gun hardware and data analysis software. Before starting to work, an operator firstly flatly puts two tail trays on an objective table respectively, then confirms product information such as customer codes, product models, grading BIN types and the like, then takes out corresponding production worksheets, reads the ID of the production worksheets through a two-dimensional code module, analyzes and extracts data, and analyzes the current worksheet information. After the two-dimensional code module analyzes the work order information, the data are transmitted to the system controller, the system controller performs information verification on the current work order information, such as customer codes, product models, production lot numbers and the like, with the MES, the EAP and other production systems through the data processing module 500, if abnormality occurs, the operation is stopped, a user is prompted to process the abnormality, and after all the information are verified to be qualified, the system controller starts to automatically load corresponding product archive files from the EAP system. After loading is completed, the tailing closing disc device automatically locks and positions the tailing disc, and the tailing disc is transmitted to the visual detection module.
In application, the EAP system is an equipment information interaction system, mainly reads and controls the running state of the tail material disc closing device, the system controller transmits the current equipment state to the EAP system through the data processing module, for example, whether the tail material disc closing device is started up currently, alarms, real-time running efficiency and other data, the EAP system monitors whether the tail material disc closing device is abnormal in real time, when the EAP system monitors that the equipment production is abnormal, the equipment can be controlled to stop running, and after the problem is eliminated, the operation can be recovered remotely through the EAP system.
S200, the vision detection module acquires distribution data of the integrated circuit chips in the tail tray, and determines a tray closing scheme of the integrated circuit chips based on the distribution data. In one embodiment, step S200 includes: s210, the visual detection module scans the tail tray to obtain distribution data of integrated circuit chips in the tail tray; s220, the visual detection module analyzes the distribution data and determines a disc closing scheme of the integrated circuit chip.
In one embodiment, the distribution data includes coordinate data. Step S210 includes: s211, the visual detection module scans the tail tray to obtain a feeding scanning image, and the feeding scanning image represents the distribution information of the integrated circuit chips in the tail tray; s212, the visual detection module analyzes the feeding scanning image to obtain coordinate data of the integrated circuit chip in the tail tray. Step S220 includes: and the visual detection module calculates the taking-out position and the putting-in position of the integrated circuit chip in the tail tray based on the distribution data to obtain a tray combination scheme of the integrated circuit chip.
In application, the vision detection module respectively carries out automatic scanning on the two tail trays, at the moment, for feeding scanning, distribution data of integrated circuit chips in the two tail trays are mainly scanned, corresponding coordinates of each integrated circuit chip in the tail trays are recorded, then a tray combination scheme is analyzed through an algorithm, the data are comprehensively analyzed, an optimal taking and placing scheme is confirmed, namely, a system controller can automatically calculate which position in which tray is to be used for taking out the integrated circuit chips, and meanwhile, which position the integrated circuit chips are to be placed in is calculated. The vision detection module mainly realizes the functions of light source control, image acquisition, image processing algorithm and the like, as shown in fig. 3, the hardware mainly comprises a light source system 101, an industrial camera 102 and a light source controller 103, and the software mainly comprises the algorithms of image acquisition, image identification, feeding scanning, output inspection and the like.
In application, the system controller 400 may send an instruction to the vision detection module 100, when an image needs to be collected, the vision detection module 100 first turns on the light source controller 103 through a control instruction, automatically adjusts the brightness of the light source to a required brightness, then starts the industrial camera 102 to collect the current image, performs preliminary brightness and definition analysis on the image, automatically adjusts the power of the light source if the brightness is insufficient or excessive, and automatically adjusts the focal length or focus through an algorithm if the definition is insufficient until clear image information is collected. At this time, the vision detection module 100 determines the invoked image processing algorithm according to the instruction of the system controller 400, if the image processing algorithm is a feed scan, the vision detection module 100 analyzes the collected image information into distribution information of the integrated circuit chip on the tail trays, quickly forms a distribution diagram, calculates an optimal tray combining scheme according to the distribution diagrams of the two tail trays, and transmits the tray combining scheme to the robot module 200 for automatic picking and placing operation. Specifically, the number of integrated circuit chips on which tail tray is large can be calculated according to the distribution diagram, the trays with the large number are used as the transfer trays, the operation times of the robot module are reduced, and the positions and the sequence of the four nearest integrated circuit chips sucked each time and the placement of the integrated circuit chips can be calculated according to the distribution diagram, so that the maximum number of the integrated circuit chips can be placed in each action.
S300, the feeding and discharging module transmits the tail trays after the tray closing scheme is determined to the robot module.
S400, the robot module performs picking and placing operation on the integrated circuit chips in the tail tray based on the tray closing scheme, and the tray closing of the integrated circuit chips is completed. In one embodiment, step S400 includes: s410, the robot module determines a moving scheme based on the disc closing scheme; s420, the robot module moves based on the movement scheme, and the integrated circuit chips are taken and put in the tail stock tray to finish the tray combination of the integrated circuit chips.
In application, the robot module 200 mainly completes the pick-and-place operation of the integrated circuit chips in the tail tray, and the moving scheme mainly considers the factors of minimum suction quantity, minimum moving path and the like. As shown in fig. 4, the robot module 200 mainly includes functional modules such as a multi-axis robot main body 201, a pick-and-place module 202, a pitch calibration module 203, and a module control module 204. The multi-axis robot main body can position the picking and placing module at any position of the tray combining area, and the accurate positioning of each integrated circuit chip in the tail tray is realized by combining positioning software. In order to improve the efficiency of getting and putting, adopted four to get the structure of putting the module, once can absorb four integrated circuit chips simultaneously, get and put the module and can select suction nozzle serial number, automatically regulated suction nozzle pitch automatically, through pitch calibration module, realize pitch automatic calibration, reduce manual setting, it is simple and convenient. The module control module is responsible for controlling the number of the suction nozzles currently applied by the pick-and-place module, because the four suction nozzles are not always kept to be simultaneously picked and placed in the tray combining process, but are allocated in real time according to the distribution of the integrated circuit chips in the tail tray, the four suction nozzles are possibly used for sucking, but are placed step by step during placement, the vacant positions on the tail tray are complemented, at the moment, the module control module is used for adjusting, and meanwhile, the vacuum system and the pressure air system of each suction nozzle are independently controlled, so that the pick-and-place operation between the four suction nozzles is independent. The robot module can determine the moving route and acceleration and deceleration of the robot through various position algorithms, so that the robot can rapidly and stably automatically perform picking and placing operations. The horizontal direction of the main body of the multi-axis robot is realized by linkage of two shaft joints, and when the multi-axis robot runs, the speed and the position relationship of the two shafts are adjusted in real time, and acceleration and deceleration are different in different position states, so that the quick and stable running of the pick-and-place machine module is ensured by pre-calculating a route and acceleration and deceleration.
In one embodiment, the tail tray assembly further comprises a correction module 700; as shown in fig. 6, after step S400, the method further includes: s500, the visual detection module performs inspection on the integrated circuit chip after the assembly to obtain inspection data of the integrated circuit chip; and S600, the correction module repairs the integrated circuit chip to eliminate the abnormality when the integrated circuit chip is abnormal based on the inspection data. In one embodiment, step S500 includes: s510, the visual detection module scans the integrated circuit chip behind the adapter to obtain a discharge scanning image, and the discharge scanning image represents the quality information of the integrated circuit chip; s520, the visual detection module analyzes the discharge scanning image to obtain the inspection data of the integrated circuit chip.
In application, after the robot module finishes the picking and placing operation of the integrated circuit chip, the discharging inspection can be performed on the tail stock tray. Each integrated circuit chip is scanned by a visual detection module, and the visual detection module can analyze the image data into quality information of the integrated circuit chips. When an abnormality is found, the integrated circuit chip is automatically corrected through the correction module, for example, the direction of the integrated circuit chip is incorrect, the position of the integrated circuit chip is not aligned, and the like, the abnormality can be automatically corrected through the correction module, when the abnormality which cannot be corrected is found, the abnormality can be automatically marked in detection coordinates, an operator can call an abnormal image in real time through the coordinates to confirm, the abnormality generally comprises mixing, incomplete silk screen printing, scratch, pollution, and the like of the integrated circuit chip, and when the abnormality occurs, the operator can process the abnormal image through the modes of material supplementing, and the like after the operator confirms the abnormal image.
In application, the correction module mainly realizes the function of automatic correction and comprises execution units of automatic identification, automatic positioning, automatic correction and the like. For example, if the position of the integrated circuit chip in the tail tray is not in place, the integrated circuit chip can be automatically placed in the correct position in the tail tray through the correction module, and if the integrated circuit chip is reversed, the direction of the integrated circuit chip can be automatically corrected to the correct direction. As shown in fig. 3, the correction module mainly includes components such as an X-axis 701, a Y-axis 702, a Z-axis 703, a rotation axis 704, and a vacuum system. The correction module mainly carries out position adjustment on the integrated circuit chip through the vacuum suction nozzle, the vacuum system provides vacuum and air sources for the suction nozzle, 4 rotating shafts can position the suction nozzle to any position on the tail tray and rotate the integrated circuit chip by any angle, the accurate repair position of the integrated circuit chip is analyzed by matching with the vision detection module, and after correction is completed, the image is acquired again to confirm the effect, so that the automatic correction function is realized. And the vision detection module is used for detecting the integrated circuit chip after the assembly, and the correction module is used for repairing the integrated circuit chip to eliminate the abnormality when the integrated circuit chip is abnormal based on the detection data, so that the quality of the integrated circuit chip can be improved.
In application, after the tail tray closing device completes the inspection of all integrated circuit chips, the inspection data can be analyzed and processed, an inspection record file is generated, meanwhile, the inspection data is automatically uploaded to a server for storage through a data processing module, and finally, the tail tray is returned to a feeding and discharging area, so that the automatic tray closing and inspection process is completed.
According to the tailing tray closing method provided by the embodiment of the application, an automatic mode is adopted to replace manual operation, when the tailings are required to be closed, an operator only needs to put two tailings on the tailing tray closing device at the same time, after product information is confirmed, the device is started, the tray closing and detection can be automatically completed, the tailings are automatically withdrawn by the device after the completion, the operator takes away the corresponding tailings, the whole operation is simple and quick, the operator can automatically operate only by setting a few simple parameters, the cost is low, the applicability is high, the control precision is high, the method is very suitable for the tailing tray closing operation in the rear package of an integrated circuit package manufacturer, the manual tray closing operation is replaced by adopting a full-automatic mode, the full-automatic treatment of the two tailings can be completed within 4 minutes, compared with the manual operation, every 45 minutes is realized, the working efficiency is effectively improved, the labor cost is reduced, and higher benefits are brought to companies. Meanwhile, an advanced machine vision recognition technology is adopted for scanning and positioning, higher picking and placing precision can be achieved in the operation process, equipment shutdown abnormality is reduced, the performance is stable and reliable, all operation data and inspection data are automatically uploaded to a server, and the data are safe and reliable. The whole process does not need manual intervention, effectively prevents quality risks such as scratching, reversing, pin bending and the like of the integrated circuit chip, and performs one-time vision full inspection before discharging, so that the quality is further ensured, and higher benefits are brought to enterprises.
Corresponding to the method for closing the tailing according to the above embodiment, as shown in fig. 1 to 4, the present embodiment provides a tailing closing device, which includes:
the vision detection module 100 is used for acquiring the distribution data of the integrated circuit chips in the tail tray and determining a tray combination scheme of the integrated circuit chips based on the distribution data;
the robot module 200 is configured to perform a pick-and-place operation on the integrated circuit chip in the tail tray based on the tray closing scheme, so as to complete tray closing of the integrated circuit chip;
and the feeding and discharging module 300 is used for transmitting the tail stock disc to the visual detection module and transmitting the tail stock disc after determining the disc closing scheme to the robot module.
The functional modules are effectively combined, the respective actions are completed according to the set time sequence under the comprehensive coordination of the system controller, after the execution is finished, the operation data and the inspection data are uploaded to a data server for storage, and meanwhile, the processed tail stock disc is returned to a blanking area, so that operators are prompted to take away the tail stock disc, and the operation process of automatic disc closing is completed.
It should be noted that, because the content of information interaction and execution process between the modules/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
The embodiment of the present application further provides a terminal device 800, as shown in fig. 7, including a memory 801, a processor 802, and a computer program 803 stored in the memory 801 and capable of running on the processor 802, where the processor 802 implements the steps of the tail stock closing method provided in the first aspect when executing the computer program 803.
In application, the terminal device may include, but is not limited to, a processor and a memory, fig. 7 is merely an example of the terminal device and does not constitute limitation of the terminal device, and may include more or less components than illustrated, or combine some components, or different components, such as an input-output device, a network access device, etc. The input output devices may include cameras, audio acquisition/playback devices, display screens, and the like. The network access device may include a network module for wireless networking with an external device.
In application, the processor may be a central processing unit (Central Processing Unit, CPU), which may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuit (Appl integrated circuit chip) Specif integrated circuit chip Integrated Circuit, AS integrated circuit chip), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In applications, the memory may in some embodiments be an internal storage unit of the terminal device, such as a hard disk or a memory of the terminal device. The memory may in other embodiments also be an external storage device of the terminal device, for example a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the terminal device. The memory may also include both internal storage units of the terminal device and external storage devices. The memory is used to store an operating system, application programs, boot Loader (Boot Loader), data, and other programs, etc., such as program code for a computer program, etc. The memory may also be used to temporarily store data that has been output or is to be output.
The embodiments of the present application also provide a computer readable storage medium storing a computer program, which when executed by a processor, implements the steps of the above-described method embodiments.
The present application may be implemented in whole or in part by a computer program which, when executed by a processor, performs the steps of the method embodiments described above, and which may be embodied in a computer readable storage medium. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a terminal device, a recording medium, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Such as a U-disk, removable hard disk, magnetic or optical disk, etc.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative apparatus and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the embodiments of the apparatus described above are illustrative only, and the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, the apparatus may be indirectly coupled or in communication connection, whether in electrical, mechanical or other form.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. The tailing tray closing method is characterized by being applied to a tailing tray closing device, wherein the tailing tray closing device comprises a visual detection module, a robot module and a feeding and discharging module;
the tailing tray closing method comprises the following steps:
the feeding and discharging module transmits the tail disc to the visual detection module;
the visual detection module acquires distribution data of the integrated circuit chips in the tail tray and determines a tray combination scheme of the integrated circuit chips based on the distribution data;
the feeding and discharging module transmits the tailstock disc after determining the disc closing scheme to the robot module;
and the robot module performs taking and placing operation on the integrated circuit chips in the tailing tray based on the tray closing scheme to complete tray closing of the integrated circuit chips.
2. The method of claim 1, wherein the visual inspection module obtains distribution data of the integrated circuit chips in the tailstock, and determines a closing scheme of the integrated circuit chips based on the distribution data, comprising:
the visual detection module scans the tail tray to obtain distribution data of integrated circuit chips in the tail tray;
and the visual detection module analyzes the distribution data and determines a disc closing scheme of the integrated circuit chip.
3. A tail stock closing method as set forth in claim 2, wherein said distribution data includes coordinate data; the visual detection module scans the tail tray to obtain the distribution data of the integrated circuit chips in the tail tray, and the visual detection module comprises the following components:
the visual detection module scans the tail tray to obtain a feeding scanning image, and the feeding scanning image represents the distribution information of the integrated circuit chips in the tail tray;
and the visual detection module analyzes the feeding scanning image to obtain coordinate data of the integrated circuit chip in the tail tray.
4. The method for closing the trays of claim 2, wherein the visual inspection module analyzes the distribution data to determine a closing scheme of the integrated circuit chip, comprising:
and the visual detection module calculates the taking-out position and the putting-in position of the integrated circuit chip in the tail tray based on the distribution data to obtain a tray combination scheme of the integrated circuit chip.
5. The method for closing the trays of claim 1, wherein the robot module performs pick-and-place operations on the integrated circuit chips in the trays based on the tray closing scheme, and the tray closing of the integrated circuit chips is completed, comprising:
the robot module determines a movement scheme based on the disc closing scheme;
and the robot module moves based on the movement scheme, and performs picking and placing operation on the integrated circuit chips in the tail tray to finish the tray combination of the integrated circuit chips.
6. A tail stock closing method as set forth in any one of claims 1 to 5, wherein the tail stock closing apparatus further comprises a correction module;
the robot module is based on the disc closing scheme, performs taking and placing operation on the integrated circuit chip in the tail disc, and after completing disc closing of the integrated circuit chip, the robot module further comprises:
the visual detection module is used for detecting the integrated circuit chip after the disc is assembled to obtain detection data of the integrated circuit chip;
and the correction module is used for repairing the integrated circuit chip to eliminate the abnormality when the integrated circuit chip is abnormal based on the detection data.
7. The method of claim 6, wherein the visual inspection module inspects the integrated circuit chip after the splice to obtain inspection data of the integrated circuit chip, comprising:
the visual detection module scans the integrated circuit chip behind the turntable to obtain a discharge scanning image, and the discharge scanning image represents the quality information of the integrated circuit chip;
and the visual detection module analyzes the discharge scanning image to obtain the inspection data of the integrated circuit chip.
8. A tail tray closing device, comprising:
the visual detection module is used for acquiring the distribution data of the integrated circuit chips in the tail tray and determining a tray combination scheme of the integrated circuit chips based on the distribution data;
the robot module is used for carrying out picking and placing operation on the integrated circuit chips in the tailing tray based on the tray closing scheme to finish tray closing of the integrated circuit chips;
and the feeding and discharging module is used for transmitting the tail stock disc to the visual detection module and transmitting the tail stock disc after determining the disc closing scheme to the robot module.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the tail stock closing method according to any of claims 1 to 7 when executing the computer program.
10. A computer readable storage medium storing a computer program, wherein the computer program when executed by a processor implements the tail stock closing method of any one of claims 1 to 7.
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| CN202310619835.4A CN116692130B (en) | 2023-05-29 | 2023-05-29 | Tailing disc combination method and device, terminal equipment and storage medium |
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| CN202310619835.4A CN116692130B (en) | 2023-05-29 | 2023-05-29 | Tailing disc combination method and device, terminal equipment and storage medium |
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| CN116692130B (en) | 2024-07-30 |
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