Double workstation full-automatic wire bonding machine

Abstract

The present application relates to a double workstation full-automatic wire welding machine, comprising a welding head, a first mechanical arm, a second mechanical arm, a first workstation with preheating function and a second workstation with preheating function, the first workstation and the second workstation are respectively arranged on the two sides of the welding head, the first mechanical arm is arranged on the side of the welding head close to the first workstation, and the second mechanical arm is arranged on the side of the welding head close to the second workstation, wherein the welding head is used for processing workpieces on the first workstation and the second workstation, the first mechanical arm is used for feeding and discharging the first workstation, and the second mechanical arm is used for feeding and discharging the second workstation. The present application optimizes the production process and effectively improves the processing efficiency.

Description

Technical Field

[0001] This invention relates to a fully automatic wire bonding machine with dual worktables, belonging to the field of wire bonding technology. Background Technology

[0002] In semiconductor packaging, wire bonding machines are used to tightly bond metal leads to substrate pads. A wire bonding machine mainly consists of a bonding head, a single rotating worktable, a preheating stage, a robotic arm, and a material tray. The robotic arm loads the workpiece blank from the tray onto the preheating stage, then transfers it to the rotating worktable. The bonding head performs wire bonding on the workpiece blank, and the robotic arm unloads it into the tray. However, during the robotic arm's loading and unloading process, the bonding head needs to move to a safe position and wait for the robotic arm to complete the loading and unloading of one workpiece before performing the wire bonding process. This results in a long idle time for the bonding head, leading to low head utilization. Furthermore, machine downtime is required when changing the material tray. Existing wire bonding machines have low processing efficiency and struggle to achieve efficient continuous operation of the bonding head; their processing efficiency needs further improvement.

[0003] Furthermore, in semiconductor packaging such as light-emitting components, the processing technology demands high speed and precision, requiring extensive complex data processing related to speed and motion trajectory control. Current processing methods involve the machining equipment first processing large amounts of complex data in the host computer software, then packaging and sending the massive amount of processed data to the motion controller's data buffer. The motion program only begins processing the workpiece after the data buffer has received all the data. After workpiece processing is complete, the host computer software cycles through data processing and buffer sending, and the motion program executes the buffer data again to process the workpiece. This existing data processing method requires waiting for the host computer software to complete complex data processing and package and send it to the buffer after each workpiece processing cycle. Only after the buffer has received the data can the equipment execute a new processing cycle. When the amount of data to be processed is large and complex, the data processing and sending time is lengthy, resulting in an idle time waiting for buffer data execution after each workpiece is processed, severely impacting the equipment's processing efficiency. Summary of the Invention

[0004] This invention provides a fully automatic wire bonding machine with dual worktables, aiming to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a fully automatic wire bonding machine with dual worktables, which can simultaneously perform the wire bonding process with the robotic arm's loading and unloading process, effectively improving processing efficiency.

[0005] The technical solution of this invention relates, in one aspect, to a fully automatic wire bonding machine with dual worktables, comprising: The welding head, the first robotic arm, the second robotic arm, the first worktable with preheating function, and the second worktable with preheating function are respectively disposed on both sides of the welding head; the first robotic arm is disposed on the side of the welding head closer to the first worktable, and the second robotic arm is disposed on the side of the welding head closer to the second worktable; The welding head is used to process workpieces on the first worktable and the second worktable, the first robot arm is used for loading and unloading workpieces on the first worktable, and the second robot arm is used for loading and unloading workpieces on the second worktable.

[0006] Furthermore, it also includes a wire bonding mechanism, which includes a base, a telescopic mechanism, a translation mechanism, and a mounting block for connecting the welding head. The mounting block is disposed on the telescopic mechanism, the telescopic mechanism is disposed on the translation mechanism, and the translation mechanism is disposed on the base.

[0007] Furthermore, it also includes a crossbeam, on which the first robotic arm and the second robotic arm are movably mounted.

[0008] Furthermore, it also includes a first material storage mechanism and a second material storage mechanism, wherein the first material storage mechanism is disposed on the side of the first robotic arm away from the welding head, and the second material storage mechanism is disposed on the side of the second robotic arm away from the welding head.

[0009] Furthermore, the first material storage mechanism includes a first track and two first material trays, the two first material trays being movably disposed on both sides of the first track; the second material storage mechanism includes a second track and two second material trays, the two second material trays being movably disposed on both sides of the second track.

[0010] Furthermore, it also includes two tray motors and two tray conveyor belts, one of which is connected to the first tray and the other of which is connected to the second tray.

[0011] Furthermore, both the first track and the second track are perpendicular to the crossbeam.

[0012] Furthermore, the first robotic arm is equipped with two first suction nozzles for loading and unloading materials, and the second robotic arm is equipped with two second suction nozzles for loading and unloading materials.

[0013] Furthermore, it also includes two flipping mechanisms for flipping the first worktable and the second worktable, respectively. Each flipping mechanism includes a support frame, a rotating block, and a connecting block for connecting the first worktable or the second worktable. The rotating block is rotatably mounted on the support frame, and the connecting block is connected to the rotating block.

[0014] Another aspect of the technical solution of the present invention relates to a control method for a dual-worktable fully automatic wire bonding machine, applied to the dual-worktable fully automatic wire bonding machine of the above embodiment. The control method includes the following steps: A10. After the welding head moves to the first worktable, it processes the blank workpiece on the first worktable. At the same time, the second robot puts the finished workpiece on the second worktable back to the second material tray and then transfers the blank workpiece in the second material tray to the second worktable. A20. After the welding head completes the current process, it moves to the second worktable to process the next workpiece. At the same time, the first robot puts the finished workpiece on the first worktable back to the first material tray and then transfers the workpiece in the first material tray to the first worktable. A30. After the welding head completes the next process of workpiece processing, the second robot arm puts the finished workpiece on the second worktable back into the second material tray, and at the same time, the welding head moves to the first worktable. A40. Repeat steps A10 to A30 until a completion instruction is received.

[0015] The beneficial effects of this invention are as follows.

[0016] This invention proposes a dual-worktable fully automatic wire bonding machine, which can simultaneously perform the wire bonding process of the welding head and the loading and unloading process of the robotic arm, effectively improving processing efficiency. It features two worktables and two independently operated robotic arms for loading and unloading. Each welding head is equipped with two worktables, and each worktable is also equipped with a robotic arm for loading and unloading. Each robotic arm is equipped with two suction nozzles for loading and unloading, effectively reducing the idle time of the welding head and facilitating efficient continuous operation. Through a rational spatial layout, while achieving non-stop wire bonding and a better material tray, the machine achieves a lightweight design, simplifies the loading and unloading operations of the robotic arm and the wire bonding operations of the welding head, and reduces the complexity of system control. Attached Figure Description

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of a wire bonding machine according to an embodiment of the present invention.

[0018] Figure 2 This is a front view of the wire bonding machine according to an embodiment of the present invention.

[0019] Figure 3 This is a top view of the wire bonding machine according to an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the structure of the first tray of the wire bonding machine according to an embodiment of the present invention.

[0021] Figure 5 This is a schematic diagram of the structure of the first material storage mechanism of the wire bonding machine according to an embodiment of the present invention.

[0022] Figure 6 This is a schematic diagram of the structure of the first robotic arm of the wire bonding machine according to an embodiment of the present invention.

[0023] Figure 7 This is a schematic diagram of the wire bonding mechanism of a wire bonding machine according to an embodiment of the present invention.

[0024] Figure 8 This is a schematic diagram of the flipping mechanism of a wire bonding machine according to an embodiment of the present invention.

[0025] Figure 9 This is a flowchart illustrating the operation of a wire bonding machine according to an embodiment of the present invention.

[0026] Figure 10 This is a schematic diagram of the hardware structure according to the method of the present invention.

[0027] Figure 11 This is a data processing flowchart based on a dual-thread processing mechanism according to the method of the present invention.

[0028] Figure 12 This is a data processing flowchart for the first thread according to the method of the present invention.

[0029] Figure 13 This is a data processing flowchart for the second thread according to the method of the present invention.

[0030] Figure 14 This is a schematic diagram of the control system structure according to the method of the present invention.

[0031] Figure 15 This is a flowchart illustrating the loading and unloading process according to the method of the present invention.

[0032] Explanation of reference numerals in the attached figures: 110. Welding head; 120. Wire bonding mechanism; 131. Base; 132. Telescopic mechanism; 1321. Wire bonding slider; 1322. Telescopic guide rail; 133. Translation mechanism; 1331. Wire bonding slide; 1332. Translation guide rail; 134. Mounting block; 135. Cooling fan; 210. First worktable; 220. Second worktable; 230. Tilting mechanism; 231. Base block; 232. Support; 233. Rotating block; 234. Rotary motor; 310. First robotic arm; 311. First suction nozzle; 312. First slide; 313. First sliding assembly; 314. First skateboard; 315. First connecting block; 316. Connecting vertical plate; 317. Connecting horizontal block; 320. Second robotic arm; 321. Second suction nozzle; 322. First slide; 323. First sliding assembly; 330. Crossbeam; 340. Slide motor; 341. Slide conveyor belt; 342. Slide clamp; 350. Skateboard conveyor belt; 351. Skateboard clamp; 410. First material storage mechanism; 411. First track; 412. First material tray; 413. First clamping assembly; 414. First moving plate; 415. First positioning block; 420. Second material storage mechanism; 421. Second track; 422. Second material tray; 430. Material tray motor; 431. Material tray conveyor belt; 432. Material picking clamp block; 500. Bed frame. Detailed Implementation

[0033] The following will provide a clear and complete description of the concept, specific structure, and technical effects of the present invention in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, solution, and effects of the present invention. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0034] It should be noted that, unless otherwise specified, when a feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. Furthermore, the descriptions of "upper," "lower," "left," "right," "top," and "bottom" used in this invention are only relative to the relative positional relationships of the various components of the invention in the accompanying drawings.

[0035] Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and not for limiting the invention. The term "and / or" as used herein includes any combination of one or more of the associated listed items.

[0036] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various workpieces, these workpieces should not be limited to these terms. These terms are only used to distinguish workpieces of the same type from one another. For example, without departing from the scope of this disclosure, a first workpiece may also be referred to as a second workpiece, and similarly, a second workpiece may also be referred to as a first workpiece.

[0037] See Figures 1 to 15The fully automatic wire bonding machine with dual worktables according to the present invention includes a welding head 110, a first robotic arm 310, a second robotic arm 320, a first worktable 210 with preheating function, and a second worktable 220 with preheating function. The first worktable 210 and the second worktable 220 are respectively disposed on both sides of the welding head 110. The first robotic arm 310 is disposed on the side of the welding head 110 close to the first worktable 210, and the second robotic arm 320 is disposed on the side of the welding head 110 close to the second worktable 220. The welding head 110 is used to process workpieces on the first worktable 210 and the second worktable 220. The first robotic arm 310 is used for loading and unloading workpieces on the first worktable 210, and the second robotic arm 320 is used for loading and unloading workpieces on the second worktable 220.

[0038] See Figure 1 and Figure 2 The fully automatic wire bonding machine with dual worktables in this embodiment of the invention includes a bed 500, with a first worktable 210 and a second worktable 220 symmetrically arranged on the bed 500. A welding head 110 is horizontally movable and positioned between the first worktable 210 and the second worktable 220. A first robotic arm 310 is positioned on the left side of the first worktable 210, and a second robotic arm 320 is positioned on the right side of the second worktable 220. When the welding head 110 moves to the left to wire bond the workpiece blank on the first worktable 210, the second robotic arm 320 loads and unloads workpieces onto the second worktable 220, and the second worktable 220 preheats the workpieces. After completing wire bonding on the workpiece on the first worktable 210, the welding head 110 moves to the right to wire bond the preheated workpiece blank on the second worktable 220. Simultaneously, the first robotic arm 310 loads and unloads workpieces onto the first worktable 210, and the first worktable 210 preheats the workpieces.

[0039] The fully automatic wire bonding machine with dual worktables in this invention has one welding head 110 equipped with two worktables, and each worktable is equipped with a robot for loading and unloading. This allows the wire bonding process of the welding head 110 to be carried out simultaneously with the loading and unloading process of the robot. The welding head 110 does not need to avoid or wait for the robot to load or unload, and the intermediate preheating station is eliminated. The workpiece is preheated by the worktable with preheating function while the workpiece is waiting for wire bonding. This can effectively reduce the idle time of the welding head 110, realize the efficient and continuous operation of the welding head 110, and improve the processing efficiency of the equipment. Its production efficiency can be increased by about 40%.

[0040] In some embodiments, the dual-worktable automated wire bonding machine of the present invention further includes a first storage mechanism 410 and a second storage mechanism 420. The first storage mechanism 410 is disposed on the side of the first robotic arm 310 away from the welding head 110, and the second storage mechanism 420 is disposed on the side of the second robotic arm 320 away from the welding head 110. See also Figure 2 and Figure 3The first storage mechanism 410 is located on the left side of the first worktable 210. The first robot arm 310 is used to switch the placement position of the workpiece between the first storage mechanism 410 and the first worktable 210. The second storage mechanism 420 is located on the right side of the second worktable 220. The second robot arm 320 is used to switch the placement position of the workpiece between the second storage mechanism 420 and the second worktable 220.

[0041] In some specific embodiments, the first material storage mechanism 410 includes a first track 411 and two first material trays 412, which are movably disposed on both sides of the first track 411. The second material storage mechanism 420 includes a second track 421 and two second material trays 422, which are movably disposed on both sides of the second track 421. The first robotic arm 310 and the second robotic arm 320 are each equipped with two material trays. For two material trays on the same side, when the operator changes one material tray, the robotic arm can simultaneously load and unload the other material tray. This ensures that manual replacement of a material tray full of finished workpieces will not affect the wire bonding process, enabling material tray changes without stopping the machine. Furthermore, compared with traditional stacked material trays, the two material trays in this embodiment adopt a flat design, which can effectively reduce loading and unloading time and reduce system control complexity.

[0042] In some embodiments, the first track 411 and the second track 421 are both perpendicular to the crossbeam 330. The first track 411 and the second track 421 are respectively disposed on the lower sides of both ends of the crossbeam 330. The first robotic arm 310 and the second robotic arm 320 are both horizontally movable on the crossbeam 330. The first material tray 412 is horizontally movable back and forth on the first track 411, and the second material tray 422 is horizontally movable back and forth on the second track 421. See also Figure 2 and Figure 3 The crossbeam 330 is positioned above the first worktable 210 and the second worktable 220 at its center. The first track 411 and the second track 421 are located below the left and right ends of the crossbeam 330. The first track 411 and the second track 421 directly below the crossbeam 330 are the loading and unloading positions for the first robot arm 310 and the second robot arm 320, respectively. The front and rear ends of the first track 411 and the second track 421 are the manual tray changing positions for the two trays. The first robot arm 310 and the second robot arm 320 can move left and right along the crossbeam 330 to switch the workpiece position between the inner tray and the worktable. The first tray 412 and the second tray 422 can move back and forth along the first track 411 and the second track 421, respectively, to switch between the robot loading / unloading position and the manual changing position.

[0043] Specifically, see Figures 2 to 4The first and second material trays 412 and 422 hold multiple rows and columns of workpieces. By moving the first and second material trays 412 and 422 back and forth, the first robotic arm 310 and the second robotic arm 320 can pick up workpieces in different rows. Furthermore, by moving the first and second robotic arms 310 and 320 left and right, they can pick up workpieces in different columns. The back-and-forth movement of the first and second material storage mechanisms 410 and 420 allows for simultaneous loading / unloading by the robotic arms and manual tray replacement. It also coordinates with the first and second robotic arms 310 and 320 to complete the loading / unloading movement, allowing the first and second robotic arms 310 and 320 to perform only left-right and up-down movements, thus achieving a lightweight structure. It is understandable that the workpiece placement positions on the first worktable 210 and the second worktable 220, the loading / unloading and picking positions of the first robot arm 310 on the first material tray 412, and the loading / unloading and picking positions of the second robot arm 320 on the second material tray 422 are all on the same straight line. This allows the first robot arm 310 and the second robot arm 320 to move left and right along the crossbeam 330 and move up and down on the crossbeam 330, thereby simplifying the structure and control process of the robot arm.

[0044] It is understood that the first storage mechanism 410 and the second storage mechanism 420 have the same structure and the same working principle. The first storage mechanism 410 and the second storage mechanism 420 are symmetrically arranged on both sides of the equipment, with the first track 411 corresponding to the second track 421, and the first material tray 412 corresponding to the second material tray 422. Similarly, the first robotic arm 310 and the second robotic arm 320 have the same structure and working principle, and are symmetrically arranged on both sides of the equipment. Specifically, the first storage mechanism 410 will be used as an example for explanation; see [link to relevant documentation]. Figure 3 and Figure 5 The first track 411 is horizontally positioned, and two first material trays 412 are horizontally positioned above the front and rear sides of the first track 411, respectively. A material tray motor 430 and a material tray conveyor belt 431 are located below the first track 411. The material tray motor 430 is driven by the material tray conveyor belt 431, causing the first material trays 412 to move back and forth. Two sets of material tray motors 430 and material tray conveyor belts 431 are provided, with each first material tray 412 connected to one material tray conveyor and one material tray motor 430.

[0045] Specifically, the middle section of the first track 411 serves as the loading / unloading station for the first robotic arm 310. When a worker places the first tray 412, filled with blank workpieces, at the front end of the first track 411, one set of tray motors 430 and the tray conveyor belt 431 activate, causing the first tray 412 at the rear to move to the rear end of the first track 411. Then, through the activation of another set of tray motors 430 and the tray conveyor belt 431, the first tray 412 at the front moves to the loading / unloading station of the first robotic arm 310, allowing the operator to change the rear tray 412. After the first robotic arm 310 completes loading / unloading the workpieces from the front tray 412, the front tray 412 moves to the front end of the first track 411, and the rear tray 412 moves to the loading / unloading station of the first robotic arm 310, thus achieving tray changing without stopping the machine.

[0046] Further, see Figure 4 The first material tray 412 is fixed to the first moving plate 414 by the first clamping assembly 413, which helps to ensure the correct placement of the first material tray 412 and prevent the first material tray 412 from being misplaced during movement. The first moving plate 414 is set on the first track 411. The lower side of the first moving plate 414 is clamped by the first clamping block to one of the material tray conveyor belts 431. The material tray conveyor belt 431 is sleeved on two material tray rollers. One of the material tray rollers is connected to the material tray motor 430. The material tray motor 430 drives the material tray roller to rotate. Under the action of the material tray conveyor belt 431 and the first clamping block, the first moving plate 414 and the first material tray 412 move along the first track 411, so that the first material tray 412 switches between the loading and unloading position of the first robot arm 310 and the manual material tray replacement position.

[0047] Furthermore, the first material storage mechanism 410 may employ a foolproof design to prevent the first material tray 412 from being placed in the wrong direction. Specifically, one corner of the first material tray 412 is an angled angle, and a first positioning block 415 is provided on one corner of the first moving plate 414. When the first material tray 412 is manually installed on the first moving plate 414, the angled angle can be aligned with the first positioning block 415, thereby preventing the first material tray 412 from being placed in the wrong direction.

[0048] It is understandable that the structure and working principle of the second storage mechanism 420 are the same as those of the first storage mechanism 410. The two second material trays 422 in the second storage mechanism 420 also move back and forth on the second track 421 through two sets of material tray motors 430 and material tray conveyor belts 431, respectively. The second storage mechanism 420 is also equipped with a second clamping assembly, a second moving plate and a second clamping block. Its structure is the same as that of the first clamping assembly 413, the first moving plate 414 and the first clamping block of the first storage mechanism 410. The second storage mechanism 420 also adopts a foolproof design.

[0049] In some embodiments, the first robotic arm 310 and the second robotic arm 320 are horizontally movably mounted on the crossbeam 330. It should be noted that the first robotic arm 310 and the second robotic arm 320 have the same structure and working principle, and are symmetrically arranged. The first robotic arm 310 is used as an example here; see [link to documentation]. Figure 2 and Figure 6 The first robotic arm 310 includes a first slide 312, a first sliding assembly 313, and a first material-picking assembly. The first slide 312 is horizontally movably mounted on a crossbeam 330, the first sliding assembly 313 is vertically movably mounted on the first slide 312, and the first material-picking assembly is fixedly mounted on the first sliding assembly 313. Correspondingly, the second robotic arm 320 is provided with a second slide, a second sliding assembly, and a second material-picking assembly, the structures of which are the same as those of the first slide 312, the first sliding assembly 313, and the first material-picking assembly, respectively.

[0050] In some embodiments, see Figure 2 and Figure 3 Two sets of slide motors 340 and slide conveyor belts 341 are provided on the crossbeam 330. Each slide conveyor belt 341 is fitted on two slide rollers. One of the slide rollers is connected to the slide motor 340. The first slide 312 clamps one of the slide conveyor belts 341 through the slide clamping block. Thus, the first robot arm 310 and the second robot arm 320 move along the crossbeam 330 respectively through the cooperation of the slide motor 340 with the slide rollers and the slide conveyor belts 341.

[0051] In some embodiments, the first robotic arm 310 is provided with a first material handling component, which is provided with two first suction nozzles 311 for loading and unloading. The second robotic arm 320 is provided with two second suction nozzles 321 for loading and unloading. Here, we take the two second suction nozzles 321 as first suction nozzle 311A ​​and first suction nozzle 311B respectively as an example. The first suction nozzle 311A ​​for loading moves down to pick up a blank workpiece from the first material tray 412 and then rises. The first robotic arm 310 moves above the first worktable 210. The first suction nozzle 311B for unloading moves down to pick up the finished workpiece on the first worktable 210 and then rises. The first suction nozzle 311A ​​with the blank workpiece moves down to place the blank workpiece on the first worktable 210 and then rises. The first robotic arm 310 moves above the first material tray 412. The first suction nozzle 311B with the finished workpiece descends to place the finished workpiece on the first material tray 412.

[0052] Understandably, after the first suction nozzle 311B completes unloading, it can directly move and pick up another blank workpiece for the next process of loading. At this time, the first suction nozzle 311A ​​is used to pick up the finished workpiece on the first worktable 210. Thus, the two first suction nozzles 311 alternately load and unload workpieces, which can improve the loading and unloading speed of the robot. Alternatively, after the first suction nozzle 311B completes unloading, the first suction nozzle 311B rises, and the first suction nozzle 311A ​​moves down to pick up another blank workpiece for the next process of loading. Thus, the first suction nozzle 311A ​​is fixed for loading, and the first suction nozzle 311B is fixed for unloading. The two first suction nozzles 311 are used for loading and unloading workpieces respectively, which can simplify the control process and reduce the probability of system errors.

[0053] In this embodiment of the invention, the first robotic arm 310 is equipped with two asynchronously lifting and lowering first suction nozzles 311. These two nozzles 311 are used for loading and unloading workpieces, allowing the first robotic arm 310 to load and unload workpieces onto the first worktable 210 during a single back-and-forth movement. Compared to the traditional method of using a single suction nozzle, this significantly improves processing efficiency. It is understood that the second robotic arm 320 also includes a second material handling component, which has two asynchronously lifting and lowering second suction nozzles 321. These two nozzles 321 are also used for loading and unloading workpieces. The structure and working principle of the second material handling component are the same as those of the first robotic arm 320. Furthermore, the first robotic arm 310 and the second robotic arm 320 are respectively located on the left and right sides, allowing for independent operation. The two are less likely to conflict, enabling advance material preparation, effectively saving time and improving production efficiency.

[0054] In some embodiments, the two first suction nozzles 311 of the first robotic arm 310 can be raised and lowered asynchronously. See Figure 2 and Figure 6 The first slide 312 is equipped with a skateboard motor and a skateboard conveyor belt 350. The skateboard conveyor belt 350 is fitted onto two skateboard wheels, one of which is connected to the skateboard motor. The first sliding component 313 is fixedly connected to the skateboard conveyor belt 350 through a skateboard clamp 351. Thus, through the cooperation of the skateboard motor and the skateboard conveyor belt 350, the first sliding component 313 moves up and down along the first slide 312.

[0055] In some embodiments, the first sliding assembly 313 includes two first sliding plates 314 and two first connecting blocks 315. The first sliding plates 314 are connected to the first suction nozzles 311 through the first connecting blocks 315. The two first sliding plates 314 are respectively connected to the two first suction nozzles 311. The two first sliding plates 314 are disposed on opposite sides (left and right sides) of the first slide 312. Two sliding plate clamping blocks 351 are provided. The two first sliding plates 314 are respectively connected to the two sliding plate clamping blocks 351 so that the two first sliding plates 314 are respectively connected to the two sides of the sliding plate conveyor belt 350. Specifically, two sliding wheel rollers are positioned on the same vertical line, and a sliding conveyor belt 350 is fitted onto the two rollers, such that part of the sliding conveyor belt 350 is on the left and the other part is on the right. One first sliding plate 314 is fixedly connected to the sliding conveyor belt 350 on the left, and the other first sliding plate 314 is fixedly connected to the sliding conveyor belt 350 on the right. When the sliding plate motor drives the sliding wheel rollers to rotate, the first sliding plate 314 on the left and its corresponding first suction nozzle 311 move downwards, while the first sliding plate 314 on the right and its corresponding first suction nozzle 311 move upwards. When the sliding plate motor rotates in the opposite direction, the two first sliding plates 314 and their corresponding first suction nozzles 311 move in opposite directions, thereby causing the two first suction nozzles 311 to rise and fall asynchronously, which can effectively avoid component interference during loading and unloading.

[0056] Further, see Figure 5 The two first connecting blocks 315 have different structures. The first connecting block 315 closer to the first worktable 210 is block-like, while the first connecting block 315 farther from the first worktable 210 includes a connecting vertical plate 316 and a connecting horizontal plate. The two sides of the connecting vertical plate 316 are connected to the connecting horizontal plate and the first slide plate 314, respectively, and the other side of the connecting horizontal plate is connected to the first suction nozzle 311. Specifically, the connecting vertical plate 316 is perpendicular to the connecting horizontal plate, the connecting horizontal plate is parallel to the first slide plate 312, and the connecting horizontal plate is positioned between the two first slide plates 314. The first suction nozzle 311 on the side farther from the first worktable 210 is positioned on the side of the other first suction nozzle 311 and can also be connected to the first slide plate 314 farther from the first worktable 210. Thus, the two first suction nozzles 311 are connected to the two first slide plates 314 respectively, realizing asynchronous lifting and lowering of the two first suction nozzles 311. At the same time, it can shorten the distance between the two first suction nozzles 311 and reduce the probability of mutual interference between components during loading and unloading.

[0057] It should be noted that the structure and working principle of the second slide and the second sliding assembly in the second robotic arm 320 are the same as those of the first slide 312 and the first sliding assembly 313 in the first robotic arm 310. The second slide assembly also has two second slides and two second connecting blocks. The structures of the two second connecting blocks are different. The second slides are connected to the second suction nozzles 321 through the second connecting blocks. The two second slides are respectively connected to the two second suction nozzles 321. The two second slides are respectively fixedly connected to the opposite sides of the slide conveyor belt 350 through two slide clamps 351, so that the two second suction nozzles 321 can be raised and lowered asynchronously. The two second suction nozzles 321 are connected by two second connecting blocks with different structures. The structure and working principle of the two second connecting blocks are the same as those of the two first connecting blocks 315.

[0058] In some embodiments, the dual-worktable fully automatic wire bonding machine includes a wire bonding mechanism 120, a welding head 110, a first worktable 210, and a second worktable 220. The wire bonding mechanism 120 is located behind the first worktable 210 and the second worktable 220, between the first storage mechanism 410 and the second storage mechanism 420, and below the crossbeam 330. This design results in a compact overall layout, facilitating the simultaneous miniaturization of both worktables and reducing the floor space required. See also Figure 1 and Figure 7 The wire bonding mechanism 120 includes a base 131, a telescopic mechanism 132, a translation mechanism 133, and a mounting block 134 for connecting the welding head 110. The mounting block 134 is mounted on the telescopic mechanism 132, the telescopic mechanism 132 is mounted on the translation mechanism 133, the translation mechanism 133 is mounted on the base 131, and the base 131 is mounted on the bed 500.

[0059] Specifically, the translation mechanism 133 drives the welding head 110 to move horizontally left and right, allowing the welding head 110 to alternately weld wires onto workpieces on the first worktable 210 and the second worktable 220. The telescopic mechanism 132 drives the welding head 110 to move horizontally back and forth, causing the welding head 110 to protrude forward from the wire bonding mechanism 120 and reach above the workpiece placement positions on the first worktable 210 and the second worktable 220 for wire bonding operations. It can be understood that the welding head 110 primarily operates near the two worktables; therefore, the left-right movement along the X-axis in the wire bonding mechanism 120 is a long stroke, while the back-and-forth movement along the Y-axis is a short stroke. The wire bonding platform of this invention, consisting of the wire bonding mechanism 120 and the welding head 110, which moves along the X and Y axes, has a compact structure and low cost.

[0060] In some embodiments, see Figure 7The telescopic mechanism 132 includes a wire bonding slider 1321 and two telescopic guide rails 1322. A mounting block 134 for mounting the welding head 110 is located on the upper side of the wire bonding slider 1321, and the two telescopic guide rails 1322 are located on the lower left and right sides of the wire bonding slider 1321. The wire bonding slider 1321 has a hollow internal structure and a limit plate inside. When the telescopic slider moves forward or backward along the telescopic guide rails 1322, it contacts the limit plate to stop sliding, preventing the slider from exceeding its travel range. It is understood that anti-collision rubber particles can be provided on the limit plate, and the telescopic slider can contact these particles. Furthermore, a first drive motor is located on the left side of the wire bonding slider 1321. The wire bonding slider 1321 protrudes to one side to connect with the first drive motor, which drives the wire bonding slider 1321 to move back and forth, causing the welding head 110 to extend or retract. It should be noted that the first drive motor can be a coreless linear motor.

[0061] Furthermore, the translation mechanism 133 includes a wire bonding slide 1331 and two translation guide rails 1332. The two translation guide rails 1332 are respectively connected to the lower front and rear sides of the wire bonding slide 1331. The translation guide rails 1332 and the limiting plate are fixedly installed on the upper side of the wire bonding slide 1331. A mounting groove with an upward opening is provided in the middle of the base 131. Two telescopic guide rails 1322 are located on the upper sides of the mounting groove. A second drive motor for translating the wire bonding slide 1331 is installed in the mounting groove. Cooling fans 135 are provided at both ends of the mounting groove, thereby achieving heat dissipation and ventilation through the mounting groove and the cooling fans 135, while also making the structure more compact, achieving miniaturization, and effectively controlling costs. It should be noted that the second drive motor can be a coreless linear motor.

[0062] In some embodiments, see Figures 1 to 3 The dual-worktable fully automatic wire bonding machine is equipped with two tilting mechanisms 230, each housing a first worktable 210 and a second worktable 220. (See also...) Figure 8 The flipping mechanism 230 includes a base block 231, a support 232, and a rotating block 233. The base block 231 is mounted on the bed 500. The lower end of the support 232 is connected to the base block 231, and the rotating block 233 is mounted on the upper end of the support 232. A first worktable 210 or a second worktable 220 is mounted on one side of the rotating block 233. A rotary motor 234 is mounted on the support 232. The rotary motor 234 drives the rotating block 233 to rotate, thereby flipping the first worktable 210 and the second worktable 220. Further details can be found in the following section. Figure 2A cylinder is installed below both the first worktable 210 and the second worktable 220. The cylinder is mounted on the base block 231 and located on the side of the bracket 232. A gripper is installed on either the first worktable 210 or the second worktable 220. Two pushing blocks on both sides of the gripper are located above the cylinder. The cylinder extends upward to push the pushing blocks, causing the gripper to open. It can be understood that the symmetrical arrangement of the two flipping mechanisms 230 and the symmetrical arrangement of the first worktable 210 and the second worktable 220 makes the overall structure simpler.

[0063] Traditional bonding equipment for light-emitting workpieces mainly adopts a single worktable form, requiring the robot arm to avoid obstacles and wait for the robot arm to complete loading and unloading. In addition, a single robot arm with a single suction nozzle requires two round trips to complete loading and unloading. Furthermore, there are only one loading box and one unloading box, requiring the machine to stop and wait when the box is manually changed. All of these settings seriously affect the processing efficiency of the equipment. The fully automatic wire bonding machine with dual worktables in this invention uses a welding head 110 to weld workpieces on two worktables. It is equipped with two robotic arms to load and unload materials onto the two worktables. Each robotic arm has two material trays and two suction nozzles. Loading and unloading can be completed in a single back-and-forth movement. The welding head 110 moves back and forth between the two worktables to weld the wire, and the loading and unloading by each robotic arm are staggered in time and space, allowing wire bonding and loading / unloading to proceed synchronously. This eliminates the need for the welding head 110 to move to a safe position and for the machine to stop and wait for loading / unloading, facilitating non-stop bonding processing of the welding head 110 and non-stop processing during material tray changes. This invention reduces the complexity of the operation of the welding head 110 and robotic arms, and effectively improves wire bonding efficiency.

[0064] The first workbench 210 and the second workbench 220 are symmetrically arranged on both sides of the middle of the bed 500 and in front of the wire bonding mechanism 120. The first material storage mechanism 410 and the second material storage mechanism 420 are symmetrically arranged on the outside of the two workbenches. The first robot arm 310 and the second robot arm 320 are symmetrically arranged and share a crossbeam 330 for left and right movement, which is located above the two workbenches. With the cooperation of the first track 411 and the second track 421 that can move back and forth, the first track 411 and the second track 421 can replace the robot arm to complete the Y-axis movement during loading and unloading. At the same time, the first tray 412 and the second tray 422 can switch between the robot arm loading and unloading position and the manual replacement position, and the robot arm only needs to move up and down and left and right during the loading and unloading process. The overall structural layout of the equipment and the movement method between components of this invention enable the equipment to achieve a lightweight design, reduce equipment price and floor space, and simplify the processing control process, thus ensuring production efficiency, based on the supporting double worktables, double robotic arms, double material storage mechanisms, and double material trays for each material storage mechanism.

[0065] See Figures 1 to 15 The data processing method for improving equipment working efficiency according to the technical solution of the present invention can be applied to the dual-worktable fully automatic wire bonding machine of the present invention. The equipment includes a host computer, a motion controller and mechanical hardware. The motion controller is provided with a first data buffer, a second data buffer, a first thread and a second thread. The method includes at least the following steps: S100. After the host computer completes the data calculation and processing of the current process, it packages the data of the current process and sends it to the first data buffer. S200: The data in the first data buffer is executed through the first thread so that the mechanical hardware can perform workpiece processing in the current process. At the same time, the data processing work for the next process is performed by the host computer and packaged and sent to the second data buffer. S300: After receiving the first thread's completion of the current process, the second thread executes the data in the second data buffer to enable the mechanical hardware to perform the next process of workpiece processing; S400, Repeat steps S100 to S300 until a stop command is received.

[0066] See Figure 9 and Figure 10 The host computer establishes a real-time communication connection with the motion control card. The host computer can send data to the motion controller in real time and monitor the motion status of the motion controller. The motion controller alternately executes the corresponding data in two threads to control the mechanical hardware to perform corresponding operations. It can be understood that the first and second data buffers receive data from the host computer in any order. In step S100, the host computer can first send the processed data to the second data buffer, and then in step S200, send the processed data to the first data buffer. The first and second data buffers take turns receiving data from the host computer.

[0067] The data processing method of this invention employs a dual-buffer data reception and dual-thread workpiece processing mode within the motion program of the running controller. The host computer processes the workpiece processing data to be executed by the device, packages it, and sends it to the first data buffer of the motion controller. After the data is sent, the first thread of the motion program executes the data in the first data buffer to process the workpiece. Simultaneously, the host computer software processes the data to be executed in the next motion program and packages it, sending it to the second data buffer of the motion controller. Once the first thread of the motion program finishes processing the data in the first data buffer, the second thread immediately executes the processing of the data in the second data buffer. This avoids the situation where the device waits for the host computer software to process and package the processing data and send it to the buffer after each workpiece is processed before starting a new processing operation. By having the host computer continuously analyze, process, and package data while the motion program executes one thread to process the workpiece, and then alternately sends the data to the buffer corresponding to the idle thread of the motion controller, the method achieves this. The two threads in the motion program continuously and alternately execute the data in the corresponding buffers, thereby allowing the equipment to process the workpiece without interruption, which greatly improves the processing efficiency of the equipment.

[0068] Specifically, in the motion program of the motion controller, two arrays, data1[] and data2[], are defined. When the device runs the motion controller to execute the program, the running controller will allocate data buffer 1 and data buffer 2 according to the defined arrays. The host computer packages the calculated data into an array and sends it to the corresponding data buffer of the running controller according to the buffer flag m_nBuffet. For example, when the buffer flag is determined to be 1, the data is packaged and sent to the first data buffer (i.e., data buffer 1) of the motion controller; when the buffer flag is determined to be 2, the data is packaged and sent to the second data buffer (i.e., data buffer 2) of the motion controller.

[0069] See Figure 11 The data processing method of this invention adopts a dual-thread processing mechanism, and its data processing method includes the following steps: S10. Start the host computer software and start the motion program of the motion controller; S20: The motion controller allocates the first and second data buffers and initializes the thread synchronization lock and buffer flags; S30, The motion controller starts processing the first and second threads of the motion program; S40. Wait for an external termination signal, otherwise continue waiting.

[0070] In some embodiments, the motion controller uses a thread synchronization lock to enable alternating operation of two threads. Specifically, the host computer program uses the `CheckBondResult()` function to detect the execution result of the current working thread in the motion controller, and then uses the `TriggerBondBuffer()` function to release the thread synchronization lock, thereby granting the other thread the right to perform processing. For example, if the execution result of the current working thread is 0, the thread synchronization lock is released to the first thread; if the execution result of the current working thread is 0, the thread synchronization lock is released to the second thread.

[0071] See Figure 11 In the data processing method of the present invention, the data processing performed by the first thread in the motion program includes at least the following steps: S210: After the host computer analyzes and processes the data to be run by the processing equipment, it packages the processed data.

[0072] S220: The host computer sends the packaged data to the first data buffer and sets the buffer number to 1.

[0073] S230. Determine whether to stop the program. If yes, the loop ends; otherwise, continue to the next step.

[0074] S240. Acquire the right to use the thread synchronization lock in blocking mode. It should be noted that the blocking mode used in this invention will wait until the second thread releases the lock, at which point the first thread acquires the right to use the synchronization lock.

[0075] S250: The first thread executes the data in the first data buffer to process the workpiece.

[0076] S260: The host computer analyzes and processes the data to be processed by the equipment; the host computer then packages the processed data.

[0077] S270. The host computer obtains the data buffer number currently used by the first thread of the motion program; if the buffer number is 1, the host computer sends the data to the second data buffer and sets the data buffer number to 2; otherwise, it sends the data to the first data buffer and sets the data buffer number to 1.

[0078] S280: After the first thread of the motion program completes its processing work, it releases the right to use the thread synchronization lock, and then proceeds to step S230. It can be understood that after the right to use the thread synchronization lock is released, the second thread can acquire the right to use that thread synchronization lock.

[0079] See Figure 12In the data processing method of the present invention, the data processing performed by the second thread in the motion program includes at least the following steps: S310. Determine whether to stop the program. If yes, the loop ends; otherwise, continue to the next step.

[0080] S320. Acquire the right to use the thread synchronization lock in blocking mode. It should be noted that the blocking mode used in this invention will wait until the second thread releases the lock, at which point the first thread acquires the right to use the synchronization lock.

[0081] S330: The second thread executes the data in the second data buffer to process the workpiece.

[0082] S340: The host computer analyzes and processes the data to be processed by the equipment; the host computer then packages the processed data.

[0083] S350: The host computer obtains the data buffer number currently being used by the second thread of the motion program; if the buffer number is 1, the host computer sends the data to the second data buffer and sets the data buffer number to 2; otherwise, it sends the data to the first data buffer and sets the data buffer number to 1.

[0084] S360: After the first thread of the motion program finishes its processing work, it releases the right to use the thread synchronization lock, and then proceeds to step S310. It can be understood that after the right to use the thread synchronization lock is released, the first thread can acquire the right to use that thread synchronization lock.

[0085] In the data processing method of this invention, two threads of the motion program in the motion controller are executed alternately. While one thread of the motion program is executing, the host computer calculates and processes the data for the next task and sends it to the data buffer in the motion controller. By using the alternating operation of two threads, the idle time of the motion controller waiting for the host computer to process the data is eliminated, thereby effectively improving the processing efficiency of the equipment on the workpiece.

[0086] Specifically, by monitoring the actual operating time of the equipment, before adopting the dual-buffer and dual-thread working mode, the total time for the motion controller to execute one processing cycle was approximately 306ms. After switching to the dual-buffer and dual-thread working mode, the time taken to run one thread to process the workpiece once was approximately 162ms. Simultaneously, the time taken by the host computer to calculate and package the data to be processed and send it to the motion controller was measured to be 144ms. Therefore, by adopting the dual-buffer and dual-thread working mode, the time for the equipment to wait for the host computer to calculate and send data was reduced by 144ms, and its processing efficiency per cycle increased by approximately 47%.

[0087] It should be noted that the data processing method in this embodiment of the invention employs a dual-buffer and dual-thread working mode, which allocates two data buffers on the motion controller. The host computer determines the usage status of the buffer flags and sends data to the corresponding buffer. The two buffers alternately receive data, and two working threads alternately execute the data in their respective buffers. Simultaneously, a thread synchronization lock is used, whereby one program locks the thread synchronization lock during execution to prevent the other thread from running. When the current thread finishes running, the thread synchronization lock is released, allowing the other thread to run while simultaneously locking the thread synchronization lock, thus preventing the first thread from running. This dual-buffer and dual-thread working mode effectively reduces the time the motion controller spends waiting to receive data, thereby significantly reducing equipment idle time, improving work efficiency, increasing the processing efficiency of luminous workpieces, and increasing equipment output.

[0088] It is understandable that the dual-buffer and dual-thread working mode can effectively improve the processing efficiency of the equipment. Therefore, processing equipment with high requirements for working speed and efficiency, or equipment with high requirements for data acquisition and processing efficiency, can all operate using the dual-buffer and dual-thread working mode of this invention. The data processing method of this invention for improving equipment processing efficiency adopts the dual-buffer and dual-thread working mode, which can significantly improve the working efficiency of the equipment and reduce the idle time of the equipment during operation.

[0089] See Figures 1 to 15 The control method of the dual-worktable fully automatic wire bonding machine of the present invention can adopt the data processing method for improving equipment processing efficiency of the present invention embodiment, and can be applied to the dual-worktable fully automatic wire bonding machine of the present invention embodiment. The method includes at least the following steps: A10. After the welding head 110 moves to the first worktable 210, it processes the blank workpiece on the first worktable 210. At the same time, the second robot 320 puts the finished workpiece on the second worktable 220 back to the second material tray 422 and then transfers the blank workpiece in the second material tray 422 to the second worktable 220. A20. After the welding head 110 completes the current process, the welding head 110 moves to the second worktable 220 to carry out the next process of workpiece processing. At the same time, the first robot arm 310 puts the finished workpiece on the first worktable 210 back to the first material tray 412 and then transfers the workpiece in the first material tray 412 to the first worktable 210. A30. After the welding head 110 completes the next workpiece processing, the second robot arm 320 puts the finished workpiece on the second worktable 220 back to the second material tray 422. At the same time, the welding head 110 moves to the first worktable 210. A40. Repeat steps A10 to A30 until a completion instruction is received.

[0090] It should be noted that the first workbench 210 and the second workbench 220 can perform loading / unloading and wire bonding operations in any order. In step A10, wire bonding can be performed on the second workbench 220 and loading / unloading can be performed on the first workbench 210 first. Then, in step A20, wire bonding can be performed on the first workbench 210 and loading / unloading can be performed on the second workbench 220. The control system performs loading / unloading and wire bonding operations on the first workbench 210 and the second workbench 220 alternately.

[0091] See Figure 9 The first robotic arm 310 and the second robotic arm 320 are respectively positioned on the left and right sides of the welding head 110, and the first worktable 210 and the second worktable 220 are respectively positioned on the left and right sides of the welding head 110. The first robotic arm 310 loads and unloads materials between the first material tray 412 and the first worktable 210, and the second robotic arm 320 loads and unloads materials between the second material tray 422 and the second worktable 220. The welding head 110 moves back and forth between the first worktable 210 and the second worktable 220 to perform wire bonding on the workpiece. It can be understood that the position of the workpiece on the first worktable 210 and the second worktable 220 can be obtained through CCD vision positioning, so that the welding head 110 can move to the corresponding position and perform wire bonding processing.

[0092] See Figure 14 and Figure 15 In the fully automatic wire bonding machine with dual worktables of this invention, a welding head 110 moves back and forth to weld wires onto workpieces on two worktables. The first worktable 210, the first robotic arm 310, and the first material storage mechanism 410 are located on the left side of the bed 500, while the right side of the bed 500 is provided with a second worktable 220, a second robotic arm 320, and a second material storage mechanism 420. The workpieces on the left and right sides of the bed 500 are symmetrically arranged and operate on the same principle. The two robotic arms can operate independently, as can the loading and unloading of the robotic arms and the wire bonding operation of the welding head 110. They are less likely to interfere with each other, thus achieving efficient loading and unloading and wire bonding.

[0093] Specifically, the loading and unloading method of the dual-worktable fully automatic wire bonding machine of this invention can be applied to the dual-worktable fully automatic wire bonding machine of this invention. Since the structures on both sides of the equipment are symmetrically arranged and have the same working principle, the control method of one side of the structure is used as an example for explanation. For example, for the hardware such as the first worktable 210, the first robotic arm 310 and the first material storage mechanism 410 on the left side of the equipment, the loading and unloading method includes at least the following steps: A100. Initialize the system and determine that the first tray 412 on the left side of the robot arm loading and unloading position is not full of finished workpieces; A200. After the first suction nozzle 311, which is to be used for unloading, picks up the finished workpiece, the first robot arm 310 moves along the crossbeam 330 to the robot arm unloading position, and then the first suction nozzle 311 moves down to put the finished workpiece into the first material tray 412. A300, after the first suction nozzle 311 for loading moves down to pick up the blank workpiece in the first material tray 412, the first robot arm 310 moves to the loading and unloading waiting position and waits until it receives the instruction from the welding head 110 to move to the second worktable 220. Then it determines whether there is a finished workpiece on the first worktable 210. If so, the first robot arm 310 moves above the first worktable 210, picks up the finished workpiece on the first worktable 210 through the first suction nozzle 311 for unloading, and moves it to a safe position. If not, or after the unloading of the finished workpiece is completed, the blank workpiece is placed on the first worktable 210 through the first suction nozzle 311 for loading. A400, the first robot arm 310 moves toward the robot arm loading and unloading position. After receiving the instruction from the first robot arm 310 to complete loading and move away, the welding head 110 moves above the first worktable 210 to process the blank workpiece on the first worktable 210. A500, repeat steps A200 to A400, and directly receive the completion instruction.

[0094] In step S200, after the first robot arm 310 moves away from the robot arm loading / unloading position, it is determined whether the first material tray 412 at the robot arm loading / unloading position is full of finished workpieces. If so, the first material tray 412 is moved to the material tray replacement position, and another replaced first material tray 412 is moved along the first track 411 to the robot arm loading / unloading position.

[0095] The loading and unloading method of the dual-worktable fully automatic wire bonding machine of this invention allows the first robotic arm 310 to load and unload materials onto the first worktable 210 after the welding head 110 has moved a certain distance away from it. When the welding head 110 is welding wire onto either the first worktable 210 or the second worktable 220, the first robotic arm 310 can load and unload materials onto the first material tray 412. Furthermore, after the first robotic arm 310 has moved away from its loading / unloading position, the first material storage mechanism 410 can adjust the positions of the two first material trays 412. Multiple components can work synchronously without significant interference. It is understood that the control methods for the hardware such as the second material tray 422, the second robotic arm 320, and the second suction cup located on the right side of the equipment are consistent with the control methods for the hardware such as the second material tray 422, the second robotic arm 320, and the second suction cup located on the left side of the equipment.

[0096] In some embodiments, the data processing method for improving equipment processing efficiency of the present invention can be applied to the control method and loading / unloading method of the dual-worktable fully automatic wire bonding machine of the present invention. The first thread is used to control the loading / unloading operations of the first robot arm 310 and the first storage mechanism 410, and the wire bonding operation of the welding head 110 on the workpiece on the first worktable 210. The second thread is used to control the loading / unloading operations of the second robot arm 320 and the second storage mechanism 420, and the wire bonding operation of the welding head 110 on the workpiece on the second worktable 220. By adopting a dual-buffer and dual-thread working mode and by adopting a thread synchronization lock mechanism, the mechanized loading / unloading and the wire bonding operation of the welding head 110 can be performed synchronously, reducing the waiting time of the welding head 110 and effectively avoiding mutual interference, collision and misoperation.

[0097] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the above-described embodiments. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this disclosure, as long as they achieve the same technical effects, should be included within the scope of protection of this disclosure and fall under the protection scope of the present invention. Within the protection scope of the present invention, the technical solutions and / or implementation methods can have various modifications and variations.

Claims

1. A control method for a dual-worktable fully automatic wire bonding machine, characterized in that, An application is made in a dual-worktable fully automatic wire bonding machine, which includes a welding head (110), a first robotic arm (310), a second robotic arm (320), a first worktable (210) with a preheating function, and a second worktable (220) with a preheating function; the first worktable (210) and the second worktable (220) are respectively disposed on both sides of the welding head (110); the first robotic arm (310) is disposed on the side of the welding head (110) close to the first worktable (210), and the second robotic arm (320) is disposed on the side of the welding head (110) close to the second worktable (220); The welding head (110) is used to process the workpieces on the first workbench (210) and the second workbench (220), the first robot (310) is used for loading and unloading the first workbench (210), and the second robot (320) is used for loading and unloading the second workbench (220). It also includes a crossbeam (330), on which the first robotic arm (310) and the second robotic arm (320) are movably mounted; It also includes a first storage mechanism (410) and a second storage mechanism (420). The first storage mechanism (410) is located on the side of the first robot (310) away from the welding head (110), and the second storage mechanism (420) is located on the side of the second robot (320) away from the welding head (110). The first storage mechanism (410) includes a first track (411) and two first trays (412), the two first trays (412) being movably disposed on both sides of the first track (411); the second storage mechanism (420) includes a second track (421) and two second trays (422), the two second trays (422) being movably disposed on both sides of the second track (421); The control method includes the following steps: A10. After the welding head (110) moves to the first worktable (210), it processes the blank workpiece on the first worktable (210). At the same time, the second robot (320) puts the finished workpiece on the second worktable (220) back to the second material tray (422) and then transfers the blank workpiece in the second material tray (422) to the second worktable (220). A20. After the welding head (110) completes the current process, the welding head (110) moves to the second worktable (220) to carry out the next process of workpiece processing. At the same time, the first robot (310) puts the finished workpiece on the first worktable (210) back to the first material tray (412) and then transfers the workpiece in the first material tray (412) to the first worktable (210). A30. After the welding head (110) completes the workpiece processing of the next process, the second robot (320) puts the finished workpiece on the second worktable (220) back to the second material tray (422). At the same time, the welding head (110) moves to the first worktable (210). A40. Repeat steps A10 to A30 until a completion instruction is received; The dual-worktable fully automatic wire bonding machine implements a data processing method to improve the working efficiency of the equipment. The dual-worktable fully automatic wire bonding machine includes a host computer, a motion controller, and mechanical hardware. The motion controller is equipped with a first data buffer, a second data buffer, a first thread, and a second thread. The first thread is used to control the loading and unloading operations of the first robotic arm (310) and the first material storage mechanism (410), as well as the wire bonding operation of the welding head (110) on the workpiece on the first worktable (210). The second thread is used to control the loading and unloading operations of the second robotic arm (320) and the second material storage mechanism (420), as well as the wire bonding operation of the welding head (110) on the workpiece on the second worktable (220). The data processing method includes the following steps: S100. After the host computer completes the data calculation and processing of the current process, it packages the data of the current process and sends it to the first data buffer. S200: The data in the first data buffer is executed through the first thread so that the mechanical hardware can perform workpiece processing in the current process. At the same time, the data processing work for the next process is performed by the host computer and packaged and sent to the second data buffer. S300: After receiving the first thread's completion of the current process, the second thread executes the data in the second data buffer to enable the mechanical hardware to perform the next process of workpiece processing; S400, Repeat steps S100 to S300 until a stop command is received.

2. The control method according to claim 1, characterized in that, It also includes a wire bonding mechanism (120), which includes a base (131), a telescopic mechanism (132), a translation mechanism (133), and a mounting block (134) for connecting the welding head (110). The mounting block (134) is disposed on the telescopic mechanism (132), the telescopic mechanism (132) is disposed on the translation mechanism (133), and the translation mechanism (133) is disposed on the base (131).

3. The control method according to claim 1, characterized in that, It also includes two tray motors (430) and two tray conveyor belts (431), one of the tray motors (430) and one of the tray conveyor belts (431) being connected to the first tray (412), and the other tray motor (430) and the other tray conveyor belt (431) being connected to the second tray (422).

4. The control method according to claim 1, characterized in that, Both the first track (411) and the second track (421) are perpendicular to the crossbeam (330).

5. The control method according to claim 1, characterized in that, The first robotic arm (310) is provided with two first suction nozzles (311) for loading and unloading, and the second robotic arm (320) is provided with two second suction nozzles (321) for loading and unloading.

6. The control method according to claim 1, characterized in that, It also includes two flipping mechanisms (230) for flipping the first worktable (210) and the second worktable (220), respectively. The flipping mechanism (230) includes a support frame, a rotating block and a connecting block for connecting the first worktable (210) or the second worktable (220). The rotating block is rotatably mounted on the support frame and the connecting block is connected to the rotating block.

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