Data processing method for improving working efficiency of equipment

Abstract

The invention relates to a data processing method for improving the working efficiency of equipment, the equipment comprises an upper computer, a motion controller and mechanical hardware, the motion controller is provided with a first buffer area, a second buffer area, a first thread and a second thread, and the data processing method comprises the following steps: after the upper computer completes data calculation processing of a current process, the motion controller is provided with a first thread and a second thread; data of the current process is packaged and issued to a first buffer area; executing the data of the first buffer area through a first thread so as to enable the mechanical hardware to carry out element processing of a current process, and meanwhile, carrying out data processing work of a next process through the upper computer and packaging and issuing the data to a second data buffer area; and when receiving that the first thread completes the processing of the current process, executing the data of the second buffer area through the second thread so as to enable the mechanical hardware to perform element processing of the next process. The machining efficiency is effectively improved.

Description

Technical Field

[0001] The invention relates to a data processing method for improving the working efficiency of equipment, and belongs to the technical field of welding wires. Background Art

[0002] In semiconductor packaging, wire bonding machines are used to tightly weld metal leads to substrate pads. The wire bonding machine is mainly composed of a welding head, a single flip table, a preheating table, a manipulator, and a tray. After the manipulator loads the blank workpiece in the tray to the preheating table, it moves the workpiece to the flip table. After the welding head welds the wire to the blank workpiece, the manipulator unloads the workpiece into the tray. During the loading and unloading process of the manipulator, the welding head needs to be moved to a safe position, and wait for the manipulator to complete the loading and unloading process of a workpiece before performing the wire bonding process. During the process, the idle time of the welding head is long, the utilization rate of the welding head is low, and the equipment needs to stop and wait when changing the material box. The existing wire bonding machine has low processing efficiency, and it is difficult to achieve efficient and continuous operation of the welding head. Its processing efficiency needs to be further improved.

[0003] In addition, in semiconductor packaging such as light-emitting workpieces, the processing technology is required to meet the requirements of high speed and high precision, so that a large amount of complex data processing such as speed and motion trajectory control is required in the processing project. In the existing quantity processing method, the processing equipment needs to first calculate and process a large amount of complex data in the host computer software, and then pack the processed huge data and send it to the data buffer of the motion controller, and wait for the data buffer to accept all the sent data before the motion program starts to install the buffer data to process the workpiece. After the workpiece processing is completed, the host computer software cycles a new round of data processing and sends the buffer, and the motion program executes the buffer data again to process the workpiece. After the existing data processing method executes a workpiece processing, it is necessary to wait for the host computer software to complete the complex data processing and pack and send the buffer. After the buffer is completed, the equipment can perform a new processing work. When the amount of data to be processed is large and complex, data processing and sending takes a long time, resulting in an idle time waiting for the execution of buffer data after each workpiece is processed, which seriously affects the improvement of equipment processing efficiency. Summary of the invention

[0004] The present invention provides a data processing method for improving the working efficiency of equipment, aiming to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a data processing method for improving the working efficiency of equipment, which effectively improves the processing efficiency.

[0005] The technical solution of the present invention relates to a data processing method for improving the working efficiency of a device, wherein the device comprises a host computer, a motion controller and mechanical hardware, wherein the motion controller is provided with a first buffer, a second buffer, a first thread and a second thread, and the data processing method comprises the following steps:

[0006] S100, after the host computer completes the data calculation and processing of the current process, the data of the current process is packaged and sent to the first buffer;

[0007] S200, executing the data in the first buffer by the first thread so that the mechanical hardware performs component processing of the current process, and at the same time, the host computer performs data processing of the next process and packages and sends it to the second data buffer;

[0008] S300, after receiving the signal from the first thread that the processing of the current process is completed, executing the data in the second buffer through the second thread, so that the mechanical hardware performs component processing of the next process;

[0009] S400, repeating steps S100 to S300 until a shutdown instruction is received.

[0010] Furthermore, the motion controller realizes the alternation of dual threads through thread synchronization lock.

[0011] Furthermore, the data processing method based on the dual-thread processing mechanism includes the following steps:

[0012] S10, start the host computer software and start the motion program of the motion controller;

[0013] S20, the motion controller allocates a first data buffer and a second data buffer, and initializes a thread synchronization lock and a buffer flag;

[0014] S30, the motion program of the motion controller starts processing the first thread and the second thread;

[0015] S40, wait for an external end signal, otherwise continue waiting.

[0016] Furthermore, the step of performing data processing by the first thread includes:

[0017] S210, after the host computer analyzes and calculates the data to be run by the processing equipment, the host computer packages the processed data;

[0018] S220, the host computer sends the packaged data to the first data buffer, and the buffer number is set to 1;

[0019] S230, determine whether to stop the program running, if so, the loop ends, otherwise continue to the next step;

[0020] S240, obtaining the right to use the thread synchronization lock in blocking mode;

[0021] S250, the first thread executes the data in the first data buffer to process the component;

[0022] S260, the host computer analyzes and calculates the data to be run by the processing equipment; the host computer packages the processed data;

[0023] S270, the host computer obtains the data buffer number being 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 the data buffer number is set to 2; otherwise, it is sent to the first data buffer, and the data buffer number is set to 1;

[0024] S280. After the first thread of the motion program completes the processing work, the right to use the thread synchronization lock is released, and then the process goes to step S230.

[0025] Furthermore, the step of performing data processing by the second thread includes:

[0026] S310, determine whether to stop the program running, if so, the loop ends, otherwise proceed to the next step;

[0027] S320, obtaining the right to use the thread synchronization lock in blocking mode;

[0028] S330, the second thread executes the data in the second data buffer to process the component;

[0029] S340, the host computer analyzes and calculates the data to be run by the processing equipment; the host computer packages the processed data;

[0030] S350, the host computer obtains the data buffer number 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 the data buffer number is set to 2; otherwise, it is sent to the first data buffer, and the data buffer number is set to 1;

[0031] S360: After the first thread of the motion program completes the processing work, the right to use the thread synchronization lock is released, and then the process goes to step S310.

[0032] Another aspect of the technical solution of the present invention relates to a loading and unloading method of a double-worktable fully automatic wire welding machine, wherein the double-worktable fully automatic wire welding machine is provided with a welding head, a first worktable, a second worktable, a first manipulator and a first material storage mechanism, wherein the welding head is used to process workpieces on the first worktable and the second worktable, the first manipulator is provided with two first suction nozzles for loading and unloading, and the first material storage mechanism is provided with a first track and two first material trays movable along the first track;

[0033] The loading and unloading method comprises the following steps:

[0034] A100, initialize the system, determine that there is a first tray that is not fully filled with finished workpieces at the loading and unloading position of the left manipulator;

[0035] A200, after the first suction nozzle to be used for unloading sucks up the finished workpiece, the first manipulator moves along the beam to the manipulator unloading position, and the first suction nozzle moves downward to place the finished workpiece into the first material tray;

[0036] A300, after the first suction nozzle for loading is moved down to suck up the blank workpiece in the first material tray, the first manipulator moves to the loading and unloading waiting position, waits until receiving the instruction for the welding head to move to the second workbench, and determines whether there is a finished workpiece on the first workbench. If so, the first manipulator moves to the top of the first workbench, sucks up the finished workpiece on the first workbench through the first suction nozzle for unloading and moves it to a safe position. If not or after the unloading of the above-mentioned finished workpiece is completed, the blank workpiece is placed on the first workbench through the first suction nozzle for loading;

[0037] A400, the first manipulator moves toward the loading and unloading position of the manipulator, and after receiving the instruction of the first manipulator to complete loading and move away, the welding head moves to the top of the first workbench to process the blank workpiece on the first workbench;

[0038] A500, repeat steps A200 to A400, and directly receive the completion instruction.

[0039] Furthermore, the step S200 also includes: after the first manipulator moves away from the manipulator loading and unloading position, determining whether the first material tray at the manipulator loading and unloading position is full of finished workpieces; if so, moving the first material tray to the material tray replacement position, and moving another replaced first material tray along the first track to the manipulator loading and unloading position.

[0040] Furthermore, the dual-workbench fully automatic wire welding machine is provided with a second manipulator and a second material storage mechanism, the first workbench and the second workbench are symmetrically arranged and have the same structure and working principle, the first manipulator and the second manipulator are symmetrically arranged and have the same structure and working principle, and the first material storage structure and the second village mechanism are symmetrically arranged and have the same structure and working principle.

[0041] Furthermore, the dual-worktable fully automatic wire welding machine adopts the data processing method of the above embodiment, wherein the first thread is used to execute the loading and unloading operations of the first manipulator and the first material storage mechanism, and to execute the wire welding operation of the welding head on the workpiece on the first worktable; the second thread is used to execute the loading and unloading operations of the second manipulator and the second material storage mechanism, and to execute the wire welding operation of the welding head on the workpiece on the second worktable.

[0042] Furthermore, the dual-worktable fully automatic wire bonding machine is provided with a CCD visual positioning device for locating the positions of workpieces on the first worktable and the second worktable.

[0043] The beneficial effects of the present invention are as follows.

[0044] The data processing method of the present invention optimizes the equipment, adopts a working mode of receiving data in a double buffer and executing workpiece processing in a double thread, and while the motion program executes one thread to process the workpiece, the host computer performs data analysis and processing and after packaging, alternately sends it to the buffer corresponding to the idle thread of the motion controller. The two threads in the motion program alternately execute the data in the corresponding buffer without interruption, so that the equipment can process the workpiece without interruption, greatly improving the processing efficiency of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0046] Figure 1 is a schematic structural diagram of a wire bonding machine according to an embodiment of the present invention.

[0047] Figure 2 4 is a structural front view of a wire bonding machine according to an embodiment of the present invention.

[0048] Figure 3 4 is a top view of the structure of a wire bonding machine according to an embodiment of the present invention.

[0049] Figure 4 is a schematic structural diagram of a first material tray of a wire bonding machine according to an embodiment of the present invention.

[0050] Figure 5Schematic diagram of the structure of a first material storage mechanism of a wire bonding machine according to an embodiment of the present invention.

[0051] Figure 6 Schematic diagram of the structure of a first manipulator of a wire bonding machine according to an embodiment of the present invention.

[0052] Figure 7 Schematic diagram of the structure of a wire bonding mechanism of a wire bonding machine according to an embodiment of the present invention.

[0053] Figure 8 Schematic diagram of the structure of the flip mechanism of the wire bonding machine according to an embodiment of the present invention.

[0054] Fig. 9 4 is a working flow chart of a wire bonding machine according to an embodiment of the present invention.

[0055] Fig.10 Schematic diagram of the hardware structure of the method according to the present invention.

[0056] Fig.11 The data processing flow chart based on the dual-thread processing mechanism according to the method of the present invention.

[0057] Fig.12 is a data processing flow chart of the first thread according to the method of the present invention.

[0058] Fig.13 is a data processing flow chart of the second thread according to the method of the present invention.

[0059] Fig.14 Schematic diagram of the control system structure according to the method of the present invention.

[0060] Fig.15 It is a flow chart of loading and unloading according to the method of the present invention.

[0061] Description of reference numerals:

[0062] 110, welding head; 120, welding wire mechanism; 131, base; 132, telescopic mechanism; 1321, welding wire slider; 1322, telescopic guide rail; 133, translation mechanism; 1331, welding wire slide plate; 1332, translation guide rail; 134, mounting block; 135, cooling fan;

[0063] 210, first workbench; 220, second workbench; 230, turning mechanism; 231, bottom block; 232, bracket; 233, rotating block; 234, rotating motor;

[0064] 310, first manipulator; 311, first suction nozzle; 312, first slide; 313, first sliding assembly; 314, first slide; 315, first connecting block; 316, connecting vertical plate; 317, connecting horizontal block; 320, second manipulator; 321, second suction nozzle; 322, first slide; 323, first sliding assembly; 330, crossbeam; 340, slide motor; 341, slide conveyor belt; 342, slide clamp; 350, slide conveyor belt; 351, slide clamp;

[0065] 410, first material storage mechanism; 411, first track; 412, first material tray; 413, first clamp 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 taking clamp block;

[0066] 500. Bed. DETAILED DESCRIPTION

[0067] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other without conflict.

[0068] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature, or it may be indirectly fixed or connected to the other feature. In addition, the descriptions of up, down, left, right, top, bottom, etc. used in the present invention are only relative to the relative positional relationship of the components of the present invention in the drawings.

[0069] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments, not for limiting the present invention. The term "and / or" used herein includes any combination of one or more related listed items.

[0070] It should be understood that although the terms first, second, third, etc. may be used in the present 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 each other. For example, without departing from the scope of the present 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.

[0071] See also Figures 1 to 15The double-worktable fully automatic wire welding machine of the technical solution of the present invention includes a welding head 110, a first manipulator 310, a second manipulator 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 arranged on both sides of the welding head 110, the first manipulator 310 is arranged on a side of the welding head 110 close to the first worktable 210, and the second manipulator 320 is arranged on a side of the welding head 110 close to the second worktable 220, wherein the welding head 110 is used to process workpieces on the first worktable 210 and the second worktable 220, the first manipulator 310 is used for loading and unloading the first worktable 210, and the second manipulator 320 is used for loading and unloading the second worktable 220.

[0072] See also Figure 1 and Figure 2 The double-table automatic wire welding machine of the embodiment of the present invention is provided with a bed 500, a first worktable 210 and a second worktable 220 are symmetrically arranged on the bed 500, a welding head 110 is horizontally movably arranged between the first worktable 210 and the second worktable 220, a first manipulator 310 is arranged on the left side of the first worktable 210, and a second manipulator 320 is arranged on the right side of the second worktable 220. When the welding head 110 moves to the left side to weld the blank workpiece on the first worktable 210, at the same time, the second manipulator 320 loads and unloads the workpiece on the second worktable 220, and the second worktable 220 preheats the workpiece. After the welding head 110 completes the workpiece welding of the first worktable 210, the welding head 110 moves to the right to weld the preheated blank workpiece on the second worktable 220, at the same time, the first manipulator 310 loads and unloads the workpiece on the first worktable 210, and the first worktable 210 preheats the workpiece.

[0073] In the dual-worktable fully automatic wire welding machine of the embodiment of the present invention, one welding head 110 is equipped with two worktables, and each worktable is equipped with a robot for loading and unloading. The welding process of the welding head 110 and the loading and unloading process of the robot can be carried out synchronously. The welding head 110 does not need to avoid and wait for the robot to load and unload, and the transfer preheating table is cancelled. The time when the workpiece is waiting for the welding wire is used to preheat the workpiece through the worktable with preheating function. The idle time of the welding head 110 can be effectively reduced, and the welding head 110 can be realized. Efficient and continuous operation, the processing efficiency of the equipment is improved, and its production efficiency can be improved by about 40%.

[0074] In some embodiments, the dual-table automatic wire bonding machine of the embodiment of the present invention further includes a first material storage mechanism 410 and a second material storage mechanism 420. The first material storage mechanism 410 is arranged on the side of the first manipulator 310 away from the welding head 110, and the second material storage mechanism 420 is arranged on the side of the second manipulator 320 away from the welding head 110. Figure 2 and Figure 3The first material storage mechanism 410 is arranged on the left side of the first workbench 210, and the first manipulator 310 is used to switch the placement position of the workpiece between the first material storage mechanism 410 and the first workbench 210. The second material storage mechanism 420 is arranged on the right side of the second workbench 220, and the second manipulator 320 is used to switch the placement position of the workpiece between the second material storage mechanism 420 and the second workbench 220.

[0075] In some specific embodiments, the first material storage mechanism 410 includes a first track 411 and two first material trays 412, and the two first material trays 412 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, and the two second material trays 422 are movably disposed on both sides of the second track 421. The first manipulator 310 and the second manipulator 320 are respectively equipped with two material trays. For the two material trays on the same side, when the operator replaces one of the material trays, the manipulator can load and unload the other material tray synchronously, so that when the material tray filled with finished workpieces is manually replaced, it will not affect the welding wire processing, and the material tray can be replaced without stopping the machine. Compared with the traditional stacked material trays, the two material trays in the embodiment of the present invention adopt a flat design, which can effectively reduce the loading and unloading time of the manipulator and reduce the complexity of system control.

[0076] In some embodiments, the first track 411 and the second track 421 are both perpendicular to the beam 330, and the first track 411 and the second track 421 are respectively arranged at the lower sides of both ends of the beam 330, the first manipulator 310 and the second manipulator 320 can be arranged on the beam 330 so as to be horizontally movable left and right, the first material tray 412 can be arranged on the first track 411 so as to be horizontally movable forward and backward, and the second material tray 422 can be arranged on the second track 421 so as to be horizontally movable forward and backward. Figure 2 and Figure 3 The middle part of the crossbeam 330 is arranged above the first workbench 210 and the second workbench 220, and the first track 411 and the second track 421 are arranged 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 respectively the positions where the first manipulator 310 and the second manipulator 320 load and unload the trays, and the front and rear ends of the first track 411 and the second track 421 are respectively the positions where the two trays are manually replaced. The first manipulator 310 and the second manipulator 320 can move left and right along the crossbeam 330 to switch the position of the workpiece between the tray and the workbench. The first tray 412 and the second tray 422 can move forward and backward along the first track 411 and the second track 421 respectively to switch between the manipulator loading and unloading position and the manual replacement position.

[0077] Specifically, see Figures 2 to 4, multiple rows and columns of workpieces are placed on the first tray 412 and the second tray 422. The first tray 412 and the second tray 422 move forward and backward, so that the first manipulator 310 and the second manipulator 320 can pick up workpieces in different rows, and the first manipulator 310 and the second manipulator 320 move left and right, so that the first manipulator 310 and the second manipulator 320 can pick up workpieces in different columns. The forward and backward movement of the first material storage mechanism 410 and the second material storage mechanism 420 of the present invention can realize the simultaneous loading and unloading of the manipulator and the manual replacement of the material tray, and can cooperate with the first manipulator 310 and the second manipulator 320 to complete the forward and backward movement of loading and unloading, so that the first manipulator 310 and the second manipulator 320 only need to move left and right and up and down, thereby realizing a lightweight structure. It can be understood that the workpiece placement position on the first workbench 210 and the second workbench 220, the loading and unloading and picking positions of the first manipulator 310 on the first material tray 412, and the loading and unloading and picking positions of the second manipulator 320 on the second material tray 422 are all on the same straight line, so that the first manipulator 310 and the second manipulator 320 only need to move left and right along the beam 330 and move up and down on the beam 330, thereby simplifying the structure and control process of the manipulator.

[0078] It can be understood that the first material storage mechanism 410 and the second material storage mechanism 420 have the same structure and the same working principle. The first material storage mechanism 410 and the second material storage mechanism 420 are symmetrically arranged on both sides of the device, wherein the first track 411 corresponds to the second track 421, the first material tray 412 corresponds to the second material tray 422, and the first manipulator 310 and the second manipulator 320 have the same structure and working principle. The first manipulator 310 and the second manipulator 320 are symmetrically arranged on both sides of the device. Specifically, the first material storage mechanism 410 is taken as an example for explanation, see Figure 3 and Figure 5 The first track 411 is horizontally arranged, and two first trays 412 are respectively horizontally arranged above the front side and the rear side of the first track 411. A tray motor 430 and a tray conveyor belt 431 are arranged on the lower side of the first track 411. The tray motor 430 is driven by the tray conveyor belt 431 to move the first tray 412 forward and backward. There are two sets of tray motors 430 and tray conveyor belts 431, and each first tray 412 is connected to a tray conveyor and a tray motor 430.

[0079] Specifically, the middle of the first track 411 is the loading and unloading station of the first manipulator 310. When the first tray 412 filled with blank workpieces is manually placed at the front end of the first track 411, one set of tray motors 430 and tray conveyor belts 431 act to move the first tray 412 at the rear side to the rear end of the first track 411, and another set of tray motors 430 and tray conveyor belts 431 act to move the first tray 412 at the front side to the loading and unloading station of the first manipulator 310, and the operator replaces the first tray 412 at the rear. After the first manipulator 310 completes loading and unloading of the workpiece of the first tray 412 at the front side, the first tray 412 at the front side moves to the front end of the first track 411, and the first tray 412 at the rear side moves to the loading and unloading station of the first manipulator 310, thereby realizing the replacement of trays without stopping the machine.

[0080] Further, see Figure 4 The first material tray 412 is fixed on the first movable plate 414 by the first clamp assembly 413, which is conducive to ensuring the correct placement of the first material tray 412 and preventing the first material tray 412 from being displaced during the movement. The first movable plate 414 is arranged on the first track 411, and the lower side of the first movable plate 414 clamps one of the material tray conveyor belts 431 through the first clamping block. The material tray conveyor belt 431 is sleeved on two material tray wheels, one of which is connected to the material tray motor 430, and the material tray motor 430 drives the material tray wheel to rotate. Under the action of the material tray conveyor belt 431 and the first clamping block, the first movable 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 manipulator 310 and the manual replacement position of the material tray.

[0081] Furthermore, the first material storage mechanism 410 may adopt a foolproof design to prevent the first material tray 412 from being placed in the wrong direction. Specifically, one of the corners of the first material tray 412 is an oblique angle, and a first positioning block 415 is provided on one of the corners of the first movable plate 414. When the first material tray 412 is manually installed on the first movable plate 414, the oblique angle can be aligned with the first positioning block 415, thereby preventing the first material tray 412 from being placed in the wrong direction.

[0082] It can be understood that the structure and working principle of the second material storage mechanism 420 are the same as those of the first material storage mechanism 410, and the two second material trays 422 in the second material storage mechanism 420 are also moved back and forth on the second track 421 by two sets of material tray motors 430 and material tray conveyor belts 431 respectively, and the second material storage mechanism 420 is also provided with a second clamp assembly, a second movable plate and a second clamp block, and its structure is the same as the first clamp assembly 413, the first movable plate 414 and the first clamp block of the first material storage mechanism 410, and the second material storage mechanism 420 also adopts an anti-foolproof design.

[0083] In some embodiments, the first manipulator 310 and the second manipulator 320 are horizontally movable and arranged on the crossbeam 330. It should be noted that the first manipulator 310 and the second manipulator 320 have the same structure and working principle, and the first manipulator 310 and the second manipulator 320 are symmetrically arranged. Figure 2 and Figure 6 The first manipulator 310 includes a first slide 312, a first sliding assembly 313 and a first material-retrieving assembly. The first slide 312 is horizontally movable on the crossbeam 330, the first sliding assembly 313 is vertically movable on the first slide 312, and the first material-retrieving assembly is fixedly arranged on the first sliding assembly 313. Correspondingly, the second manipulator 320 is provided with a second slide, a second sliding assembly and a second material-retrieving assembly, and its structure is respectively the same as the first slide 312, the first sliding assembly 313 and the first material-retrieving assembly.

[0084] In some embodiments, see Figure 2 and Figure 3 Two sets of slide motors 340 and slide conveyor belts 341 are arranged on the crossbeam 330, each slide conveyor belt 341 is sleeved on two slide wheels, one of which is connected to the slide motor 340, and the first slide 312 clamps one of the slide conveyor belts 341 through the slide clamp, so that the first manipulator 310 and the second manipulator 320 are moved along the crossbeam 330 respectively through the slide motor 340 cooperating with the slide wheel and the slide conveyor belt 341.

[0085] In some embodiments, the first manipulator 310 is provided with a first material picking assembly, and the first material picking assembly is provided with two first suction nozzles 311 for loading and unloading, and the second manipulator 320 is provided with two second suction nozzles 321 for loading and unloading. Here, the two second suction nozzles 321 are respectively the first suction nozzle 311A ​​and the first suction nozzle 311B as an example for explanation, the first suction nozzle 311A ​​for loading is moved down to suck up a blank workpiece from the first material tray 412 and then rises, the first manipulator 310 moves to the top of the first workbench 210, the first suction nozzle 311B for unloading is moved down to suck up the finished workpiece on the first workbench 210 and then rises, the first suction nozzle 311A ​​with the blank workpiece is moved down to place the blank workpiece on the first workbench 210 and then rises, the first manipulator 310 moves to the top of the first material tray 412, and the first suction nozzle 311B with the finished workpiece is lowered to place the finished workpiece on the first material tray 412.

[0086] It can be understood that after the first suction nozzle 311B completes unloading, it can directly move and suck up another blank workpiece to wait for loading in the next process. At this time, the first suction nozzle 311A ​​is used to suck up the finished workpiece on the first workbench 210, so that the two first suction nozzles 311 alternately load and unload the workpiece, which can increase the speed of loading and unloading 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 suck up another blank workpiece to wait for loading in the next process. 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 respectively used for loading and unloading of workpieces, which can simplify the control process and reduce the probability of system errors.

[0087] The first manipulator 310 of the embodiment of the present invention is provided with two first suction nozzles 311 that can be asynchronously lifted and lowered, and the two first suction nozzles 311 are used for loading and unloading workpieces, so that the first manipulator 310 can realize loading and unloading of the first workbench 210 in one back and forth movement, which can effectively improve the processing efficiency compared with the traditional setting of a single suction nozzle. It can be understood that the second manipulator 320 is also provided with a second material picking component, and the second material picking component is provided with two second suction nozzles 321 that can be asynchronously lifted and lowered, and the two second suction nozzles 321 are used for loading and unloading workpieces, wherein the structure and working principle of the second material picking component are the same as those of the second material picking component. In addition, the first manipulator 310 and the second manipulator 320 are respectively arranged on the left and right sides, and can operate independently, and it is not easy for the two to conflict, so that materials can be prepared in advance, which effectively saves time and improves production efficiency.

[0088] In some embodiments, the two first nozzles 311 of the first robot 310 can be raised and lowered asynchronously. Figure 2 and Figure 6 A skateboard motor and a skateboard conveyor belt 350 are provided on the first slide 312. The skateboard conveyor belt 350 is mounted on 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, so that the first sliding component 313 moves up and down along the first slide 312 through the cooperation of the skateboard motor and the skateboard conveyor belt 350.

[0089] In some embodiments, the first sliding assembly 313 includes two first slides 314 and two first connecting blocks 315. The first slide 314 is connected to the first suction nozzle 311 through the first connecting block 315. The two first slides 314 are respectively connected to the two first suction nozzles 311. The two first slides 314 are arranged on opposite sides (left and right sides) of the first slide 312. Two slide clamps 351 are provided. The two first slides 314 are respectively connected to the two slide clamps 351, so that the two first slides 314 are respectively connected to the two sides of the slide conveyor belt 350. Specifically, the two skateboard wheels are arranged on the same vertical line, and the skateboard conveyor belt 350 is mounted on the two pulleys, so that part of the skateboard conveyor belt 350 is on the left and the other part of the skateboard conveyor belt 350 is on the right, and one of the first skateboards 314 is fixedly connected to the skateboard conveyor belt 350 on the left, and the other first skateboard 314 is fixedly connected to the skateboard conveyor belt 350 on the right. When the skateboard motor drives the skateboard wheel to rotate, the first skateboard 314 on the left and its corresponding first suction nozzle 311 move downward, and at the same time, the first skateboard 314 on the right and its corresponding first suction nozzle 311 move upward, and when the skateboard motor rotates in the opposite direction, the two first skateboards 314 and their corresponding first suction nozzles 311 move in the opposite direction, so that the two first suction nozzles 311 are asynchronously lifted and lowered, which can effectively avoid component interference during the loading and unloading process.

[0090] Further, see Figure 5 , the structures of the two first connecting blocks 315 are different, wherein the first connecting block 315 close to the first workbench 210 is in a block-like shape, and the first connecting block 315 away from the first workbench 210 includes a connecting vertical plate 316 and a connecting horizontal plate, the two sides of the connecting vertical plate 316 are respectively connected to the connecting horizontal plate and the first slide plate 314, 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 arranged between the two first slide plates 314, and the first suction nozzle 311 away from the first workbench 210 is arranged on the side of the other first suction nozzle 311, and can be connected to the first slide plate 314 away from the first workbench 210, so that the two first suction nozzles 311 are respectively connected to the two first slide plates 314, realizing asynchronous lifting and lowering of the two first suction nozzles 311, and at the same time, the distance between the two first suction nozzles 311 can be shortened, reducing the probability of mutual interference between components during loading and unloading.

[0091] It should be noted that the structure and working principle of the second slide and the second sliding assembly in the second manipulator 320 are the same as the first slide 312 and the first sliding assembly 313 of the first manipulator 310. The second slide assembly is also provided with two second slides and two second connecting blocks, and the structures of the two second connecting blocks are different. The second slide is connected to the second suction nozzle 321 through the second connecting block, and 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 are asynchronously lifted and lowered. And the two second suction nozzles 321 are connected through two second connecting blocks with different structures, and the structures and working principles of the two second connecting blocks are respectively the same as the two first connecting blocks 315.

[0092] In some embodiments, the dual-worktable fully automatic wire bonding machine is provided with a wire bonding mechanism 120, a welding head 110, a first worktable 210 and a second worktable 220. The wire bonding mechanism 120 is arranged at the rear of the first worktable 210 and the second worktable 220, and is arranged between the first material storage mechanism 410 and the second material storage mechanism 420, and is arranged below the crossbeam 330, so that the overall layout of the machine is compact, which is convenient for realizing the miniaturization of the dual worktables at the same time and reducing the occupied area. Figure 1 and Figure 7 The wire welding 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 arranged on the telescopic mechanism 132, the telescopic mechanism 132 is arranged on the translation mechanism 133, the translation mechanism 133 is arranged on the base 131, and the base 131 is arranged on the bed 500.

[0093] Specifically, the translation mechanism 133 drives the welding head 110 to move horizontally left and right, and the welding head 110 can weld the workpieces on the first workbench 210 and the second workbench 220 in turn. The telescopic mechanism 132 drives the welding head 110 to move horizontally forward and backward, so that the welding head 110 protrudes forward from the welding mechanism 120 and can reach above the workpiece placement position of the first workbench 210 and the second workbench 220 to perform the welding operation. It can be understood that the welding head 110 basically works near the two workbenches, so the left and right movement along the X-axis direction in the welding mechanism 120 is a long stroke, and the front and back movement along the Y-axis direction is a short stroke. The welding platform for moving along the XY axis composed of the welding mechanism 120 and the welding head 110 of the present invention is compact in structure and low in cost.

[0094] In some embodiments, see Figure 7The telescopic mechanism 132 includes a welding wire slider 1321 and two telescopic guide rails 1322. The mounting block 134 for mounting the welding head 110 is arranged on the upper side of the welding wire slider 1321, and the two telescopic guide rails 1322 are arranged on the left and right sides below the welding wire slider 1321. The interior of the welding wire slider 1321 is a hollow structure, and a limit plate is arranged inside the welding wire slider 1321. When the telescopic slider moves forward or backward along the telescopic guide rail 1322, the telescopic slider can contact the limit plate to stop sliding, and the limit plate can prevent the telescopic slider from exceeding the stroke. It can be understood that the limit plate can be provided with anti-collision rubber particles, and the telescopic slider can contact the anti-collision rubber particles. Further, a first drive motor is arranged on the left side of the welding wire slider 1321, and the welding wire slider 1321 protrudes to one side to be connected to the first drive motor. The welding wire slider 1321 is driven to move forward and backward by the first drive motor, so that the welding head 110 extends or retracts. It should be noted that the first drive motor may be an iron-coreless linear motor.

[0095] Furthermore, the translation mechanism 133 includes a welding wire slide 1331 and two translation guide rails 1332. The two translation guide rails 1332 are respectively connected to the front and rear sides of the lower side of the welding wire slide 1331. The translation guide rails 1332 and the limit plate are fixedly arranged on the upper side of the welding wire slide 1331. A mounting groove with an upward opening is arranged in the middle of the base 131. Two telescopic guide rails 1322 are arranged on both sides above the mounting groove. A second driving motor for translating the welding wire slide 1331 is arranged in the mounting groove. A cooling fan 135 is arranged at both ends of the mounting groove, so that heat dissipation and ventilation are performed through the mounting groove and the cooling fan 135, and at the same time, the structure is made more compact, miniaturized, and the cost is effectively controlled. It should be noted that the second driving motor can be an ironless linear motor.

[0096] In some embodiments, see Figures 1 to 3 The double-worktable fully automatic wire bonding machine is provided with two flipping mechanisms 230, and the two flipping mechanisms 230 are respectively provided with a first worktable 210 and a second worktable 220. Figure 8 The flipping mechanism 230 includes a bottom block 231, a bracket 232 and a rotating block 233. The bottom block 231 is mounted on the bed 500. The lower end of the bracket 232 is connected to the bottom block 231. The upper end of the bracket 232 is mounted with the rotating block 233. The first workbench 210 or the second workbench 220 is mounted on one side of the rotating block 233. The rotating motor 234 is mounted on the bracket 232. The rotating block 233 is driven to rotate by the rotating motor 234 to realize the flipping of the first workbench 210 and the second workbench 220. For further information, see Figure 2, a cylinder is provided below the first workbench 210 and the second workbench 220, the cylinder is mounted on the bottom block 231 and is arranged on the side of the bracket 232, a clamp is provided on the first workbench 210 or the second workbench 220, two push blocks on both sides of the clamp are arranged above the cylinder, and the cylinder extends upward to push the push block to open the clamp. It can be understood that the two flipping mechanisms 230 are symmetrically arranged, and the first workbench 210 and the second workbench 220 are symmetrically arranged, so that the overall structure is simpler.

[0097] Traditional luminous workpiece bonding equipment mainly adopts a single workbench form. The robot needs to avoid and wait for the robot to complete loading and unloading. It also adopts a single robot with a single suction nozzle. The robot needs to make two round trips to complete loading and unloading. There is only one loading box and one unloading box. When the box is replaced manually, the machine needs to be stopped and waited. The above settings seriously affect the processing efficiency of the equipment. In the dual-worktable fully automatic wire welding machine of the embodiment of the present invention, one welding head 110 completes the welding of workpieces on two worktables, and is equipped with two manipulators to load and unload materials on the two worktables respectively. Each manipulator is equipped with two material trays, and each manipulator is equipped with two suction nozzles. Loading and unloading can be completed in one back-and-forth movement, and the welding head 110 moves the welding wire back and forth between the two worktables, which is staggered in time and space with the loading and unloading of each manipulator, so that the welding wire and loading and unloading are carried out synchronously, eliminating the step of the welding head 110 avoiding to a safe position and the time of stopping to wait for loading and unloading, which is conducive to realizing non-stop bonding processing of the welding head 110, and can also be processed without stopping during the process of replacing the material box. The present invention can reduce the complexity of the operation of the welding head 110 and the manipulator, and can effectively improve the wire welding efficiency.

[0098] Among them, the first workbench 210 and the second workbench 220 are symmetrically arranged on both sides of the middle part of the bed 500, and are arranged in front of the wire welding mechanism 120. The first material storage mechanism 410 and the second material storage mechanism 420 are symmetrically arranged on the outside of the above-mentioned two workbenches. The first manipulator 310 and the second manipulator 320 are symmetrically arranged in structure. The two share a beam 330 for moving left and right and are arranged above the two workbenches, and cooperate with the first track 411 and the second track 421 that can move forward and backward, so that the first track 411 and the second track 421 can replace the manipulator to complete the Y-axis movement during loading and unloading, and at the same time, the first material tray 412 and the second material tray 422 can be switched between the manipulator loading and unloading position and the manual replacement position, so that the manipulator only needs to move up and down and left and right completely during the loading and unloading process. The structural layout of the entire equipment of the present invention and the movement mode setting between the components enable the equipment to achieve lightweight design on the basis of matching double workbenches, double manipulators, double material storage mechanisms and each material storage mechanism with double material trays, thereby reducing equipment price and floor space, and simplifying the processing control process, which is beneficial to ensuring production efficiency.

[0099] See also Figures 1 to 15 The data processing method for improving the working efficiency of the equipment according to the technical solution of the present invention can be applied to the double-table automatic wire welding machine of the embodiment of the present invention, wherein the equipment includes a host computer, a motion controller and mechanical hardware, and the motion controller is provided with a first buffer, a second buffer, a first thread and a second thread, and the method includes at least the following steps:

[0100] S100, after the host computer completes the data calculation and processing of the current process, the data of the current process is packaged and sent to the first buffer;

[0101] S200, executing the data in the first buffer by the first thread so that the mechanical hardware processes the workpiece of the current process, and at the same time, performing data processing of the next process by the host computer and packaging and sending it to the second data buffer;

[0102] S300, after receiving the signal from the first thread that the processing of the current process is completed, executing the data in the second buffer through the second thread, so that the mechanical hardware processes the workpiece of the next process;

[0103] S400, repeating steps S100 to S300 until a shutdown instruction is received.

[0104] See also Fig. 9 and Fig.10 , the host computer and the motion control card are connected in real-time communication, the host computer can send data to the motion controller in real time, and monitor the motion state of the motion controller, and the motion controller alternately executes the corresponding data in the two threads to control the mechanical hardware to perform corresponding operations. It can be understood that the first buffer and the second buffer receive the host computer data in no particular order, the host computer can first send the calculated and processed data to the second buffer in step S100, and then send the calculated and processed data to the first buffer in step S200, and the first buffer and the second buffer take turns to receive the host computer data.

[0105] The data processing method of the present invention enables a working mode of receiving data in a double buffer and executing workpiece processing in a dual-threaded motion program of a running controller. After the upper computer calculates and processes the workpiece processing data to be executed by the device, it is packaged and sent 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 buffer to process the workpiece. At the same time, the upper computer software calculates and processes the data to be executed by the next motion program, and packages and sends it to the second data buffer of the motion controller. When the first thread of the motion program completes the work of processing the data in the first data buffer, the second thread immediately executes the work of processing the data in the second data buffer. Instead of waiting for the upper computer software to process and calculate the processing data after each workpiece is processed, and after the data is packaged and sent to the buffer, new processing work is performed. While the upper computer executes a thread of the motion program to process the workpiece, data analysis and processing are performed all the time, and after the data is packaged, it is alternately sent to the buffer corresponding to the idle thread of the motion controller. The two threads in the motion program continuously and alternately execute the data in the corresponding buffer, so that the equipment can process the workpiece continuously, greatly improving the processing efficiency of the equipment.

[0106] 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 running program, the running controller will allocate data buffer 1 and data buffer 2 according to the defined arrays. The host computer packs the calculated data into an array and sends it to the data buffer of the corresponding running controller according to the buffer flag m_nBuffet. For example, when it is judged that the buffer flag is 1, the data is packed and sent to the first data buffer of the motion controller (i.e., data buffer 1); when it is judged that the buffer flag is 2, the data is packed and sent to the second data buffer of the motion controller (i.e., data buffer 2).

[0107] See also Fig.11 The data processing method of the method of the present invention adopts a dual-thread processing mechanism, and the data processing method includes the following steps:

[0108] S10, start the host computer software and start the motion program of the motion controller;

[0109] S20, the motion controller allocates a first data buffer and a second data buffer, and initializes a thread synchronization lock and a buffer flag;

[0110] S30, the motion program of the motion controller starts processing the first thread and the second thread;

[0111] S40, wait for an external end signal, otherwise continue waiting.

[0112] In some embodiments, the motion controller realizes the alternation of two threads through the thread synchronization lock. Specifically, the host computer program detects the running result of the current working thread in the motion controller through the function CheckBondResult(), and then releases the thread synchronization lock through the TriggerBondBuffer() function, so that the other thread obtains the permission to execute the processing. For example, if the running result of the current working thread is 0, the thread synchronization lock usage permission is released to the first thread. If the running result of the current working thread is , the thread synchronization lock usage permission is released to the second thread.

[0113] See also Fig.11 In the data processing method of the present invention, the first thread in the motion program performs data processing, which includes at least the following steps:

[0114] S210, after the host computer analyzes and calculates the data to be run by the processing equipment, the host computer packages the processed data.

[0115] S220: The host computer sends the packaged data to the first data buffer, and the buffer number is set to 1.

[0116] S230, determine whether to stop the program running, if so, the loop ends, otherwise continue to the next step.

[0117] S240, obtaining the right to use the thread synchronization lock in a blocking mode. It should be noted that the blocking mode adopted by the present invention will wait until the second thread releases the lock and the first thread obtains the right to use the synchronization lock.

[0118] S250: The first thread executes the data in the first data buffer to process the workpiece.

[0119] S260, the host computer analyzes and calculates the data to be run by the processing equipment; the host computer packages the processed data.

[0120] S270, the host computer obtains the data buffer number being 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 the data buffer number is set to 2; otherwise, it is sent to the first data buffer, and the data buffer number is set to 1.

[0121] S280: After the first thread of the motion program completes the processing work, the right to use the thread synchronization lock is released, and then the process goes to step S230. It is understandable that after the right to use the thread synchronization lock is released, the second thread can obtain the right to use the thread synchronization lock.

[0122] See also Fig.12In the data processing method of the present invention, the second thread in the motion program performs data processing and at least comprises the following steps:

[0123] S310, determine whether to stop the program running, if so, the loop ends, otherwise continue to the next step.

[0124] S320, obtaining the right to use the thread synchronization lock in a blocking mode. It should be noted that the blocking mode adopted by the present invention will wait until the second thread releases the lock and the first thread obtains the right to use the synchronization lock.

[0125] S330: The second thread executes the data in the second data buffer to process the workpiece.

[0126] S340, the host computer analyzes and calculates the data to be run by the processing equipment; the host computer packages the processed data.

[0127] S350, the host computer obtains the data buffer number 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 the data buffer number is set to 2; otherwise, it is sent to the first data buffer, and the data buffer number is set to 1.

[0128] S360: After the first thread of the motion program completes the processing work, the right to use the thread synchronization lock is released, and then the process goes to step S310. It is understandable that after the right to use the thread synchronization lock is released, the first thread can obtain the right to use the thread synchronization lock.

[0129] In the data processing method of the embodiment of the present invention, two threads of the motion program in the motion controller are used to perform work alternately. While one thread of the motion program is performing work, the host computer calculates and processes the data to be performed next time and sends it to the data buffer in the motion controller. The two threads work alternately, which saves the idle time of the motion controller waiting for the host computer to process the data, thereby effectively improving the processing efficiency of the equipment on the workpiece.

[0130] Specifically, by monitoring the working time of the actual equipment, before using the double buffer and dual thread working mode, the total time taken by the motion controller to execute a processing process was tested to be about 306ms; after using the double buffer and dual thread working mode, the time taken to run a thread to process the workpiece once was about 162ms. At the same time, it was measured that the time taken by the host computer to calculate the data to be executed for processing and package it and send it to the motion controller was 144ms. From the above, it can be seen that by using the double buffer and dual thread working mode, the time taken by the equipment to wait for the host computer to calculate and send data is reduced by 144ms, and its processing efficiency is improved by about 47%.

[0131] It should be noted that the data processing method of the embodiment of the present invention adopts a double buffer and dual-thread working mode, which opens up two data buffers on the motion controller. The host computer judges the usage of the buffer flag bit, sends the data to the corresponding buffer, and the two buffers receive the data alternately, and the two working threads execute the data in the corresponding buffer alternately. At the same time, through the use of thread synchronization locks, a program locks the thread synchronization lock when it is running to prevent the other thread from running. When the current thread is finished running, the thread synchronization lock is released, and the other thread runs, and the thread synchronization lock is locked at the same time, and the previous thread is locked. Through the double buffer and dual-thread working mode, the time for the motion controller to wait for the completion of receiving data can be effectively reduced, thereby effectively reducing the idle time of the equipment, improving work efficiency, improving the processing efficiency of luminous workpieces, and improving the output of the equipment.

[0132] It is understandable that, since the dual-buffer and dual-thread working modes can effectively improve the processing efficiency of the equipment, processing equipment with relatively high requirements for working speed and efficiency, or equipment with high requirements for data collection and processing efficiency, can all work in the dual-buffer and dual-thread working modes of the present invention. The data processing method for improving the processing efficiency of the equipment of the present invention 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.

[0133] See also Figures 1 to 15 The control method of the double-worktable fully automatic wire bonding machine of the technical solution of the present invention can adopt the data processing method for improving the processing efficiency of the equipment in the embodiment of the present invention, and can be applied to the double-worktable fully automatic wire bonding machine in the embodiment of the present invention, and the method at least includes the following steps:

[0134] A10, after the welding head 110 moves to the first workbench 210, the blank workpiece on the first workbench 210 is processed. At the same time, the second manipulator 320 puts the finished workpiece on the second workbench 220 back to the second material tray 422, and then transfers the blank workpiece in the second material tray 422 to the second workbench 220;

[0135] A20, after the welding head 110 completes the current process, the welding head 110 moves to the second workbench 220 to process the workpiece of the next process. At the same time, the first manipulator 310 puts the finished workpiece on the first workbench 210 back to the first material tray 412, and then transfers the workpiece in the first material tray 412 to the first workbench 210;

[0136] A30, when the welding head 110 completes the workpiece processing of the next step, the second manipulator 320 puts the finished workpiece on the second workbench 220 back to the second material tray 422, and at the same time, the welding head 110 moves to the first workbench 210;

[0137] A40, looping step A10 to step A30 until receiving a completion instruction.

[0138] It should be noted that the first workbench 210 and the second workbench 220 perform loading and unloading and wire welding operations in no particular order. In step A10, the second workbench 220 can be welded first and the first workbench 210 can be loaded and unloaded. Then, in step A20, the first workbench 210 can be welded and the second workbench 220 can be loaded and unloaded. The control system performs loading and unloading and wire welding operations on the first workbench 210 and the second workbench 220 in turn.

[0139] See also Fig. 9 , the first manipulator 310 and the second manipulator 320 are respectively arranged on the left and right sides of the welding head 110, and the first workbench 210 and the second workbench 220 are respectively arranged on the left and right sides of the welding head 110, the first manipulator 310 loads and unloads materials between the first material tray 412 and the first workbench 210, the second manipulator 320 loads and unloads materials between the second material tray 422 and the second workbench 220, and the welding head 110 moves back and forth between the first workbench 210 and the second workbench 220 to perform workpiece welding. It can be understood that the position of the workpiece on the first workbench 210 and the second workbench 220 can be obtained by CCD visual positioning, so that the welding head 110 moves to the corresponding position and performs welding line processing.

[0140] See also Fig.14 and Fig.15 In the dual-worktable fully automatic wire welding machine of the embodiment of the present invention, a welding head 110 moves back and forth to weld the workpieces on the two worktables, and its first worktable 210, the first manipulator 310 and the first material storage mechanism 410 are arranged on the left side of the bed 500, and the second worktable 220, the second manipulator 320 and the second material storage mechanism 420 are arranged on the right side of the bed 500. The above-mentioned workpieces on the left and right sides of the bed 500 are symmetrically arranged and have the same working principle. The two manipulators and the loading and unloading of the manipulators and the welding operation of the welding head 110 can operate independently, and are not likely to interfere with each other, thereby achieving efficient loading and unloading and welding.

[0141] Specifically, the loading and unloading method of the dual-table fully automatic wire bonding machine of the embodiment of the present invention can be applied to the dual-table fully automatic wire bonding machine of the embodiment of the present invention. Since the structures on both sides of the equipment are symmetrically arranged and have the same working principle, the control method of the structure on one side is used as an example for explanation. For example, for the hardware such as the first workbench 210, the first manipulator 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:

[0142] A100, initializing the system, determining that there is a first material tray 412 that is not fully filled with finished workpieces at the loading and unloading position of the robot on the left side;

[0143] A200, after the first suction nozzle 311 to be used for unloading sucks up the finished workpiece, the first manipulator 310 moves along the beam 330 to the manipulator unloading position, and the first suction nozzle 311 moves downward to put the finished workpiece into the first material tray 412;

[0144] A300, after the first suction nozzle 311 for loading is moved down to suck up the blank workpiece in the first material tray 412, the first manipulator 310 moves to the loading and unloading waiting position, waits until receiving the instruction of the welding head 110 to move to the second workbench 220, and determines whether there is a finished workpiece on the first workbench 210. If so, the first manipulator 310 moves to the top of the first workbench 210, and sucks up the finished workpiece on the first workbench 210 through the first suction nozzle 311 for unloading and moves it to a safe position. If not or after the unloading of the above-mentioned finished workpiece is completed, the blank workpiece is placed on the first workbench 210 through the first suction nozzle 311 for loading;

[0145] A400, the first manipulator 310 moves toward the manipulator loading and unloading position, and after receiving the instruction that the first manipulator 310 completes loading and moves away, the welding head 110 moves to the top of the first workbench 210 to process the blank workpiece on the first workbench 210;

[0146] A500, repeat steps A200 to A400, and directly receive the completion instruction.

[0147] Among them, in step S200, after the first manipulator 310 moves away from the manipulator loading and unloading position, it is determined whether the first material tray 412 at the manipulator loading and unloading position is full of finished workpieces. If so, the above-mentioned 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 manipulator loading and unloading position.

[0148] The loading and unloading method of the dual-table fully automatic wire welding machine of the embodiment of the present invention is that after the welding head 110 moves a certain distance away from the first workbench 210, the first manipulator 310 can load and unload the first workbench 210, and when the welding head 110 is welding wires on the first workbench 210 or the second workbench 220, the first manipulator 310 can load and unload the first material tray 412, and after the first manipulator 310 moves away from the manipulator loading and unloading position, the first material storage mechanism 410 can adjust the positions of the two first material trays 412, and multiple components can work synchronously and are not prone to interference. It can be understood that the control method of the second material tray 422, the second manipulator 320, the second suction cup and other hardware arranged on the right side of the device is consistent with the control method of the second material tray 422, the second manipulator 320, the second suction cup and other hardware arranged on the left side of the device.

[0149] In some embodiments, the data processing method for improving equipment processing efficiency of the embodiment of the present invention can be applied to the control method and loading and unloading method of the dual-worktable fully automatic wire welding machine of the embodiment of the present invention, wherein the first thread is used to control the loading and unloading operations of the first manipulator 310 and the first storage mechanism 410, and the welding operation of the welding head 110 on the workpiece on the first worktable 210, and the second thread is used to control the loading and unloading operations of the second manipulator 320 and the second storage mechanism 420, and the welding operation of the welding head 110 on the workpiece on the second worktable 220. By adopting a double buffer and dual thread working mode and a thread synchronization lock mechanism, mechanized loading and unloading and the welding operation of the welding head 110 can be carried out synchronously, reducing the waiting time of the welding head 110, and effectively avoiding mutual interference, collision and misoperation.

[0150] The above is only a preferred embodiment of the present invention. The present invention is not limited to the above implementation. As long as the technical effect of the present invention is achieved by the same means, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the scope of protection of the present disclosure. All should belong to the protection scope of the present invention. Within the protection scope of the present invention, its technical scheme and / or implementation method can have various modifications and changes.

Claims

1. A data processing method for improving the working efficiency of a device, characterized in that: The device includes a host computer, a motion controller and mechanical hardware. The motion controller is provided with a first buffer, a second buffer, a first thread and a second thread. The data processing method includes the following steps: S100, after the host computer completes the data calculation and processing of the current process, the data of the current process is packaged and sent to the first buffer; S200, executing the data in the first buffer by the first thread so that the mechanical hardware performs component processing of the current process, and at the same time, performing data processing of the next process by the host computer and packaging and sending it to the second data buffer; S300, after receiving the signal from the first thread that the processing of the current process is completed, executing the data in the second buffer through the second thread, so that the mechanical hardware performs component processing of the next process; S400, repeating steps S100 to S300 until a shutdown instruction is received.

2. The data processing method according to claim 1, characterized in that: The motion controller uses thread synchronization lock to realize the alternation of dual threads.

3. The data processing method according to claim 2, characterized in that: The data processing method based on the dual-thread processing mechanism includes the following steps: S10, start the host computer software and start the motion program of the motion controller; S20, the motion controller allocates a first data buffer and a second data buffer, and initializes a thread synchronization lock and a buffer flag; S30, the motion program of the motion controller starts processing the first thread and the second thread; S40, wait for an external end signal, otherwise continue waiting.

4. The data processing method according to claim 3, characterized in that: The step of performing data processing by the first thread includes: S210, after the host computer analyzes and calculates the data to be run by the processing equipment, the host computer packages the processed data; S220, the host computer sends the packaged data to the first data buffer, and the buffer number is set to 1; S230, determine whether to stop the program running, if so, the loop ends, otherwise continue to the next step; S240, obtaining the right to use the thread synchronization lock in blocking mode; S250, the first thread executes the data in the first data buffer to process the component; S260, the host computer analyzes and calculates the data to be run by the processing equipment; the host computer packages the processed data; S270, the host computer obtains the data buffer number being 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 the data buffer number is set to 2; otherwise, it is sent to the first data buffer, and the data buffer number is set to 1; S280. After the first thread of the motion program completes the processing work, the right to use the thread synchronization lock is released, and then the process goes to step S230.

5. The data processing method according to claim 4, characterized in that: The step of the second thread performing data processing includes: S310, determine whether to stop the program running, if so, the loop ends, otherwise proceed to the next step; S320, obtaining the right to use the thread synchronization lock in blocking mode; S330, the second thread executes the data in the second data buffer to process the component; S340, the host computer analyzes and calculates the data to be run by the processing equipment; the host computer packages the processed data; S350, the host computer obtains the data buffer number 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 the data buffer number is set to 2; otherwise, it is sent to the first data buffer, and the data buffer number is set to 1; S360: After the first thread of the motion program completes the processing work, the right to use the thread synchronization lock is released, and then the process goes to step S310.

6. The loading and unloading method of the double-table fully automatic wire welding machine is characterized in that: The double-worktable fully automatic wire welding machine is provided with a welding head (110), a first worktable (210), a second worktable (220), a first manipulator (310) and a first material storage mechanism (410); the welding head (110) is used to process workpieces on the first worktable (210) and the second worktable (220); the first manipulator (310) is provided with two first suction nozzles (311) for loading and unloading; and the first material storage mechanism (410) is provided with a first track (411) and two first material trays (412) movable along the first track (411); The loading and unloading method comprises the following steps: A100, initializing the system, determining that there is a first material tray (412) that is not fully filled with finished workpieces at the loading and unloading position of the left manipulator; A200, after the first suction nozzle (311) to be used for unloading sucks up the finished workpiece, the first manipulator (310) moves along the crossbeam (330) to the manipulator unloading and unloading position, and the first suction nozzle (311) moves downward to place the finished workpiece into the first material tray (412); A300, after the first suction nozzle (311) for loading is moved down to suck up the blank workpiece in the first material tray (412), the first manipulator (310) moves to the loading and unloading waiting position, waits until receiving the instruction of the welding head (110) to move to the second workbench (220), and determines whether there is a finished workpiece on the first workbench (210). If so, the first manipulator (310) moves to the top of the first workbench (210), sucks up the finished workpiece on the first workbench (210) through the first suction nozzle (311) for unloading and moves it to a safe position. If not or after the unloading of the above-mentioned finished workpiece is completed, the blank workpiece is placed on the first workbench (210) through the first suction nozzle (311) for loading; A400, the first manipulator (310) moves toward the manipulator loading and unloading position, and after receiving the instruction of the first manipulator (310) to complete loading and move away, the welding head (110) moves to the top of the first workbench (210) to process the blank workpiece on the first workbench (210); A500, repeat steps A200 to A400, and directly receive the completion instruction.

7. The loading and unloading method according to claim 6, characterized in that: The step S200 also includes: after the first manipulator (310) moves away from the manipulator loading and unloading position, determining whether the first material tray (412) at the manipulator loading and unloading position is full of finished workpieces; if so, moving the first material tray (412) to the material tray replacement position, and moving another replaced first material tray (412) along the first track (411) to the manipulator loading and unloading position.

8. The loading and unloading method according to claim 7, characterized in that: The double-workbench fully automatic wire welding machine is provided with a second manipulator (320) and a second material storage mechanism (420); the first workbench (210) and the second workbench (220) are symmetrically arranged and have the same structure and working principle; the first manipulator (310) and the second manipulator (320) are symmetrically arranged and have the same structure and working principle; the first material storage structure and the second material storage mechanism are symmetrically arranged and have the same structure and working principle.

9. The loading and unloading method according to claim 8, characterized in that: The dual-worktable fully automatic wire welding machine adopts the data processing method described in any one of claims 1 to 5, wherein the first thread is used to execute loading and unloading operations of the first manipulator (310) and the first material storage mechanism (410), and to execute the wire welding operation of the welding head (110) on the workpiece on the first worktable (210); the second thread is used to execute loading and unloading operations of the second manipulator (320) and the second material storage mechanism (420), and to execute the wire welding operation of the welding head (110) on the workpiece on the second worktable (220).

10. The loading and unloading method according to claim 6, characterized in that: The dual-worktable fully automatic wire bonding machine is provided with a CCD visual positioning device for positioning the positions of workpieces on the first worktable (210) and the second worktable (220).

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