Data processing method for improving device work efficiency

Abstract

The present application relates to a data processing method for improving the working efficiency of equipment, which comprises 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 comprises the following steps: when the host computer completes the data calculation and processing of the current process, the data of the current process is packaged and issued to the first buffer; the data of the first buffer is executed by the first thread to make the mechanical hardware process the components of the current process, at the same time, the data processing of the next process is carried out by the host computer and packaged and issued to the second data buffer; when the first thread completes the processing of the current process, the data of the second buffer is executed by the second thread to make the mechanical hardware process the components of the next process. The present application effectively improves the processing efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to a data processing method for improving the working efficiency of a device, and belongs to the technical field of wire bonding. BACKGROUND

[0002] In semiconductor packaging, a wire bonder is used to tightly bond metal leads with substrate pads. The wire bonder mainly consists of a bonding head, a single flip workbench, a preheating table, a mechanical hand, and a tray. The mechanical hand loads the blank workpiece in the tray to the preheating table, then moves the workpiece to the flip workbench, and the bonding head bonds the blank workpiece. After that, the mechanical hand unloads the workpiece to the tray. During the unloading process of the mechanical hand, the bonding head needs to avoid to a safe position and wait for the mechanical hand to complete the loading and unloading process of a workpiece before starting the bonding process. The idle time of the bonding head is long, and the utilization rate of the bonding head is low. In addition, the device needs to be stopped and waited when changing the tray. The existing wire bonder has low processing efficiency and cannot realize efficient and continuous work of the bonding head. Its processing efficiency needs to be further improved.

[0003] In addition, in the semiconductor packaging such as light emitting workpieces, the processing technology requires high speed and high precision, which requires a large amount of complex data processing about speed and motion trajectory control in the processing process. In the existing data processing method, the processing device needs to calculate and process a large amount of complex data in the host computer software first, then package and send the processed large data to the data buffer area of the motion controller, and wait for the data buffer area to accept all the sent data before the motion program starts to install the buffer area data to process the workpiece. After the workpiece is processed, the host computer software performs a new round of data processing and sends the buffer area, and the motion program executes the buffer area data to process the workpiece. The existing data processing method needs to wait for the host computer software to complete complex data processing and package and send the buffer area after the workpiece processing is completed once, and the device can perform a new processing work after the buffer area is completed. When the amount of data to be processed is large and complex, data processing and sending need a long time, resulting in an idle time of waiting for the buffer area data after the device processes a workpiece, which seriously affects the improvement of the processing efficiency of the device. SUMMARY

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

[0005] The technical scheme of the present application relates to a data processing method for improving the working efficiency of equipment, which comprises 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, and the data processing method comprises the following steps:

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

[0007] S200, the data in the first data buffer is executed by the first thread, so that the mechanical hardware processes components of the current process, and at the same time, the host computer processes data of the next process and sends the data to the second data buffer;

[0008] S300, when the first thread completes processing of the current process, the data in the second data buffer is executed by the second thread, so that the mechanical hardware processes components of the next process;

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

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

[0011] Further, the data processing method based on the double-thread processing mechanism comprises the following steps:

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

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

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

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

[0016] Further, the step of executing data processing by the first thread comprises:

[0017] S210, after the host computer analyzes and processes 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 sets the buffer number to 1;

[0019] S230, judging whether to stop program running, if yes, then the cycle ends, otherwise, the next step is continued;

[0020] S240, acquiring the use right of the thread synchronization lock in the blocking mode;

[0021] S250, the first thread executes the data in the first data buffer and processes the element;

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

[0023] S270, the host computer acquires the data buffer number used by the first thread of the motion program, if the buffer number is 1, the host computer then sends the data to the second data buffer and sets the data buffer number to 2, otherwise, the data 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 use right of the thread synchronization lock is released, and then the step S230 is turned to.

[0025] Further, the step of executing data processing by the second thread comprises:

[0026] S310, judging whether to stop program running, if yes, then the cycle ends, otherwise, the next step is continued;

[0027] S320, acquiring the use right of the thread synchronization lock in the blocking mode;

[0028] S330, the second thread executes the data in the second data buffer and processes the element;

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

[0030] S350, the host computer acquires the data buffer number used by the second thread of the motion program, if the buffer number is 1, the host computer then sends the data to the second data buffer and sets the data buffer number to 2, otherwise, the data 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 use right of the thread synchronization lock is released, and then the step S310 is turned to.

[0032] The technical scheme of the present application is further related to a feeding and discharging method of the double-workbench full-automatic wire welding machine, wherein the double-workbench full-automatic wire welding machine is provided with a welding head, a first workbench, a second workbench, a first mechanical arm and a first material storage mechanism, the welding head is used for processing workpieces on the first workbench and the second workbench, the first mechanical arm is provided with two first suction nozzles used for feeding and discharging, and the first material storage mechanism is provided with a first track and two first material trays movable along the first track;

[0033] The feeding and discharging method comprises the following steps:

[0034] A100, initializing the system to determine that the first material tray with unfilled finished workpieces is located at the mechanical arm feeding and discharging position on the left side;

[0035] A200, after the first suction nozzle used for discharging sucks the finished workpiece, the first mechanical arm moves to the mechanical arm feeding and discharging position, and then the first suction nozzle lowers to place the finished workpiece into the first material tray;

[0036] A300, after the first suction nozzle used for feeding lowers to suck the blank workpiece in the first material tray, the first mechanical arm moves to the feeding and discharging waiting position, waits until receiving the instruction that the welding head moves to the second workbench, judges whether there is a finished workpiece on the first workbench, if yes, the first mechanical arm moves above the first workbench, sucks the finished workpiece on the first workbench by the first suction nozzle used for discharging and moves to a safe position, if not or after the above finished workpiece is discharged, the blank workpiece is placed on the first workbench by the first suction nozzle used for feeding;

[0037] A400, the first mechanical arm moves to the mechanical arm feeding and discharging position, and after receiving the instruction that the first mechanical arm completes feeding and moves away, the welding head moves above the first workbench to process the blank workpiece on the first workbench;

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

[0039] Further, the step S200 further comprises: when the first mechanical arm moves away from the mechanical arm feeding and discharging position, judging whether the first material tray at the mechanical arm feeding and discharging position is filled with finished workpieces, if yes, moving the first material tray to a material tray replacement position, and moving another replaced first material tray to the mechanical arm feeding and discharging position along the first track.

[0040] Further, the double-workbench full-automatic wire welding machine is provided with a second mechanical arm 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 mechanical arm and the second mechanical arm are symmetrically arranged and have the same structure and working principle, and the first material storage mechanism and the second material storage mechanism are symmetrically arranged and have the same structure and working principle.

[0041] Further, the double-workbench full-automatic wire welding machine adopts the data processing method of the above embodiment, wherein the first thread is used for performing the feeding and discharging operations of the first mechanical arm and the first material storage mechanism, and performing the wire welding operation of the welding head on the workpiece on the first workbench; and the second thread is used for performing the feeding and discharging operations of the second mechanical arm and the second material storage mechanism, and performing the wire welding operation of the welding head on the workpiece on the second workbench.

[0042] Further, the double-workbench full-automatic wire welding machine is provided with a CCD visual positioning device for positioning the positions of the workpieces on the first workbench and the second workbench.

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

[0044] The data processing method of the present application optimizes the equipment, adopts a working mode of double-buffered data receiving and double-thread workpiece processing, and through the upper computer, when one thread of the motion program performs the processing work on the workpiece, the data analysis and processing are continuously performed and the package is completed, and then the package is alternately sent to the buffer area corresponding to the idle thread of the motion controller. The two threads in the motion program alternately execute the data in the corresponding buffer area without interruption, so that the equipment continuously processes the workpiece, and the processing efficiency of the equipment is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

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

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

[0047] Figure 2 is a front view of the structure of the wire welding machine according to the embodiment of the present application.

[0048] Figure 3 is a top view of the structure of the wire welding machine according to the embodiment of the present application.

[0049] Figure 4 is a structural schematic diagram of a first material disc of the wire welding machine according to the embodiment of the present application.

[0050] Figure 5Fig. 1 is a structural schematic diagram of a first material storage mechanism of a wire bonding machine according to an embodiment of the present application.

[0051] Figure 6 Fig. 2 is a structural schematic diagram of a first mechanical hand of a wire bonding machine according to an embodiment of the present application.

[0052] Figure 7 Fig. 3 is a structural schematic diagram of a wire bonding mechanism of a wire bonding machine according to an embodiment of the present application.

[0053] Figure 8 Fig. 4 is a structural schematic diagram of a turnover mechanism of a wire bonding machine according to an embodiment of the present application.

[0054] Figure 9 Fig. 5 is a work flow chart of a wire bonding machine according to an embodiment of the present application.

[0055] Figure 10 Fig. 6 is a hardware structural schematic diagram of a method according to the present application.

[0056] Figure 11 Fig. 7 is a data processing flow chart based on a double-thread processing mechanism of a method according to the present application.

[0057] Figure 12 Fig. 8 is a data processing flow chart of a first thread of a method according to the present application.

[0058] Figure 13 Fig. 9 is a data processing flow chart of a second thread of a method according to the present application.

[0059] Figure 14 Fig. 10 is a control system structural schematic diagram of a method according to the present application.

[0060] Figure 15 Fig. 11 is a material loading and unloading flow chart of a method according to the present application.

[0061] Legend of reference numerals:

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

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

[0064] 310, first mechanical hand; 311, first suction nozzle; 312, first sliding plate; 313, first sliding assembly; 314, first sliding plate; 315, first connecting block; 316, connecting vertical plate; 317, connecting horizontal block; 320, second mechanical hand; 321, second suction nozzle; 322, first sliding plate; 323, first sliding assembly; 330, cross beam; 340, sliding plate motor; 341, sliding plate transmission belt; 342, sliding plate clamping block; 350, sliding plate transmission belt; 351, sliding plate clamping block;

[0065] 410, first storage mechanism; 411, first track; 412, first tray; 413, first clamp assembly; 414, first moving plate; 415, first positioning block; 420, second storage mechanism; 421, second track; 422, second tray; 430, tray motor; 431, tray transmission belt; 432, material taking clamping block;

[0066] 500, bed body. DETAILED DESCRIPTION

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

[0068] It should be noted that, unless otherwise specified, when a certain 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. In addition, the up, down, left, right, top, bottom and other descriptions used in the present application are only relative to the relative positions of the components of the present application in the drawings.

[0069] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as understood by those skilled in the art. The terms used in the specification herein are only for describing specific embodiments, and are not intended to limit the present application. 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. are used to describe various workpieces in the present disclosure, 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, the first workpiece can also be referred to as the second workpiece, and similarly, the second workpiece can also be referred to as the first workpiece.

[0071] Reference Figures 1 to 15The double-workbench full-automatic wire welding machine of the technical scheme of the present application comprises a welding head 110, a first mechanical arm 310, a second mechanical arm 320, a first workbench 210 with preheating function, and a second workbench 220 with preheating function, the first workbench 210 and the second workbench 220 are respectively arranged on the two sides of the welding head 110, the first mechanical arm 310 is arranged on the side of the welding head 110 close to the first workbench 210, the second mechanical arm 320 is arranged on the side of the welding head 110 close to the second workbench 220, wherein the welding head 110 is used for processing workpieces on the first workbench 210 and the second workbench 220, the first mechanical arm 310 is used for feeding and discharging the first workbench 210, and the second mechanical arm 320 is used for feeding and discharging the second workbench 220.

[0072] Referring to Figure 1 and Figure 2 The double-workbench full-automatic wire welding machine of the embodiment of the present application is provided with a bed body 500, the first workbench 210 and the second workbench 220 are symmetrically arranged on the bed body 500, the welding head 110 is horizontally movably arranged in the middle of the first workbench 210 and the second workbench 220, the first mechanical arm 310 is arranged on the left side of the first workbench 210, and the second mechanical arm 320 is arranged on the right side of the second workbench 220. When the welding head 110 moves to the left side to weld the blank workpiece on the first workbench 210, at the same time, the second mechanical arm 320 feeds and discharges the workpiece on the second workbench 220, and the second workbench 220 preheats the workpiece. After the welding head 110 completes the workpiece welding of the first workbench 210, the welding head 110 moves to the right to weld the preheated blank workpiece on the second workbench 220, at the same time, the first mechanical arm 310 feeds and discharges the workpiece on the first workbench 210, and the first workbench 210 preheats the workpiece.

[0073] The double-workbench full-automatic wire welding machine of the embodiment of the present application is provided with a bed body 500, the first workbench 210 and the second workbench 220 are symmetrically arranged on the bed body 500, the welding head 110 is horizontally movably arranged in the middle of the first workbench 210 and the second workbench 220, the first mechanical arm 310 is arranged on the left side of the first workbench 210, and the second mechanical arm 320 is arranged on the right side of the second workbench 220. When the welding head 110 moves to the left side to weld the blank workpiece on the first workbench 210, at the same time, the second mechanical arm 320 feeds and discharges the workpiece on the second workbench 220, and the second workbench 220 preheats the workpiece. After the welding head 110 completes the workpiece welding of the first workbench 210, the welding head 110 moves to the right to weld the preheated blank workpiece on the second workbench 220, at the same time, the first mechanical arm 310 feeds and discharges the workpiece on the first workbench 210, and the first workbench 210 preheats the workpiece.

[0074] In some embodiments, the double-workbench automatic wire welding machine of the embodiment of the present application further comprises 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 mechanical arm 310 away from the welding head 110, and the second material storage mechanism 420 is arranged on the side of the second mechanical arm 320 away from the welding head 110. Referring to Figure 2 and Figure 3The first material storage mechanism 410 is arranged at the left side of the first workbench 210, the first mechanical arm 310 is used for switching 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 at the right side of the second workbench 220, and the second mechanical arm 320 is used for switching the placement position of the workpiece between the second material storage mechanism 420 and the second workbench 220.

[0075] In some embodiments, the first material storage mechanism 410 comprises a first track 411 and two first trays 412, and the two first trays 412 are respectively arranged on the two sides of the first track 411. The second material storage mechanism 420 comprises a second track 421 and two second trays 422, and the two second trays 422 are respectively arranged on the two sides of the second track 421. The first mechanical arm 310 and the second mechanical arm 320 are respectively provided with two trays. For the two trays on the same side, when the operator replaces one of the trays, the mechanical arm can simultaneously load and unload the other tray, so that the tray full of finished workpieces can be replaced manually without affecting the welding line processing, and the tray can be replaced without stopping the machine. Compared with the traditional stacked tray, the two trays of the embodiment of the present application are designed in a flat manner, which can effectively reduce the loading and unloading time of the mechanical arm and reduce the system control complexity.

[0076] In some embodiments, the first track 411 and the second track 421 are perpendicular to the cross beam 330, the first track 411 and the second track 421 are respectively arranged on the lower sides of the two ends of the cross beam 330, the first mechanical arm 310 and the second mechanical arm 320 are respectively arranged on the cross beam 330 and can move horizontally left and right, the first tray 412 is arranged on the first track 411 and can move horizontally forward and backward, and the second tray 422 is arranged on the second track 421 and can move horizontally forward and backward. Figure 2 and Figure 3 The middle part of the cross beam 330 is arranged above the first workbench 210 and the second workbench 220, the first track 411 and the second track 421 are arranged below the left and right ends of the cross beam 330, the first track 411 and the second track 421 below the cross beam 330 are respectively the positions of the first mechanical arm 310 and the second mechanical arm 320 for loading and unloading the trays, and the front and rear ends of the first track 411 and the second track 421 are respectively the manual replacement positions of the two trays. The first mechanical arm 310 and the second mechanical arm 320 can move left and right along the cross beam 330 to switch the position of the workpiece between the tray and the workbench. The first tray 412 and the second tray 422 can respectively move forward and backward along the first track 411 and the second track 421 to switch between the loading and unloading position of the mechanical arm and the manual replacement position.

[0077] Specifically, referring to Figures 2 to 4, the first tray 412 and the second tray 422 are provided with multiple rows and multiple columns of workpieces, the first tray 412 and the second tray 422 are moved forward and backward, so that the first mechanical arm 310 and the second mechanical arm 320 can take the workpieces in different rows, and the first mechanical arm 310 and the second mechanical arm 320 are moved left and right, so that the first mechanical arm 310 and the second mechanical arm 320 can take the workpieces in different columns. The forward and backward movement of the first storage mechanism 410 and the second storage mechanism 420 of the application can realize the synchronization of the mechanical arm feeding and discharging and manual replacement of the tray, and can cooperate with the forward and backward movement of the first mechanical arm 310 and the second mechanical arm 320 to complete the feeding and discharging, so that the first mechanical arm 310 and the second mechanical arm 320 only need to move left and right and up and down, thereby realizing the lightweight structure. It can be understood that the workpiece placement position on the first workbench 210 and the second workbench 220 is on the same straight line with the feeding and discharging and taking position of the first mechanical arm 310 on the first tray 412, and with the feeding and discharging and taking position of the second mechanical arm 320 on the second tray 422, so that the first mechanical arm 310 and the second mechanical arm 320 only need to move left and right along the cross beam 330 and move up and down on the cross beam 330, thereby simplifying the structure and control process of the mechanical arm.

[0078] It can be understood that the first storage mechanism 410 and the second storage mechanism 420 have the same structure, and their working principles are the same. The first storage mechanism 410 and the second storage mechanism 420 are symmetrically arranged on both sides of the equipment, wherein the first track 411 corresponds to the second track 421, the first tray 412 corresponds to the second tray 422, and the first mechanical arm 310 and the second mechanical arm 320 have the same structure and working principle, and the first mechanical arm 310 and the second mechanical arm 320 are symmetrically arranged on both sides of the equipment. Specifically, the first storage mechanism 410 is taken as an example for description, referring to Figure 3 and Figure 5 The first track 411 is horizontally arranged, and two first trays 412 are horizontally arranged above the front side and the rear side of the first track 411 respectively. The lower side of the first track 411 is provided with a tray motor 430 and a tray transmission belt 431, the tray motor 430 drives the first tray 412 to move forward and backward through the tray transmission belt 431. Among them, the tray motor 430 and the tray transmission belt 431 are provided with two groups, and each first tray 412 is connected with a tray transmission belt 431 and a tray motor 430.

[0079] Specifically, the middle part of the first track 411 is the loading and unloading position of the first robot 310. When the operator places the first tray 412 full of blanks into the front end of the first track 411, one set of tray motors 430 and tray transmission belts 431 act to move the first tray 412 at the rear to the rear end of the first track 411, and another set of tray motors 430 and tray transmission belts 431 act to move the first tray 412 at the front to the loading and unloading position of the first robot 310, and the operator replaces the first tray 412 at the rear. After the first robot 310 completes the loading and unloading of the workpieces in the first tray 412 at the front, the first tray 412 at the front moves to the front end of the first track 411, and the first tray 412 at the rear moves to the loading and unloading position of the first robot 310, thereby achieving non-stop replacement of the tray.

[0080] Further, referring to Figure 4 , the first tray 412 is fixed to the first moving plate 414 by the first clamp assembly 413, which is beneficial to ensure that the placement position of the first tray 412 is correct and prevent misplacement of the first tray 412 during movement. The first moving plate 414 is arranged on the first track 411, and the lower side of the first moving plate 414 is clamped to one of the tray transmission belts 431 by the first clamp block. The tray transmission belt 431 is sleeved on two tray rollers, one of which is connected to the tray motor 430. The tray motor 430 drives the tray roller to rotate, and under the action of the tray transmission belt 431 and the first clamp block, the first moving plate 414 and the first tray 412 move along the first track 411, so that the first tray 412 switches between the loading and unloading position of the first robot 310 and the position for manual replacement of the tray.

[0081] Further, the first tray storage mechanism 410 can adopt a foolproof design to prevent the first tray 412 from being placed in the wrong direction. Specifically, one of the corners of the first tray 412 is an oblique angle, and a first positioning block 415 is arranged on one of the corners of the first moving plate 414. When the operator installs the first tray 412 on the first moving plate 414, the oblique angle can be aligned with the first positioning block 415, thereby preventing the first tray 412 from being placed in the wrong direction.

[0082] It can be understood that the structure and working principle of the second tray storage mechanism 420 are the same as those of the first tray storage mechanism 410. The two second trays 422 in the second tray storage mechanism 420 also move forward and backward on the second track 421 by two sets of tray motors 430 and tray transmission belts 431, and the second tray storage mechanism 420 is also provided with a second clamp assembly, a second moving plate, and a second clamp block, which have the same structure as the first clamp assembly 413, the first moving plate 414, and the first clamp block of the first tray storage mechanism 410, and the second tray storage mechanism 420 also adopts a foolproof design.

[0083] In some embodiments, the first robot 310 and the second robot 320 are horizontally movably arranged on the crossbeam 330. It should be noted that the first robot 310 and the second robot 320 are identical in structure and working principle, and the first robot 310 and the second robot 320 are symmetrically arranged. Here, the first robot 310 is taken as an example for illustration, and the second robot 320 is not described in detail. Figure 2 and Figure 6 The first robot 310 includes a first sliding plate 312, a first sliding assembly 313, and a first material taking assembly. The first sliding plate 312 is horizontally movably arranged on the crossbeam 330, the first sliding assembly 313 is vertically movably arranged on the first sliding plate 312, and the first material taking assembly is fixedly arranged on the first sliding assembly 313. Correspondingly, the second robot 320 is provided with a second sliding plate, a second sliding assembly, and a second material taking assembly, which are identical in structure to the first sliding plate 312, the first sliding assembly 313, and the first material taking assembly, respectively.

[0084] In some embodiments, referring to Figure 2 and Figure 3 The crossbeam 330 is provided with two groups of sliding plate motors 340 and sliding plate transmission belts 341. Each sliding plate transmission belt 341 is sleeved on two sliding plate pulleys, one of which is connected with the sliding plate motor 340. The first sliding plate 312 clamps one of the sliding plate transmission belts 341 through a sliding plate clamp block, so that the first robot 310 and the second robot 320 are moved along the crossbeam 330 through the cooperation of the sliding plate motor 340, the sliding plate pulley, and the sliding plate transmission belt 341.

[0085] In some embodiments, the first robot 310 is provided with a first material taking assembly, and the second robot 320 is provided with two second suction nozzles 321 for feeding and discharging. Here, two second suction nozzles 321 are taken as examples of the first suction nozzle 311A and the first suction nozzle 311B for illustration. The first suction nozzle 311A for feeding is lowered to suck a blank workpiece from the first tray 412 and then raised. The first robot 310 is moved above the first workbench 210. The first suction nozzle 311B for discharging is lowered to suck a finished workpiece on the first workbench 210 and then raised. The first suction nozzle 311A with the blank workpiece is lowered to place the blank workpiece on the first workbench 210 and then raised. The first robot 310 is moved above the first tray 412. The first suction nozzle 311B with the finished workpiece is lowered to place the finished workpiece on the first tray 412.

[0086] It can be understood that when the first suction nozzle 311B finishes unloading, another blank workpiece can be directly moved and sucked up for feeding in the next process, and 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 feed and unload the workpiece, which can improve the speed of the mechanical hand feeding and unloading, or when the first suction nozzle 311B finishes unloading, the first suction nozzle 311B rises, the first suction nozzle 311A moves down to suck up another blank workpiece for feeding in the next process, so that the first suction nozzle 311A is fixed for feeding, and the first suction nozzle 311B is fixed for unloading, and the two first suction nozzles 311 are respectively used for feeding and unloading the workpiece, which can simplify the control process and reduce the error probability of the system.

[0087] The first mechanical hand 310 of the embodiment of the application is provided with two first suction nozzles 311 that can be asynchronously lifted, and the two first suction nozzles 311 are used for feeding and unloading the workpiece, so that the first mechanical hand 310 can realize feeding and unloading of the first workbench 210 in one round trip, which can effectively improve the processing efficiency compared with the conventional single suction nozzle. It can be understood that the second mechanical hand 320 is also provided with a second feeding assembly, and the second feeding assembly is provided with two second suction nozzles 321 that can be asynchronously lifted, and the two second suction nozzles 321 are used for feeding and unloading the workpiece, wherein the structure and working principle of the second feeding assembly are the same as those of the first feeding assembly. And the first mechanical hand 310 and the second mechanical hand 320 are respectively arranged on the left and right sides and can independently operate, and are not easy to collide with each other, so that the feeding can be prepared in advance, the time can be effectively saved, and the production efficiency can be improved.

[0088] In some embodiments, the two first suction nozzles 311 of the first mechanical hand 310 can be asynchronously lifted, as shown in Figure 2 and Figure 6 , the first sliding plate 312 is provided with a sliding plate motor and a sliding plate transmission belt 350, the sliding plate transmission belt 350 is sleeved on two sliding plate rotating wheels, one of which is connected with the sliding plate motor, and the first sliding assembly 313 is fixedly connected with the sliding plate transmission belt 350 through a sliding plate clamping block 351, so that the first sliding assembly 313 moves up and down along the first sliding plate 312 through cooperation of the sliding plate motor and the sliding plate transmission belt 350.

[0089] In some embodiments, the first sliding assembly 313 comprises two first sliding plates 314 and two first connecting blocks 315, the first sliding plates 314 are connected with the first suction nozzles 311 through the first connecting blocks 315, the two first sliding plates 314 are connected with the two first suction nozzles 311 respectively, and the two first sliding plates 314 are arranged on opposite sides (left and right sides) of the first sliding plate 312. The sliding plate clamping block 351 is provided with two, and the two first sliding plates 314 are connected with the two sliding plate clamping blocks 351 respectively, so that the two first sliding plates 314 are connected with the two sides of the sliding plate transmission belt 350. Specifically, the two sliding plate pulleys are arranged on the same vertical line, the sliding plate transmission belt 350 is sleeved on the two pulleys, so that part of the sliding plate transmission belt 350 is on the left side, and the other part of the sliding plate transmission belt 350 is on the right side, one of the first sliding plates 314 is fixedly connected with the sliding plate transmission belt 350 on the left side, and the other first sliding plate 314 is fixedly connected with the sliding plate transmission belt 350 on the right side. When the sliding plate motor drives the sliding plate pulley to rotate, the first sliding plate 314 on the left side and the corresponding first suction nozzle 311 move downward, and at the same time, the first sliding plate 314 on the right side and the corresponding first suction nozzle 311 move upward. When the sliding plate motor reverses, the two first sliding plates 314 and the corresponding first suction nozzles 311 move reversely, so that the two first suction nozzles 311 move asynchronously, which can effectively avoid the interference between parts during the feeding and discharging process.

[0090] Further, referring to Figure 6 , the two first connecting blocks 315 are different in structure, the first connecting block 315 close to the first workbench 210 is in the shape of a square block, and the first connecting block 315 away from the first workbench 210 comprises a connecting vertical plate 316 and a connecting horizontal plate, the two sides of the connecting vertical plate 316 are connected with the connecting horizontal plate and the first sliding plate 314 respectively, and the other side of the connecting horizontal plate is connected with 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 sliding plate 312, and the connecting horizontal plate is arranged between the two first sliding plates 314. 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 with the first sliding plate 314 away from the first workbench 210, so that the two first suction nozzles 311 are connected with the two first sliding plates 314 respectively, realizing the asynchronous lifting of the two first suction nozzles 311, and at the same time, the distance between the two first suction nozzles 311 can be shortened, and the probability of mutual interference between parts during the feeding and discharging process can be reduced.

[0091] It should be noted that the structure and working principle of the second sliding plate and the second sliding assembly in the second manipulator 320 are the same as those of the first sliding plate 312 and the first sliding assembly 313 of the first manipulator 310. The second sliding plate assembly is also provided with two second sliding plates and two second connecting blocks. The structures of the two second connecting blocks are different. The second sliding plate is connected with the second suction nozzle 321 through the second connecting block. The two second sliding plates are respectively connected with the two second suction nozzles 321. The two second sliding plates are respectively fixedly connected with the opposite sides of the sliding plate transmission belt 350 through the two sliding plate clamping blocks 351, so that the two second suction nozzles 321 are lifted asynchronously. The two second suction nozzles 321 are connected through two second connecting blocks with different structures. The structures and working principles of the two second connecting blocks are respectively the same as those of the two first connecting blocks 315.

[0092] In some embodiments, the double-station full-automatic wire bonding machine is provided with a wire bonding mechanism 120, a bonding head 110, a first workbench 210 and a second workbench 220. The wire bonding mechanism 120 is arranged at the rear side of the first workbench 210 and the second workbench 220, between the first material storage mechanism 410 and the second material storage mechanism 420, and below the cross beam 330, so that the overall layout of the machine is compact, facilitating the realization of small size of the double workbench and reduction of floor space. 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 bonding 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 bonding head 110 to move horizontally left and right, and the bonding head 110 can alternately bond wires on the workpieces on the first workbench 210 and the second workbench 220. The telescopic mechanism 132 drives the bonding head 110 to move horizontally forward and backward, so that the bonding head 110 protrudes forward from the wire bonding mechanism 120 and can reach above the workpiece placement position of the first workbench 210 and the second workbench 220 to perform wire bonding operation. It can be understood that the bonding head 110 basically works near the two workbenches, so the left and right movement in the X-axis direction in the wire bonding mechanism 120 is a long stroke, and the forward and backward movement in the Y-axis direction is a short stroke. The wire bonding platform composed of the wire bonding mechanism 120 and the bonding head 110 according to the present application has a compact structure and low cost.

[0094] In some embodiments, referring to Figure 7The telescopic mechanism 132 includes a welding wire slider 1321 and two telescopic 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 rails 1322 are arranged on the lower sides of the welding wire slider 1321. The welding wire slider 1321 is of a hollow structure, and a limiting plate is arranged in the welding wire slider 1321. When the telescopic slider moves forward or backward along the telescopic rail 1322, the telescopic slider can be in contact with the limiting plate to stop sliding, and the telescopic slider can be prevented from exceeding the stroke through the action of the limiting plate. It can be understood that the limiting plate can be provided with anti-collision rubber particles, and the telescopic slider can be in contact with the anti-collision rubber particles. Further, the left side of the welding wire slider 1321 is provided with a first driving motor, and the welding wire slider 1321 protrudes to one side to be connected with the first driving motor. The first driving motor drives the welding wire slider 1321 to move forward and backward, so that the welding head 110 is extended or retracted. It should be noted that the first driving motor can be a coreless linear motor.

[0095] Further, the translation mechanism 133 includes a welding wire sliding plate 1331 and two translation rails 1332. The two translation rails 1332 are respectively connected with the front and rear sides of the lower side of the welding wire sliding plate 1331, and the translation rail 1332 and the limiting plate are fixedly arranged on the upper side of the welding wire sliding plate 1331. The middle part of the base 131 is provided with a mounting groove with an opening facing upward, and the two telescopic rails 1322 are arranged on the upper sides of the mounting groove. A second driving motor for translating the welding wire sliding plate 1331 is arranged in the mounting groove, and heat dissipation fans 135 are arranged at both ends of the mounting groove. Thus, heat dissipation and ventilation are realized through the mounting groove and the heat dissipation fans 135, and the structure is more compact, miniaturization is realized, and the cost is effectively controlled. It should be noted that the second driving motor can be a coreless linear motor.

[0096] In some embodiments, referring to Figures 1 to 3 , the double-station full-automatic welding machine is provided with two turnover mechanisms 230, and the first workbench 210 and the second workbench 220 are respectively arranged on the two turnover mechanisms 230. Referring to Figure 8 , the turnover mechanism 230 includes a bottom block 231, a support 232, and a rotating block 233. The bottom block 231 is arranged on the bed body 500, the lower end of the support 232 is connected with the bottom block 231, the upper end of the support 232 is provided with the rotating block 233, one side of the rotating block 233 is provided with the first workbench 210 or the second workbench 220, and a rotating motor 234 is arranged on the support 232. The rotating motor 234 drives the rotating block 233 to rotate, so as to realize the turnover of the first workbench 210 and the second workbench 220. Further, referring to Figure 2The first workbench 210 and the second workbench 220 are both provided with air cylinders, the air cylinders are installed on the bottom block 231 and arranged on the side of the support 232, the first workbench 210 or the second workbench 220 is provided with a clamping jaw, two push blocks on the two sides of the clamping jaw are arranged above the air cylinder, the air cylinder extends upwards to push the push blocks, so that the clamping jaw is opened. It can be understood that the two turnover mechanisms 230 are symmetrically arranged, and the first workbench 210 and the second workbench 220 are symmetrically arranged, so that the overall structure is more simple.

[0097] The traditional light-emitting workpiece bonding equipment mainly adopts a single workbench form, the robot needs to avoid and wait for the robot to complete the feeding and discharging, and a single robot with a single suction nozzle needs to move back and forth twice to complete feeding and discharging, and only one feeding box and one discharging box are provided, and the machine needs to stop and wait when manually replacing the box. The above settings all seriously affect the processing efficiency of the equipment. The double workbench full-automatic wire bonding machine of the embodiment of the present application, one welding head 110 completes the welding of workpieces on two workbenches, and two robots are matched to feed and discharge two workbenches, each robot is matched with two trays, and each robot is matched with two suction nozzles. In one-way movement, feeding and discharging can be completed, and the welding head 110 moves back and forth between the two workbenches to weld the wire, which is staggered in time and space with the feeding and discharging of each robot. The welding and feeding and discharging are carried out synchronously, the step of avoiding to the safe position of the welding head 110 and the time of stopping and waiting for feeding and discharging are saved, which is conducive to realizing the non-stop bonding processing of the welding head 110 and the non-stop processing during the replacement of the box. The present application can reduce the complexity of the operation of the welding head 110 and the robot, and effectively improve the wire bonding efficiency.

[0098] The first workbench 210 and the second workbench 220 are symmetrically arranged on both sides of the middle part of the bed body 500 and in front of the wire bonding mechanism 120. The first storage mechanism 410 and the second storage mechanism 420 are symmetrically arranged on the outer sides of the two workbenches. The first robot 310 and the second robot 320 are symmetrically arranged in structure. The two share one cross beam 330 for left-right movement and are arranged above the two workbenches. The first track 411 and the second track 421 can be moved forward and backward, so that the first track 411 and the second track 421 can replace the robot to complete the Y-axis movement during feeding and discharging. At the same time, the first tray 412 and the second tray 422 can be switched at the feeding and discharging position of the robot and the manual replacement position. The robot only needs to move left and right completely during feeding and discharging. The structure layout of the whole equipment and the movement mode between components are set, so that the equipment can realize lightweight design on the basis of matching double workbenches, double robots, double storage mechanisms and double trays of each storage mechanism. The price and floor area of the equipment are reduced, and the processing control process is simplified, which is conducive to ensuring the production efficiency.

[0099] Referring to Figures 1 to 15 The data processing method for improving the working efficiency of the device can be applied to the double-workbench full-automatic wire welding machine of the embodiment of the present application, and the device comprises an upper 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 comprises at least the following steps:

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

[0101] S200, the data in the first data buffer is executed by the first thread, so that the mechanical hardware processes workpieces in the current process, and meanwhile, the upper computer processes data of a next process and packages and sends the data to the second data buffer;

[0102] S300, after receiving that the first thread completes processing of the current process, the data in the second data buffer is executed by the second thread, so that the mechanical hardware processes workpieces in the next process;

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

[0104] Referring to Figure 9 and Figure 10 The upper computer is in real-time communication connection with the motion control card. The upper computer can send data to the motion controller in real time and monitor the motion state of the motion controller. The motion controller alternately executes corresponding data in two threads to control the mechanical hardware to operate correspondingly. It can be understood that the first data buffer and the second data buffer receive the data of the upper computer in no particular order. The upper computer can send the data that has been calculated and processed to the second data buffer in step S100, and then send the data that has been calculated and processed to the first data buffer in step S200. The first data buffer and the second data buffer alternately receive the data of the upper computer.

[0105] The data processing method of the application enables a double-buffering data receiving mode and a double-thread workpiece processing mode in a motion program of a motion controller. After the host computer processes the workpiece processing data to be executed by the equipment, the data is packaged and sent to the first data buffer of the motion controller. After the data sending is completed, the first thread of the motion program executes the data in the first data buffer to process the workpiece. Meanwhile, the host computer software processes the data of the next motion program to be executed and packages and sends the data to the second data buffer of the motion controller. When the first thread of the motion program finishes 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. The equipment does not need to wait for the host computer software to process and package the data to be executed and send the data to the buffer after processing a workpiece each time, and then execute the new processing work. While the host computer processes and packages the data to be executed by the first thread of the motion program to process the workpiece, the data is alternately sent to the buffer corresponding to the idle thread of the motion controller after the processing and packaging are completed. The two threads of the motion program alternately execute the data in the corresponding buffers, so that the equipment continuously processes the workpiece, thereby 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, and the motion controller allocates data buffer 1 and data buffer 2 according to the defined arrays when executing the motion program. The host computer packages the calculated data into an array and sends the data to the corresponding data buffer of the motion controller according to the buffer flag m_nBuffet. For example, when it is judged that the buffer flag is 1, the data is packaged and sent to the first data buffer (i.e. data buffer 1) of the motion controller; when it is judged that the buffer flag is 2, the data is packaged and sent to the second data buffer (i.e. data buffer 2) of the motion controller.

[0107] Referring to Figure 11 The data processing method of the application adopts a double-thread processing mechanism, and the data processing method comprises the following steps:

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

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

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

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

[0112] In some embodiments, the motion controller implements the alternation of the two threads through a thread synchronization lock. Specifically, the host 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 function TriggerBondBuffer() to allow another thread to obtain the right to perform processing. For example, if the running result of the current working thread is 0, the thread synchronization lock is released to the first thread; if the running result of the current working thread is 1, the thread synchronization lock is released to the second thread.

[0113] Referring to Figure 11 In the data processing method of the application, the first thread in the motion program performs data processing, which at least includes the following steps:

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

[0115] S220, the host computer sends the packed data to the first data buffer, and sets the buffer number to 1.

[0116] S230, it is judged whether to stop the program running, if yes, the cycle is ended, otherwise the next step is continued.

[0117] S240, the use right of the thread synchronization lock is acquired in a blocking mode. It should be noted that the blocking mode adopted in the application will wait until the second thread releases the lock, and then the first thread acquires the use right of 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, and then packs the processed data.

[0120] S270, the host computer acquires 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 sets the data buffer number to 2; otherwise, the data 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 use right of the thread synchronization lock is released, and then the step S230 is turned to. It can be understood that after the use right of the thread synchronization lock is released, the second thread can obtain the use right of the thread synchronization lock.

[0122] Referring toFigure 13 In the data processing method of the present application, the second thread in the motion program performs data processing, which comprises at least the following steps:

[0123] S310, judging whether to stop the program running, if yes, the cycle ends, otherwise, the next step is continued.

[0124] S320, acquiring the use right of the thread synchronization lock in a blocking mode. It is to be noted that the blocking mode used in the present application will wait until the second thread releases the lock, and then the first thread acquires the use right of the synchronization lock.

[0125] S330, the second thread performs data in the second data buffer, and processes the workpiece.

[0126] S340, the upper computer analyzes and calculates the data to be run by the processing equipment, and packs the processed data.

[0127] S350, the upper computer acquires the data buffer number being used by the second thread of the motion program, if the buffer number is 1, the upper computer will send the data to the second data buffer, and set the data buffer number to 2, otherwise, the data 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 use right of the thread synchronization lock is released, and then the step S310 is turned to. It can be understood that after the use right of the thread synchronization lock is released, the first thread can acquire the use right of the thread synchronization lock.

[0129] In the data processing method of the present application, two threads of the motion program in the motion controller are used to alternately perform the work, and the upper computer calculates and processes the data to be executed next while one thread of the motion program is performing the work, and sends the data to the data buffer in the motion controller. Through the work mode of the two threads alternately, the idle time of the motion controller waiting for the data processing of the upper computer is saved, so that the processing efficiency of the equipment to the workpiece is effectively improved.

[0130] Specifically, by monitoring the working time of the actual device, the total time for the motion controller to perform a machining process is about 306 ms before using the double buffer and double thread working mode; after using the double buffer and double thread working mode, the time for a thread to run to perform a machining process on the workpiece is about 162 ms. At the same time, it is measured that the time for the upper computer to calculate and package the data to be executed for machining and to issue to the motion controller is 144 ms. From the above, by using the double buffer and double thread working mode, the time for the device to wait for the upper computer to calculate and issue data is reduced by 144 ms, and the working efficiency of the device for machining once is increased by about 47%.

[0131] It should be noted that the data processing method of the embodiment of the present application adopts the double buffer and double thread working mode, which opens two data buffers on the motion controller. By using the usage of the buffer flag bit by the upper computer, the data is sent to the corresponding buffer, and the two buffers alternately receive data, and two working threads alternately execute the data in the corresponding buffer. At the same time, by using the thread synchronization lock, one program is locked when running, preventing another thread from running. When the current thread is running, the thread synchronization lock is released, and another thread runs, and the thread synchronization lock is locked to lock the previous thread. By using the double buffer and double thread working mode, the time for the motion controller to wait for data reception to be completed can be effectively reduced, thereby effectively reducing the idle time of the device, improving the working efficiency, improving the machining efficiency of the light-emitting workpiece, and improving the production of the device.

[0132] It can be understood that, since the double buffer and double thread working mode can effectively improve the machining efficiency of the device, the machining device with high requirements for working speed and efficiency, or the device with high requirements for data acquisition and processing efficiency, can work by using the double buffer and double thread working mode of the present application. The data processing method for improving the machining efficiency of the device of the present application adopts the double buffer and double thread working mode, which can significantly improve the working efficiency of the device and reduce the idle time of the device during operation.

[0133] Referring to Figures 1 to 15 The control method of the double workstation full-automatic wire welding machine of the technical solution of the present application can adopt the data processing method for improving the machining efficiency of the device of the embodiment of the present application, and can be applied to the double workstation full-automatic wire welding machine of the embodiment of the present application. The method at least includes the following steps:

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

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

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

[0137] A40, the steps A10 to A30 are cycled until a finished instruction is received.

[0138] It should be noted that the first workbench 210 and the second workbench 220 do not perform feeding and welding operations in sequence, and in step A10, the second workbench 220 can be welded and the first workbench 210 can be fed, and then in step A20, the first workbench 210 can be welded and the second workbench 220 can be fed. The control system alternately feeds and welds the first workbench 210 and the second workbench 220.

[0139] Referring to Figure 9 , the first manipulator 310 and the second manipulator 320 are respectively arranged on the left side and the right side of the welding head 110, and the first workbench 210 and the second workbench 220 are respectively arranged on the left side and the right side of the welding head 110. The first manipulator 310 feeds between the first tray 412 and the first workbench 210, and the second manipulator 320 feeds between the second tray 422 and the second workbench 220. The welding head 110 moves back and forth between the first workbench 210 and the second workbench 220 to weld the workpiece. It can be understood that the positions of the workpieces on the first workbench 210 and the second workbench 220 can be obtained by a CCD vision positioning method, so that the welding head 110 moves to the corresponding position and welds.

[0140] Referring to Figure 14 and Figure 15In the double-workbench full-automatic wire welding machine, one welding head 110 moves back and forth to weld wires on workpieces on two workbenches, the first workbench 210, the first mechanical arm 310 and the first material storage mechanism 410 are arranged on the left side of the bed 500, and the second workbench 220, the second mechanical arm 320 and the second material storage mechanism 420 are arranged on the right side of the bed 500, the workpieces on the left side and the right side of the bed 500 are symmetrically arranged and have the same working principle, the two mechanical arms can independently operate between each other and between the feeding and discharging of the mechanical arms and the wire welding operation of the welding head 110, and interference between each other is not easy to occur, and efficient feeding and discharging and wire welding are achieved.

[0141] Specifically, the feeding and discharging method of the double-workbench full-automatic wire welding machine can be applied to the double-workbench full-automatic wire welding machine, and the structures on both sides of the equipment are symmetrically arranged and have the same working principle, and the control method of the structure on one side is taken as an example for description, for example, for the first workbench 210, the first mechanical arm 310 and the first material storage mechanism 410 and other hardware on the left side of the equipment, the feeding and discharging method at least includes the following steps:

[0142] A100, initializing the system to determine that the first tray 412 on the mechanical arm feeding and discharging position on the left side has not been filled with finished workpieces;

[0143] A200, after the first suction nozzle 311 used for discharging absorbs the finished workpiece, the first mechanical arm 310 moves to the mechanical arm feeding and discharging position, and then the first suction nozzle 311 lowers to put the finished workpiece into the first tray 412;

[0144] A300, after the first suction nozzle 311 used for feeding lowers to absorb the blank workpiece in the first tray 412, the first mechanical arm 310 moves to the feeding and discharging waiting position, waits until the instruction that the welding head 110 moves to the second workbench 220 is received, judges whether there is a finished workpiece on the first workbench 210, if yes, the first mechanical arm 310 moves above the first workbench 210, the first suction nozzle 311 used for discharging absorbs the finished workpiece on the first workbench 210 and moves to a safe position, if not or after the discharging of the finished workpiece is completed, the first suction nozzle 311 used for feeding puts the blank workpiece on the first workbench 210;

[0145] A400, the first mechanical arm 310 moves towards the mechanical arm feeding and discharging position, and after the first mechanical arm 310 completes feeding and moves away, the welding head 110 moves above the first workbench 210 to process the blank workpiece on the first workbench 210;

[0146] A500, repeat steps A200 to A400 to directly receive a finished instruction.

[0147] Wherein, in step S200, when the first manipulator 310 moves away from the manipulator loading and unloading position, it is judged whether the first tray 412 at the manipulator loading and unloading position is full of finished workpieces, if yes, the above-mentioned first tray 412 is moved to the tray replacement position, and another replaced first tray 412 is moved to the manipulator loading and unloading position along the first track 411.

[0148] The loading and unloading method of the double-workbench full-automatic wire bonding machine of the embodiment of the present application can perform loading and unloading of the first workbench 210 by the first manipulator 310 after the bonding head 110 moves away from the first workbench 210 by a distance, and the first manipulator 310 can perform loading and unloading of the first tray 412 when the bonding head 110 is wire bonding on the first workbench 210 or the second workbench 220, and the first storage mechanism 410 can adjust the positions of the two first trays 412 after the first manipulator 310 moves away from the manipulator loading and unloading position, so that the multiple components can work synchronously and are not prone to interference. It can be understood that the control method of the hardware such as the second tray 422, the second manipulator 320 and the second suction cup arranged on the right side of the equipment is consistent with the control method of the hardware such as the second tray 422, the second manipulator 320 and the second suction cup arranged on the left side of the equipment.

[0149] In some embodiments, the data processing method for improving the processing efficiency of the equipment of the embodiment of the present application can be applied to the control method of the double-workbench full-automatic wire bonding machine and the loading and unloading method thereof, wherein the first thread is used to control the loading and unloading operation of the first manipulator 310 and the first storage mechanism 410, and the wire bonding operation of the bonding head 110 on the workpieces on the first workbench 210, and the second thread is used to control the loading and unloading operation of the second manipulator 320 and the second storage mechanism 420, and the wire bonding operation of the bonding head 110 on the workpieces on the second workbench 220, so that the mechanized loading and unloading and the wire bonding operation of the bonding head 110 can be performed synchronously by adopting the double-buffer and double-thread working mode and by adopting the thread synchronization lock mechanism, the time of waiting for the bonding head 110 to stop is reduced, and mutual interference collision and misoperation are effectively avoided.

[0150] The above is only a preferred embodiment of the present application, and the present application is not limited to the above-mentioned embodiments, as long as the same means achieve the technical effects of the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure. All shall belong to the protection scope of the present application. The technical solutions and / or embodiments thereof within the protection scope of the present application can have various modifications and changes.

Claims

1. A data processing method for improving the work efficiency of a device, characterized by, The device comprises 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 device further comprises a welding head, double workbenches, double mechanical arms, double material storage mechanisms, each of the mechanical arms is equipped with two suction nozzles, each of the material storage mechanisms is equipped with two material trays, the first thread is used to perform the feeding and discharging operation of the first mechanical arm and the first material storage mechanism, and perform the welding operation of the welding head on the workpieces on the first workbench, and the second thread is used to perform the feeding and discharging operation of the second mechanical arm and the second material storage mechanism, and perform the welding operation of the welding head on the workpieces on the second workbench; The data processing method comprises the following steps: S100, when the host computer completes the data calculation processing of the current process, the data of the current process is packaged and sent to the first data buffer; S200, the data of the first data buffer is executed through the first thread, so that the mechanical hardware performs the component processing of the current process, at the same time, the data processing work of the next process is performed through the host computer and is packaged and sent to the second data buffer; S300, when the first thread completes the processing of the current process, the data of the second data buffer is executed through the second thread, so that the mechanical hardware performs the component processing of the next process; S400, steps S100 to S300 are repeated until a stop instruction is received.

2. The data processing method according to claim 1, characterized in that, The motion controller realizes the alternation of the double threads through a thread synchronization lock.

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

4. The data processing method according to claim 3, characterized in that, The step of executing the data processing by the first thread comprises: S210, after the host computer analyzes and calculates the data to be run by the processing device, the host computer packages the processed data; S220, the host computer sends the packaged data to the first data buffer, and sets the buffer number to 1; S230, it is judged whether the program running is stopped, if yes, the cycle is ended, otherwise the next step is continued; S240, the use right of the thread synchronization lock is acquired in a blocking mode; S250, the first thread executes the data in the first data buffer to process and handle the components; S260, the host computer analyzes and calculates the data to be run by the processing device; the host computer packages the processed data; S270, the host computer acquires the data buffer number being used by 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, the data 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 use right of the thread synchronization lock is released, and then the step S230 is turned to.

5. The data processing method according to claim 4, characterized in that, The second thread executes the step of data processing, which comprises: S310, judging whether to stop the program running, if yes, the cycle ends, otherwise, the next step is continued; S320, acquiring the use right of the thread synchronization lock in a blocking mode; S330, the second thread executes the data in the second data buffer and processes the elements; S340, the host computer analyzes and calculates the data to be run by the processing equipment; the host computer packs the processed data; S350, the host computer acquires the data buffer number used by 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, the data is sent to the first data buffer, and the data buffer number is set to 1; S360, after the second thread of the motion program completes the processing work, the use right of the thread synchronization lock is released, and then the step S310 is returned.

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