Conversion coefficient acquisition method, motor torque determination method, and motor driver

Abstract

The application discloses a conversion coefficient acquisition method for a motor driver, wherein the motor driver is connected with a motor, the motor is connected with a kinematic pair, the motor driver drives the kinematic pair to move when controlling the motor to rotate, so as to exert pressure on a target object, and the method comprises the following steps: controlling the motor to rotate along a first preset direction; collecting a first torque of the motor; determining a first pressing force of the kinematic pair; and obtaining the conversion coefficient according to the first pressing force and the first torque. The application further discloses a motor torque determination method, a chip pressure exerting device, a motor driver and a computer readable storage medium. In the application, the conversion coefficient has higher accuracy, so that the determined torque has higher accuracy, and then when the torque is used to exert pressure on the chip, the pressure exerting accuracy is higher.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a method for obtaining the conversion coefficient of a motor, a method for determining the motor torque, a chip pressure application device, a motor driver, and a storage medium. Background Technology

[0002] Equipment such as chip sorters requires applying pressure to the chip surface to ensure good contact between the chip pins and the chip base on the test station. The mechanical structure typically involves a rotary servo motor directly connected to a kinematic pair. The kinematic pair presses down on a moving component to press the chip onto the test station, and several elastic components impede the downward movement of the moving component.

[0003] Currently, technicians estimate the relationship between chip pressure and torque, and based on this relationship and the set chip pressure, they obtain the corresponding motor torque.

[0004] However, the accuracy of applying pressure to the chip using existing methods is relatively low. Summary of the Invention

[0005] The main objective of this invention is to provide a method for obtaining the conversion coefficient of a motor, a method for determining the motor torque, a chip pressure application device, a motor driver, and a storage medium, aiming to solve the technical problem that the accuracy of the pressure applied to the chip using existing methods is low.

[0006] To achieve the above objectives, this invention proposes a method for obtaining conversion coefficients, used in a motor driver. The motor driver is connected to a motor, and the motor is connected to a kinematic pair. When the motor driver controls the motor to rotate, it drives the kinematic pair to move, thereby applying pressure to a target object. The method includes:

[0007] Control the motor to rotate along a first preset direction;

[0008] The first torque of the motor is collected;

[0009] Determine the first downward force of the kinematic pair;

[0010] The conversion coefficient is obtained based on the first downward pressure and the first torque.

[0011] Optionally, the motion of the kinematic pair is related to the elastic component; prior to the step of determining the first downward force of the kinematic pair, the method further includes:

[0012] Obtain the first elastic force of the elastic component and the frictional force of the kinematic pair;

[0013] The step of determining the first downward force of the kinematic pair includes:

[0014] The first downward force of the kinematic pair is obtained based on the first elastic force and the frictional force.

[0015] Optionally, the step of obtaining the conversion coefficient based on the first downward pressure and the first torque includes:

[0016] Based on the first downward pressure and the first torque, a first initial conversion coefficient is obtained;

[0017] Control the motor to rotate along the second preset direction;

[0018] The second torque of the motor and the second elastic force of the elastic component are obtained;

[0019] The second downward force of the kinematic pair is obtained based on the second elastic force and the frictional force.

[0020] The second initial conversion coefficient is obtained based on the second downward force and the second torque;

[0021] The conversion coefficients are obtained based on the first initial conversion coefficients and the second initial conversion coefficients.

[0022] Optionally, before the step of controlling the motor to rotate along a first preset direction, the method further includes:

[0023] When preset conditions are met, the motor is controlled to rotate an angle along a third preset direction;

[0024] Obtain the preset torque of the motor;

[0025] Based on the preset torque, a preset rotation angle is obtained;

[0026] The step of controlling the motor to rotate along a first preset direction includes:

[0027] When the angle matches the preset rotation angle, the motor is controlled to rotate along the first preset direction.

[0028] Furthermore, to achieve the above objectives, the present invention also proposes a method for determining motor torque for a motor driver. The motor driver is connected to a motor, and the motor is connected to a kinematic pair. The movement of the kinematic pair is related to a spring-loaded component. When the motor driver controls the motor to rotate, it drives the kinematic pair to move, thereby applying pressure to a chip. The method includes:

[0029] Determine the chip pressure value;

[0030] Obtain the elastic force value of the elastic component;

[0031] The downward force of the kinematic pair is obtained based on the chip pressure value and the elastic force value.

[0032] The torque of the motor is obtained based on the conversion coefficient described above and the downward force of the kinematic pair.

[0033] Optionally, before the step of obtaining the torque of the motor based on the conversion coefficient described in any of the preceding claims and the downward force of the kinematic pair, the method further includes:

[0034] Determine the frictional force of the kinematic pair;

[0035] The step of obtaining the torque of the motor based on the conversion coefficient described in any one of the above and the downward force of the kinematic pair includes:

[0036] The torque of the motor is obtained based on the conversion coefficient described above, the friction force, and the downward force of the kinematic pair.

[0037] Optionally, the step of obtaining the torque of the motor based on the conversion coefficient described in any one of the above and the downward force of the kinematic pair includes:

[0038] The torque parameters of the motor are obtained based on the conversion coefficient described above and the downforce of the kinematic pair, wherein the torque parameters include any one of feedback current, torque command and torque feedback;

[0039] The torque of the motor is obtained using the torque parameters.

[0040] Furthermore, to achieve the above objectives, the present invention also proposes a chip pressure application device, comprising a motor driver, a motor, a kinematic pair, and a spring component. The motor driver is connected to the motor, the motor is connected to the kinematic pair, and the movement of the kinematic pair is related to the spring component. When the motor driver controls the motor to rotate, it drives the kinematic pair to move, thereby applying pressure to the chip.

[0041] The motor driver controls the motor operation according to the motor torque determination method and the conversion coefficient acquisition method described above.

[0042] In addition, to achieve the above objectives, the present invention also proposes a motor driver, the motor driver comprising: a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the computer program, when executed by the processor, implements the steps of the method described in any of the above embodiments.

[0043] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described in any of the preceding claims.

[0044] The present invention proposes a method for obtaining a conversion coefficient for a motor driver. The motor driver is connected to a motor, and the motor is connected to a kinematic pair. When the motor driver controls the motor to rotate, it drives the kinematic pair to move in order to apply pressure to a target object. The method includes: controlling the motor to rotate along a first preset direction; acquiring a first torque of the motor; determining a first downward force of the kinematic pair; and obtaining the conversion coefficient based on the first downward force and the first torque.

[0045] In existing methods, technicians estimate the relationship between chip pressure and torque, and then determine the motor torque based on the chip's set pressure and this relationship. However, this estimation is coarse and has low accuracy, resulting in low accuracy of the determined motor torque. Consequently, when applying pressure to the chip using this determined motor torque, the accuracy of pressure application is also low. In this invention, a conversion coefficient is obtained using a first downward pressure and a first torque. This conversion coefficient has high accuracy and accurately reflects the relationship between torque and downward pressure, resulting in higher accuracy of the torque determined using the conversion coefficient. Therefore, when applying pressure to the chip using torque, the accuracy of pressure application is higher. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the motor driver structure in the hardware operating environment involved in the embodiments of the present invention;

[0048] Figure 2 This is a schematic diagram of the structure of the first embodiment of the chip pressure application device of the present invention;

[0049] Figure 3 This is a flowchart illustrating the first embodiment of the conversion coefficient acquisition method of the present invention;

[0050] Figure 4 This is a flowchart illustrating the first embodiment of the motor torque determination method of the present invention;

[0051] Figure 5 This is a block diagram of a first embodiment of the conversion coefficient acquisition device of the present invention;

[0052] Figure 6 This is a block diagram of the first embodiment of the motor torque determination device of the present invention.

[0053] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0055] Reference Figure 1 , Figure 1 This is a schematic diagram of the motor driver structure in the hardware operating environment involved in the embodiments of the present invention.

[0056] Typically, a motor driver includes at least one processor 301, a memory 302, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the conversion coefficient acquisition method and the motor torque determination method of this application.

[0057] Processor 301 may include one or more processing cores, such as a quad-core processor or an octa-core processor. Processor 301 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 301 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 301 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the screen.

[0058] The memory 302 may include one or more storage media, which may be non-transitory. The memory 302 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory storage media in the memory 302 are used to store at least one instruction, which is executed by the processor 301 to implement the conversion coefficient acquisition method and the motor torque determination method provided in the method embodiments of this application.

[0059] In some embodiments, the terminal may also optionally include a communication interface 303 and at least one peripheral device. The processor 301, memory 302, and communication interface 303 can be connected via a bus or signal line. Each peripheral device can be connected to the communication interface 303 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of a radio frequency circuit 304, a display screen 305, and a power supply 306.

[0060] The communication interface 303 can be used to connect at least one I / O (Input / Output) related peripheral device to the processor 301 and the memory 302. In some embodiments, the processor 301, the memory 302, and the communication interface 303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 301, the memory 302, and the communication interface 303 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0061] The radio frequency (RF) circuit 304 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 304 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 304 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 304 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 304 can communicate with other terminals through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: metropolitan area networks (MANs), various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks (WLANs), and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 304 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0062] Display screen 305 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. When display screen 305 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 301 for processing. In this case, display screen 305 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, display screen 305 can be a single screen, the front panel of an electronic device; in other embodiments, display screen 305 can be at least two screens, respectively disposed on different surfaces of the electronic device or in a folded design; in still other embodiments, display screen 305 can be a flexible display screen, disposed on a curved or folded surface of the electronic device. Furthermore, display screen 305 can also be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. Display screen 305 can be made of materials such as LCD (Liquid Crystal Display) or OLED (Organic Light-Emitting Diode).

[0063] Power supply 306 is used to supply power to various components in an electronic device. Power supply 306 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 306 includes a rechargeable battery, the rechargeable battery can support wired or wireless charging. The rechargeable battery can also be used to support fast charging technology.

[0064] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the motor drive and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0065] Reference Figure 2 , Figure 2 This is a schematic diagram of the structure of the first embodiment of the chip pressure application device of the present invention; it includes a motor driver 21, a motor 22, a kinematic pair 23, and a spring component 24. The motor driver 21 is connected to the motor 22, and the motor 22 is connected to the kinematic pair 23. The movement of the kinematic pair 23 is related to the spring component 24. When the motor driver 21 controls the motor 22 to rotate, it drives the kinematic pair 23 to move in order to apply pressure to the chip.

[0066] The motor driver controls the motor operation according to the motor torque determination method of this application. The motor driver can also control the motor operation according to the conversion coefficient acquisition method of this application.

[0067] The motor can be any type of motor, and this application does not limit it. The kinematic pair can include any one of a slider, a ball screw, or a cam, and the elastic component can be a spring. That is, a kinematic pair is a device that converts the rotation of the motor into linear motion, and any kinematic pair that meets this condition is acceptable.

[0068] Furthermore, embodiments of the present invention also propose a storage medium storing a computer program, which, when executed by a processor, implements the steps of the conversion coefficient acquisition method and the motor torque determination method described in this application. Therefore, further details will not be repeated here. Additionally, the beneficial effects of using the same method will not be repeated. For technical details not disclosed in the storage medium embodiments of this application, please refer to the description of the method embodiments of this application. As an example, program instructions can be deployed to execute on a single motor driver, or on multiple motor drivers located at one location, or on multiple motor drivers distributed across multiple locations and interconnected via a communication network.

[0069] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0070] Based on the above hardware structure, an embodiment of the method for obtaining the conversion coefficient of the motor of the present invention is proposed.

[0071] Reference Figure 3 , Figure 3 This is a flowchart illustrating the first embodiment of the conversion coefficient acquisition method of the present invention. The method includes the following steps:

[0072] Step S11: Control the motor to rotate along the first preset direction.

[0073] Step S12: Collect the first torque of the motor.

[0074] Step S13: Determine the first downward force of the kinematic pair.

[0075] It should be noted that the executing entity of this invention is a motor driver, which is equipped with a conversion coefficient acquisition program. When the motor driver executes the conversion coefficient acquisition program, it implements the steps of the conversion coefficient acquisition method of this invention.

[0076] The motor driver is connected to the motor, and the motor is connected to the kinematic pair. When the motor driver controls the motor to rotate, it drives the kinematic pair to move in order to apply pressure to the target object. The target object can be a chip or other component that is pressured by the kinematic pair. The target object can be placed on a test station.

[0077] In this invention, the movement of the kinematic pair is related to the elastic component, which is typically used to impede the movement of the kinematic pair. When the test station is upright, the motor driver controls the motor to rotate, thereby driving the kinematic pair to move vertically downwards. The elastic component, however, impedes the kinematic pair's vertically downward movement, thus providing an upward elastic force.

[0078] The kinematic pair includes any one of a slider, a ball screw, or a cam, and the elastic component is a spring. In other words, a kinematic pair is a device that converts motor rotation into linear motion; any kinematic pair that meets this condition is acceptable.

[0079] The first preset direction is one direction of motion of the kinematic pair (vertically upward or vertically downward). The first torque is the real-time torque corresponding to the motor's rotation along the first preset direction. The first pressure of motion is the real-time downward pressure (force exerted by the motor on the kinematic pair) generated by the kinematic pair when the motor rotates along the first preset direction, driving the kinematic pair to move. The first preset direction can be any rotation direction of the motor, and the second preset direction is the opposite direction to the first preset direction. The first preset direction can be clockwise or counterclockwise.

[0080] Furthermore, the motion of the kinematic pair is related to the elastic component; before the step of determining the first downward force of the kinematic pair, the method further includes: obtaining the first elastic force of the elastic component and the frictional force of the kinematic pair; the step of determining the first downward force of the kinematic pair includes: obtaining the first downward force of the kinematic pair based on the first elastic force and the frictional force.

[0081] In some embodiments, there may be frictional force of kinematic pairs and elastic force of elastic components. The frictional force generated by the kinematic pairs hinders the movement of the kinematic pairs. It is usually a constant value and can be measured experimentally. This invention will not elaborate further.

[0082] Furthermore, before the step of controlling the motor to rotate along the first preset direction, the method further includes: controlling the motor to rotate along the third preset direction by an angle when a preset condition is met; obtaining a preset torque of the motor; obtaining a preset rotation angle based on the preset torque; the step of controlling the motor to rotate along the first preset direction includes: controlling the motor to rotate along the first preset direction when the angle matches the preset rotation angle.

[0083] In this invention, the preset conditions are met when no chips that need to be compressed are placed on the test station, and the movement of the kinematic pair is not hindered by any object other than the elastic component. The third preset direction can be any rotation direction of the motor (same as the first preset direction or the second preset direction), and the rotation angle can be any angle within the operating range of the motor. The angle is usually the actual movement angle of the kinematic pair, which is determined by a feature of the kinematic pair (e.g., a protrusion or a recess).

[0084] When the motor rotates at a certain angle, the corresponding motor torque is the preset torque. The preset torque corresponds to a theoretical angle—the preset angle. The preset angle can also be the motion angle of the kinematic pair under the preset torque. Due to installation errors, the angle may not match the preset angle (matching means they are the same or have a small difference, for example, the difference is less than a preset threshold). Only when they match can the conversion coefficient be obtained. Otherwise, the motor driver needs to be calibrated until the angle matches the preset angle before the conversion coefficient can be obtained.

[0085] When no chips are placed on the test station, both the initial elastic force and the frictional force act as resistances to the motion pair, resulting in force balance. Typically, both friction and the initial elastic force impede the motion of the pair. Therefore, the initial downward force equals the initial elastic force plus the frictional force. Based on this relationship, the corresponding initial downward force can be calculated. Furthermore, the deformation of the spring is determined according to the motion of the pair, thereby determining the corresponding elastic force—the initial elastic force.

[0086] S14: Obtain the conversion coefficient based on the first downward pressure and the first torque.

[0087] Typically, the downforce of a kinematic pair equals the motor torque multiplied by the conversion factor. Based on the first downforce and the first torque, the corresponding conversion factor is obtained according to this relationship. The conversion factor represents the relationship between torque and downforce.

[0088] For the first preset direction, multiple rotation angles can be used to obtain the first initial conversion coefficients, and then the average value can be calculated to obtain an average first initial conversion coefficient, which is used as the final first initial conversion coefficient.

[0089] Furthermore, the step of obtaining the conversion coefficient based on the first downward pressure and the first torque includes: obtaining a first initial conversion coefficient based on the first downward pressure and the first torque; controlling the motor to rotate along a second preset direction; obtaining a second torque of the motor and a second elastic force of the elastic component; obtaining a second downward pressure of the kinematic pair based on the second elastic force and the frictional force; obtaining a second initial conversion coefficient based on the second downward pressure and the second torque; and obtaining the conversion coefficient based on the first initial conversion coefficient and the second initial conversion coefficient.

[0090] In some embodiments, the final first initial conversion coefficient can be determined as the conversion coefficient in S14. Alternatively, the motor can be controlled to rotate in the second preset direction in the manner described above, and the final second initial conversion coefficient can be obtained by following the same steps as in obtaining the final first initial conversion coefficient. The second preset direction is different from the first preset direction.

[0091] Then, the first initial conversion coefficient and the second initial conversion coefficient are averaged or weighted summed to obtain the conversion coefficient in S14.

[0092] This embodiment proposes a conversion coefficient acquisition method for a motor driver. The motor driver is connected to a motor, and the motor is connected to a kinematic pair. When the motor driver controls the motor to rotate, it drives the kinematic pair to move in order to apply pressure to a target object. The method includes: controlling the motor to rotate along a first preset direction; acquiring a first torque of the motor; determining a first downward force of the kinematic pair; and obtaining the conversion coefficient based on the first downward force and the first torque.

[0093] In existing methods, technicians estimate the relationship between chip pressure and torque, and then determine the motor torque based on the chip's set pressure and this relationship. However, this estimation is coarse and has low accuracy, resulting in low accuracy of the determined motor torque. Consequently, when applying pressure to the chip using this determined motor torque, the accuracy of pressure application is also low. In this invention, a conversion coefficient is obtained using a first downward pressure and a first torque. This conversion coefficient has high accuracy and accurately reflects the relationship between torque and downward pressure, resulting in higher accuracy of the torque determined using the conversion coefficient. Therefore, when applying pressure to the chip using torque, the accuracy of pressure application is higher.

[0094] In some embodiments, in addition to the aforementioned frictional and elastic forces, various frictional forces, frictional torques, moving part masses, accelerations, etc., of the motor driver can also be considered, thereby improving the accuracy of the conversion coefficient.

[0095] Reference Figure 4 , Figure 4This is a flowchart illustrating the first embodiment of the motor torque determination method of the present invention. The method includes:

[0096] S21: Determine the chip pressure value.

[0097] S22: Obtain the elastic force value of the elastic component.

[0098] S23: Obtain the downward force of the kinematic pair based on the chip pressure value and the elastic force value.

[0099] S24: Obtain the torque of the motor based on the conversion coefficient and the downward force of the kinematic pair.

[0100] A chip is placed on the test station. When the motor driver controls the motor to rotate, it drives the kinematic pair to move, applying pressure to the chip and pressing it firmly. Typically, the chip is pressed firmly onto the test station. The conversion factor can be obtained according to the conversion factor acquisition method of this application.

[0101] The chip, located on the testing station, is the chip that needs to be compressed. It can be any type of chip, and the chip pressure is the pressure set by the user for the chip. This pressure is usually not too high to avoid damaging the chip due to excessive pressure.

[0102] In this embodiment, the movement of the kinematic pair is related to the elastic component, which is typically used to impede the movement of the kinematic pair. When the test station is placed on the ground, the control motor rotates to drive the kinematic pair to move vertically downwards, while the elastic component impedes the kinematic pair's vertically downward movement. Therefore, the elastic component provides an upward elastic force. It is understood that the pressure exerted by the kinematic pair on the chip will also be vertically downwards.

[0103] When the chip is placed on the test station and the kinematic pair presses against it, the kinematic pair is in force balance. In some embodiments, there is friction from the kinematic pair and elasticity from the elastic component. The friction generated by the kinematic pair hinders its movement and is usually a constant value, which can be measured experimentally and will not be elaborated further in this invention. The elasticity value of the elastic component can refer to the elasticity value of the elastic component when the chip is pressed (when the elastic component is a spring, the spring's extension and contraction state is fixed when the chip is pressed, and the spring's deformation is also constant; the elasticity value of the elastic component is obtained based on this deformation and the spring's elasticity coefficient).

[0104] Both elastic force and friction are resistances to the kinematic pair. Therefore, the downward force of the kinematic pair = chip pressure + elastic force + friction. Based on this relationship, the downward force of the kinematic pair can be calculated.

[0105] The rotation of the motor drives the kinematic pair to move. The rotation of the motor generates different torques, which apply different downward forces to the kinematic pair, thereby applying pressure to the chip. Based on the chip pressure, the downward force of the kinematic pair can be calculated using the above method.

[0106] Based on the above description, the downforce of the kinematic pair = motor torque * conversion coefficient. According to the downforce of the kinematic pair, the corresponding torque can be obtained according to this relationship and the conversion coefficient. The conversion coefficient represents the relationship between torque and downforce.

[0107] Specifically, before the step of obtaining the motor torque based on the conversion coefficient and the downward force of the kinematic pair, the method further includes: determining the frictional force of the kinematic pair; the step of obtaining the motor torque based on the conversion coefficient and the downward force of the kinematic pair includes: obtaining the motor torque based on the conversion coefficient, the frictional force, and the downward force of the kinematic pair.

[0108] That is, in some embodiments of this application, the influence of friction of the moving pair can be taken into account, thereby improving the accuracy of the motor torque.

[0109] Specifically, the step of obtaining the motor torque based on the conversion coefficient and the downward force of the kinematic pair includes: obtaining the motor torque parameters based on the conversion coefficient and the downward force of the kinematic pair, wherein the torque parameters include any one of feedback current, torque command, and torque feedback; and obtaining the motor torque through the torque parameters.

[0110] In this invention, the torque parameter corresponding to the motor torque is called the torque parameter. The motor torque can usually be replaced by the torque parameter, or the motor torque can be used directly. That is, in some embodiments, the downforce = torque parameter * conversion coefficient. In this formula, the conversion coefficient represents the relationship between the torque parameter and the downforce. In the embodiments of this invention, the relationship between torque and downforce is mainly explained using the conversion coefficient.

[0111] The first preset direction is any rotation direction of the motor, and the second preset direction is the opposite direction to the first preset direction. The first preset direction is either clockwise or counterclockwise.

[0112] This embodiment proposes a method for determining motor torque, used in a motor driver. The motor driver is connected to a motor, and the motor is connected to a kinematic pair. The movement of the kinematic pair is related to a spring component. When the motor driver controls the motor to rotate, it drives the kinematic pair to move, thereby applying pressure to a chip. The method includes: determining the chip pressure value; obtaining the spring force value of the spring component; obtaining the downward pressure of the kinematic pair based on the chip pressure value and the spring force value; and obtaining the motor torque based on a conversion coefficient and the downward pressure of the kinematic pair. The conversion coefficient can be obtained according to the conversion coefficient acquisition method of this application.

[0113] In existing methods, technicians estimate the relationship between chip pressure and torque, and then determine the motor torque based on the chip's set pressure and this relationship. However, this estimation is coarse and has low accuracy, resulting in low accuracy of the determined motor torque. Consequently, when applying pressure to the chip using this determined motor torque, the accuracy of pressure application is also low. In this invention, a conversion coefficient is obtained using a first downward pressure and a first torque. This conversion coefficient has high accuracy and accurately reflects the relationship between torque and downward pressure, resulting in higher accuracy of the torque determined using the conversion coefficient. Therefore, when applying pressure to the chip using torque, the accuracy of pressure application is higher.

[0114] Reference Figure 5 , Figure 5 This is a block diagram of a first embodiment of the conversion coefficient acquisition device of the present invention. The device is used for a motor driver, the motor driver is connected to a motor, the motor is connected to a kinematic pair, and when the motor driver controls the motor to rotate, it drives the kinematic pair to move to apply pressure to a target object. The device includes:

[0115] Control module 10 is used to control the motor to rotate along a first preset direction;

[0116] Acquisition module 20 is used to acquire the first torque of the motor;

[0117] Determining module 30 is used to determine the first downward force of the kinematic pair;

[0118] The module 40 is used to obtain the conversion coefficient based on the first downward pressure and the first torque.

[0119] It should be noted that since the steps performed by the device in this embodiment are the same as those in the aforementioned method embodiments, the specific implementation methods and the technical effects that can be achieved can be referred to the aforementioned embodiments, and will not be repeated here.

[0120] Reference Figure 6 , Figure 6This is a block diagram of a first embodiment of the motor torque determination device of the present invention, used for a motor driver. The motor driver is connected to a motor, and the motor is connected to a kinematic pair. The movement of the kinematic pair is related to a spring component. When the motor driver controls the motor to rotate, it drives the kinematic pair to move, thereby applying pressure to a chip. The device includes:

[0121] Pressure determination module 50 is used to determine the chip pressure value;

[0122] The acquisition module 60 is used to acquire the elastic force value of the elastic component;

[0123] The downforce acquisition module 70 is used to obtain the downforce of the kinematic pair based on the chip pressure value and the elastic force value;

[0124] The torque acquisition module 80 is used to obtain the torque of the motor based on the conversion coefficient and the downforce of the kinematic pair.

[0125] The above description is merely an optional embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A method for obtaining conversion coefficients, used in a motor driver, characterized in that, The motor driver is connected to a motor, and the motor is connected to a kinematic pair. When the motor driver controls the motor to rotate, it drives the kinematic pair to move, thereby applying pressure to a target object, which is a chip placed on a test station. The method includes: The motor is controlled to rotate along a first preset direction so that the kinematic pair moves vertically upward or vertically downward; The first torque of the motor is collected; The first downward force of the kinematic pair is determined based on the first elastic force of the elastic component; The conversion coefficient is obtained based on the first downward pressure and the first torque; Before the step of controlling the motor to rotate along a first preset direction to make the kinematic pair move vertically upward or vertically downward, the method further includes: When preset conditions are met, the motor is controlled to rotate at any angle along a third preset direction so that the kinematic pair moves vertically upward or vertically downward; wherein, the preset conditions include that no chip is placed on the test station and the movement of the kinematic pair is related to the elastic force of the elastic component, and the third preset direction is the same as the first preset direction; Obtain the torque of the motor to get the preset torque; The preset angle is obtained based on the theoretical angle corresponding to the preset torque; The control of the motor to rotate along a first preset direction includes: When the arbitrary angle matches the preset angle, the motor is controlled to rotate along the first preset direction.

2. The method as described in claim 1, characterized in that, The motion of the kinematic pair is related to the generated frictional force and the elastic force of the elastic component; before the step of determining the first downward force of the kinematic pair based on the first elastic force of the elastic component, the method further includes: Obtain the first elastic force of the elastic component and the frictional force of the kinematic pair; The step of determining the first downward force of the kinematic pair based on the first elastic force of the elastic component includes: The first downward force of the kinematic pair is obtained by summing the first elastic force and the frictional force.

3. The method as described in claim 2, characterized in that, The step of obtaining the conversion coefficient based on the first downward pressure and the first torque includes: The first initial conversion coefficient is obtained based on the ratio of the first downward force to the first torque; The motor is controlled to rotate along a second preset direction so that the kinematic pair moves vertically downward or vertically upward; wherein the second preset direction is opposite to the first preset direction; The second torque of the motor and the second elastic force of the elastic component are obtained; The second downward force of the kinematic pair is obtained by summing the second elastic force and the frictional force. The second initial conversion coefficient is obtained based on the ratio of the second downward force to the second torque; The conversion coefficients are obtained by averaging or weighted summing the first and second initial conversion coefficients.

4. A method for determining motor torque, characterized in that, For a motor driver, the motor driver is connected to a motor, the motor is connected to a kinematic pair, the movement of the kinematic pair is related to a spring component, and when the motor driver controls the motor to rotate, it drives the kinematic pair to move to apply pressure to a chip, the method includes: Determine the chip pressure value; Obtain the elastic force value of the elastic component; The downward force of the kinematic pair is obtained based on the chip pressure value and the elastic force value. The torque of the motor is obtained using the conversion coefficient and the downward force of the kinematic pair according to any one of claims 1 to 3.

5. The method as described in claim 4, characterized in that, Before the step of obtaining the torque of the motor using the conversion coefficient and the downward force of the kinematic pair according to any one of claims 1 to 3, the method further includes: Determine the frictional force of the kinematic pair; The step of obtaining the torque of the motor based on the conversion coefficient according to any one of claims 1 to 3 and the downward force of the kinematic pair includes: The torque of the motor is obtained by using the conversion coefficient, the friction force, and the downward force of the kinematic pair as described in any one of claims 1 to 3.

6. The method as described in claim 4, characterized in that, The step of obtaining the torque of the motor based on the conversion coefficient according to any one of claims 1 to 4 and the downward force of the kinematic pair includes: According to any one of claims 1 to 3, the conversion coefficient and the downforce of the kinematic pair are used to obtain the torque parameters of the motor, wherein the torque parameters include any one of feedback current, torque command and torque feedback; The torque of the motor is obtained using the torque parameters.

7. A chip pressure application device, characterized in that, It includes a motor driver, a motor, a kinematic pair, and a spring component. The motor driver is connected to the motor, the motor is connected to the kinematic pair, and the movement of the kinematic pair is related to the spring component. When the motor driver controls the motor to rotate, it drives the kinematic pair to move, thereby applying pressure to the chip. The motor driver controls the operation of the motor according to the motor torque determination method as described in any one of claims 4 to 6 and the conversion coefficient acquisition method as described in any one of claims 1 to 3.

8. A motor driver, characterized in that, The motor driver includes: a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the computer program, when executed by the processor, implements the steps of the method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, implements the steps of the method as described in any one of claims 1 to 6.

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