A SLT equipment and design method based on multi-layer four-dimensional design parameters

Abstract

An SLT equipment based on multi-layer four-dimensional design parameters and a design method thereof, comprising the following steps: dividing the hierarchical structure of the SLT equipment into an equipment layer, a function layer and a component layer from high to low, refining the modules of each layer according to the mechanical structure of each layer, and obtaining the hierarchical module structure of the SLT equipment; defining four-dimensional design parameters, and extracting the four-dimensional design parameters of each module; designing a data storage structure to store the four-dimensional design parameters of each module; obtaining the common design parameters of all modules, encapsulating the common design parameters into a common base class, and the class objects of all modules inherit the common base class; analyzing the association between the design parameters, establishing a change notification mechanism for the same dimension and across dimensions of the design parameters, and completing the construction of the design knowledge prototype of the SLT equipment. By constructing a design knowledge prototype, the present invention can better realize the reuse of design knowledge, effectively guide the design work, simplify the design work content, and shorten the design life cycle.

Description

Technical Field

[0001] The present invention relates to the technical field of SLT equipment, and in particular to an SLT equipment based on multi-layer four-dimensional design parameters and a design method thereof. Background Art

[0002] The process of SLT equipment is relatively fixed. Therefore, even under the premise of high customization requirements such as site and production capacity and differences in equipment form, there are still certain commonalities in the design process between different SLT equipment. The design of each new SLT equipment should not be a completely "creative" process, but can be an "evolutionary" process. However, the current design work model does not fully utilize this commonality of design knowledge.

[0003] On the one hand, when new design requirements are input, a design department of SLT equipment usually selects historical design solutions with similar design requirements as references and transforms them into designs that meet the new requirements. However, this kind of design reference is superficial, and generally uses the engineering files saved in CAD, SW, Botu and other software of historical design solutions to recalculate and modify them according to new requirements. In this process, whether the design file modification meets the requirements depends on the experience and ability of the engineer. However, this part of experience and professional knowledge has not been standardized and recorded;

[0004] On the other hand, between different design departments of SLT equipment, design information exchange is based on docking files, such as 2D drawings, 3D models and action coordination relationships provided by the mechanical design department, control point tables provided by the electrical design department, and control program interfaces provided by the control design department. This approach provides a basis for decoupling design tasks, but there are still certain drawbacks. First, upstream design changes may trigger a series of linkage modifications in the downstream design. Each design change requires updating and resubmitting the docking file, which is a cumbersome process. Second, the modification and submission process of the docking file is serial rather than parallel. The downstream design must wait for the docking file of the upstream design before making relevant modifications, which is inefficient.

[0005] In summary, in the design process of SLT equipment, there is a lack of a direct and effective method to realize the storage and reuse of same-dimensional design knowledge and the linkage of cross-dimensional design knowledge to meet the needs of rapid customized design. Summary of the invention

[0006] In view of the problems raised by the background technology, the purpose of the present invention is to propose an SLT equipment and a design method thereof based on multi-layer four-dimensional design parameters, which solves the problems of design knowledge sedimentation and design knowledge dimensional fragmentation.

[0007] To achieve this object, the present invention adopts the following technical solutions:

[0008] A design method for SLT equipment based on multi-layer four-dimensional design parameters comprises the following steps:

[0009] S1. Divide the hierarchical structure of SLT equipment into equipment layer, function layer and component layer from high to low, and refine the modules of each layer according to the mechanical structure of each layer to obtain the hierarchical module structure of SLT equipment;

[0010] S2. defining four-dimensional design parameters and extracting the four-dimensional design parameters of each module; wherein the four-dimensional design parameters include configuration parameters, action parameters, control parameters and optimization parameters;

[0011] S3, designing a data storage structure to store the four-dimensional design parameters of each module;

[0012] S4. Acquire common design parameters of all modules, encapsulate the common design parameters into a common base class, and all class objects of the modules inherit the common base class;

[0013] S5. Analyze the correlation between design parameters, establish a change notification mechanism for the same dimension of design parameters and a change notification mechanism for cross-dimensional design parameters, and complete the construction of the design knowledge prototype of the SLT equipment.

[0014] Preferably, the four-dimensional design parameters include configuration parameters, action parameters, control parameters and optimization parameters, and the definition principles are as follows:

[0015] Configuration parameters include specification parameters, standard parts selection and resource allocation, non-standard mechanism core design parameters and topological relationships;

[0016] The motion parameters include mechanism motion mapping, motion planning, and motion coordination relationships;

[0017] Control parameters include control program mapping, control program coordination and IO point table;

[0018] The optimization parameters include the design parameters converted from the customization requirements.

[0019] Preferably, the rules of the change notification mechanism for the same dimension are as follows:

[0020] A higher-level configuration parameter is composed of one or more lower-level configuration parameters, forming a configuration parameter change notification mechanism;

[0021] One or more action parameters at a lower level, combined with action coordination relationships, form higher-level action parameters, forming an action parameter change notification mechanism;

[0022] One or more control program mappings at a lower level, combined with an IO point table, form a higher-level control program mapping, forming a change notification mechanism for control parameters.

[0023] Preferably, the cross-dimensional change notification mechanism is to bind configuration parameters with action parameters, action parameters with control parameters, capacity of optimization parameters with action parameters, and site restrictions of optimization parameters with configuration parameters.

[0024] Preferably, the association relationship between the design parameters includes expressing the association between the design parameters in the form of functions, mathematical models and deep learning models.

[0025] Accordingly, the present invention provides an SLT device based on multi-layer four-dimensional design parameters, including the above-mentioned design method of SLT device based on multi-layer four-dimensional design parameters, wherein the hierarchical module structure includes:

[0026] The equipment layer includes SLT equipment modules;

[0027] The functional layer includes a loading unit module and a detection unit module;

[0028] The component layer is refined according to the loading unit module, including a transfer module, an elevator module, a stacking mechanism and a destacking mechanism; and is refined according to the detection unit module, including a shuttle module, a steering correction module, a detection module, a cache module and a free variable pitch manipulator.

[0029] Preferably, the common design parameters include common configuration parameters, common action parameters and common control parameters, which are as follows:

[0030] The common configuration parameters include index, three-dimensional size, topological relationship and docking point; wherein the three-dimensional size includes length, width and height; the topological relationship includes docking object index and homogeneous pose matrix; the docking point includes docking object index and homogeneous pose matrix;

[0031] The common action parameters include an action coordination relationship and an action set; wherein the action coordination relationship includes an action coordination relationship index and an action coordination relationship instance; and the action set includes an action index and an action instance;

[0032] The common control parameters include an IO point table and a control program mapping set; wherein the IO point table includes a point name and a point address; and the control program mapping set includes a control program mapping index and a control program mapping instance.

[0033] Preferably, the data storage structure of the common design parameters is as follows:

[0034] The configuration attributes of the common configuration parameters: index String, three-dimensional size Vector3f<float,float,float> , Topological Relationship Map<String,Matrix4> and docking point map<String,Object> ;

[0035] The action type attribute of the common action parameter: action coordination relationship Map<String,Object> and action set Map<String,Object> ;

[0036] The control type attributes of the common control parameters: IO point table Map<String,String> and control program mapping set Map<String,Object> .

[0037] Preferably, the extraction results of the four-dimensional design parameters of the SLT equipment module are as follows:

[0038] The configuration parameters of the SLT equipment module include a docking point position table, a topological relationship table, equipment three-dimensional dimensions, pedestrian lane width, detection function layer height, a loading unit module, and a detection unit module;

[0039] The action parameters of the SLT equipment module include product flow direction, feeding unit unloading tray action, feeding unit empty tray collection action, feeding unit BIN tray collection action, detection unit unloading tray action, detection unit feeding tray action, detection unit chip replacement action, SLT equipment chip detection order and SLT equipment chip detection order production planning;

[0040] The control parameters of the SLT equipment module include IO point table, feeding unit unloading tray action, feeding unit empty tray collection action, feeding unit BIN tray collection action, detection unit unloading tray action, detection unit feeding tray action, detection unit chip replacement action and SLT equipment chip detection order control optimization program;

[0041] The optimization parameters of the SLT equipment module include production capacity and site constraints.

[0042] Preferably, in addition to inheriting the common base class, the SLT equipment module also includes:

[0043] Configuration attributes of the SLT equipment module: pedestrian lane width float, detection function floor height float, loading unit Map<String,Object> and detection unit Map<String,Object> ;

[0044] The SLT equipment module's dynamic properties: action planning map<String,Object> ;

[0045] The SLT equipment module has the following properties: capacity float and site limit Vector3f<float,float,float> .

[0046] Compared with the prior art, one of the above technical solutions has the following beneficial effects:

[0047] The present invention organically integrates design knowledge of different dimensions by constructing a design knowledge prototype, thereby better realizing the reuse of design knowledge, effectively guiding the progress of design work, simplifying the content of design work, and shortening the design life cycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is a schematic flow chart of a design method of an SLT device of the present invention;

[0049] Figure 2 It is a schematic diagram of the structure of the hierarchical module structure of the SLT equipment of one embodiment of the present invention;

[0050] Figure 3 is a schematic structural diagram of an SLT equipment module of an SLT equipment according to an embodiment of the present invention;

[0051] Figure 4 It is a structural schematic diagram of a loading unit module of an SLT equipment according to an embodiment of the present invention;

[0052] Figure 5 is a schematic structural diagram of a detection unit module of an SLT device according to an embodiment of the present invention;

[0053] Figure 6 is a schematic structural diagram of a transfer module of an SLT equipment according to an embodiment of the present invention;

[0054] Figure 7 is a schematic structural diagram of an elevator module of an SLT device according to an embodiment of the present invention;

[0055] Figure 8 is a schematic structural diagram of a stacking mechanism of an SLT device according to an embodiment of the present invention;

[0056] Fig. 9 It is a structural schematic diagram of a destacking mechanism of an SLT device according to an embodiment of the present invention;

[0057] Fig.10 is a schematic structural diagram of a shuttle module of an SLT device according to an embodiment of the present invention;

[0058] Fig.11 is a schematic structural diagram of a steering correction module of an SLT device according to an embodiment of the present invention;

[0059] Fig.12 is a schematic structural diagram of a detection module of an SLT device according to an embodiment of the present invention;

[0060] Fig.13 It is a schematic diagram of the structure of a cache module of an SLT device according to an embodiment of the present invention;

[0061] Fig.14 It is a schematic structural diagram of a free-pitch manipulator of an SLT device according to an embodiment of the present invention;

[0062] Fig.15 It is a data storage structure diagram of a common base class of SLT equipment of one embodiment of the present invention;

[0063] Fig.16 is a data storage structure diagram of an SLT equipment module according to an embodiment of the present invention;

[0064] Fig.17 It is a data storage structure diagram of a loading unit module according to an embodiment of the present invention;

[0065] Fig.18 is a data storage structure diagram of a detection unit module according to an embodiment of the present invention;

[0066] Fig.19 is a data storage structure diagram of a transfer module according to an embodiment of the present invention;

[0067] Fig. 20 is a data storage structure diagram of an elevator module according to an embodiment of the present invention;

[0068] Fig.21 is a data storage structure diagram of a stacking mechanism according to an embodiment of the present invention;

[0069] Fig. 22 It is a data storage structure diagram of a destacking mechanism according to an embodiment of the present invention;

[0070] Fig.23 is a data storage structure diagram of a shuttle module according to an embodiment of the present invention;

[0071] Fig.24 is a data storage structure diagram of a steering correction module according to an embodiment of the present invention;

[0072] Fig.25 is a data storage structure diagram of a detection module according to an embodiment of the present invention;

[0073] Fig.26 is a data storage structure diagram of a cache module according to an embodiment of the present invention;

[0074] Fig. 27 It is a data storage structure diagram of a free variable pitch manipulator according to an embodiment of the present invention. DETAILED DESCRIPTION

[0075] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0076] In the description of the embodiments of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0077] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0078] It should be noted that the definition of SLT is: the full name is System Level Test, which refers to the system-level test of the chip, and is the third line of defense besides chip wafer test and package test. SLT equipment is equipment that provides system-level testing for high-end chips such as SoC, SIP, etc.

[0079] In addition, the definition of design parameters: SLT equipment is a kind of equipment with obvious modular characteristics. Its design and manufacturing process includes mechanical structure design, motion planning design, control program design, management and control system design and other aspects. Each aspect basically has a relatively fixed design and work flow. The parameters in the process that obviously affect the final design plan of the equipment are defined as design parameters.

[0080] like Figure 1 As shown, a design method for SLT equipment based on multi-layer four-dimensional design parameters is characterized by comprising the following steps:

[0081] S1. Divide the hierarchical structure of SLT equipment into equipment layer, function layer and component layer from high to low, and refine the modules of each layer according to the mechanical structure of each layer to obtain the hierarchical module structure of SLT equipment;

[0082] S2. defining four-dimensional design parameters and extracting the four-dimensional design parameters of each module; wherein the four-dimensional design parameters include configuration parameters, action parameters, control parameters and optimization parameters;

[0083] S3, designing a data storage structure to store the four-dimensional design parameters of each module;

[0084] S4. Acquire common design parameters of all modules, encapsulate the common design parameters into a common base class, and all class objects of the modules inherit the common base class;

[0085] S5. Analyze the correlation between design parameters, establish a change notification mechanism for the same dimension of design parameters and a change notification mechanism for cross-dimensional design parameters, and complete the construction of the design knowledge prototype of the SLT equipment.

[0086] Specifically, the design process of SLT equipment mainly includes mechanical mechanism design, motion planning design, control program design, and management system design, which requires the collaborative participation of multiple departments, with each department performing its own duties. The division and cutting of the overall design work of SLT equipment and the clarification of departmental functions will directly lead to a disadvantage while decoupling the design tasks, namely the dimensional fragmentation of design knowledge: how to timely and effectively transmit the design changes of a certain department to other relevant departments, and complete the linkage adjustment of the overall design plan at the lowest cost and in the shortest time. In short, how to effectively and quickly interact with design information between different design departments affects the quality and progress of the entire design work.

[0087] In addition to the above-mentioned design knowledge dimension fragmentation between different design departments, there is also a potential problem of design knowledge sedimentation within the design department. The design results of different design departments are concentrated in the corresponding engineering documents and docking documents, but due to the characteristics of the design position itself, a large amount of experience and professional knowledge required in the design work has not been solidified in a persistent way. The direct impact is that the core design knowledge of the equipment will disappear with the departure of the engineers, and cannot be truly precipitated into the design general knowledge and design foundation of the department, which is not conducive to the sustainable development of the design department.

[0088] In addition, the design constraints of SLT equipment are mainly site and production capacity. It is highly customized. There are differences in the equipment solutions delivered to different customers. However, there are still certain commonalities between different solutions. If the design commonalities of SLT equipment can be abstracted, even in the face of different design requirements, corresponding solutions can be quickly output to meet the dual needs of high customization and rapid design.

[0089] In response to the above problems, the present invention provides a design method for SLT equipment based on multi-layer four-dimensional design parameters, which extracts and summarizes the design knowledge of SLT equipment, analyzes the correlation between design parameters, and constructs a "multi-layer four-dimensional" parameter correlation network, namely, a design knowledge prototype. In the hierarchical module structure of SLT equipment, "layers" are used to describe different granularity levels, such as equipment layer, module layer, and component layer; "dimensions" are used to describe the design knowledge of different departments, each "layer" contains four "dimensions", and each "dimension" contains multiple design parameters, and there is a certain correlation between the parameters. The design knowledge prototype effectively solves the problem of design knowledge precipitation and the problem of design knowledge dimensionality splitting, and is the core of realizing the rapid customized design of SLT equipment.

[0090] Specifically, in order to comprehensively and clearly characterize the design process of SLT equipment, the integration of design knowledge can refer to the actual structural characteristics of SLT equipment and be divided into three layers: "equipment layer-functional layer-component layer". Among them, the modules of the equipment layer can be SLT complete equipment, the modules of the functional layer can be designed according to the functional partitioning of the SLT complete equipment, and the modules of the component layer can be designed according to the corresponding mechanical mechanisms executed by the modules of the functional layer.

[0091] It should be noted that the principle of dividing the hierarchical module structure of SLT equipment follows "structure as the surface, function as the inside", that is, the mechanical module has a clear physical boundary with the surrounding mechanism, and can independently complete a certain function, while meeting the requirements of mechanism modularization and function modularization. According to the above principles, it is divided into three layers of multiple modules, each module represents a mechanism type, and the number of actual mechanisms in SLT equipment is greater than or equal to 1. The design parameters of each module are classified and extracted, and then the design knowledge of each module is integrated and spliced ​​according to the hierarchical division structure of SLT equipment, that is, the design knowledge of SLT equipment can be represented and described in a hierarchical and multi-dimensional manner. The division of the hierarchical module structure is in line with the idea of ​​task decoupling in the actual design process. The design process of each module can be independent of other modules and has specific design knowledge. The hierarchical modularization of the whole equipment can establish a good structural foundation for the design knowledge representation of SLT equipment, making the design knowledge representation and management of the whole equipment more convenient and efficient.

[0092] A specific embodiment of the present invention is as follows Figure 2 As shown, the equipment layer is subdivided into SLT equipment modules; the function layer is subdivided into loading unit modules and detection unit modules; the component layer is subdivided into transfer modules, elevator modules, stacking mechanisms and destacking mechanisms according to the loading unit modules, and is subdivided into shuttle modules, steering correction modules, detection modules, cache modules and free variable pitch manipulators according to the detection unit modules. The layers are advanced step by step to form a complete hierarchical module structure, which is convenient for the subsequent management of design knowledge.

[0093] On the basis of the hierarchical module structure of SLT equipment, the four-dimensional design parameters of each module are extracted to form a three-layer four-dimensional design knowledge representation framework based on design parameters, which represents the design knowledge of SLT equipment from top to bottom. Then a reasonable data storage structure is designed to store the four-dimensional design parameters of each module one by one; at the same time, the common design parameters of all modules are obtained, and according to the data storage structure, the common design parameters are encapsulated into a common base class, and the class objects of all modules inherit the common base class; the storage structure of the design parameters is reasonably designed to facilitate the storage of design information. Finally, the association between the design parameters is analyzed, and the change notification mechanism of the same dimension and the cross-dimensional change notification mechanism of the design parameters are established to complete the construction of the design knowledge prototype of SLT equipment. The purpose of this setting is: due to the large number of design parameters of the entire equipment, and it is not easy to accurately locate the design parameters that need to be assigned or modified, if all design parameters are assigned manually, the workload is huge and easy to miss. Therefore, based on the extracted four-dimensional design parameters, the association between the design parameters is analyzed, and the change notification mechanism of the same dimension and cross-dimensional design parameters is established by constructing a parameter association network.

[0094] Preferably, according to the characteristics of the SLT equipment design process, the design parameters are divided into four types, namely, the four-dimensional design parameters include configuration parameters, action parameters, control parameters and optimization parameters, and the definition principles are as follows:

[0095] Configuration parameters include specification parameters, standard parts selection and resource allocation, non-standard mechanism core design parameters and topological relationships;

[0096] The motion parameters include mechanism motion mapping, motion planning, and motion coordination relationships;

[0097] Control parameters include control program mapping, control program coordination and IO point table;

[0098] The optimization parameters include the design parameters converted from the customization requirements.

[0099] Specifically, the extraction of design parameters of different modules at different levels follows the definition principle, focusing on the four dimensions of configuration parameters, action parameters, control parameters and optimization parameters. It should be noted that the definition principle is based on a large amount of practice, and the extracted design parameters are usually the contents listed in the definition principle.

[0100] Furthermore, the four dimensions refer to configuration dimension, action dimension, control dimension, and optimization dimension respectively. The design parameters corresponding to each dimension are called configuration parameters, action parameters, control parameters, and optimization parameters. After completing the definition of the four-dimensional parameters, it is necessary to extract the four-dimensional design parameters of each module at each level. The order of extraction follows the bottom-up principle, starting from the low-level modules. The design parameters extracted in the previous layer macroscopically describe the modules in the next layer. In the present invention, the level of hierarchy is defined as: equipment layer>functional layer>component layer.

[0101] Preferably, the change notification mechanism of the same dimension controls configuration parameters, action parameters and control parameters respectively, and the rules of the change notification mechanism of the same dimension are as follows:

[0102] One or more configuration parameters at a lower level form a configuration parameter at a higher level, forming a configuration parameter change notification mechanism; since the configuration parameters at a lower level affect the configuration parameters at a higher level, there is an embodiment in which the topological relationship at a lower level affects the specification parameters at a higher level.

[0103] One or more action parameters at a lower level, combined with action coordination relationships, form higher-level action parameters, forming an action parameter change notification mechanism;

[0104] One or more control program mappings at a lower level, combined with an IO point table, form a higher-level control program mapping, forming a change notification mechanism for control parameters.

[0105] Specifically, the composition of "lower level" into "higher level" is determined by the actual implementation situation, which is illustrated by an embodiment: if a large mechanical action is an organic combination of several small mechanical actions, then these low-level action parameters constitute the high-level action parameters.

[0106] By establishing a notification mechanism for design parameter changes in the same dimension, vertical information dissemination between the same dimensions is constructed. The parameters and parameter change propagation direction can concretely record experiential knowledge and professional knowledge, effectively optimizing the problem of design knowledge sedimentation in the same dimension.

[0107] Preferably, the cross-dimensional change notification mechanism is to bind the configuration parameters with the action parameters. In one embodiment, since the execution carrier of the action is a mechanical mechanism, once the configuration parameters of the mechanical mechanism are changed, the action plan should be notified to make adjustments; the action parameters and control parameters are bound. In another embodiment, since the control program mapping is the implementation of the action plan, when the action plan changes, the control program mapping should be notified to make modifications; the production capacity of the optimization parameters is bound to the action parameters, and the site restrictions of the optimization parameters are bound to the configuration parameters.

[0108] By establishing a cross-dimensional parameter change notification mechanism, horizontal information dissemination across dimensions is constructed, and changes in design parameters between different dimensions can be carried out automatically in parallel, which greatly improves the serial collaboration mode between different departments under the traditional design model and effectively solves the problem of dimensional fragmentation of design knowledge.

[0109] Specifically, Figure 3-14 As shown in the figure, for the change notification mechanism of design parameters, on the one hand, one diagram corresponds to one module, and a change notification mechanism for the same latitude and cross-latitude of design parameters in the same module is established, where the notification direction of the change between design parameters is represented by an arrow. It should be noted that each diagram is divided into four columns, and each column from left to right represents configuration parameters, action parameters, control parameters and optimization parameters, and the corresponding dimensions are configuration dimension, action dimension, control dimension and optimization dimension.

[0110] On the other hand, when extracting design parameters for each module at each level, the order of extraction follows the bottom-up principle, starting from the low-level module, and the design parameters extracted in the previous layer macroscopically describe the modules in the next layer. Therefore, a module in a diagram actually also contains a change notification mechanism for the design parameters of other modules. For example, refer to Figure 3 The SLT equipment module of the equipment layer contains the loading unit module of the function layer. The connection between the two modules is established through the index of the loading unit module, realizing the change notification mechanism of the parameters in the same dimension and across dimensions between different modules. Among them, the notification direction of the change between the design parameters is fed back from the low level to the high level.

[0111] In addition, such as Figure 3-27 As shown, the specification parameters of the configuration parameters are expressed as the length, width and height of the mechanical mechanism corresponding to the module, the action sequence diagram of the action parameters is the expression of the action sequence coordination relationship, and the control program of the control parameters is the expression of the control program mapping.

[0112] Preferably, the association relationship between the design parameters includes expressing the association between the design parameters in the form of functions, mathematical models and deep learning models.

[0113] Specifically, the association relationship of the design parameters is to facilitate the solution of design parameter changes. For easily expressed functional relationships, for example, if the design parameters a, b and c satisfy the association relationship of c=2a+b, the value of the target design parameter can be automatically changed based on the design parameter change notification. For mathematical models and deep learning models that are difficult to express explicitly, the value of the target design parameter is manually modified after the design parameter change notification.

[0114] The present invention also provides an SLT device based on multi-layer four-dimensional design parameters, including the above-mentioned design method of SLT device based on multi-layer four-dimensional design parameters, wherein the hierarchical module structure includes:

[0115] The equipment layer includes SLT equipment modules;

[0116] The functional layer includes a loading unit module and a detection unit module; specifically, the SLT equipment is divided into two large functional areas, namely the chip loading unit and the chip detection unit. Since the chip loading unit includes four subtasks: unloading the material tray to be tested, unloading and recycling the empty material tray, and recycling the BIN material tray, the core mechanical mechanism of the chip loading unit includes a stacking mechanism for the material tray to be tested, a stacking mechanism for the empty material tray, a stacking mechanism for the BIN material tray, a transfer trolley, an elevator, etc. The chip detection unit includes three subtasks: loading the chip to be tested, unloading the chip after testing, and dividing the chip into BIN after testing. The core mechanical mechanism of the chip detection unit includes a material tray cache flow channel, a steering correction mechanism, a BIN division manipulator, a shuttle, a test manipulator, a detection mechanism, etc. Therefore, the refinement of the chip loading unit (corresponding to the loading unit module) and the modularization of the chip detection unit (corresponding to the detection unit module) is as follows:

[0117] The component layer is refined according to the loading unit module, including a transfer module, an elevator module, a stacking mechanism and a destacking mechanism; and is refined according to the detection unit module, including a shuttle module, a steering correction module, a detection module, a cache module and a free variable pitch manipulator.

[0118] Preferably, the common design parameters are extracted by using the definition principle of the four-dimensional design parameters, and the common design parameters include common configuration parameters, common action parameters and common control parameters, as follows:

[0119] The common configuration parameters include index, three-dimensional size, topological relationship and docking point; wherein the three-dimensional size includes length, width and height; the topological relationship includes docking object index and homogeneous pose matrix; the docking point includes docking object index and homogeneous pose matrix;

[0120] The common action parameters include an action coordination relationship and an action set; wherein the action coordination relationship includes an action coordination relationship index and an action coordination relationship instance; and the action set includes an action index and an action instance;

[0121] The common control parameters include an IO point table and a control program mapping set; wherein the IO point table includes a point name and a point address; and the control program mapping set includes a control program mapping index and a control program mapping instance.

[0122] Preferably, if Fig.15As shown, the data storage structure of the common design parameters is as follows:

[0123] The configuration attributes of the common configuration parameters: index String, three-dimensional size Vector3f<float,float,float> (length, width, height), topological relationship Map<String,Matrix4> (Docked object index, homogeneous pose matrix) and docking point map<String,Object> (abutment index, abutment example);

[0124] The action type attribute of the common action parameter: action coordination relationship Map<String,Object> (action coordination relationship index, action coordination relationship instance) and action set Map<String,Object> (action index, action instance);

[0125] The control type attributes of the common control parameters: IO point table Map<String,String> (point name, point address) and control program mapping set Map<String,Object> (control program mapping index, control program mapping instance).

[0126] Because the design parameter extraction of different modules at different levels revolves around the four design parameters of the configuration parameters, the action parameters, the control parameters and the optimization parameters, even if the design parameters of each module are different, there are still some common design parameters. Based on the idea of ​​object-oriented encapsulation, each module in each level is regarded as a class object. Each class object has the design parameters of the above four dimensions of "configuration", "action", "control" and "optimization". On this basis, the common design parameters of all class objects are integrated to encapsulate a "common base class". All class objects inherit from the common base class. While having common design parameters, they can also expand their own unique design parameters.

[0127] Specifically, the configuration attribute of the common configuration parameters is the data storage structure of the common configuration parameters; the action attribute of the common action parameters is the data storage structure of the common action parameters; and the control attribute of the common control parameters is the data storage structure of the common control parameters.

[0128] Preferably, according to the definition principle of the four-dimensional design parameters, the extraction results of the four-dimensional design parameters of the SLT equipment module are as follows:

[0129] The configuration parameters of the SLT equipment module include the contact point position table, the topological relationship table, the three-dimensional size of the equipment, the width of the pedestrian lane, the height of the detection function layer, the loading unit module and the detection unit module; specifically, the configuration parameters mainly describe the overall structural information and resource configuration information, and the configuration parameters of the SLT equipment module mainly describe the macroscopic mechanical design information. It should be noted that the SLT equipment module includes the loading unit module of the next level (functional layer) and the detection unit module of the next level (functional layer), and the loading unit module includes the number of loading units and the loading unit index, wherein the number of loading units defaults to 1; the detection unit module includes the number of detection units and the detection unit index.

[0130] The action parameters of the SLT equipment module include the work-in-process flow direction, the feeding unit discharge tray action, the feeding unit empty tray collection action, the feeding unit BIN tray collection action, the detection unit discharge tray action, the detection unit feed tray action, the detection unit chip replacement action, the SLT equipment chip detection order and the SLT equipment chip detection order production scheduling; specifically, the action parameters mainly describe the work-in-process action planning and the equipment action planning, and the action parameters of the SLT equipment module mainly describe the macro action planning.

[0131] The control parameters of the SLT equipment module include the IO point table, the feeding unit unloading tray action, the feeding unit empty tray collection action, the feeding unit BIN tray collection action, the detection unit unloading tray action, the detection unit feeding tray action, the detection unit chip material replacement action and the SLT equipment chip detection order control optimization program; specifically, in the IO point table, the specific control points of the input signal and the output signal are recorded. The control parameters mainly describe the control parameter configuration and record the IO point information, and the control parameters of the SLT equipment module mainly describe the macro control program structure. It should be noted that each control parameter corresponds to an action parameter, so each control parameter of the SLT equipment module corresponds to an action parameter of the SLT equipment module. In actual work, control program mapping is the realization of action planning, and action realization is the basis of control program mapping.

[0132] The optimization parameters of the SLT equipment module include production capacity and site constraints. Specifically, since the optimization parameters are mainly design parameters converted from various customization requirements, corresponding to the common customization requirements of SLT equipment, two design parameters of SLT equipment production capacity and site constraints are extracted.

[0133] The order of extracting design parameters follows the bottom-up principle, starting from the low-level modules. The design parameters extracted from the previous layer macroscopically describe the modules of the next layer. That is, the design parameters of the equipment layer mainly describe the design information of the function layer.

[0134] Furthermore, according to the same extraction logic, combined with the actual situation, the design parameters of each module in the functional layer and component layer are extracted. For details, please refer to Figure 4-14 As shown in the figure, each figure is divided into four columns. Each column from left to right represents the configuration parameters, action parameters, control parameters and optimization parameters respectively. The four-dimensional design parameter extraction of each module of the three layers is completed, and the prototype of SLT equipment design knowledge representation is established.

[0135] Preferably, if Fig.16 As shown, in addition to inheriting the common base class, the SLT equipment module also includes:

[0136] Configuration attributes of the SLT equipment module: pedestrian lane width float, detection function floor height float, loading unit Map<String,Object> (loading unit index, loading unit instance) and detection unit Map<String,Object> (detection unit index, detection unit instance);

[0137] The SLT equipment module's dynamic properties: action planning map<String,Object> (process flow index, process flow instance); it should be noted that the action planning of the SLT equipment module includes all the action parameters of the SLT equipment module (work-in-process flow direction, feeding unit unloading tray action, feeding unit empty tray collection action, feeding unit BIN tray collection action, detection unit unloading tray action, detection unit feeding tray action, detection unit chip replacement action, SLT equipment chip detection order and SLT equipment chip detection order production planning), in a unified data structure Map<String,Object> (process flow index, process flow instance) type is managed.

[0138] The SLT equipment module has the following properties: capacity float and site limit Vector3f<float,float,float> (length, width, height).

[0139] Specifically, in addition to inheriting the common base class, the SLT equipment of the equipment layer has unique parameters such as pedestrian lane width, loading unit configuration, detection unit configuration and other design parameters.

[0140] Specifically, the configuration attribute of the SLT equipment module is the data storage structure of the configuration parameters of the SLT equipment module; the dynamic attribute of the SLT equipment module is the data storage structure of the action parameters of the SLT equipment module; the optimization attribute of the SLT equipment module is the data storage structure of the optimization parameters of the SLT equipment module of the common control parameters.

[0141] Further, according to the same idea, please refer to Figure 17-27As shown, the data structure design of the four-dimensional design parameters of each module in the three layers is completed, and a reasonable data structure design is performed on the storage structure of all design parameters. The object class formed by each module inherits the common design parameters of the common base class and has its own unique design parameters.

[0142] The design parameter extraction and data structure design of each level and dimension have been completed. This means that as long as a value is assigned to each design parameter, a complete design plan for SLT equipment containing multiple design dimensions can be generated. For situations with similar design requirements, the values ​​of corresponding design parameters can be quickly modified according to historical plans, reducing the dependence on engineers in previous design models and solving the problem of storage and accumulation of experience knowledge and professional knowledge.

[0143] So far, the hierarchical module division, four-dimensional design parameter definition, four-dimensional design parameter extraction, design parameter data structure design, design parameter change notification and simple design parameter association relationship characterization of SLT equipment have been completed, and the design knowledge prototype of SLT equipment has been successfully constructed, solving the problem of design knowledge dimension fragmentation and design knowledge precipitation. Through the SLT equipment and design method based on multi-layer four-dimensional design parameters proposed by the present invention, new equipment solutions can be quickly output according to the design knowledge prototype for new requirements, which improves work efficiency and shortens the design cycle.

[0144] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0145] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A design method for SLT equipment based on multi-layer four-dimensional design parameters, characterized in that: The following steps are involved: S1. Divide the hierarchical structure of SLT equipment into equipment layer, function layer and component layer from high to low, and refine the modules of each layer according to the mechanical structure of each layer to obtain the hierarchical module structure of SLT equipment; S2. defining four-dimensional design parameters and extracting the four-dimensional design parameters of each module; wherein the four-dimensional design parameters include configuration parameters, action parameters, control parameters and optimization parameters; S3, designing a data storage structure to store the four-dimensional design parameters of each module; S4. Acquire common design parameters of all modules, encapsulate the common design parameters into a common base class, and all class objects of the modules inherit the common base class; S5. Analyze the correlation between design parameters, establish the change notification mechanism of the same dimension and the change notification mechanism of cross-dimensional design parameters, and complete the construction of the design knowledge prototype of SLT equipment; The four-dimensional design parameters include configuration parameters, action parameters, control parameters and optimization parameters, and the definition principles are as follows: Configuration parameters include specification parameters, standard parts selection and resource allocation, non-standard mechanism core design parameters and topological relationships; The motion parameters include mechanism motion mapping, motion planning, and motion coordination relationships; Control parameters include control program mapping, control program coordination and I0 point table; The optimization parameters include the design parameters converted from the customization requirements; The rules of the change notification mechanism for the same dimension are as follows: A higher-level configuration parameter is composed of one or more lower-level configuration parameters, forming a configuration parameter change notification mechanism; One or more action parameters at a lower level, combined with action coordination relationships, form higher-level action parameters, forming an action parameter change notification mechanism; One or more control program mappings at a lower level, combined with the I0 point table, form a higher-level control program mapping, forming a change notification mechanism for control parameters.

2. A design method for SLT equipment based on multi-layer four-dimensional design parameters according to claim 1, characterized in that: The cross-dimensional change notification mechanism is to bind configuration parameters with action parameters, action parameters with control parameters, capacity of optimization parameters with action parameters, and site restrictions of optimization parameters with configuration parameters.

3. A design method for SLT equipment based on multi-layer four-dimensional design parameters according to claim 1, characterized in that: The association relationship between the design parameters includes expressing the association between the design parameters in the form of functions, mathematical models and deep learning models.

4. A SLT device based on multi-layer four-dimensional design parameters, using the design method of the SLT device based on multi-layer four-dimensional design parameters according to any one of claims 1 to 3, characterized in that: The hierarchical module structure includes: The equipment layer includes SLT equipment modules; The functional layer includes a loading unit module and a detection unit module; The component layer is refined according to the loading unit module, including a transfer module, an elevator module, a stacking mechanism and a destacking mechanism; and is refined according to the detection unit module, including a shuttle module, a steering correction module, a detection module, a cache module and a free variable pitch manipulator; The extraction results of the four-dimensional design parameters of the SLT equipment module are as follows: The configuration parameters of the SLT equipment module include a docking point position table, a topological relationship table, equipment three-dimensional dimensions, pedestrian lane width, detection function layer height, a loading unit module, and a detection unit module; The action parameters of the SLT equipment module include product flow direction, feeding unit unloading tray action, feeding unit empty tray collection action, feeding unit BIN tray collection action, detection unit unloading tray action, detection unit feeding tray action, detection unit chip replacement action, SLT equipment chip detection order and SLT equipment chip detection order production planning; The control parameters of the SLT equipment module include I0 point table, feeding unit unloading tray action, feeding unit empty tray collection action, feeding unit BIN tray collection action, detection unit unloading tray action, detection unit feeding tray action, detection unit chip replacement action and SLT equipment chip detection order control optimization program; The optimization parameters of the SLT equipment module include production capacity and site constraints.

5. The SLT equipment based on multi-layer four-dimensional design parameters according to claim 4, characterized in that: The common design parameters include common configuration parameters, common action parameters and common control parameters, which are as follows: The common configuration parameters include index, three-dimensional size, topological relationship and docking point; wherein the three-dimensional size includes length, width and height; the topological relationship includes docking object index and homogeneous pose matrix; the docking point includes docking object index and homogeneous pose matrix; The common action parameters include an action coordination relationship and an action set; wherein the action coordination relationship includes an action coordination relationship index and an action coordination relationship instance; and the action set includes an action index and an action instance; The common control parameters include an IO point table and a control program mapping set; wherein the IO point table includes a point name and a point address; and the control program mapping set includes a control program mapping index and a control program mapping instance.

6. The SLT equipment based on multi-layer four-dimensional design parameters according to claim 5, characterized in that: The data storage structure of the common design parameters is as follows: The configuration attributes of the common configuration parameters: index String, three-dimensional size Vector3f<float,float,float> , Topological Relationship Map<String,MatriX4> and docking point map<String,Object> ; The action type attribute of the common action parameter: action coordination relationship Map<String,Object> and action set Map<String,Object> ; The control type attributes of the common control parameters: IO point table Map<String, String> and control program mapping set Map<String,Object> .

7. The SLT equipment based on multi-layer four-dimensional design parameters according to claim 5, characterized in that: In addition to inheriting the common base class, the SLT equipment module also includes: Configuration attributes of the SLT equipment module: pedestrian lane width float, detection function floor height float, loading unit Map<String,Object> and detection unit Map<String,Object> ; The SLT equipment module's dynamic properties: action planning map<String,Object> ; The SLT equipment module has the following properties: capacity float and site limit Vector3f<float,float,float> .

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