Patch machine suction mounting monitoring method and system based on suction nozzle vacuum pressure, medium

Abstract

The present application relates to the technical field of patch machine control, and discloses a patch machine suction and mounting monitoring method and system based on suction nozzle vacuum pressure, and a medium, wherein the method is based on the monitoring of suction nozzle vacuum pressure, considers the vacuum system fluctuation, takes the vacuum pressure threshold as a judgment index, and when the vacuum pressure value does not satisfy the vacuum pressure threshold condition of component suction, a compensation value is used for compensation to judge again whether the component is in the suction state, so as to eliminate the influence of the opening of the suction air of other shafts, thereby avoiding inaccurate judgment caused by the vacuum system fluctuation. If the secondary judgment still does not satisfy the vacuum pressure threshold condition of component suction, it can be confirmed that the component falls, and the stability and production yield of the patch machine are effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electronic manufacturing equipment, in particular to a suction and mounting monitoring method and system for a chip mounter based on vacuum pressure of a suction nozzle, and a medium. BACKGROUND

[0002] A chip mounter (SMT chip mounter) is a key device in modern electronic manufacturing, mainly used for accurately mounting electronic components onto printed circuit boards (PCBs). In the process of high-speed mounting, ensuring that the suction nozzle accurately sucks the components and successfully mounts them to the target position is crucial for production efficiency and product quality. However, in actual production, the suction nozzle may fail to suck or the components may fall due to various factors.

[0003] Currently, the common suction and mounting monitoring methods in the industry mainly include optical detection (such as camera recognition) and capacitive sensing detection. However, these methods have problems such as high cost, complex calculation, and limited detection speed. In contrast, the monitoring method based on vacuum pressure uses the change of vacuum pressure inside the suction nozzle to judge whether the components are correctly sucked or fallen, which not only has low cost and strong real-time performance, but also is not affected by factors such as light and component material. However, the vacuum pressure monitoring method needs to maintain the stability of the vacuum system, and once there is leakage or fluctuation in the vacuum generator or pipeline system, it will affect the vacuum judgment, leading to inaccurate judgment. SUMMARY

[0004] To solve the problems in the prior art, the present application aims to provide a suction and mounting monitoring method and system for a chip mounter based on vacuum pressure of a suction nozzle, which can accurately judge whether the components are correctly sucked or fallen even in the case of fluctuation of the vacuum system.

[0005] To achieve the above-mentioned purpose, the present application provides a suction and mounting monitoring method for a chip mounter based on vacuum pressure of a suction nozzle, comprising:

[0006] Judging whether the component is successfully sucked: monitoring whether the vacuum pressure value in the target suction nozzle is greater than the preset vacuum pressure threshold value within a specified time, if yes, judging that the component is successfully sucked; if not, calculating a compensation value for secondary judgment, if the sum of the compensation value and the current vacuum pressure value is greater than or equal to the vacuum pressure threshold value, judging that the component is successfully sucked, otherwise, reporting an error; the compensation value is the cumulative value of the influence of the suction of the suction nozzle on the target axis vacuum pressure on the remaining axes except the axis of the target suction nozzle;

[0007] And / or, judging whether the element falls: monitoring whether the vacuum pressure value in the target suction nozzle is less than the preset vacuum pressure threshold value within a specified time, if so, calculating the compensation value for secondary judgment, if the sum of the compensation value and the current vacuum pressure value is less than the vacuum pressure threshold value, judging that the element falls and reporting an error, otherwise, continuing to monitor.

[0008] Preferably, the compensation value is:

[0009] N is the number of Z axes of the patch machine other than the axis of the target suction nozzle, i is the axis number; influence value i is the influence value of the target suction nozzle vacuum pressure of the suction nozzle pair on the ith axis.

[0010] Preferably, the vacuum pressure threshold value of the same gas path structure is determined according to the suction nozzle type and the corresponding Z axis, and the calibration method is as follows:

[0011] Open the target axis Z0 to the air suction state, sequentially connect a plurality of p type suction nozzles to the target axis Z0, respectively record the air suction vacuum pressure of the plurality of suction nozzles and the adsorption vacuum pressure of the adsorption element, take the maximum value of the air suction vacuum pressure and the maximum value of the adsorption vacuum pressure, and obtain the vacuum pressure threshold value of the p type suction nozzle on the target axis Z0 = (air suction vacuum pressure maximum value + adsorption vacuum pressure maximum value) / 2.

[0012] Preferably, the calibration method of the influence value is as follows:

[0013] Test the adsorption vacuum pressure Z p-0 of the p type suction nozzle on the target axis Z0 in the adsorption element state.

[0014] Install the same type of q type suction nozzle on the remaining axes Z1-ZN, sequentially increase the air suction number of the q type suction nozzle, and record the adsorption vacuum pressure Z q-i of the p type suction nozzle on the target axis Z0 every time the air suction is increased by one.

[0015] Calculate the influence value of the q type suction nozzle pair on the p type suction nozzle on the Z0 axis on the Zi axis, and the formula is:

[0016] .

[0017] Preferably, the vacuum pressure parameter includes axis number, suction nozzle type number and the vacuum pressure threshold value.

[0018] Preferably, it includes the following steps:

[0019] After receiving the suction element instruction, it is judged whether the vacuum pressure parameter is issued and whether the vacuum pressure monitoring function of the target suction nozzle is started, if so, the target suction nozzle vacuum pressure monitoring process is entered;

[0020] When the Z-axis drops to the suction position for a preset time, it is determined whether the suction is successful.

[0021] When the suction of the judging element is successful, it is determined whether the judging element falls off, and the continuous monitoring is performed until the Z-axis moves to the mounting position, and the monitoring is ended.

[0022] Preferably, the vacuum pressure parameter is determined based on the mounting head control board, and specifically, the vacuum pressure parameter is determined as follows:

[0023] The upper computer sends a vacuum pressure parameter configuration instruction, including a CRC verification code, an instruction number, an axis number, a suction nozzle type number and a corresponding vacuum pressure threshold value; the mounting head control board receives the vacuum pressure parameter configuration instruction, determines that the vacuum pressure threshold value corresponding to the axis number and the suction nozzle type number has been sent, and then returns the CRC verification code corresponding to the instruction number;

[0024] The vacuum pressure monitoring function of the target suction nozzle is determined as follows:

[0025] The upper computer sends a vacuum pressure monitoring enabling instruction, and the enabling instruction includes an instruction number, an axis monitoring enabling state, an axis number and a CRC verification code;

[0026] The mounting head control board receives the vacuum pressure monitoring enabling instruction, determines that the axis monitoring enabling state corresponding to the axis number is enabled, and then returns the CRC verification code corresponding to the instruction number.

[0027] The second aspect of the application provides a suction and mounting monitoring system of a patch machine based on the vacuum pressure of a suction nozzle, comprising:

[0028] The element suction judging module is used for monitoring whether the vacuum pressure value in the target suction nozzle is greater than a preset vacuum pressure threshold value within a specified time, and if so, it is determined that the element suction is successful; if not, a compensation value is calculated for secondary judgment, and if the sum of the compensation value and the current vacuum pressure value is greater than or equal to the vacuum pressure threshold value, it is determined that the element suction is successful, otherwise, an error is reported; the compensation value is the cumulative value of the influence of the suction of the nozzles on the remaining axes on the vacuum pressure of the target axis;

[0029] The element falling judging module is used for monitoring whether the vacuum pressure value in the target suction nozzle is less than a preset vacuum pressure threshold value within a specified time, and if so, the compensation value is calculated for secondary judgment, and if the sum of the compensation value and the current vacuum pressure value is less than the vacuum pressure threshold value, it is determined that the element falls off and an error is reported, otherwise, the continuous monitoring is performed.

[0030] Preferably, a vacuum pressure monitoring flow module is further included, for receiving the suction element instruction, judging whether the vacuum pressure parameter is issued and whether the vacuum pressure monitoring function of the target suction nozzle is started, if yes, entering the target suction nozzle vacuum pressure monitoring flow; when the Z-axis is lowered to the suction position for a preset time, starting the element suction judgment module; after judging that the element suction is successful, starting the element drop judgment module.

[0031] The third aspect of the present application provides a machine readable storage medium, which stores instructions for causing a machine to execute the above-mentioned patch machine suction and mounting monitoring method based on the vacuum pressure of the suction nozzle.

[0032] Through the above technical solution, based on the monitoring of the vacuum pressure of the suction nozzle, considering the fluctuation of the vacuum system, the vacuum pressure threshold is used as the judgment index, when the vacuum pressure value does not meet the vacuum pressure threshold condition of element suction, the compensation value is used for compensation to judge again whether the element is suctioned, so as to eliminate the influence of other axes opening the air suction, thereby avoiding inaccurate judgment caused by the fluctuation of the vacuum system. If the secondary judgment still does not meet the vacuum pressure threshold condition of element suction, it can be confirmed that the element is dropped, effectively improving the stability and production yield of the patch machine.

[0033] Other features and advantages of the embodiments of the present application will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS

[0034] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the following specific implementation to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the drawings:

[0035] Figure 1 is a patch machine suction and mounting monitoring flowchart based on the vacuum pressure of the suction nozzle of the embodiments of the present application;

[0036] Figure 2 is a schematic diagram of the air pressure distribution of the element suction state of the embodiments of the present application;

[0037] Figure 3 is a flowchart for judging whether the element is suctioned successfully of the embodiments of the present application;

[0038] Figure 4 is a flowchart for judging whether the element is dropped of the embodiments of the present application. DETAILED DESCRIPTION

[0039] The specific implementation of the embodiments of the present application will be described in detail below in combination with the drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiments of the present application, and is not used to limit the embodiments of the present application.

[0040] The embodiment of the present application provides a patching machine suction and mounting monitoring method based on a vacuum pressure of a suction nozzle, as shown in the following steps. Figure 1

[0041] S1, after receiving the suction element instruction, it is judged whether the vacuum pressure parameter is issued and whether the vacuum pressure monitoring function of the target suction nozzle is started, if yes, the vacuum pressure monitoring process of the target suction nozzle is entered;

[0042] Each axis of the patching machine is independent of each other, and the vacuum pressure monitoring function can be started or stopped independently. Taking one of the axes as an example, the initial state is waiting for a suction element instruction, after receiving the instruction, it is judged whether the vacuum pressure parameter of the axis has been issued, and whether the vacuum pressure monitoring function is started at the same time, if the two conditions are met, the vacuum pressure monitoring process is started. The vacuum pressure parameter is checked whether it is issued to prevent the host computer (such as an industrial computer) from not issuing the vacuum pressure parameter and directly entering the vacuum pressure monitoring process, so as to cause abnormal process judgment. The vacuum monitoring is not required for all elements and industrial control, therefore, the vacuum pressure monitoring function selection is set, if the vacuum pressure monitoring function is not selected, the vacuum pressure monitoring process is not entered.

[0043] Further, in step S1, it is judged whether the vacuum pressure monitoring function of the target suction nozzle is started, specifically:

[0044] The host computer issues a vacuum pressure monitoring enable instruction, for example, as shown in Table 1, the enable instruction includes instruction number, axis monitoring enable state, axis number and CRC verification code, when Data[8] is 00, the axis corresponding to the axis number starts the vacuum pressure monitoring function;

[0045] The mounting head control board receives the vacuum pressure monitoring enable instruction, judges that the axis monitoring enable state corresponding to the axis number is enabled, and then returns the CRC verification code corresponding to the instruction number, for example, as shown in Table 2, Table 2 is the return frame of Table 1, indicating that the instruction has been successfully received and executed.

[0046] Table 1: Vacuum pressure monitoring enable instruction

[0047]

[0048] Table 2: Vacuum pressure monitoring enable instruction return frame

[0049]

[0050] ​In step S1, it is judged whether the vacuum pressure parameter is issued. Specifically, the host computer issues a vacuum pressure parameter configuration instruction, as shown in Table 3, including a CRC verification code, an instruction number, an axis number, a suction nozzle type number and a corresponding vacuum pressure threshold value. The vacuum pressure parameter configuration instruction is received by the placement head control board, and it is judged that the vacuum pressure threshold value corresponding to the axis number and the suction nozzle type number has been issued, and then the CRC verification code corresponding to the instruction number is returned, as shown in Table 4. As shown in Table 3, the vacuum pressure parameter includes an axis number, a vacuum pressure threshold value of element suction failure and a suction nozzle type number. The axis number is used to determine the axis; the vacuum pressure threshold value is used for vacuum pressure judgment; and the suction nozzle type number is used to determine the suction nozzle model. Table 4 is a return frame of Table 3, which is used to determine that the instruction of Table 3 has been received and executed.

[0051] Table 3: Vacuum pressure parameter configuration instruction

[0052]

[0053] Table 4: Vacuum pressure parameter configuration instruction return frame

[0054]

[0055] When there are multiple Z axes on the patch machine, the above-mentioned protocol can make each axis independent of each other, and the vacuum pressure monitoring function of each axis can be independently turned on or turned off.

[0056] Further, the vacuum pressure threshold value of the same gas path structure is determined according to the suction nozzle type and the corresponding Z axis, and the calibration method is as follows: the target axis Z0 is opened to an air suction state, a plurality of p-type suction nozzles are sequentially connected to the target axis Z0, and the air suction vacuum pressure of the plurality of suction nozzles and the suction vacuum pressure in the suction element state are recorded respectively. The maximum value of the air suction vacuum pressure and the maximum value of the suction vacuum pressure are taken, and the vacuum pressure threshold value of the p-type suction nozzle on the target axis Z0 is obtained = (air suction vacuum pressure maximum value + suction vacuum pressure maximum value) / 2, as shown in Figure 2 .

[0057] The vacuum pressure threshold value is used to judge whether the element is suctioned or dropped. When the suction nozzle sucks the element, the internal air pressure is lower than the threshold value, and it is considered that the element suction fails or the element drops. Exemplarily, taking the 301 suction nozzle as an example, the vacuum pressure threshold value calibration process is as follows:

[0058] (1) Select four 301 suction nozzles, open the axis to an air suction state, connect the suction nozzles to the axis, and record the air suction vacuum pressure data at this time; block the suction nozzles (i.e. in the suction element state), and record the suction vacuum pressure at this time;

[0059] (2) Change a suction nozzle, record the air suction vacuum pressure data at this time, block the suction nozzle again to record the suction vacuum pressure at this time, and record the air suction vacuum pressure value of the four suction nozzles in the air suction state and the suction vacuum pressure in the suction element state in turn.

[0060] (3) Take the maximum value of the empty suction vacuum pressure and the maximum value of the adsorption vacuum pressure of the four nozzles to obtain the vacuum pressure threshold of nozzle 301 on this axis = (maximum value of empty suction vacuum pressure + maximum value of adsorption vacuum pressure) / 2;

[0061] (4) Replace the next axis and repeat the operation according to steps (1) to (3) to test the vacuum pressure threshold of the corresponding 301 nozzles for all axes.

[0062] (5) Replace with another p-type nozzle and follow the steps (1)-(4) to test the vacuum pressure threshold of the p-type nozzle on all axes.

[0063] (6) Repeat steps (1) to (5) to test the vacuum pressure threshold of all types of nozzles on all axes.

[0064] Due to manufacturing errors, the air pressure value of each nozzle will be different when suction is performed on the same axis under the same conditions. Therefore, to evaluate a type of nozzle, multiple nozzles of the same type are selected, and the median value between the maximum empty suction vacuum pressure and the maximum adsorption vacuum pressure is used as the vacuum pressure threshold for this nozzle type on the corresponding axis. The maximum value is chosen for more accurate vacuum pressure judgment, which is based on comparing vacuum pressure values. Choosing the maximum value increases the threshold, making the vacuum pressure judgment more accurate. The median value is used to facilitate judging the nozzle's suction performance. As shown in Figure 1, taking the median value between the maximum empty suction vacuum pressure and the maximum adsorption vacuum pressure makes vacuum judgment easier. When the air pressure inside the nozzle is less than the threshold, it is considered that the component has not been picked up or has been misaligned, and the component cannot be mounted. When the air pressure inside the nozzle is greater than or equal to the threshold, the component is considered to be mountable.

[0065] S2. After the Z-axis descends to the suction position for a preset time, the judgment element is activated to determine whether the suction was successful.

[0066] Furthermore, in step S2, the process of determining whether the component has been successfully acquired is as follows: Figure 3 As shown: Monitor whether the vacuum pressure value inside the target nozzle is greater than the preset vacuum pressure threshold within a specified time. If so, it is determined that the component has been successfully picked up; otherwise, calculate the compensation value and make a second judgment. If the sum of the compensation value and the current vacuum pressure value is greater than or equal to the vacuum pressure threshold, it is determined that the component has been successfully picked up; otherwise, an error is reported.

[0067] Exemplarily, when the patch machine has 10 axes, taking one of the axes as an example, when the Z axis is lowered to the suction position for a preset time, it is judged that the component has been sucked, and it is started to judge whether the component is successfully sucked. It is monitored whether there are PRESSURE_DATA_COUNT continuous vacuum pressure values greater than the vacuum pressure threshold value within a specified time, and if so, it is considered that the component is successfully sucked, and step S3 is entered. If there are not PRESSURE_DATA_COUNT continuous vacuum pressure values greater than the vacuum pressure threshold value within the specified time, a compensation value is calculated. When the compensation value calculation is completed, a secondary judgment of component suction is performed: if the sum of the compensation value and the current vacuum pressure value is greater than the vacuum pressure threshold value, it is considered that the component is successfully sucked, and step S3 is entered. If the sum of the compensation value and the current vacuum pressure value is less than the vacuum pressure threshold value, it is considered that the component is not sucked by the suction nozzle, an error is reported, the vacuum pressure one-time monitoring process is ended, and step S3 is not continued.

[0068] S3, after judging that the component is successfully sucked, the judgment of whether the component is dropped is started, and the continuous monitoring is performed until the Z axis moves to the mounting position, and the monitoring is ended.

[0069] Further, in step S3, whether the component is dropped is judged as shown in the following formula: Figure 4 The vacuum pressure value in the target suction nozzle is monitored whether it is less than the preset vacuum pressure threshold value within a specified time, if so, a compensation value is calculated for secondary judgment, if the sum of the compensation value and the current vacuum pressure value is less than the vacuum pressure threshold value, it is judged that the component is dropped and an error is reported, otherwise, the continuous monitoring is performed.

[0070] After judging that the component is successfully sucked, it is firstly judged whether the Z axis moves to the mounting position, if so, the one-time vacuum pressure monitoring is ended. During the period from the component being successfully sucked to the Z axis moving to the mounting position, it is continuously monitored whether there are PRESSURE_DATA_COUNT continuous vacuum pressure values less than the threshold value, if so, a compensation value is calculated, when the compensation value calculation is completed, a secondary judgment of component drop is performed, if the sum of the compensation value and the current vacuum pressure value is less than the vacuum pressure threshold value, it is judged that the component is dropped and an error is reported, the one-time vacuum pressure monitoring is ended; otherwise, the continuous monitoring is performed and whether the component is dropped is judged.

[0071] PRESSURE_DATA_COUNT can be selected according to actual application.

[0072] Further, the compensation value is:

[0073] N is the number of Z axes of the patch machine except the axis of the target suction nozzle, i is the axis number; the influence value i is the influence value of the target suction nozzle of the suction nozzle pair on the i-th axis. The maximum vacuum pressure of the target axis suction nozzle is the maximum vacuum pressure of the suction nozzle in the state of adsorbing the component, which is obtained in advance by calibrating the machine.

[0074] It can be seen that the compensation value of the target axis is a cumulative value representing the influence of the suction of the suction nozzle on the target axis vacuum pressure on the remaining axes. Taking the axes of the chip mounter 10 as an example, in order to prevent omission, all axes need to be calculated one by one, i.e. 10 times of accumulation. When calculating the Zi axis, if the Zi axis is determined as the target axis according to the axis number of the Zi axis of the vacuum pressure parameter, it does not need to be calculated. When it is determined that the Zi axis is not in the suction state, it is considered that the axis has no influence on the target axis, so the influence value is 0. Until all axes are determined and calculated, the compensation value calculation is completed. For the judgment of successful suction and component falling, due to the existence of vacuum pressure mutual interference, when other axes open suction, the vacuum pressure of this axis will decrease, so when the vacuum pressure value is lower than the vacuum pressure threshold value, there are two possible situations, one is that the component has fallen, and the other is that the other axis opens suction, but the component is still on the suction nozzle, which needs to be judged again to exclude the second situation. When there is a compensation calculation request, first determine whether the compensation values of all axes are calculated.

[0075] The air pressure values of different types of suction nozzles under the same air path are different, so the maximum vacuum pressure value corresponding to each type of suction nozzle needs to be obtained separately. The maximum vacuum pressure value when the suction nozzle is used for suction is because it is considered that the air pressure of other axes on the target axis is a linear influence, when other axes are suctioned, the air pressure value of the target axis is linearly decreased from the maximum vacuum pressure value, which is convenient for mathematical modeling to calculate the compensation value.

[0076] The influence value between the suction nozzles is obtained in advance by calibrating the machine. The influence value between the suction nozzles needs to be recalibrated if the air path structure is different, and the same set of parameters can be used if the air path structure is the same. Different types of suction nozzles have different air pressure influence values under the same air pressure, for example, the influence value of the 301 suction nozzle on the 301 suction nozzle is smaller than that of the 302 suction nozzle on the 301 suction nozzle. By setting different influence values between the suction nozzles, the compensation value can be closer to the real air pressure value, eliminating the influence of air pressure mutual interference. The influence value between the suction nozzles is measured in advance and then stored in the FPGA, which can be directly used when calculating the compensation value, thereby speeding up the calculation of the compensation value.

[0077] Further, the calibration method of the influence value is as follows:

[0078] Test the suction vacuum pressure Z of the p-type suction nozzle on the target axis Z0 in the state of suctioning the component p-0 ;

[0079] Install the same type of q-type suction nozzle on the remaining axes Z1-ZN, and increase the number of q-type suction nozzles one by one. The suction vacuum pressure Z of the p-type suction nozzle on the target axis Z0 is recorded every time one empty suction is increased. q-i ;

[0080] Calculate the influence value of the q-type suction nozzle on the Zi axis on the p-type suction nozzle on the Z0 axis,

[0081] Influence value Wherein, the p type suction nozzle can be the same type or different type with the q type suction nozzle.

[0082] Exemplarily, (1) test 301 suction nozzle in the empty suction case on the influence of 301 suction nozzle, Z1, Z2, Z3, Z4, Z5 and Z6 are connected with 301 suction nozzle, except that Z1 axis is sucked to the element, the other axis is not sucked to the element, and the vacuum pressure of Z1 axis is sucked to the element as the initial value Z 301-0 Then, the number of suction nozzle empty suction is increased in sequence, and the vacuum pressure value Z of Z1 axis is recorded every time the empty suction is increased 301-i The influence value of 301 suction nozzle on 301 suction nozzle on the rest axis is .

[0083] (2) test 302 suction nozzle in the empty suction case on the influence of 301 suction nozzle, Z1 is connected with 301 suction nozzle, Z2, Z3, Z4, Z5 and Z6 are connected with 302 suction nozzle, except that Z1 axis is sucked to the element, the other axis is not sucked to the element, and the vacuum pressure of Z1 axis is sucked to the element as the initial value Z 301-0 Then, the number of suction nozzle empty suction is increased in sequence, and the vacuum pressure value Z of Z1 axis is recorded every time the empty suction is increased 302-i The influence value of 302 suction nozzle on 301 suction nozzle on the rest axis is .

[0084] (3) test 301 suction nozzle in the empty suction case on the influence of 302 suction nozzle, Z1 is connected with 302 suction nozzle, Z2, Z3, Z4, Z5 and Z6 are connected with 301 suction nozzle, except that Z1 axis is sucked to the element, the other axis is not sucked to the element, and the vacuum pressure of Z1 axis is sucked to the element as the initial value Z 302-0 Then, the number of suction nozzle empty suction is increased in sequence, and the vacuum pressure value Z of Z1 axis is recorded every time the empty suction is increased 301-i The influence value of 301 suction nozzle on 302 suction nozzle on the rest axis is .

[0085] The patch machine suction and mounting monitoring method based on the suction nozzle vacuum pressure is realized based on the mounting head control board FPGA, MCU or DSP.

[0086] Based on the same inventive concept, the second aspect of the embodiment of the application provides a patch machine suction and mounting monitoring system based on suction nozzle vacuum pressure, which comprises:

[0087] The element suction judgment module is used for monitoring whether the vacuum pressure values in the target suction nozzle are all greater than the preset vacuum pressure threshold value in a specified time, and if yes, judging that the element suction is successful, and if not, calculating a compensation value for secondary judgment, and if the sum of the compensation value and the current vacuum pressure value is greater than or equal to the vacuum pressure threshold value, judging that the element suction is successful, otherwise, reporting an error; the compensation value is a cumulative value of the influence of the suction of the nozzles on the remaining axes on the vacuum pressure of the target axis when the nozzles on the target axis are suctioned.

[0088] The element drop judgment module is used for monitoring whether the vacuum pressure values in the target suction nozzle are all less than the preset vacuum pressure threshold value in a specified time, and if yes, calculating the compensation value for secondary judgment, and if the sum of the compensation value and the current vacuum pressure value is less than the vacuum pressure threshold value, judging that the element drops and reporting an error, otherwise, continuously monitoring.

[0089] Based on the same inventive concept, the third aspect of the embodiment of the present application provides a machine readable storage medium, and the machine readable storage medium stores instructions for causing a machine to execute the suction and mounting monitoring method of the pick-and-place machine based on the vacuum pressure of the nozzle.

[0090] In summary, the technical scheme of the present application has the following beneficial effects: (1) based on the monitoring of the vacuum pressure of the nozzle, considering the fluctuation of the vacuum system, taking the vacuum pressure threshold value as the judgment index, when the vacuum pressure value does not meet the vacuum pressure threshold value condition of the element suction, the compensation value is used for compensation and secondary judgment of whether the element is suctioned, so as to eliminate the influence of the opening of the suction of the other axes, thereby avoiding inaccurate judgment caused by the fluctuation of the vacuum system. If the secondary judgment still does not meet the vacuum pressure threshold value condition of the element suction, it can be confirmed that the element drops, effectively improving the stability and production yield of the pick-and-place machine. Through testing, the current production yield can reach 100%; (2) based on the change of the air pressure, the mutual influence value between the nozzles is mathematically modeled, and the compensation value is obtained by mathematical calculation method, so as to eliminate the air pressure fluctuation caused by the influence of the nozzles of the axes; (3) when determining the vacuum pressure threshold value, the present application distinguishes according to the axis and the type of the nozzle, and the same type of nozzle is measured and calibrated on the same axis for multiple times, so as to ensure the accuracy of the threshold value selection, and effectively improve the accuracy of the element suction or drop judgment; the same air path only needs to calibrate the vacuum pressure threshold value once, and the subsequent use only needs to directly call, which is simple and efficient.

[0091] It should be further understood that the terms "comprise", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or equipment.

[0092] The above merely provides an example of the present application, and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall fall into the scope of claims of the present application.

Claims

1. A method for monitoring the pick-and-place process of a pick-and-place machine based on nozzle vacuum pressure, characterized in that, include: Determining if component pickup is successful: Monitor whether the vacuum pressure value inside the target nozzle is greater than the preset vacuum pressure threshold within a specified time. If so, the component pickup is successful. Otherwise, calculate the compensation value and make a second judgment. If the sum of the compensation value and the current vacuum pressure value is greater than or equal to the vacuum pressure threshold, the component pickup is successful. Otherwise, report an error. The compensation value is the cumulative value of the influence of nozzles on the vacuum pressure of the target axis when they are sucking air on other axes other than the axis where the target nozzle is located. And / or, determine if a component has fallen: monitor whether the vacuum pressure value inside the target nozzle is consistently lower than a preset vacuum pressure threshold within a specified time. If so, calculate the compensation value for a second judgment. If the sum of the compensation value and the current vacuum pressure value is less than the vacuum pressure threshold, determine that the component has fallen and report an error; otherwise, continue monitoring. The compensation value is: N represents the number of Z-axis of the pick-and-place machine excluding the axis where the target nozzle is located, and i represents the axis number; influence value i The influence value of the suction nozzle on the target nozzle is given by the suction nozzle pair on the i-th axis. The calibration method for the influence value is as follows: Test the adsorption vacuum pressure Z of the p-type suction nozzle on the target axis Z0 in the adsorption element state. p-0 Install the same type q-type suction nozzles on the remaining axes Z1-ZN, and increase the number of empty suctions by the q-type nozzles in sequence. For each additional empty suction, record the adsorption vacuum pressure Z of the p-type nozzle on the target axis Z0. q-i The influence of type q nozzles on type p nozzles on the Z0 axis was calculated using the formula: Influence value = .

2. The monitoring method according to claim 1, characterized in that, The vacuum pressure threshold for the same air path structure is determined according to the nozzle type and the corresponding Z-axis, and the calibration method is as follows: Open the target axis Z0 to the suction state, connect multiple p-type nozzles to the target axis Z0 in sequence, and record the empty suction vacuum pressure and the adsorption vacuum pressure of the multiple nozzles in the adsorption element state. Take the maximum empty suction vacuum pressure and the maximum adsorption vacuum pressure to obtain the vacuum pressure threshold of the p-type nozzle on the target axis Z0 = (maximum empty suction vacuum pressure + maximum adsorption vacuum pressure) / 2.

3. The monitoring method according to claim 1 or 2, characterized in that, Includes the following steps: After receiving the suction element command, determine whether the vacuum pressure parameter has been sent and whether the vacuum pressure monitoring function of the target nozzle has been activated. If so, proceed to the target nozzle vacuum pressure monitoring process. After the Z-axis descends to the suction position for a preset time, the judgment element is activated to determine whether the suction was successful. After successfully picking up the component, the system will start judging whether the component has fallen. The monitoring will continue until the Z-axis moves to the mounting position, at which point the monitoring will end.

4. The monitoring method according to claim 3, characterized in that, Based on the placement head control board, the determination of whether the vacuum pressure parameter has been issued is specifically as follows: The host computer sends a vacuum pressure parameter configuration command, including a CRC verification code, command number, axis number, nozzle type number, and corresponding vacuum pressure threshold. The placement head control board receives the vacuum pressure parameter configuration command, determines that the vacuum pressure threshold corresponding to the axis number and nozzle type number has been sent, and then returns the CRC verification code corresponding to the command number. The specific steps for determining whether to activate the vacuum pressure monitoring function of the target nozzle are as follows: The host computer issues a vacuum pressure monitoring enable command, which includes a command number, axis monitoring enable status, axis number, and CRC verification code. The placement head control board receives the vacuum pressure monitoring enable command, determines that the axis monitoring enable status corresponding to the axis number is enabled, and then returns the CRC verification code corresponding to the command number.

5. The monitoring method according to claim 4, characterized in that, The vacuum pressure parameters include the shaft number, the nozzle type number, and the vacuum pressure threshold.

6. A pick-and-place monitoring system for a chip mounter based on nozzle vacuum pressure, characterized in that, include: The component suction judgment module is used to monitor whether the vacuum pressure value in the target nozzle is greater than a preset vacuum pressure threshold within a specified time. If so, the component is judged to be successfully suctioned; otherwise, a compensation value is calculated for a second judgment. If the sum of the compensation value and the current vacuum pressure value is greater than or equal to the vacuum pressure threshold, the component is judged to be successfully suctioned; otherwise, an error is reported. The compensation value is the cumulative value of the influence of suction nozzles on the vacuum pressure of the target axis when suctioning air on other axes other than the axis where the target nozzle is located. The component drop detection module monitors whether the vacuum pressure inside the target nozzle is consistently below a preset vacuum pressure threshold within a specified time. If so, it calculates a compensation value for a second judgment. If the sum of the compensation value and the current vacuum pressure is less than the vacuum pressure threshold, a component drop is detected and an error is reported; otherwise, monitoring continues. The compensation value is: N represents the number of Z-axis of the pick-and-place machine excluding the axis where the target nozzle is located, and i represents the axis number; influence value i The influence value of the suction nozzle on the target nozzle is given by the suction nozzle pair on the i-th axis. The calibration method for the influence value is as follows: Test the adsorption vacuum pressure Z of the p-type suction nozzle on the target axis Z0 in the adsorption element state. p-0 Install the same type q-type suction nozzles on the remaining axes Z1-ZN, and increase the number of empty suctions by the q-type nozzles in sequence. For each additional empty suction, record the adsorption vacuum pressure Z of the p-type nozzle on the target axis Z0. q-i The influence of type q nozzles on type p nozzles on the Z0 axis was calculated using the formula: Influence value = .

7. The system according to claim 6, characterized in that, It also includes a vacuum pressure monitoring process module, which, after receiving a component suction command, determines whether vacuum pressure parameters have been issued and whether the vacuum pressure monitoring function of the target nozzle has been activated. If so, it enters the target nozzle vacuum pressure monitoring process. When the Z-axis descends to the suction position for a preset time, the component suction judgment module is activated. After the component is successfully suctioned, the component drop judgment module is activated.

8. A machine-readable storage medium having instructions stored thereon for causing a machine to perform the method as described in any one of claims 1-5.

Images