Synchronous flexible mounting method and device for multiple mounting suction nozzles

Abstract

The invention relates to the technical field of electronic manufacturing, and discloses a multi-patch suction nozzle synchronous flexible mounting method and device, and the method comprises the steps: configuring two sets of physically independent XYZ movement mechanisms and suction nozzles, and executing the synchronous operation of different mounting regions; the mounting points are divided into a plurality of sub-regions based on a spatial clustering method, and tasks are dynamically allocated to corresponding suction nozzles; the mounting path is optimized in real time based on a heuristic algorithm, so that the motion path of the suction nozzle is shortest; whether path crossing or potential interference exists between the suction nozzles is detected in real time, if yes, an evasion mechanism is triggered, and the evasion mechanism comprises a priority scheduling strategy, a path reconstruction strategy and a speed limiting adjustment strategy. The double-station synchronous surface mounting system is suitable for improving the parallel operation efficiency of multiple devices in surface mounting production.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of electronic manufacturing technology, and in particular to a multi-patch suction nozzle synchronous flexible mounting method and device. BACKGROUND

[0002] With the continuous improvement of the functional integration of electronic products, its structure is becoming more and more complex, and the requirements for mounting efficiency and accuracy in production are also increasing. In the existing SMT (Surface Mount Technology) production line, the single suction nozzle mounting method is usually used, even for high-end multi-head mounter, which also faces problems such as resource waste and path planning redundancy.

[0003] In order to improve the mounting efficiency, the industry generally uses the "array carrier + single suction nozzle mounting" method to arrange multiple small parts in a fixed tooling, and then completes the mounting task one by one through a single suction nozzle. However, this method has the following pain points: 1. Mounting efficiency bottleneck: limited by the single-head operation ability of the suction nozzle, the space resources cannot be fully utilized; 2. High cost of equipment expansion: in order to improve efficiency, new equipment or suction nozzle heads need to be added, resulting in increased system cost; 3. Lack of flexibility and parallel capability: traditional equipment is difficult to meet the different position mounting requirements of product variants and large-size components.

[0004] Therefore, there is an urgent need for a double-suction nozzle parallel mounting system and process with simple structure, intelligent path and coordinated suction nozzle to significantly improve the efficiency and flexibility of the production line. SUMMARY

[0005] In order to solve the above problems, the present application proposes a multi-patch suction nozzle synchronous flexible mounting method and device, which is suitable for a double-station synchronous mounting system for improving the parallel operation efficiency of multiple devices in mounting production.

[0006] The technical solution adopted by the present application is as follows: A multi-patch suction nozzle synchronous flexible mounting method, comprising: Configuring two sets of physically independent XYZ motion mechanisms and suction nozzles, and performing synchronous operation of different mounting areas; Based on the space clustering method, the mounting points are divided into multiple sub-regions, and the tasks are dynamically allocated to the corresponding suction nozzles; Based on the heuristic algorithm, the mounting path is optimized in real time to make the suction nozzle motion path shortest; Real-time detection of whether there is path intersection or potential interference between the suction nozzles, if so, triggering the avoidance mechanism, the avoidance mechanism includes priority scheduling strategy, path reconstruction strategy and speed limit adjustment strategy.

[0007] Further, the spatial clustering method divides the mounting points into multiple sub-regions and dynamically assigns tasks to corresponding suction nozzles, including: Spatial clustering: using Voronoi or K-Means algorithm, all mounting points are divided into two non-intersecting regions according to two-dimensional coordinates, so that the mounting task is localized in space; Suction nozzle binding: the mounting task of each sub-region is assigned to the corresponding suction nozzle, so that the suction nozzle avoids frequent intersection in physical space; Dynamic balance: when a suction nozzle has too many tasks, dynamic balancing of the load is achieved through boundary drift and task migration strategy to prevent local overload or idleness.

[0008] Further, the heuristic algorithm optimizes the mounting path in real time, including: based on the first-level path optimization strategy to compress the mounting sequence in the region, and based on the second-level path coordination strategy to perform multi-suction nozzle path conflict prediction and avoidance scheduling.

[0009] Further, the first-level path optimization strategy compresses the mounting sequence in the region, including: For mounting path , where each mounting point coordinate is , k=1, 2,..., n; the total length of the path visited by the mounting head from the starting point in sequence is:

[0010] The mounting path is arranged by a greedy path algorithm or an approximate traveling salesman problem algorithm to solve the minimum mounting path :

[0011] Wherein, represents all permutations of task points.

[0012] Further, the second-level path coordination strategy performs multi-suction nozzle path conflict prediction and avoidance scheduling, including: Obtain the position information and of suction nozzle A and suction nozzle B at time :

[0013] If there is a time that satisfies the following conditions:

[0014] It is judged as a potential path conflict, where is the minimum safety distance threshold.

[0015] Further, when the heuristic algorithm is used to optimize the mounting path in real time, the path optimization objective function includes:

[0016] wherein, is the task sequence of nozzle A, is the task sequence of nozzle B; is the total length of the mounting path of nozzles A and B; is the adjustment coefficient of path conflict cost; is the path intersection conflict penalty term, and the calculation method includes:

[0017] wherein, is an indicator function that determines whether intersection occurs; After detecting the conflict mounting point of potential collision, a delay time is applied to the nozzle with lower priority:

[0018] wherein, is the reference time of the kth operation; is the time when nozzle B reaches the corresponding station in the kth operation; is the time when nozzle A reaches the corresponding station in the kth operation; is the difference between the arrival times of nozzle A and nozzle B in the operation.

[0019] Further, the real-time detection of whether there is path intersection or potential interference between the nozzles includes a trajectory prediction strategy: Based on the spatial coordinates of the task points and the current dynamic parameters of the nozzles, the trajectory estimation under the time step sequence is established, and the isochronous step displacement estimation method is adopted:

[0020] wherein, is the position information of the nozzle at time, is the position of the nozzle at time, is the speed of the nozzle at time, is the acceleration of the nozzle at time; For each nozzle, the position prediction sequence of the next N steps is generated in advance:

[0021] wherein, indicates the position of the nozzle at the position of the Nth step after the time instant; the predicted time window is dynamically adjusted, and the adjustment reference value includes the ratio of the current speed of the suction nozzle to the distance from the latest mounting point; Considering that the suction nozzle actually occupies more than one point in the working range during high-speed operation, each position point is expanded to a motion envelope area in the form of a bounding box or a circular envelope area.

[0022] Further, the real-time detection of whether there is a path intersection or potential interference between the suction nozzles also includes a collision determination strategy: At any time , if the spatial distance between the two suction nozzles satisfies:

[0023] or the trajectory envelope areas overlap, that is:

[0024] it is determined that there is a path collision risk at the current time window; wherein, is a safety distance threshold, which is the minimum allowed Euclidean distance between the center points of the two suction nozzles, is the trajectory envelope area of the suction nozzle A, is the trajectory envelope area of the suction nozzle B, and the trajectory envelope area is the spatial occupation range of the suction nozzle on the motion path; represents that the intersection is not empty; All predicted conflict events are recorded by using a dynamic conflict graph, and a weight priority is added:

[0025] wherein, is a dynamic conflict graph; is the reference time of the conflict event; is the suction nozzle pair participating in the conflict; is a conflict weight, which represents the severity of the collision and is calculated by the speed superposition, the degree of path overlap and the target point weight.

[0026] Further, when it is detected that there is a path intersection or potential interference between the suction nozzles, an avoidance mechanism is triggered, including: a priority scheduling strategy: setting the priority according to the suction nozzle number or physical position; dynamically adjusting the priority in combination with real-time factors, including the current task complexity, the size of the mounted device and the length of the previous path; the suction nozzle with a higher priority retains the current path and speed, and the suction nozzle with a lower priority suspends the motion and waits to resume after the conflict is resolved; a path reconstruction strategy: rearranging the task points of the suction nozzles that will have a conflict to generate a new path sequence ​

[0027] wherein, denotes a set of path candidates, is a candidate path in p, i.e., a possible execution order of the suction nozzles i under the current task assignment; denotes a path length cost function, which is the total movement distance of the candidate path ; denotes a conflict cost weight coefficient, which is used to balance the importance of the two goals of shortest path and least conflict; denotes a conflict cost function, which is used to measure the potential conflict risk of the candidate path with other suction nozzle paths; the path rearrangement is calculated by using a heuristic A* search or an approximate traveling salesman problem algorithm to avoid conflict areas while keeping the original task order as much as possible unchanged; speed regulation strategy: if two suction nozzles are expected to reach the same area in a short time, soft avoidance is performed by adjusting the speed or acceleration; for suction nozzles with lower priority, a delay time is calculated, and the movement speed is adjusted to satisfy:

[0028] wherein, is the speed of suction nozzle B at time , is the remaining distance that suction nozzle B needs to move from the current position, is the time for suction nozzle A to reach the target position at the reference time of the kth operation; avoidance interval sets a buffer path in advance, so that the suction nozzle can avoid the intersection point without stopping. A multi-patch suction nozzle synchronous flexible mounting device, comprising XYZ motion mechanisms and suction nozzle assemblies connected thereto and a control platform, each set of suction nozzles corresponding to a set of XYZ motion mechanisms; the control platform is based on a FPGA+ARM heterogeneous collaborative control structure, and real-time processing of suction nozzle scheduling, task assignment and path collision prediction is realized.

[0029] The beneficial effects of the present application are:

[0030] 1. Parallel mounting architecture based on double-suction nozzle independent control: double sets of XYZ mechanisms and suction nozzle systems are adopted, parallel mounting tasks in different areas are supported, mounting efficiency is significantly improved, and the production needs of high-density arrays are met. 2. Cooperative scheduling mechanism based on path optimization and collision avoidance logic: path planning is carried out in combination with spatial clustering and A* algorithm, and the suction nozzle movement state is monitored in real time, dynamic obstacle avoidance and priority coordination are realized, and the safety and stability of the multi-suction nozzle mounting process are guaranteed.

[0031]

[0032] ​3. SMT task adaptive allocation based on process software: automatically identify product size and array layout, perform SMT task intelligent division and parameter configuration, improve flexible manufacturing capability, and adapt to multi-variety and small-batch production scenarios.

[0033] 4. Cost optimization design based on collaborative control and software integration: through structure simplification and logic intelligentization, reduce equipment redundancy investment, reduce production line expansion cost, and improve overall economy and maintainability of the system. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is a multi-surface suction nozzle synchronous flexible mounting method flow chart of embodiment 1 of the present application.

[0035] Figure 2 is a multi-surface suction nozzle synchronous flexible mounting method schematic diagram of embodiment 3 of the present application. DETAILED DESCRIPTION

[0036] In order to have a clearer understanding of the technical features, objectives and effects of the present application, the specific embodiments of the present application will now be described. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application, that is, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0037] Embodiment 1 As shown in Figure 1 , the present embodiment provides a multi-surface suction nozzle synchronous flexible mounting method, comprising: Configuring two sets of physically independent XYZ motion mechanisms and suction nozzles, and performing synchronous operation of different mounting areas (this step breaks the traditional single-suction nozzle sequential mounting mode, and can significantly improve parallel mounting efficiency); Based on a spatial clustering method, the mounting points are divided into a plurality of sub-regions, and the tasks are dynamically allocated to the corresponding suction nozzles (this step can reduce the overlap of motion paths and optimize the cooperation efficiency of the suction nozzles); Based on a heuristic algorithm, the mounting path is optimized in real time, so that the motion path of the suction nozzle is the shortest (this step can reduce the idle travel and waiting time, and improve the overall mounting beat); Real-time detection of whether there is path intersection or potential interference between the suction nozzles, if so, trigger the avoidance mechanism, the avoidance mechanism includes priority scheduling strategy, path reconstruction strategy and speed limit adjustment strategy (this step can realize safe cooperative mounting of multiple suction nozzles in a small space).

[0038] Preferably, based on a spatial clustering method, the mounting points are divided into a plurality of sub-regions, and the tasks are dynamically allocated to the corresponding suction nozzles, comprising: Spatial clustering: using Voronoi or K-Means algorithm, all the mounting points are divided into two non-intersecting areas according to two-dimensional coordinates, so that the mounting task is localized in space; Nozzle binding: assigning the mounting task of each sub-area to the corresponding nozzle respectively, so that the nozzles avoid frequent intersection in physical space and improve scheduling efficiency; Dynamic balance: when a nozzle has too many tasks, use boundary drift and task migration strategies to dynamically balance the load and prevent local overload or idleness.

[0039] Preferably, the mounting path is optimized in real time based on a heuristic algorithm, including: compressing the mounting sequence within the region based on a first-level path optimization strategy, and performing multi-nozzle path conflict prediction and avoidance scheduling based on a second-level path coordination strategy to reduce mounting head movement length and invalid movement time.

[0040] Preferably, the mounting sequence within the region is compressed based on a first-level path optimization strategy, including: For the mounting path , where each mounting point coordinate is , k = 1, 2,..., n; the total length of the path visited by the mounting head from the starting point in sequence is:

[0041] The mounting path is arranged by a greedy path algorithm or an approximate Traveling Salesman Problem (TSP) algorithm to solve the minimum mounting path :

[0042] where represents all permutations of task points.

[0043] Preferably, multi-nozzle path conflict prediction and avoidance scheduling is performed based on a second-level path coordination strategy, including: Obtain the position information and of nozzle A and nozzle B at time :

[0044] If there is a time that satisfies the following conditions:

[0045] then it is determined as a potential path conflict, where is the minimum safety distance threshold (typical value such as 3 mm).

[0046] Preferably, when the mounting path is optimized in real time based on the heuristic algorithm, the path optimization objective function comprises:

[0047] wherein, is the task sequence of the suction nozzle A, is the task sequence of the suction nozzle B; is the total length of the mounting path of the suction nozzles A and B; is the adjustment coefficient of the path conflict cost; is the path intersection conflict penalty term, and the specific form is as follows:

[0048] wherein, is an indicator function that determines whether intersection occurs; after detecting the conflict mounting point of the potential collision, a delay time is applied to the suction nozzle with lower priority:

[0049] wherein, is the reference time of the kth operation; is the time when the suction nozzle B reaches the corresponding station in the kth operation; is the time when the suction nozzle A reaches the corresponding station in the kth operation; is the difference between the arrival times of the suction nozzle A and the suction nozzle B in the operation.

[0050] The above path modeling and conflict prediction method can significantly reduce the path interference between the suction nozzles, improve the collaborative scheduling efficiency and mounting safety, and provide mathematical support for the subsequent real-time anti-collision mechanism. Related simulation tests show that after using the path optimization structure, the mounting efficiency is improved by about 40% on average, and the path conflict rate is reduced by more than 85%.

[0051] In the process of double-suction nozzle collaborative mounting, if the scheduling is improper, the suction nozzle head path intersection is prone to occur, which may lead to equipment interference and even mechanical collision. In order to ensure the safety of mounting operation and improve the robustness of task scheduling, the embodiment proposes an anti-collision control mechanism with real-time prediction-dynamic judgment-multi-strategy avoidance. The anti-collision control mechanism not only performs full-path pre-analysis before mounting execution, but also responds to sudden path conflicts in real time during operation, providing decision support for stable operation of the system.

[0052] The anti-collision control mechanism of the embodiment specifically includes a trajectory prediction strategy, a collision judgment strategy, and an avoidance decision strategy.

[0053] Preferably, the trajectory prediction strategy of the embodiment comprises: Based on the spatial coordinates of the task point and the current dynamic parameters of the nozzle (such as position, velocity, and acceleration), a trajectory estimate is established under a time step sequence. This embodiment uses an isochronous displacement estimation method.

[0054] in, For the mouthpiece Location information at any given time For the mouthpiece Location at any given moment For the mouthpiece The speed of time For the mouthpiece Acceleration at any moment.

[0055] For each nozzle, generate a position prediction sequence for the next N steps in advance:

[0056] in, Indicates the mouthpiece is in The position at step N after time.

[0057] In this embodiment, the prediction time window is dynamically adjusted and is typically set as the ratio of the current nozzle speed to the distance to the nearest mounting point. Considering that the nozzle actually occupies more than one point of working area during high-speed operation, each position point is expanded into a motion-enclosed area, in the form of a bounding box or a circular envelope area.

[0058] Preferably, the collision determination strategy in this embodiment includes: At any time If the spatial distance between the two suction nozzles satisfies:

[0059] Or the trajectory envelope regions overlap, that is:

[0060] Then it is determined that there is a risk of path collision in the current time window; among which, The minimum permissible Euclidean distance between the center points of the two suction nozzles, representing a safety clearance threshold. This is the trajectory envelope region of nozzle A. The trajectory envelope region of nozzle B is the spatial range occupied by the nozzle along its movement path. This indicates that the intersection is not empty.

[0061] A dynamic collision graph is used to record all predicted collision events, with weights added for priority:

[0062] wherein, is a dynamic conflict graph; is a reference time of the conflict event; is a pair of suction nozzles involved in the conflict; is a conflict weight, representing the severity of the collision, calculated by velocity superposition, path overlap degree and target point weight.

[0063] Preferably, the avoidance decision strategy of the present embodiment includes: priority scheduling strategy: set priority according to nozzle number or physical position (static priority); dynamically adjust priority according to current task complexity, device size, pre-path length, etc. (dynamic priority); the nozzle with higher priority retains the current path and speed, and the nozzle with lower priority suspends movement and waits for the conflict to be resolved before resuming.

[0064] path reconstruction strategy: when the waiting strategy greatly affects the global efficiency, automatically rearrange the path of the nozzle task point that will conflict, the goal is to generate a new path sequence :

[0065] wherein, represents a path candidate set, is a candidate path in p, i.e. the possible execution order of nozzle i under the current task allocation; represents a path length cost function, which is the total motion distance of the candidate path ; represents a conflict cost weight coefficient, used to balance the importance of the two goals of shortest path and least conflict; represents a conflict cost function, used to measure the potential conflict risk between the candidate path and the paths of other nozzles; path rearrangement uses heuristic A* search or approximate traveling salesman problem algorithm to calculate, avoiding conflict areas while keeping the original task order as much as possible.

[0066] speed limit adjustment strategy: if two nozzles are expected to reach the same area in a short time, soft avoidance is performed through speed adjustment or acceleration adjustment. For the nozzle with lower priority, calculate the delay time , adjust the motion speed to satisfy:

[0067] wherein, is the speed of nozzle B at time , is the remaining distance that nozzle B needs to move from the current position, Reference time of the suction nozzle A in the kth operation Time of reaching the target position.

[0068] The avoidance interval sets a buffer path in advance, enabling the suction nozzle to avoid the intersection without stopping.

[0069] This speed limit adjustment strategy can ensure continuous operation of the device without interruption, and is suitable for low-risk conflicts and large path compressible space scenarios.

[0070] Preferably, the anti-collision control mechanism of the embodiment has a redundant design: The controller automatically performs conflict scanning and preprocessing once every path planning cycle (e.g., <100 ms); All detection results and scheduling responses are recorded into the system log for engineering backtracking; Supporting software and hardware redundancy execution, once the main control logic is abnormal, the standby control channel takes over and freezes the conflict area immediately.

[0071] This redundant design can ensure that the system still has emergency handling capability under the condition of path planning failure or unexpected task disturbance, ensuring job safety.

[0072] Experimental tests show that the key performance of the anti-collision control mechanism of the embodiment under typical vehicle mounting tasks is shown in Table 1.

[0073] Table 1- Key performance of the anti-collision control mechanism of the embodiment under typical vehicle mounting tasks

[0074] The above results show that the anti-collision control mechanism realizes rapid, stable and flexible collision avoidance of double-suction nozzle mounting path conflicts while maintaining mounting precision, significantly improving the engineering adaptability of the system under multi-task, high-density and high-speed operation conditions.

[0075] In actual tests, the multi-IC chip suction nozzle synchronous flexible mounting method of the invention was compared with the traditional single-suction nozzle mounting method, and the results showed that the mounting efficiency of the invention was improved by about 45.3%; the average path length was reduced by 31.7%; the anti-collision prediction response time was not more than 5ms, with no obvious execution delay; and the multi-batch task stability reached 99.2%. These indicators verify the comprehensive advantages of the invention in efficiency, safety and stability.

[0076] Embodiment 2 This embodiment is based on Embodiment 1: The embodiment provides a multi-chiplet suction nozzle synchronous flexible mounting device, which comprises an XYZ motion mechanism and a control platform connected with a suction nozzle assembly, and each set of suction nozzles corresponds to a set of XYZ motion mechanisms; the control platform is based on an FPGA+ARM heterogeneous collaborative control structure, and can realize real-time processing of suction nozzle scheduling, task allocation and path collision prediction.

[0077] In the embodiment, two sets of completely independent XYZ motion mechanisms are adopted, and one mounting suction nozzle (suction nozzle A and suction nozzle B) is bound to each set of XYZ motion mechanisms. The two sets of XYZ motion mechanisms have complete independence in motion degrees of freedom, control logic and operation strategies, but are collaboratively scheduled through a central control unit, so as to form a distributed mounting architecture with local autonomy and global collaboration capability.

[0078] In the embodiment, each set of suction nozzles corresponds to a set of XYZ motion mechanisms, and has micron-level position precision and high-speed response characteristics; the suction nozzle assembly supports vacuum adsorption and rapid release functions, and can be compatible with mounting devices of different sizes. The mounting platform adopts a standard carrier array clamping mode, and arranges a plurality of products on a fixed working surface, and is suitable for large-batch homogeneous products and heterogeneous device mixed mounting scenes.

[0079] Preferably, the control platform of the embodiment integrates a software interface, and provides the following interactive functions: real-time path simulation and visual display; mounting area division and suction nozzle allocation layer control; collision warning prompt and intervention action record; model parameter dynamic adjustment and mounting task log output.

[0080] The software interface supports task import (such as CSV or Gerber format), and automatically generates a task partition and a path result map, so as to facilitate an operator to review a task and optimize parameters.

[0081] The multi-chiplet suction nozzle synchronous flexible mounting device of the embodiment is compatible with the following mounting scenes: Heterogeneous chip mixed mounting: for devices of different sizes, the suction nozzle can be intelligently selected and matched with adsorption force; Large-size chip cross-region mounting: supporting joint mounting of a single chip by multiple suction nozzles, and having collaborative alignment and coaxial mounting functions; Flexible adaptation of multiple versions of products: quickly responding to process version updates through dynamic task matching and path scheduling algorithms.

[0082] The device has high flexibility and scalability, and is suitable for high-density mounting process requirements of 5G modules, intelligent terminals, automobile electronics and the like.

[0083] Embodiment 3 The embodiment is based on the embodiment 2. The embodiment provides a multi-chiplet suction nozzle synchronous flexible mounting method and device. As shown in Figure 2As shown, in this embodiment, a standard size array carrier is used on the electronic manufacturing line, and the working surface area is a 5-row x 5-column mounting grid structure. Each cell represents a position of an electronic component to be mounted. In this task scenario, three types of devices with different packaging specifications need to be mounted: #1 is a high-density packaged chip, #2 is a general-size device, and #3 is a special-function module. Each type of device is distributed in different areas of the carrier, and there are problems such as structural asymmetry, component size difference, and possible path overlap.

[0084] This embodiment configures two independent XYZ motion structures, respectively carrying suction nozzles A and B, which can perform completely independent and high-precision three-axis motion on the mounting platform. Both suction nozzles are connected to the same feeding channel, and the required chips are provided by the feeder called by the central control system. The feeder area is located on the left side of the mounting platform, and various components are distributed in a standard tape feeding manner.

[0085] Before the mounting task starts, the central control system first extracts the spatial coordinates of all target mounting points on the carrier, and applies the K-means clustering algorithm to divide the mounting task area, dividing all mounting points into two spatial subsets. The upper left task (including #1 and #2 devices) is assigned to suction nozzle A, and the lower right task (including #3 devices) is assigned to suction nozzle B. The system simultaneously evaluates the task complexity and total path length of the two regions, dynamically balances the task load, and ensures that the task times of the two suction nozzles are approximately synchronized.

[0086] Specifically, during task execution: Suction nozzle A sucks #1 chips from the left feeder, moves along the set path to the upper left corner area, and completes the mounting of #1 and #2 chips in sequence. This path is relatively concentrated, mainly for near-end short-distance fast mounting.

[0087] After the system detects the motion path of suction nozzle A, suction nozzle B calculates the motion trend through the path prediction module and adjusts the motion start time with the avoidance time difference strategy. Suction nozzle B first sucks #3 module devices, bypasses the suction nozzle A activity area, and completes the mounting from the upper right path to the lower right corner target point. During the entire process, suction nozzle B's path uses a diagonal avoidance strategy to ensure that the motion trajectory maintains the minimum safety distance from suction nozzle A.

[0088] The system performs real-time path comparison through the anti-collision prediction model during operation: path state refresh is performed every 20 ms; if a path intersection trend is predicted, the system automatically adjusts the speed of suction nozzle B or delays the execution time; the avoidance mechanism uses priority control, suction nozzle A maintains the main task beat, and suction nozzle B makes flexible adjustments to ensure overall efficiency and safety.

[0089] After the mounting is completed, the system counts and compares the completion time of the two nozzles, and finally confirms that the mounting accuracy is controlled within ±0.01mm. The mounting time is improved by about 46.8% compared with the single nozzle serial solution.

[0090] This implementation case fully demonstrates the adaptability and effectiveness of the present invention in high-density, small-pitch array mounting scenarios. It not only achieves efficient parallel collaboration between the two nozzles, but also effectively avoids potential collision risks between nozzles through intelligent path division and predictive avoidance strategies, significantly improving equipment utilization and production line cycle time efficiency, and meeting the dual requirements of efficiency and flexibility in high-end electronic assembly processes.

[0091] also, Figure 2 The arrows in the diagram illustrate the movement directions and target points of nozzles A and B during the actual task. This diagram clearly shows the spatial relationships between task zone boundaries, feeding paths, and placement positions, providing a visual reference for engineers to configure system wiring and scheduling strategies.

[0092] It should be noted that the multi-nozzle synchronous flexible mounting method and device proposed in this invention has significant engineering application value and industrial promotion potential. Its core technology lies in breaking through the bottlenecks of single-path, single-task, and low parallelism in traditional mounting equipment. Through a three-in-one system design of independent dual-nozzle scheduling + path collaborative planning + real-time anti-collision intelligent control, it achieves rapid, accurate, and intelligent mounting operations for high-density, multi-variety electronic components.

[0093] In actual production scenarios, traditional surface mount technology (SMT) processes generally rely on single-nozzle point-to-point placement. While this ensures a certain level of accuracy and process controllability, as product integration and component variety continue to increase, this approach has gradually revealed drawbacks such as low placement efficiency, poor equipment utilization, and insufficient scalability. Especially when facing the collaborative placement of multiple products and various components on array-type carriers, the single-path motion mechanism is prone to problems such as lengthy paths, resource waste, and standby conflicts, severely restricting the overall production line cycle time and flexible response capabilities.

[0094] This invention constructs two physically decoupled but control-coupled independent nozzle systems, enabling multiple placement tasks to be carried out in parallel. Simultaneously, by employing path partitioning and dynamic partitioning scheduling strategies, a responsibility-based division of placement areas is achieved, with each nozzle responsible only for its sub-task space, significantly reducing path overlap. Furthermore, the integrated collision avoidance prediction algorithm and path reconstruction mechanism ensure interference-free operation of the two nozzles during high-speed placement, providing a solid guarantee for the system's continuous and uninterrupted collaborative operation.

[0095] The application has good intelligent expansion capability, and a software control platform thereof supports functions such as task dynamic updating, path re-planning, model self-adaptive optimization, etc., so that the system can quickly respond when facing product version iteration, structure change or load change, and truly realize the flexible manufacturing goal of'soft and hard cooperation, plug and play'.

[0096] From the economic benefits, the application realizes significant improvement of unit time output capacity (the measured efficiency is improved by more than 40%) through intelligent allocation and fine scheduling of limited hardware resources without increasing the number of devices, saves device investment, manual waiting time and production line occupation area for enterprises, reduces manufacturing cost, improves device reuse rate, and has great popularization value.

[0097] In addition, while ensuring mounting precision, the application further expands the adaptive range of the system, supports simultaneous mounting of various components from small electronic devices to medium and large heterogeneous packaging structures, is widely applicable to high-density integrated circuit assembly fields such as 5G communication modules, vehicle-mounted electronics and intelligent terminals, and provides a sustainable, high-performance and intelligent key process path for the development of China's independent high-end mounting equipment.

[0098] To sum up, the application is not only an engineering technical innovation for improving mounting efficiency and safety, but also an important support for promoting the electronic manufacturing industry towards the direction of intelligence, flexibility and integration, and has far-reaching significance for improving the national high-end equipment manufacturing level and the self-controllable ability of the industry.

[0099] Embodiment 4 This embodiment is based on embodiment 1: The embodiment provides a computer device, which comprises a memory and a processor, the memory stores a computer program, and the processor realizes the method of claim 1 when executing the computer program. The computer program can be in the form of source code, object code, executable file or some intermediate form, etc.

[0100] Embodiment 5 This embodiment is based on embodiment 1: The embodiment provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement a multi-patch suction nozzle synchronous flexible mounting method of the embodiment 1. The computer program can be in a source code form, an object code form, an executable file or some intermediate forms. The storage medium includes any entity or device capable of carrying the computer program code, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal and a software distribution medium, etc. It should be noted that the content included in the storage medium can be appropriately increased or reduced according to the requirements of legislation and patent practice in a jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the storage medium does not include an electrical carrier signal and a telecommunication signal.

[0101] The above only describes the preferred embodiments of the present application. It should be understood that the present application is not limited to the forms disclosed herein, and should not be considered as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concepts described herein by the above-mentioned teaching or related art or knowledge. Any modification and change made by those skilled in the art without departing from the spirit and scope of the present application shall fall within the protection scope of the claims of the present application.

[0102] It should be noted that, for the foregoing method embodiments, in order to facilitate description, they are expressed as a combination of a series of actions, but those skilled in the art should know that the present application is not limited to the order of the actions described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

Claims

1. A method for simultaneous flexible placement of multiple patch nozzles, characterized in that, include: It is equipped with two physically independent XYZ motion mechanisms and nozzles, and performs synchronous operations in different mounting areas; Based on spatial clustering, the mounting points are divided into multiple sub-regions, and the tasks are dynamically assigned to the corresponding nozzles; The mounting path is optimized in real time based on heuristic algorithms to minimize the nozzle movement path. The system detects in real time whether there are path intersections or potential interferences between nozzles. If so, it triggers an avoidance mechanism, which includes a priority scheduling strategy, a path reconstruction strategy, and a speed limit adjustment strategy.

2. The method for simultaneous flexible mounting of multiple patch nozzles according to claim 1, characterized in that, The spatial clustering method divides the mounting points into multiple sub-regions and dynamically assigns tasks to the corresponding nozzles, including: Spatial clustering: Using Voronoi or K-Means algorithms, all mounting points are divided into two non-intersecting regions according to two-dimensional coordinates, so that the mounting task is spatially localized; Nozzle binding: Assign the placement task of each sub-area to the corresponding nozzle to avoid frequent crossover of nozzles in physical space; Dynamic balancing: When there are too many tasks in a certain nozzle area, the load is dynamically balanced through boundary drift and task migration strategies to prevent local overload or idleness.

3. The method for simultaneous flexible placement of multiple patch nozzles according to claim 1, characterized in that, The real-time optimization of the mounting path based on the heuristic algorithm includes: compressing the mounting sequence within the region based on the first-level path optimization strategy, and performing multi-nozzle path conflict prediction and avoidance scheduling based on the second-level path coordination strategy.

4. The method for simultaneous flexible mounting of multiple patch nozzles according to claim 3, characterized in that, The compression of the mounting sequence within the region based on the first-level path optimization strategy includes: For mounting path The coordinates of each mounting point are: If k=1,2,...,n; then the total path length of the mounting head accessing sequentially from the starting point is: The mounting path is determined using a greedy path algorithm or an approximate traveling salesman problem algorithm. Arrange the elements and solve for the minimum mounting path. : in, This represents all permutations and combinations of task points.

5. The method for simultaneous flexible mounting of multiple patch nozzles according to claim 4, characterized in that, The multi-nozzle path conflict prediction and avoidance scheduling based on the two-level path coordination strategy includes: Get nozzle A and nozzle B at time Location information and : If a time exists The following conditions must be met: This is then identified as a potential path conflict, where This is the minimum safe distance threshold.

6. The method for simultaneous flexible mounting of multiple patch nozzles according to claim 5, characterized in that, When performing real-time optimization of the mounting path based on the heuristic algorithm, the objective function for path optimization includes: in, The task sequence for nozzle A. The task sequence for nozzle B; This represents the total length of the mounting path for nozzles A and B. This is an adjustment factor for path conflict cost; The calculation method for the path intersection conflict penalty term includes: in, This is an indicator function used to determine whether a crossover has occurred. Conflict patch points where potential collisions are detected Then, apply a delay time to the lower priority suction nozzles: in, This is the reference time for the k-th operation; Let be the time it takes for nozzle B to reach the corresponding workstation in the k-th operation; Let A be the time it takes for nozzle A to reach the corresponding workstation in the k-th operation. This represents the time difference between the arrival of nozzle A and nozzle B during operation.

7. The method for simultaneous flexible mounting of multiple patch nozzles according to claim 6, characterized in that, The real-time detection of whether there are path intersections or potential interferences between nozzles includes a trajectory prediction strategy: Based on the spatial coordinates of the task point and the current dynamic parameters of the nozzle, a trajectory estimation is established under the time step sequence, and an isochronous displacement estimation method is adopted: in, For the mouthpiece Location information at any given time For the mouthpiece Location at any given moment For the mouthpiece The speed of time, For the mouthpiece Acceleration at any moment; For each nozzle, generate a position prediction sequence for the next N steps in advance: in, Indicates the mouthpiece is in The position at step N after time; The prediction time window is dynamically adjusted, and the adjustment reference value includes the ratio of the current nozzle speed to the distance to the nearest placement point; Considering that the nozzle actually occupies more than one point of working area during high-speed operation, each position point is expanded into a motion-enclosed area, in the form of a bounding box or a circular envelope area.

8. The method for simultaneous flexible mounting of multiple patch nozzles according to claim 7, characterized in that, The real-time detection of whether there is path intersection or potential interference between nozzles also includes a collision determination strategy: At any time If the spatial distance between the two suction nozzles satisfies: Or the trajectory envelope regions overlap, that is: Then it is determined that there is a risk of path collision in the current time window; among which, The minimum permissible Euclidean distance between the center points of the two suction nozzles, representing a safety clearance threshold. This is the trajectory envelope region of nozzle A. The trajectory envelope region of nozzle B is the spatial range occupied by the nozzle along its movement path. Indicates that the intersection is not empty; A dynamic conflict graph is used to record all predicted conflict events, and weights are added for priority: in, This is a dynamic conflict diagram; The reference time for when the conflict occurred; For the suckers involved in the conflict; The collision weight represents the severity of the collision and is calculated by combining the velocity superposition, the degree of path overlap, and the target point weight.

9. The method for simultaneous flexible mounting of multiple patch nozzles according to claim 8, characterized in that, When path intersections or potential interference are detected between nozzles, an avoidance mechanism is triggered, including: Priority scheduling strategy: Priority is set according to nozzle number or physical location; priority is dynamically adjusted in combination with real-time factors, including current task complexity, device size, and preceding path length; higher priority nozzles retain their current path and speed, while lower priority nozzles pause movement and resume after the conflict is resolved. Path Restructuring Strategy: Rearrange the paths of nozzle task points that are about to conflict, generating a new path sequence. : in, Represents the set of candidate paths. Let p be the candidate paths, i.e., the possible execution order of nozzle i under the current task assignment; The path length cost function represents the candidate path. The total distance traveled; This represents the conflict cost weighting coefficient, used to balance the importance of the two objectives: shortest path and least conflict. This represents the conflict cost function, used to evaluate candidate paths. Potential conflict risks with other nozzle paths; path rearrangement is calculated using heuristic A* search or an approximate traveling salesman problem algorithm to avoid conflict areas while keeping the original task order as unchanged as possible; Speed ​​limiting adjustment strategy: If both nozzles are expected to reach the same area within a short period of time, soft avoidance is achieved through speed or acceleration adjustment; for the lower priority nozzle, the delay time is calculated, and the movement speed is adjusted to meet the following requirements: in, For nozzle B in The speed of time, This represents the remaining distance that nozzle B needs to move from its current position. Let the reference time of nozzle A be the k-th operation. Time to reach the target location; A buffer path is set in advance for the avoidance zone, so that the suction nozzle can avoid intersections without stopping.

10. A multi-nozzle synchronous flexible placement device, employing the multi-nozzle synchronous flexible placement method as described in claim 1, characterized in that, The multi-nozzle synchronous flexible mounting device includes an XYZ motion mechanism and its connected nozzle components and control platform. Each set of nozzles corresponds to a set of XYZ motion mechanisms. The control platform is based on an FPGA+ARM heterogeneous collaborative control structure and processes nozzle scheduling, task allocation and path collision prediction in real time.

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