Multi-head taking and placing mechanism, control method and device thereof and storage medium

Abstract

The invention provides a multi-head pick-and-place mechanism, a control method and device thereof and a storage medium. The multi-head pick-and-place mechanism comprises a mounting plate; the pick-and-place assembly is mounted on the front side of the mounting plate and comprises a first transmission block, a first pick-and-place head connected with the first transmission block, a second transmission block and a second pick-and-place head connected with the second transmission block; the Z-axis motor is fixed to the rear side of the mounting plate and provided with a rotating shaft perpendicular to the mounting plate, and the rotating shaft is connected with a third transmission block connected to the first transmission block and the second transmission block; the rotating motor group is fixed on the rear side of the mounting plate and comprises a first rotating motor for driving the first pick-and-place head to rotate and a second rotating motor for driving the second pick-and-place head to rotate; and the controller is in communication connection with the Z-axis motor and the rotating motor set. According to the technical scheme of the embodiment of the invention, the number of Z-axis motors of the multi-head chip taking and placing equipment can be reduced while the chip taking and transferring efficiency can be ensured, so that the cost of the multi-head chip taking and placing equipment is reduced, the number of rotating motors can be reduced, and the occupied area is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of chip transport, and in particular to a multi-head pick-and-place mechanism and a control method, device and storage medium thereof. Background Art

[0002] The chip production process involves the material picking and transportation of chips. The placement angles of the chips are inconsistent during transportation. The chips need to be grabbed by a single-head pick-and-place device, the angles need to be adjusted, and then placed in a transport device for transportation. However, this method is inefficient, so multi-head chip pick-and-place equipment is often used to transport multiple chips at the same time.

[0003] Each pick-and-place head of a multi-head chip pick-and-place device is equipped with a Z-axis motor and a rotary motor. The chip is located below the pick-and-place head. The Z-axis motor drives the pick-and-place head to move downward and load the chip. The rotary motor drives the pick-and-place head to rotate to correct the angle of the chip. Then, the Z-axis motor drives the pick-and-place head to move downward to unload the chip. However, the large number of Z-axis motors leads to high costs for multi-head chip pick-and-place devices. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a multi-head pick-and-place mechanism and a control method, device, and storage medium thereof, which can ensure the efficiency of chip material transfer while reducing the number of Z-axis motors of the multi-head chip pick-and-place device, thereby reducing the cost of the multi-head chip pick-and-place device, and can reduce the number of rotating motors of the multi-head chip pick-and-place device and reduce the floor space.

[0005] In a first aspect, an embodiment of the present invention provides a multi-head pick-and-place mechanism, comprising:

[0006] Mounting plate;

[0007] A pick-and-place assembly, the pick-and-place assembly is installed on the front side of the mounting plate, the pick-and-place assembly includes a first transmission block, a second transmission block, a first pick-and-place head and a second pick-and-place head, the first transmission block is connected to the first pick-and-place head, the second transmission block is connected to the second pick-and-place head, the first pick-and-place head is used to absorb the first chip, and the second pick-and-place head is used to absorb the second chip;

[0008] A Z-axis motor, the Z-axis motor is fixed to the rear side of the mounting plate, the Z-axis motor is provided with a rotating shaft, the rotating shaft is perpendicular to the mounting plate, the rotating shaft is connected to a third transmission block, the left side of the third transmission block is connected to the first transmission block, and the right side is connected to the second transmission block, the Z-axis motor drives the rotating shaft to rotate, so that the first pick-and-place head and the second pick-and-place head move up and down respectively;

[0009] A rotating motor group, the rotating motor group is fixed to the rear side of the mounting plate, the rotating motor group comprises a first rotating motor and a second rotating motor, the first rotating motor drives the first pick-and-place head to rotate, and the second rotating motor drives the second pick-and-place head to rotate;

[0010] A controller is communicatively connected with the Z-axis motor and the rotating motor group.

[0011] According to some embodiments of the present invention, the pick-and-place component also includes a first loading visual inspection device and a second loading visual inspection device, the shooting direction of the first loading visual inspection device is aligned with the first chip, the shooting direction of the second loading visual inspection device is aligned with the second chip, and the first loading visual inspection device and the second loading visual inspection device are communicatively connected to the controller.

[0012] According to some embodiments of the present invention, the number of the pick-and-place components is at least two, the first pick-and-place heads of two adjacent pick-and-place components are connected by a first belt, the second pick-and-place heads of two adjacent pick-and-place components are connected by a second belt, the first rotating motor drives the first belt to rotate, and the second rotating motor drives the second belt to rotate.

[0013] According to some embodiments of the present invention, the pick-and-place assembly also includes a first synchronous pulley and a second synchronous pulley, the first pick-and-place head is slidably passed through the first synchronous pulley, the first belt abuts against the outer side of the first synchronous pulley, and the second pick-and-place head is slidably passed through the second synchronous pulley, and the second belt abuts against the outer side of the second synchronous pulley.

[0014] In a second aspect, an embodiment of the present invention provides a control method for a multi-head pick-and-place mechanism, which is applied to the multi-head pick-and-place mechanism described in the first aspect, and the method includes:

[0015] Sending a first rotation signal to the first rotation motor, sending a first pick-and-place signal to the Z-axis motor, the Z-axis motor drives the first pick-and-place head to move downward and the second pick-and-place head to move upward through the rotation axis, and the first pick-and-place head absorbs the first chip;

[0016] Sending the first rotation signal to the second rotation motor, sending the second pick-and-place signal to the Z-axis motor, the Z-axis motor drives the first pick-and-place head to move up and the second pick-and-place head to move down through the rotation axis, and the second pick-and-place head absorbs the second chip;

[0017] Sending a second rotation signal to the first rotary motor, the first rotary motor drives the first pick-and-place head to rotate, sending the first pick-and-place signal to the Z-axis motor, the Z-axis motor drives the first pick-and-place head to move downward and the second pick-and-place head to move upward through the rotary shaft, and the first pick-and-place head puts down the first chip;

[0018] The second rotation signal is sent to the second rotating motor, and the second rotating motor drives the second pick-and-place head to rotate. The second pick-and-place signal is sent to the Z-axis motor, and the Z-axis motor drives the first pick-and-place head to move up and the second pick-and-place head to move down through the rotating axis, and the second pick-and-place head puts down the second chip. When the second pick-and-place head puts down the second chip and completes the rotation, the controller sends the first rotation signal to the first rotating motor and sends the first pick-and-place signal to the Z-axis motor.

[0019] According to some embodiments of the present invention, the pick-and-place assembly further includes a first loading visual inspection device and a second loading visual inspection device, wherein a shooting direction of the first loading visual inspection device is aligned with the first chip, a shooting direction of the second loading visual inspection device is aligned with the second chip, and the first loading visual inspection device and the second loading visual inspection device are communicatively connected to the controller;

[0020] Before sending a first rotation signal to the first rotating motor, the method includes:

[0021] The first loading visual inspection device takes a picture of the first chip, obtains a first angle value and sends it to the controller;

[0022] The second loading visual inspection device takes a photo of the second chip, obtains a second angle value and sends it to the controller.

[0023] According to some embodiments of the present invention, after sending a first pick-and-place signal to the Z-axis motor, the method includes:

[0024] The Z-axis motor responds to the first pick-and-place signal, and the Z-axis motor drives the rotating shaft to rotate to a first position, so that the first transmission block drives the first pick-and-place head to move down to a first height, and the second transmission block drives the second pick-and-place head to move up to a second height, and the second height is higher than the first height;

[0025] After sending a second pick-and-place signal to the Z-axis motor, the method includes:

[0026] The Z-axis motor responds to the second pick-and-place signal, and the Z-axis motor drives the rotating shaft to rotate to the second position, so that the first transmission block drives the first pick-and-place head to move up to the second height, and the second transmission block drives the second pick-and-place head to move down to the first height.

[0027] According to some embodiments of the present invention, the number of the pick-and-place components is at least two, the first pick-and-place heads of two adjacent pick-and-place components are connected by a first belt, the second pick-and-place heads of two adjacent pick-and-place components are connected by a second belt, the first rotary motor drives the first belt to rotate, the second rotary motor drives the second belt to rotate, the pick-and-place component further comprises a first synchronous pulley and a second synchronous pulley, the first pick-and-place head is slidably provided through the first synchronous pulley, the first belt abuts against the outer side of the first synchronous pulley, the second pick-and-place head is slidably provided through the second synchronous pulley, the second belt abuts against the outer side of the second synchronous pulley;

[0028] Sending a first rotation signal to a first rotating motor includes:

[0029] photographing the first chip at an nth angle by the first loading visual inspection device, where n is an integer greater than one and less than or equal to the number of the pick-and-place components;

[0030] The controller calculates an nth compensation angle based on the n-1th angle and the nth angle, and sends the calculation result to the first rotating motor;

[0031] The first rotating motor drives the first pick-and-place head to rotate the nth compensation angle through the first belt and the first synchronous pulley based on the nth compensation angle;

[0032] Sending the first rotation signal to a second rotating electrical machine includes:

[0033] The second loading visual inspection device photographs the second chip at an m-th angle, where m is an integer greater than one and less than or equal to the number of the pick-and-place components;

[0034] The controller calculates an mth compensation angle based on the m-1th angle and the mth angle, and sends the calculation result to the second rotating motor;

[0035] The second rotary motor drives the second pick-and-place head to rotate the mth compensation angle through the second belt and the second synchronous pulley based on the mth compensation angle;

[0036] Before sending the second rotation signal to the first rotating motor, the method comprises:

[0037] All the first pick-and-place heads have absorbed the first chip, and all the second pick-and-place heads have absorbed the second chip;

[0038] The Z-axis motor drives the rotating shaft to rotate, thereby driving the third transmission block to rotate until both ends of the third transmission block are at the same height;

[0039] After sending the second rotation signal to the first rotating motor, the method includes:

[0040] The first rotating motor responds to the second rotating signal, and the first rotating motor drives the first pick-and-place head to rotate to an initial angle through the first belt and the first synchronous pulley, wherein the initial angle is a preset angle of the first chip or the second chip after unloading;

[0041] After sending the second rotation signal to the second rotating motor, the method includes:

[0042] The second rotating motor responds to the second rotating signal, and the second rotating motor drives the second pick-and-place head to rotate to the initial angle through the second belt and the second synchronous pulley.

[0043] In the third aspect, an embodiment of the present invention provides a control device for a multi-head pick-and-place mechanism, comprising at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions executable by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute the control method for the multi-head pick-and-place mechanism as described in the second aspect above.

[0044] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the control method of the multi-head pick-and-place mechanism as described in the second aspect above.

[0045] The multi-head pick-and-place mechanism according to the embodiment of the present invention has at least the following beneficial effects: a mounting plate; a pick-and-place assembly, the pick-and-place assembly being mounted on the front side of the mounting plate, the pick-and-place assembly comprising a first transmission block, a second transmission block, a first pick-and-place head and a second pick-and-place head, the first transmission block being connected to the first pick-and-place head, the second transmission block being connected to the second pick-and-place head, the first pick-and-place head being used to adsorb the first chip, and the second pick-and-place head being used to adsorb the second chip; a Z-axis motor, the Z-axis motor being fixed to the rear side of the mounting plate, the Z-axis motor being provided with a rotating shaft, the rotating shaft being perpendicular to the mounting plate, The rotating shaft is connected to a third transmission block, the left side of the third transmission block is connected to the first transmission block, and the right side is connected to the second transmission block, the Z-axis motor drives the rotating shaft to rotate, so that the first pick-and-place head and the second pick-and-place head move up and down respectively; a rotating motor group, the rotating motor group is fixed to the rear side of the mounting plate, the rotating motor group includes a first rotating motor and a second rotating motor, the first rotating motor drives the first pick-and-place head to rotate, and the second rotating motor drives the second pick-and-place head to rotate; a controller, the controller is communicatively connected with the Z-axis motor and the rotating motor group. According to the technical solution of the embodiment of the present invention, it is possible to ensure the efficiency of chip material collection and transportation while reducing the number of Z-axis motors of multi-head chip pick-and-place equipment, thereby reducing the cost of multi-head chip pick-and-place equipment, and it is possible to reduce the number of rotating motors of multi-head chip pick-and-place equipment and reduce the floor space. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a front schematic diagram of a multi-head pick-and-place mechanism provided by one embodiment of the present invention;

[0047] Figure 2 is a schematic diagram of the back side of a multi-head pick-and-place mechanism provided by another embodiment of the present invention;

[0048] Figure 3 is a disassembled diagram of a multi-head pick-and-place mechanism provided by another embodiment of the present invention;

[0049] Figure 4 is a flow chart of a control method of a multi-head pick-and-place mechanism provided by another embodiment of the present invention;

[0050] Figure 5 It is a structural diagram of a multi-head pick-and-place mechanism provided in another embodiment of the present invention. DETAILED DESCRIPTION

[0051] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0052] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0053] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0054] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0055] The multi-head pick-and-place mechanism according to the embodiment of the present invention has at least the following beneficial effects: a mounting plate; a pick-and-place assembly, the pick-and-place assembly being mounted on the front side of the mounting plate, the pick-and-place assembly comprising a first transmission block, a second transmission block, a first pick-and-place head and a second pick-and-place head, the first transmission block being connected to the first pick-and-place head, the second transmission block being connected to the second pick-and-place head, the first pick-and-place head being used to adsorb the first chip, and the second pick-and-place head being used to adsorb the second chip; a Z-axis motor, the Z-axis motor being fixed to the rear side of the mounting plate, the Z-axis motor being provided with a rotating shaft, the rotating shaft being perpendicular to the mounting plate, The rotating shaft is connected to a third transmission block, the left side of the third transmission block is connected to the first transmission block, and the right side is connected to the second transmission block, the Z-axis motor drives the rotating shaft to rotate, so that the first pick-and-place head and the second pick-and-place head move up and down respectively; a rotating motor group, the rotating motor group is fixed to the rear side of the mounting plate, the rotating motor group includes a first rotating motor and a second rotating motor, the first rotating motor drives the first pick-and-place head to rotate, and the second rotating motor drives the second pick-and-place head to rotate; a controller, the controller is communicatively connected with the Z-axis motor and the rotating motor group. According to the technical solution of the embodiment of the present invention, it is possible to ensure the efficiency of chip material collection and transportation while reducing the number of Z-axis motors of multi-head chip pick-and-place equipment, thereby reducing the cost of multi-head chip pick-and-place equipment, and it is possible to reduce the number of rotating motors of multi-head chip pick-and-place equipment and reduce the floor space.

[0056] First, refer to Figure 1 and Figure 2 , the multi-head pick-and-place mechanism provided in the embodiment of the present application includes:

[0057] Mounting plate 10;

[0058] The pick-and-place assembly is installed on the front side of the mounting plate 10. The pick-and-place assembly includes a first transmission block 21, a second transmission block 22, a first pick-and-place head 31, and a second pick-and-place head 32. The first transmission block 21 is connected to the first pick-and-place head 31, and the second transmission block 22 is connected to the second pick-and-place head 32. The first pick-and-place head 31 is used to absorb the first chip, and the second pick-and-place head 32 is used to absorb the second chip.

[0059] A Z-axis motor 40 is fixed to the rear side of the mounting plate 10. The Z-axis motor 40 is provided with a rotating shaft, which is perpendicular to the mounting plate 10. The rotating shaft is connected to a third transmission block 41. The left side of the third transmission block 41 is connected to the first transmission block 21, and the right side is connected to the second transmission block 22. The Z-axis motor 40 drives the rotating shaft to rotate, so that the first pick-and-place head 31 and the second pick-and-place head 32 move up and down respectively.

[0060] A rotating motor group, which is fixed to the rear side of the mounting plate 10 , and includes a first rotating motor 51 and a second rotating motor 52 . The first rotating motor 51 drives the first pick-and-place head 31 to rotate, and the second rotating motor 52 drives the second pick-and-place head 32 to rotate;

[0061] A controller is connected in communication with the Z-axis motor 40 and the rotating motor group.

[0062] It should be noted that the mounting plate 10 is vertically arranged so that the first pick-and-place head 31 and the second pick-and-place head 32 installed on the front side of the mounting plate 10 can move in the vertical direction; the mounting plate 10 is provided with a through hole for avoiding the interconnected rotating shaft and the third transmission block 41 so that the first transmission block 21 and the second transmission block 22 can be located on the front side of the mounting plate 10; to ensure that the first pick-and-place head 31 and the second pick-and-place head 32 will not shift in the vertical direction, the front side of the mounting plate 10 is provided with a first guide rail and a second guide rail, the first transmission block 21 slides on the first guide rail, and the second transmission block 22 slides on the second guide rail. The front side of the mounting plate 10 is provided with a first positioning block and a second positioning block, the front side of the positioning block is provided with a vertical groove, and the upper ends of the first transmission block 21 and the second transmission block 22 are provided with positioning pieces, and during the rising and falling process of the first pick-and-place head 31 and the second pick-and-place head 32, the positioning pieces slide in the positioning grooves.

[0063] It should be noted that the first transmission block 21 is connected to the upper end of the first pick-and-place head 31 , and the second transmission block 22 is connected to the upper end of the second pick-and-place head 32 .

[0064] It should be noted that the Z-axis motor 40 drives the rotating shaft to rotate, and the rotating shaft drives the third transmission block 41 to rotate, so that there is a height difference between the first transmission block 21 and the second transmission block 22, and the first transmission block 21 and the second transmission block 22 drive the first pick-and-place head 31 and the second pick-and-place head 32 to move up and down respectively, that is, the movement directions of the first pick-and-place head 31 and the second pick-and-place head 32 driven by the same Z-axis motor 40 are opposite. Both ends of the third transmission block 41 are provided with protrusions, and the rear ends of the first transmission block 21 and the second transmission block 22 are provided with horizontal grooves. When the third transmission block 41 rotates, the protrusions of the third transmission block 41 slide in the horizontal grooves of the first transmission block 21 and the second transmission block 22.

[0065] It should be noted that, in the process of picking up and transporting the chip, the pick-and-place head rotates before the pick-and-place head absorbs the chip. Before the pick-and-place head absorbs the chip, the pick-and-place head needs to be driven to rotate to the same angle as the chip, and the pick-and-place head rotates after the pick-and-place head absorbs the chip. After the pick-and-place head absorbs the chip, the pick-and-place head needs to be driven to rotate to a preset angle for putting down the chip; the action of the rotating motor group is independent of the Z-axis motor 40. The rotating motor can work when the Z-axis motor 40 drives the rotating shaft to rotate, and can also drive the first pick-and-place head 31 and the second pick-and-place head 32 to rotate when the first pick-and-place head 31 and the second pick-and-place head 32 are stationary. The pick-and-place head rotation process before absorption can be completed before the pick-and-place head absorbs the chip, and the pick-and-place head rotation process after absorption can be completed before the pick-and-place head puts down the chip. In order to save time and improve efficiency, preferably, when the first pick-and-place head 31 absorbs or puts down the chip, the second pick-and-place head 32 is driven to rotate; when the second pick-and-place head 32 absorbs or puts down the chip, the first pick-and-place head 31 is driven to rotate.

[0066] Through the technical solution of this embodiment, the Z-axis motor 40 can be driven by the controller. The Z-axis motor 40 drives the rotating shaft to rotate, drives the first transmission block 21 to rise, and the second transmission block 22 to fall, thereby driving the first pick-and-place head 31 to rise, and the second pick-and-place head 32 to fall; the controller drives the first pick-and-place head 31 to rotate by driving the rotating motor group, so that the first pick-and-place head 31 completes the rotation before adsorbing the first chip, thereby successfully adsorbing the first chip; then, the controller drives the Z-axis motor 40 to drive the rotating shaft to rotate, drives the first Li Chuan De Kuai to descend, and the second transmission block 22 to rise, thereby driving the first pick-and-place head 31 to descend, and the second pick-and-place head 32 to rise; the controller drives the second pick-and-place head 32 to rotate by driving the rotating motor group, so that the second pick-and-place head 32 completes the rotation before adsorbing the second chip, thereby successfully adsorbing the second chip. After the first pick-and-place head 31 and the second pick-and-place head 32 have both adsorbed the chips, the controller drives the Z-axis motor 40 to drive the rotating shaft to rotate, drives the first transmission block 21 to rise, and the second transmission block 22 to fall, thereby driving the first pick-and-place head 31 to rise, and the second pick-and-place head 32 to fall; the controller drives the first pick-and-place head 31 to rotate to the preset angle of the first chip after unloading by driving the rotating motor group, so that the first pick-and-place head 31 completes the rotation before putting down the first chip, so that the first chip is put down and the angle of the first chip is consistent; then, the controller drives the Z-axis motor 40 to drive the rotating shaft to rotate, drives the first transmission block 21 to rise, and the second transmission block 22 to fall, thereby driving the first pick-and-place head 31 to rise, and the second pick-and-place head 32 to fall; the controller drives the first pick-and-place head 31 to rotate to the preset angle of the second chip after unloading by driving the rotating motor group, so that the first pick-and-place head 31 completes the rotation before putting down the first chip, so that the second chip is put down and the angle of the second chip is consistent. Thereby, the number of Z-axis motors 40 can be reduced while ensuring the chip picking and placing efficiency of the multi-head chip picking and placing mechanism, thereby reducing the cost of the multi-head chip picking and placing equipment.

[0067] In addition, in one embodiment, referring to Figure 1 The pick-and-place component also includes a first loading visual inspection device and a second loading visual inspection device. The shooting direction of the first loading visual inspection device is aligned with the first chip, and the shooting direction of the second loading visual inspection device is aligned with the second chip. The first loading visual inspection device and the second loading visual inspection device are communicatively connected to the controller.

[0068] It should be noted that the loading visual inspection device is used to take pictures of the first chip and the second chip, and detect the angle of the first chip and the second chip based on the photographed image, and send the detected angle to the controller, so as to provide a rotation angle basis for the subsequent controller to drive the first pick-and-place head 31 or the second pick-and-place head 32 to rotate through the rotating motor group.

[0069] In addition, in one embodiment, referring to Figure 1 and Figure 2 The number of pick-and-place components is at least two, the first pick-and-place heads 31 of two adjacent pick-and-place components are connected by a first belt 61, the second pick-and-place heads 32 of two adjacent pick-and-place components are connected by a second belt 62, the first rotating motor 51 drives the first belt 61 to rotate, and the second rotating motor 52 drives the second belt 62 to rotate.

[0070] It should be noted that when the number of pick-and-place components is greater than two, the first belt 61 can be used to abut all the first pick-and-place heads 31, and the second belt 62 can be used to abut all the second pick-and-place heads 32, so that the first pick-and-place heads 31 and the second pick-and-place heads 32 of multiple pick-and-place components can be driven to rotate by a first rotary motor 51 and a second rotary motor 52 respectively; multiple rotary motors and multiple belts can also be adaptively set based on the number of pick-and-place components. For example, when the number of pick-and-place components is four, two first rotary motors 51 and two first belts 61, two second rotary motors 52 and two second belts 62 are set, one first rotary motor 51 drives the first pick-and-place heads 31 of the two pick-and-place components to rotate, and one second rotary motor 52 drives the second pick-and-place heads 32 of the two pick-and-place components to rotate, thereby improving the efficiency of adjusting the chip angle and the chip transfer efficiency of the multi-head pick-and-place equipment.

[0071] In addition, in one embodiment, referring to Figure 1 and Figure 3 The pick-and-place assembly also includes a first synchronous pulley 71 and a second synchronous pulley 72. The first pick-and-place head 31 is slidably disposed on the first synchronous pulley 71, and the first belt 61 abuts against the outer side of the first synchronous pulley 71. The second pick-and-place head 32 is slidably disposed on the second synchronous pulley 72, and the second belt 62 abuts against the outer side of the second synchronous pulley 72.

[0072] It should be noted that in order to avoid mutual influence between the rotation of the first pick-and-place head 31 and the rotation of the second pick-and-place head 32, the first synchronous pulley 71 and the second synchronous pulley 72 are not located at the same height, so that the first belt 61 and the second belt 62 are not at the same height, that is, the first belt 61 does not abut against the second synchronous pulley 72, and the second belt 62 does not abut against the first synchronous pulley 71.

[0073] It should be noted that, since the rotary motor realizes the rotation of at least two pick-and-place heads through the belt and the synchronous pulley, when the rotary motor drives the belt to rotate, the pick-and-place heads abutting against the belt all rotate at the same angle.

[0074] In addition, an embodiment of the present invention provides a control method for a multi-head pick-and-place mechanism, which is applied to Figures 1 to 3 The multi-head pick-and-place mechanism of the embodiment shown, referring to Figure 4 The method includes but is not limited to the following steps:

[0075] S10, sending a first rotation signal to the first rotation motor, sending a first pick-and-place signal to the Z-axis motor, the Z-axis motor drives the first pick-and-place head to move downward and the second pick-and-place head to move upward through the rotation axis, and the first pick-and-place head absorbs the first chip;

[0076] S20, sending a first rotation signal to the second rotation motor, sending a second pick-and-place signal to the Z-axis motor, the Z-axis motor drives the first pick-and-place head to move up and the second pick-and-place head to move down through the rotation axis, and the second pick-and-place head absorbs the second chip;

[0077] S30, sending a second rotation signal to the first rotary motor, the first rotary motor drives the first pick-and-place head to rotate, sending a first pick-and-place signal to the Z-axis motor, the Z-axis motor drives the first pick-and-place head to move downward and the second pick-and-place head to move upward through the rotating shaft, and the first pick-and-place head puts down the first chip;

[0078] S40, sending a second rotation signal to the second rotating motor, the second rotating motor drives the second pick and place head to rotate, sending a second pick and place signal to the Z-axis motor, the Z-axis motor drives the first pick and place head to move up and the second pick and place head to move down through the rotating shaft, the second pick and place head puts down the second chip, when the second pick and place head puts down the second chip and completes the rotation, the controller sends a first rotation signal to the first rotating motor, and sends a first pick and place signal to the Z-axis motor.

[0079] It should be noted that the working principle of the multi-head pick-and-place mechanism of the present application to realize chip material picking and transportation can be referred to Figures 1 to 3 The embodiments of the present invention will not be repeated here.

[0080] It should be noted that the workflow of the multi-head pick-and-place mechanism is cyclically performed through the controller. Through the controller, one Z-axis motor drives two pick-and-place heads, and two rotary motors drive one pick-and-place head respectively; the rotation of the first pick-and-place head can be completed before the first pick-and-place head descends, or during the first pick-and-place head descends, or after the first pick-and-place head descends; the rotation of the second pick-and-place head can be completed before the second pick-and-place head descends, or during the second pick-and-place head descends, or after the second pick-and-place head descends.

[0081] It should be noted that the first pick-and-place signal and the second pick-and-place signal generated by the controller include the rotation direction of the Z-axis motor.

[0082] It should be noted that the multi-head pick-and-place mechanism is turned on after being powered on and receiving a start signal, the controller is started and generates a first pick-and-place signal and a first rotation signal, and based on the communication connection between the controller and the Z-axis motor and the rotating motor group, the first rotation signal is sent to the first rotating motor, and the first pick-and-place signal is sent to the Z-axis motor. The first rotating motor drives the first pick-and-place head to rotate based on the rotation angle in the first rotation signal; after the first pick-and-place head absorbs the first chip, it generates and sends a signal to the controller, the controller generates and sends the first rotation signal to the second rotating motor, generates and sends the second pick-and-place signal to the Z-axis motor, and the second rotating motor drives the second pick-and-place head to rotate based on the rotation angle in the first rotation signal; after the second pick-and-place head absorbs the second chip, it generates and sends a signal to The controller generates and sends a second rotation signal to the first rotary motor, generates and sends a first pick-and-place signal to the Z-axis motor, and the first rotary motor drives the first pick-and-place head to rotate based on the rotation angle in the second rotation signal; after the first pick-and-place head puts down the chip, it generates and sends a signal to the controller, the controller generates and sends a second rotation signal to the second rotary motor, generates and sends a second pick-and-place signal to the Z-axis motor, and the second rotary motor drives the second pick-and-place head to rotate based on the rotation angle in the second rotation signal; after the second pick-and-place head puts down the chip, it generates and sends a signal to the controller, the controller generates and sends a first rotation signal to the first rotary motor, generates and sends a first pick-and-place signal to the Z-axis motor, thereby realizing a cyclic workflow of the multi-head pick-and-place mechanism to pick and place chips.

[0083] In addition, in one embodiment, the pick-and-place assembly further includes a first loading visual inspection device and a second loading visual inspection device, the shooting direction of the first loading visual inspection device is aligned with the first chip, the shooting direction of the second loading visual inspection device is aligned with the second chip, and the first loading visual inspection device and the second loading visual inspection device are communicatively connected to the controller;

[0084] Before executing step S10, the following steps are also included but not limited to:

[0085] S01, a first loading visual inspection device takes a picture of a first chip, obtains a first angle value and sends it to a controller;

[0086] S02, the second loading visual inspection device takes a picture of the second chip, obtains a second angle value and sends it to the controller.

[0087] It should be noted that the shooting direction of the first loading visual inspection device is aligned with the first chip. When the multi-head pick-and-place mechanism is started, the first loading device takes a picture of the first chip and obtains the image of the first chip, and performs angle recognition based on the image of the first chip to obtain a first angle value, and based on the communication connection between the first loading visual device and the controller, the first angle value is sent to the controller; the shooting direction of the second loading visual inspection device is aligned with the second chip. When the multi-head pick-and-place mechanism is started, the second loading device takes a picture of the second chip and obtains the image of the second chip, and performs angle recognition based on the image of the second chip to obtain a second angle value, and based on the communication connection between the second loading visual device and the controller, the second angle value is sent to the controller. This provides a basis for the subsequent controller to drive the rotation angle of the first pick-and-place head and the second pick-and-place head through the rotating motor group.

[0088] It should be noted that those skilled in the art have the ability to use existing technologies to identify and obtain the angle of the photographed object by taking images. This application does not make any improvements to the method of obtaining the angle of the photographed object based on the photographed image, and will not be elaborated here.

[0089] In addition, in one embodiment, step S10, step S20, step S30 and step S40 specifically include but are not limited to the following steps:

[0090] S21, the Z-axis motor responds to the first pick-and-place signal, and the Z-axis motor drives the rotating shaft to rotate to the first position, so that the first transmission block drives the first pick-and-place head to move down to the first height, and the second transmission block drives the second pick-and-place head to move up to the second height, and the second height is higher than the first height;

[0091] S22, the Z-axis motor responds to the second pick-and-place signal, and the Z-axis motor drives the rotating shaft to rotate to the second position, so that the first transmission block drives the first pick-and-place head to move up to the second height, and the second transmission block drives the second pick-and-place head to move down to the first height.

[0092] It should be noted that the controller sends a first pick-and-place signal to the Z-axis motor. After the Z-axis motor receives the signal, the Z-axis motor starts and drives the rotating shaft to rotate until the rotating shaft rotates to the first position. After the Z-axis motor drives the rotating shaft to rotate to the first position, the Z-axis motor sends a signal to the controller. When the controller simultaneously receives the signal from the Z-axis motor about the rotating shaft rotating to the first position and the rotation of the first rotating motor is completed, the controller sends a signal to the first pick-and-place head. After receiving the signal, the first pick-and-place head adsorbs the first chip.

[0093] It should be noted that the controller sends a second pick-and-place signal to the Z-axis motor. After the Z-axis motor receives the signal, the Z-axis motor starts and drives the rotating shaft to rotate until the rotating shaft rotates to the second position. After the Z-axis motor drives the rotating shaft to rotate to the second position, the Z-axis motor sends a signal to the controller. When the controller simultaneously receives the signal from the Z-axis motor about the rotating shaft rotating to the second position and the rotation of the second rotating motor is completed, the controller sends a signal to the second pick-and-place head. After receiving the signal, the second pick-and-place head absorbs the second chip.

[0094] It should be noted that after the Z-axis motor responds to the first pick-and-place signal or the second pick-and-place signal, it drives the rotating shaft to rotate so that there is a height difference between the first pick-and-place head and the second pick-and-place head, thereby providing sufficient rotation space for the rotation of the first pick-and-place head and the second pick-and-place head; the up and down movement process of the first pick-and-place head and the second pick-and-place head not only realizes the loading and unloading of the two pick-and-place heads, but also provides sufficient rotation time for the rotation of the pick-and-place heads.

[0095] In addition, in one embodiment, the number of the pick-and-place components is at least two, the first pick-and-place heads of two adjacent pick-and-place components are connected by a first belt, the second pick-and-place heads of two adjacent pick-and-place components are connected by a second belt, the first rotary motor drives the first belt to rotate, and the second rotary motor drives the second belt to rotate, the pick-and-place components further include a first synchronous pulley and a second synchronous pulley, the first pick-and-place head is slidably arranged through the first synchronous pulley, the first belt abuts against the outer side of the first synchronous pulley, the second pick-and-place head is slidably arranged through the second synchronous pulley, and the second belt abuts against the outer side of the second synchronous pulley;

[0096] Step S10, step S20, step S30 and step S40 specifically include but are not limited to the following steps:

[0097] Sending a first rotation signal to a first rotating motor includes:

[0098] S31, photographing the nth angle of the first chip by the first loading visual inspection device, where n is an integer greater than one and less than or equal to the number of pick-and-place components;

[0099] S32, the controller calculates an nth compensation angle based on the n-1th angle and the nth angle, and sends the calculated compensation angle to the first rotating motor;

[0100] S33, the first rotating motor drives the first pick-and-place head to rotate the nth compensation angle through the first belt and the first synchronous pulley based on the nth compensation angle;

[0101] Sending a first rotation signal to a second rotating motor includes:

[0102] S41, photographing the mth angle of the second chip by the second loading visual inspection device, where m is an integer greater than one and less than or equal to the number of pick-and-place components;

[0103] S42, the controller calculates an mth compensation angle based on the m-1th angle and the mth angle, and sends the calculated compensation angle to the second rotating motor;

[0104] S43, the second rotary motor drives the second pick-and-place head to rotate the mth compensation angle through the second belt and the second synchronous pulley based on the mth compensation angle;

[0105] Before sending the second rotation signal to the first rotating motor, the method comprises:

[0106] S51, all first pick-and-place heads have absorbed the first chip, and all second pick-and-place heads have absorbed the second chip;

[0107] S52, the Z-axis motor drives the rotating shaft to rotate, thereby driving the third transmission block to rotate until two ends of the third transmission block are at the same height;

[0108] After sending the second rotation signal to the first rotating motor, the method includes:

[0109] S61, the first rotating motor responds to the second rotating signal, and the first rotating motor drives the first pick-and-place head to rotate to an initial angle through the first belt and the first synchronous pulley, wherein the initial angle is a preset angle of the first chip or the second chip after unloading;

[0110] After sending the second rotation signal to the second rotating motor, the method includes:

[0111] S71, the second rotary motor responds to the second rotation signal, and the second rotary motor drives the second pick-and-place head to rotate to an initial angle through the second belt and the second synchronous pulley.

[0112] It should be noted that when the multi-head pick-and-place mechanism is started, the first feeding visual device and the second feeding visual device take pictures of the first chip and the second chip, and obtain the angle value of the photographed object based on the image and send it to the controller; the first rotation signal and the second rotation signal sent by the controller include the rotation angle of the control rotating motor group. The rotating motor group receives and starts based on the first rotation signal and the second rotation signal, and realizes the rotation angle of the pick-and-place head included in the rotation signal through the belt and the synchronous pulley.

[0113] It should be noted that, a first rotating motor drives at least two first pick-and-place heads simultaneously through the first belt and the first synchronous pulley, and a second rotating motor drives at least two second pick-and-place heads simultaneously through the second belt and the second synchronous pulley.

[0114] To facilitate understanding of the technical solution of this embodiment, the following specific embodiments are provided:

[0115] Exemplarily, taking the first chip as an example, there are a pick-and-place components, a first loading detection device detects the angle of a first chip, and obtains the first angle, second angle, ..., ath angle of the first chip. If the initial default angle of the first pick-and-place head is zero, the first compensation angle is equal to the first angle; for the second compensation angle of the first rotary motor, based on the first angle and the second angle of the first chip, the second compensation angle is the difference between the first angle of the first chip and the second angle of the first chip, that is, the angle value obtained by subtracting the first angle of the first chip from the second angle of the first chip. As described above, it can be obtained that the nth compensation angle of the first rotary motor is the difference between the nth angle of the first chip and the n-1th angle of the first chip, the nth compensation angle of the first rotary motor is equal to the angle value obtained by subtracting the n-1th angle of the first chip from the nth angle of the first chip, and the first compensation angle of the first rotary motor is equal to the angle value obtained by subtracting the initial angle of the first pick-and-place head from the first angle of the first chip.

[0116] Similarly, the mth compensation angle of the second rotary motor is the difference between the mth angle of the second chip and the m-1th angle of the second chip. The mth compensation angle of the second rotary motor is equal to the angle value obtained by subtracting the m-1th angle of the second chip from the mth angle of the second chip. The first compensation angle of the second rotary motor is equal to the angle value obtained by subtracting the initial angle of the second pick-and-place head from the first angle of the second chip.

[0117] It should be noted that no matter what the compensation angles of the first rotating motor and the second rotating motor are, the first chip is driven to rotate to the initial angle by the first pick-and-place head, and the second chip is driven to rotate to the initial angle by the second pick-and-place head, so that the chips transported by the multi-head pick-and-place mechanism and the control method of the multi-head pick-and-place mechanism of the present application are placed at the same angle.

[0118] In addition, in order to better illustrate the technical solution of this embodiment, a specific example is provided below. When the number of pick-and-place components is two, for easy distinction, there are a first pick-and-place component and a second pick-and-place component. The first Z-axis motor drives the first pick-and-place component, and the second Z-axis motor drives the second pick-and-place component, including but not limited to the following steps:

[0119] S800, perform angle detection on multiple first chips through multiple first loading visual detection devices and send the results to the controller, the angle photographed by the first loading visual device of the first component is the first angle of the first chip, and the angle photographed by the second loading visual device of the first component is the first angle of the second chip; perform angle detection on multiple second loading visual detection devices and multiple second chips and send the results to the controller, the angle photographed by the first loading visual device of the second component is the second angle of the first chip, and the angle photographed by the second loading visual device of the second component is the second angle of the second chip; the controller obtains the first compensation angle and the second compensation angle of the first rotating motor and the second rotating motor based on the obtained first angle and second angle.

[0120] S811, the controller sends a first rotation signal to the first rotary motor, sends a first pick-and-place signal to the first Z-axis motor, the first Z-axis motor responds to the first pick-and-place signal and drives the rotary shaft to rotate to the first position, the first pick-and-place head of the first pick-and-place assembly moves down to the first height, the second pick-and-place head of the first pick-and-place assembly moves up to the second height, during the downward movement of the first pick-and-place head of the first pick-and-place assembly, the first rotary motor drives the first pick-and-place head of the first pick-and-place assembly to rotate the first compensation angle of the first rotary motor, and when the first pick-and-place head of the first pick-and-place assembly completes the downward movement and rotation, the first pick-and-place head of the first pick-and-place assembly adsorbs the chip;

[0121] S821, the controller sends a first rotation signal to the second rotary motor, sends a second pick-and-place signal to the second Z-axis motor, the second Z-axis motor responds to the second pick-and-place signal and drives the rotary shaft to rotate to the second position, the second pick-and-place head of the first pick-and-place assembly moves down to the first height, the first pick-and-place head of the first pick-and-place assembly moves up to the second height, during the process of the first pick-and-place head of the first pick-and-place assembly adsorbing the chip, the second rotary motor drives the second pick-and-place head of the first pick-and-place assembly to rotate the first compensation angle of the second rotary motor, when the second pick-and-place head of the first pick-and-place assembly completes the downward movement and rotation, the second pick-and-place head of the first pick-and-place assembly adsorbs the chip;

[0122] S812, the controller sends a first rotation signal to the first rotating motor, sends a first pick-and-place signal to the second Z-axis motor, the second Z-axis motor responds to the first pick-and-place signal and drives the rotating shaft to rotate to the first position, the first pick-and-place head of the second pick-and-place assembly moves down to the first height, the second pick-and-place head of the second pick-and-place assembly moves up to the second height, during the process of the second pick-and-place head of the first pick-and-place assembly adsorbing the chip, the first rotating motor drives the first pick-and-place head of the second pick-and-place assembly to rotate the second compensation angle of the first rotating motor, when the first pick-and-place head of the second pick-and-place assembly completes the downward movement and rotation, the first pick-and-place head of the second pick-and-place assembly adsorbs the chip;

[0123] S822, the controller sends a first rotation signal to the second rotary motor, and sends a second pick-and-place signal to the second Z-axis motor. The second Z-axis motor responds to the second pick-and-place signal and drives the rotary shaft to rotate to the second position. The second pick-and-place head of the second pick-and-place assembly moves down to the first height, and the first pick-and-place head of the first pick-and-place assembly moves up to the second height. During the process of the first pick-and-place head of the second pick-and-place assembly adsorbing the chip, the second rotary motor drives the second pick-and-place head of the second pick-and-place assembly to rotate the second compensation angle of the second rotary motor. When the second pick-and-place head of the second pick-and-place assembly completes the downward movement and rotation, the second pick-and-place head of the second pick-and-place assembly adsorbs the chip. At this point, the first pick-and-place heads and the second pick-and-place heads of all pick-and-place assemblies have adsorbed the chips, and the first Z-axis motor and the second Z-axis motor drive the two ends of the third rotating block to be at the same height.

[0124] S831, the controller sends a second rotation signal to the first rotary motor, sends a first pick-and-place signal to the first Z-axis motor, the first Z-axis motor responds to the first pick-and-place signal and drives the rotary shaft to rotate to the first position, the first pick-and-place head of the first pick-and-place assembly moves down to the first height, the second pick-and-place head of the first pick-and-place assembly moves up to the second height, during the downward movement of the first pick-and-place head of the first pick-and-place assembly, the first rotary motor drives the first pick-and-place head of the first pick-and-place assembly to rotate to the initial angle, when the first pick-and-place head of the first pick-and-place assembly completes the downward movement and rotation, the first pick-and-place head of the first pick-and-place assembly puts down the chip;

[0125] S841, the controller sends a second rotation signal to the second rotary motor, sends a second pick-and-place signal to the first Z-axis motor, the second Z-axis motor responds to the second pick-and-place signal and drives the rotary shaft to rotate to the second position, the second pick-and-place head of the first pick-and-place assembly moves down to the first height, the first pick-and-place head of the first pick-and-place assembly moves up to the second height, during the process of the first pick-and-place head of the first pick-and-place assembly putting down the chip, the second rotary motor drives the second pick-and-place head of the first pick-and-place assembly to rotate to the initial angle, when the second pick-and-place head of the first pick-and-place assembly completes the downward movement and rotation, the second pick-and-place head of the first pick-and-place assembly puts down the chip;

[0126] S832, the controller sends a second rotation signal to the first rotary motor, sends a first pick-and-place signal to the second Z-axis motor, the second Z-axis motor responds to the first pick-and-place signal and drives the rotary shaft to rotate to the first position, the first pick-and-place head of the second pick-and-place assembly moves down to the first height, the second pick-and-place head of the second pick-and-place assembly moves up to the second height, during the process of the second pick-and-place head of the first pick-and-place assembly putting down the chip, the first rotary motor drives the first pick-and-place head of the second pick-and-place assembly to rotate to the initial angle, when the first pick-and-place head of the second pick-and-place assembly completes the downward movement and rotation, the first pick-and-place head of the second pick-and-place assembly puts down the chip;

[0127] S842, the controller sends a second rotation signal to the second rotary motor, and sends a second pick and place signal to the second Z-axis motor. The second Z-axis motor responds to the second pick and place signal and drives the rotary shaft to rotate to the second position. The second pick and place head of the second pick and place assembly moves down to the first height, and the first pick and place head of the second pick and place assembly moves up to the second height. During the process of the first pick and place head of the second pick and place assembly putting down the chip, the second rotary motor drives the second pick and place head of the second pick and place assembly to rotate to the initial angle. When the second pick and place head of the second pick and place assembly completes the downward movement and rotation, the second pick and place head of the second pick and place assembly puts down the chip. At this point, after the first pick and place heads and the second pick and place heads of all pick and place assemblies have put down the chips, the controller sends a first rotation signal to the first rotary motor, and sends a first pick and place signal to the first Z-axis motor.

[0128] like Figure 5 As shown, Figure 5 : is a structural diagram of a control device for a multi-head pick-and-place mechanism provided by an embodiment of the present invention. The present invention also provides a control device for a multi-head pick-and-place mechanism, comprising:

[0129] The processor 901 may be implemented by a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0130] The memory 902 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 902 can store an operating system and other application programs. When the technical solution provided in the embodiments of this specification is implemented by software or firmware, the relevant program code is stored in the memory 902, and the processor 901 calls and executes the control method of the device for the multi-head pick-and-place mechanism of the embodiment of the present application;

[0131] Input / output interface 903, used to implement information input and output;

[0132] Communication interface 904, used to realize communication interaction between the device and other devices, which can be realized through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WI FI, Bluetooth, etc.);

[0133] A bus 905 that transmits information between various components of the device (e.g., the processor 901, the memory 902, the input / output interface 903, and the communication interface 904);

[0134] The processor 901 , the memory 902 , the input / output interface 903 and the communication interface 904 are connected to each other in communication within the device via a bus 905 .

[0135] An embodiment of the present application further provides a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, a control method for the device of the multi-head pick-and-place mechanism is implemented.

[0136] As a non-transient computer-readable storage medium, the memory can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and are implemented to be located in one place, or may also be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0137] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed method above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that may be used to store desired information and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically include computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0138] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions under the shared conditions without violating the spirit of the present invention. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A multi-head pick-and-place mechanism, characterized in that: include: Mounting plate; A pick-and-place assembly, the pick-and-place assembly is installed on the front side of the mounting plate, the pick-and-place assembly includes a first transmission block, a second transmission block, a first pick-and-place head and a second pick-and-place head, the first transmission block is connected to the first pick-and-place head, the second transmission block is connected to the second pick-and-place head, the first pick-and-place head is used to absorb the first chip, and the second pick-and-place head is used to absorb the second chip; A Z-axis motor, the Z-axis motor is fixed to the rear side of the mounting plate, the Z-axis motor is provided with a rotating shaft, the rotating shaft is perpendicular to the mounting plate, the rotating shaft is connected to a third transmission block, the left side of the third transmission block is connected to the first transmission block, and the right side is connected to the second transmission block, the Z-axis motor drives the rotating shaft to rotate, so that the first pick-and-place head and the second pick-and-place head move up and down respectively; A rotating motor group, the rotating motor group is fixed to the rear side of the mounting plate, the rotating motor group comprises a first rotating motor and a second rotating motor, the first rotating motor drives the first pick-and-place head to rotate, and the second rotating motor drives the second pick-and-place head to rotate; A controller is communicatively connected with the Z-axis motor and the rotating motor group.

2. The multi-head pick-and-place mechanism according to claim 1, characterized in that: The pick-and-place assembly also includes a first loading visual inspection device and a second loading visual inspection device. The shooting direction of the first loading visual inspection device is aligned with the first chip, and the shooting direction of the second loading visual inspection device is aligned with the second chip. The first loading visual inspection device and the second loading visual inspection device are communicatively connected to the controller.

3. The multi-head pick-and-place mechanism according to claim 1, characterized in that: The number of the pick-and-place components is at least two, the first pick-and-place heads of two adjacent pick-and-place components are connected by a first belt, the second pick-and-place heads of two adjacent pick-and-place components are connected by a second belt, the first rotating motor drives the first belt to rotate, and the second rotating motor drives the second belt to rotate.

4. The multi-head pick-and-place mechanism according to claim 3, characterized in that: The pick-and-place assembly also includes a first synchronous pulley and a second synchronous pulley, the first pick-and-place head is slidably inserted into the first synchronous pulley, the first belt abuts against the outer side of the first synchronous pulley, and the second pick-and-place head is slidably inserted into the second synchronous pulley, and the second belt abuts against the outer side of the second synchronous pulley.

5. A control method for a multi-head pick-and-place mechanism, characterized in that: A controller for a multi-head pick-and-place mechanism according to any one of claims 1 to 4, the method comprising: Sending a first rotation signal to the first rotation motor, sending a first pick-and-place signal to the Z-axis motor, the Z-axis motor drives the first pick-and-place head to move downward and the second pick-and-place head to move upward through the rotation axis, and the first pick-and-place head absorbs the first chip; Sending the first rotation signal to the second rotation motor, sending the second pick-and-place signal to the Z-axis motor, the Z-axis motor drives the first pick-and-place head to move up and the second pick-and-place head to move down through the rotation axis, and the second pick-and-place head absorbs the second chip; Sending a second rotation signal to the first rotary motor, the first rotary motor drives the first pick-and-place head to rotate, sending the first pick-and-place signal to the Z-axis motor, the Z-axis motor drives the first pick-and-place head to move downward and the second pick-and-place head to move upward through the rotary shaft, and the first pick-and-place head puts down the first chip; The second rotation signal is sent to the second rotating motor, and the second rotating motor drives the second pick-and-place head to rotate. The second pick-and-place signal is sent to the Z-axis motor, and the Z-axis motor drives the first pick-and-place head to move up and the second pick-and-place head to move down through the rotating axis, and the second pick-and-place head puts down the second chip. When the second pick-and-place head puts down the second chip and completes the rotation, the controller sends the first rotation signal to the first rotating motor and sends the first pick-and-place signal to the Z-axis motor.

6. The control method of the multi-head pick-and-place mechanism according to claim 5, characterized in that: The pick-and-place assembly further includes a first loading visual inspection device and a second loading visual inspection device, wherein the shooting direction of the first loading visual inspection device is aligned with the first chip, and the shooting direction of the second loading visual inspection device is aligned with the second chip, and the first loading visual inspection device and the second loading visual inspection device are communicatively connected to the controller; Before sending a first rotation signal to the first rotating motor, the method includes: The first loading visual inspection device takes a picture of the first chip, obtains a first angle value and sends it to the controller; The second loading visual inspection device takes a photo of the second chip, obtains a second angle value and sends it to the controller.

7. The control method of the multi-head pick-and-place mechanism according to claim 5, characterized in that: After sending the first pick and place signal to the Z-axis motor, include, The Z-axis motor responds to the first pick-and-place signal, and the Z-axis motor drives the rotating shaft to rotate to a first position, so that the first transmission block drives the first pick-and-place head to move down to a first height, and the second transmission block drives the second pick-and-place head to move up to a second height, and the second height is higher than the first height; After sending a second pick-and-place signal to the Z-axis motor, include, The Z-axis motor responds to the second pick-and-place signal, and the Z-axis motor drives the rotating shaft to rotate to the second position, so that the first transmission block drives the first pick-and-place head to move up to the second height, and the second transmission block drives the second pick-and-place head to move down to the first height.

8. The control method of the multi-head pick-and-place mechanism according to claim 6, characterized in that: The number of the pick-and-place components is at least two, the first pick-and-place heads of two adjacent pick-and-place components are connected by a first belt, and the second pick-and-place heads of two adjacent pick-and-place components are connected by a second belt, the first rotary motor drives the first belt to rotate, and the second rotary motor drives the second belt to rotate, the pick-and-place component further includes a first synchronous pulley and a second synchronous pulley, the first pick-and-place head is slidably arranged on the first synchronous pulley, the first belt abuts against the outer side of the first synchronous pulley, the second pick-and-place head is slidably arranged on the second synchronous pulley, and the second belt abuts against the outer side of the second synchronous pulley; Sending a first rotation signal to a first rotating motor includes: photographing the first chip at an nth angle by the first loading visual inspection device, where n is an integer greater than one and less than or equal to the number of the pick-and-place components; The controller calculates an nth compensation angle based on the n-1th angle and the nth angle, and sends the calculation result to the first rotating motor; The first rotating motor drives the first pick-and-place head to rotate the nth compensation angle through the first belt and the first synchronous pulley based on the nth compensation angle; Sending the first rotation signal to a second rotating electrical machine includes: The second loading visual inspection device photographs the second chip at an m-th angle, where m is an integer greater than one and less than or equal to the number of the pick-and-place components; The controller calculates an mth compensation angle based on the m-1th angle and the mth angle, and sends the calculation result to the second rotating motor; The second rotary motor drives the second pick-and-place head to rotate the mth compensation angle through the second belt and the second synchronous pulley based on the mth compensation angle; Before sending the second rotation signal to the first rotating motor, the method comprises: All the first pick-and-place heads have absorbed the first chip, and all the second pick-and-place heads have absorbed the second chip; The Z-axis motor drives the rotating shaft to rotate, thereby driving the third transmission block to rotate until both ends of the third transmission block are at the same height; After sending the second rotation signal to the first rotating motor, the method includes: The first rotating motor responds to the second rotating signal, and the first rotating motor drives the first pick-and-place head to rotate to an initial angle through the first belt and the first synchronous pulley, wherein the initial angle is a preset angle of the first chip or the second chip after unloading; After sending the second rotation signal to the second rotating motor, the method includes: The second rotating motor responds to the second rotating signal, and the second rotating motor drives the second pick-and-place head to rotate to the initial angle through the second belt and the second synchronous pulley.

9. A control device for a multi-head pick-and-place mechanism, characterized in that: It includes at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions that can be executed by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute the control method of the multi-head pick-and-place mechanism as described in any one of claims 5 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the control method of the multi-head pick-and-place mechanism according to any one of claims 5 to 8.

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