A multi-patch suction nozzle synchronous flexible mounting method and device

Abstract

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

Description

Technical Field

[0001] This invention relates to the field of electronic manufacturing technology, and in particular to a method and apparatus for simultaneous flexible mounting of multiple patch nozzles. Background Technology

[0002] As electronic products become increasingly integrated and complex, the demands on placement efficiency and precision in production are also rising. Current SMT (Surface Mount Technology) production lines typically employ a single nozzle for piece-by-piece placement, and even high-end multi-head placement machines face issues such as resource waste and redundant path planning.

[0003] To improve placement efficiency, the industry currently commonly uses an "array carrier + single nozzle placement" method, arranging multiple small parts in a fixed fixture and placing them one by one using a single nozzle. However, this method has the following drawbacks:

[0004] 1. Bottleneck in placement efficiency: Limited by the single-head operation capability of the nozzle, space resources cannot be fully utilized;

[0005] 2. High equipment expansion costs: To improve efficiency, it is often necessary to add new equipment or nozzle heads, which increases the system cost;

[0006] 3. Lack of flexibility and parallel processing capabilities: Traditional equipment is unable to cope with product variations and the different placement requirements of large-sized components.

[0007] Therefore, there is an urgent need for a dual-nozzle parallel placement system and process with a simple structure, intelligent path, and coordinated nozzles to significantly improve production line efficiency and flexibility. Summary of the Invention

[0008] To address the aforementioned issues, this invention proposes a method and apparatus for synchronous flexible placement of multiple surface mount nozzles, applicable to dual-station synchronous placement systems that improve the efficiency of parallel operation of multiple devices in surface mount production.

[0009] The technical solution adopted in this invention is as follows:

[0010] A method for simultaneous flexible placement of multiple patch nozzles includes:

[0011] It is equipped with two physically independent XYZ motion mechanisms and nozzles, and performs synchronous operations in different mounting areas;

[0012] Based on spatial clustering, the mounting points are divided into multiple sub-regions, and the tasks are dynamically assigned to the corresponding nozzles;

[0013] The mounting path is optimized in real time based on a heuristic algorithm to minimize the nozzle's movement path.

[0014] 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.

[0015] Furthermore, the spatial clustering method divides the mounting points into multiple sub-regions and dynamically assigns tasks to the corresponding nozzles, including:

[0016] 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;

[0017] Nozzle binding: Assign the placement task of each sub-area to the corresponding nozzle to avoid frequent crossover of nozzles in physical space;

[0018] 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.

[0019] Furthermore, 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.

[0020] Furthermore, the compression of the mounting sequence within the region based on the first-level path optimization strategy includes:

[0021] 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:

[0022]

[0023] 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. :

[0024]

[0025] in, This represents all permutations and combinations of task points.

[0026] Furthermore, the multi-nozzle path conflict prediction and avoidance scheduling based on the secondary path coordination strategy includes:

[0027] Get nozzle A and nozzle B at time Location information and :

[0028]

[0029] If a time exists The following conditions must be met:

[0030]

[0031] This is then identified as a potential path conflict, where This is the minimum safe distance threshold.

[0032] Furthermore, when performing real-time optimization of the mounting path based on the heuristic algorithm, the path optimization objective function includes:

[0033]

[0034] 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 coefficient for path conflict costs; The calculation method for the path intersection conflict penalty term includes:

[0035]

[0036] in, This is an indicator function used to determine whether a crossover has occurred.

[0037] Conflict patch points where potential collisions are detected Then, apply a delay time to the lower priority suction nozzles:

[0038]

[0039] 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.

[0040] Furthermore, the real-time detection of whether there are path intersections or potential interferences between nozzles includes a trajectory prediction strategy:

[0041] 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:

[0042]

[0043] 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;

[0044] For each nozzle, generate a position prediction sequence for the next N steps in advance:

[0045]

[0046] in, Indicates the mouthpiece is in The position at step N after time;

[0047] 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;

[0048] 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.

[0049] Furthermore, the real-time detection of whether there is path intersection or potential interference between nozzles also includes a collision determination strategy:

[0050] At any time If the spatial distance between the two suction nozzles satisfies:

[0051]

[0052] Or the trajectory envelope regions overlap, that is:

[0053]

[0054] 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. 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;

[0055] A dynamic conflict graph is used to record all predicted conflict events, and weights are added for priority:

[0056]

[0057] 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.

[0058] Furthermore, when path intersections or potential interference are detected between nozzles, an avoidance mechanism is triggered, including:

[0059] 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.

[0060] Path Restructuring Strategy: Rearrange the paths of nozzle task points that are about to conflict, generating a new path sequence. :

[0061]

[0062] 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; An adjustment coefficient representing the cost of path conflict, used to balance the importance of the two objectives of 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;

[0063] 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:

[0064]

[0065] 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;

[0066] A buffer path is set in advance for the avoidance zone, so that the suction nozzle can avoid intersections without stopping.

[0067] A multi-nozzle synchronous flexible mounting device includes an XYZ motion mechanism and a connected nozzle assembly and control platform. Each nozzle 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.

[0068] The beneficial effects of this invention are as follows:

[0069] 1. Parallel placement architecture based on independent control of dual nozzles: It adopts dual XYZ mechanisms and nozzle systems to support parallel execution of placement tasks in different areas, significantly improving placement efficiency and meeting the production needs of high-density arrays.

[0070] 2. Collaborative scheduling mechanism based on path optimization and collision avoidance logic: Combining spatial clustering and A* algorithm for path planning, and monitoring the nozzle movement status in real time, dynamic obstacle avoidance and priority coordination are achieved to ensure the safety and stability of the multi-nozzle mounting process.

[0071] 3. Adaptive allocation of placement tasks based on process software: Automatically identifies product size and array layout, performs intelligent division and parameter configuration of placement tasks, improves flexible manufacturing capabilities, and adapts to multi-variety, small-batch production scenarios.

[0072] 4. Cost optimization design based on collaborative control and software integration: By simplifying the structure and making the logic intelligent, reduce redundant equipment investment, reduce production line expansion costs, and improve the overall economy and maintainability of the system. Attached Figure Description

[0073] Figure 1 This is a flowchart of the multi-patch nozzle synchronous flexible mounting method of Embodiment 1 of the present invention.

[0074] Figure 2 This is a schematic diagram of the multi-patch nozzle synchronous flexible mounting method in Embodiment 3 of the present invention. Detailed Implementation

[0075] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments are now described. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention; that is, the described embodiments are only a part of the embodiments of the invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0076] Example 1

[0077] like Figure 1 As shown, this embodiment provides a method for simultaneous flexible placement of multiple patch nozzles, including:

[0078] It is equipped with two physically independent XYZ motion mechanisms and nozzles, and performs synchronous operation in different placement areas (this step breaks the traditional single-nozzle sequential placement mode and can significantly improve parallel placement efficiency).

[0079] Based on the spatial clustering method, the mounting points are divided into multiple sub-regions, and the tasks are dynamically assigned to the corresponding nozzles (this step can reduce the overlap of motion paths and optimize the nozzle coordination efficiency).

[0080] The mounting path is optimized in real time based on heuristic algorithms to minimize the nozzle movement path (this step can reduce idle travel and waiting time, and improve the overall mounting cycle time).

[0081] Real-time detection of path intersections or potential interference between nozzles; if so, triggering an avoidance mechanism. The avoidance mechanism includes priority scheduling strategy, path reconstruction strategy, and speed limit adjustment strategy (this step enables safe collaborative mounting of multiple nozzles in confined spaces).

[0082] Preferably, the mounting points are divided into multiple sub-regions based on a spatial clustering method, and the tasks are dynamically assigned to the corresponding nozzles, including:

[0083] 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;

[0084] Nozzle binding: Assign the placement task of each sub-area to the corresponding nozzle, so that the nozzles avoid frequent crossover in the physical space and improve scheduling efficiency;

[0085] 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.

[0086] 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, so as to reduce the mounting head movement length and invalid movement time.

[0087] Preferably, compressing the mounting sequence within the region based on a first-level path optimization strategy includes:

[0088] 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:

[0089]

[0090] The mounting path is determined using a greedy path algorithm or an approximate Traveling Salesman Problem (TSP) algorithm. Arrange the elements and solve for the minimum mounting path. :

[0091]

[0092] in, This represents all permutations and combinations of task points.

[0093] Preferably, multi-nozzle path conflict prediction and avoidance scheduling is performed based on a two-level path coordination strategy, including:

[0094] Get nozzle A and nozzle B at time Location information and :

[0095]

[0096] If a time exists The following conditions must be met:

[0097]

[0098] This is then identified as a potential path conflict, where This is the minimum safe distance threshold (typically 3 mm).

[0099] Preferably, when optimizing the mounting path in real time based on a heuristic algorithm, the path optimization objective function includes:

[0100]

[0101] 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 coefficient for path conflict costs; The path intersection conflict penalty item takes the following form:

[0102]

[0103] in, This is an indicator function used to determine whether a crossover has occurred.

[0104] Conflict patch points where potential collisions are detected Then, apply a delay time to the lower priority suction nozzles:

[0105]

[0106] 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.

[0107] The aforementioned path modeling and conflict prediction methods can significantly reduce path interference between nozzles, improve collaborative scheduling efficiency and placement safety, and provide mathematical support for subsequent real-time anti-collision mechanisms. Related simulation tests show that after adopting this path optimization structure, placement efficiency is improved by an average of approximately 40%, and the path conflict rate is reduced by more than 85%.

[0108] During dual-nozzle collaborative placement, improper scheduling can easily lead to nozzle head path intersections, causing equipment interference or even mechanical collisions. To ensure placement safety and improve task scheduling robustness, this embodiment proposes a collision avoidance control mechanism with real-time prediction, dynamic judgment, and multi-strategy avoidance. This collision avoidance control mechanism not only performs full-path pre-analysis before placement execution but also responds in real-time to sudden path conflicts during operation, providing decision support for stable system operation.

[0109] The collision avoidance control mechanism in this embodiment specifically includes a trajectory prediction strategy, a collision determination strategy, and an avoidance decision strategy.

[0110] Preferably, the trajectory prediction strategy in this embodiment includes:

[0111] 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.

[0112]

[0113] 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.

[0114] For each nozzle, generate a position prediction sequence for the next N steps in advance:

[0115]

[0116] in, Indicates the mouthpiece is in The position at step N after time.

[0117] 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.

[0118] 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.

[0119] Preferably, the collision determination strategy in this embodiment includes:

[0120] At any time If the spatial distance between the two suction nozzles satisfies:

[0121]

[0122] Or the trajectory envelope regions overlap, that is:

[0123]

[0124] 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. 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.

[0125] A dynamic collision graph is used to record all predicted collision events, with weights added for priority:

[0126]

[0127] 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.

[0128] Preferably, the decision avoidance strategy in this embodiment includes:

[0129] Priority scheduling strategy: Priority is set according to nozzle number or physical location (static priority); priority is dynamically adjusted based on factors such as current task complexity, device size, and preceding path length (dynamic priority); higher priority nozzles retain their current path and speed, while lower priority nozzles pause movement and resume after the conflict is resolved.

[0130] Path Restructuring Strategy: When the waiting strategy significantly impacts global efficiency, the path to the nozzle task points that are about to conflict is automatically rearranged, with the goal of generating a new path sequence. :

[0131]

[0132] 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; An adjustment coefficient representing the cost of path conflict, used to balance the importance of the two objectives of 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.

[0133] Speed ​​limiting adjustment strategy: If both nozzles are expected to reach the same area within a short period, soft avoidance is achieved through speed or acceleration adjustment. For lower-priority nozzles, the delay time is calculated. Adjust the movement speed to meet the following requirements:

[0134]

[0135] 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.

[0136] A buffer path is set in advance for the avoidance zone, so that the suction nozzle can avoid intersections without stopping.

[0137] This speed limit adjustment strategy ensures uninterrupted operation of the equipment and is suitable for scenarios with low-risk conflicts and large path compression space.

[0138] Preferably, the collision avoidance control mechanism in this embodiment has a redundant design:

[0139] Each time a path planning cycle is executed (e.g., <100ms), the controller automatically performs a conflict scan and preprocessing.

[0140] All test results and scheduling responses are recorded in the system log for project backtracking;

[0141] It supports redundant execution of software and hardware. Once the main control logic fails, the backup control channel will immediately take over and freeze the conflict area.

[0142] This redundancy design ensures that the system still has emergency response capabilities even in the event of path planning failure or unexpected task disturbances, thus guaranteeing operational safety.

[0143] Experimental tests show that the key performance of the collision avoidance control mechanism in this embodiment under typical vehicle mounting tasks is shown in Table 1.

[0144] Table 1 - Key performance of the collision avoidance control mechanism in this embodiment under typical vehicle mounting tasks.

[0145]

[0146] The above results indicate that, while maintaining mounting accuracy, this anti-collision control mechanism achieves rapid, stable, and flexible collision avoidance of dual-nozzle mounting path conflicts, significantly improving the system's engineering adaptability under multi-tasking, high-density, and high-speed operating conditions.

[0147] In actual testing, the multi-nozzle synchronous flexible mounting method of the present invention was compared with the traditional single-nozzle mounting method. The results showed that the method of the present invention improved mounting efficiency by approximately 45.3%; reduced the average path length by 31.7%; achieved a collision avoidance prediction response time of no more than 5ms with no significant execution delay; and achieved a stability of 99.2% across multiple batches. These indicators verify the comprehensive advantages of the method of the present invention in terms of efficiency, safety, and stability.

[0148] Example 2

[0149] This embodiment is based on embodiment 1:

[0150] This embodiment provides a multi-nozzle synchronous flexible mounting device, including an XYZ motion mechanism and its connected nozzle assembly 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.

[0151] In this embodiment, two completely independent XYZ motion mechanisms are used, each bound to a mounting nozzle (nozzle A and nozzle B). The two have completely independent motion freedom, control logic and operation strategy, but are coordinated and scheduled through a central control unit, thus forming a distributed mounting architecture with local autonomy and global coordination capabilities.

[0152] In this embodiment, each nozzle corresponds to a set of XYZ motion mechanisms, possessing micron-level positional accuracy and high-speed response characteristics; the nozzle assembly supports vacuum adsorption and rapid release functions, and is compatible with mounting devices of different sizes. The mounting platform adopts a standard carrier array clamping method, arranging multiple products on a fixed working surface, suitable for high-volume mounting scenarios of homogeneous products and heterogeneous devices.

[0153] Preferably, the control platform of this embodiment integrates a software interface, providing the following interactive functions: real-time path simulation and visualization; control of mounting area division and nozzle allocation layers; collision alarm prompts and intervention action recording; dynamic adjustment of model parameters and output of mounting task logs.

[0154] The software interface supports task import (such as CSV or Gerber format) and automatically generates task partitioning and path result diagrams, which facilitates task review and parameter optimization by the operator.

[0155] The multi-nozzle synchronous flexible placement device of this embodiment is compatible with the following placement scenarios:

[0156] Heterogeneous chip mixed mounting: For devices of different sizes, the suction nozzle can be intelligently selected and matched with the suction force;

[0157] Large-size chip cross-region mounting: Supports the joint mounting of a single chip by multiple nozzles, with collaborative alignment and coaxial bonding functions;

[0158] Flexible adaptation to multiple product versions: Quickly respond to process version updates through dynamic task matching and path scheduling algorithms.

[0159] This device is highly flexible and scalable, and is suitable for the high-density mounting process requirements of various products such as 5G modules, smart terminals, and automotive electronics.

[0160] Example 3

[0161] This embodiment is based on embodiment 2:

[0162] This embodiment provides a method and apparatus for simultaneous flexible placement of multiple patch nozzles. For example... Figure 2 As shown, in this embodiment, a standard-sized array-type carrier is used on the electronic manufacturing production line, with its working surface area being a 5x5 grid structure for mounting. Each cell represents the location of an electronic component to be mounted. In this task scenario, three types of devices with different package 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. These devices are distributed in different areas of the carrier, presenting problems such as structural asymmetry, differences in component dimensions, and potential path overlap.

[0163] This embodiment features two independent XYZ motion structures, each equipped with nozzle A and nozzle B, enabling completely independent and high-precision three-axis motion on the placement platform. Both nozzles are connected to the same feed channel, and the required chips are supplied via a feeder activated by the central control system. The feeder area is located on the left side of the placement platform, distributing various components using standard tape feeding.

[0164] Before the placement task begins, the central control system first extracts the spatial coordinates of all target placement points on the carrier and applies the K-means clustering algorithm to divide the placement task area, dividing all placement points into two spatial subsets. The task in the upper left area (including devices #1 and #2) is assigned to nozzle A, and the task in the lower right area (including device #3) is assigned to nozzle B. The system simultaneously evaluates the task complexity and total path length of the two areas, dynamically balancing the task load to ensure that the task times of the two nozzles are approximately synchronized.

[0165] Specifically, during task execution:

[0166] Nozzle A picks up chip #1 from the left feeder and moves along the set path to the upper left corner area, completing the placement of chips #1 and #2 in sequence. This path is relatively concentrated, mainly for short-distance, rapid placement at the near end.

[0167] After the system detects the movement path of nozzle A, nozzle B calculates the movement trend through the path prediction module and adjusts the start time of movement using an avoidance time difference strategy. Nozzle B first picks up the #3 module component, bypasses the activity area of ​​nozzle A, and travels from the upper right path to the target point in the lower right corner to complete the placement. Throughout the process, nozzle B's path adopts a diagonal avoidance strategy to ensure that the movement trajectory maintains a minimum safe distance from nozzle A.

[0168] During operation, the system performs real-time path comparison using a collision avoidance prediction model: the path status is refreshed every 20ms; if a path intersection trend is predicted, the system automatically adjusts the speed of nozzle B or delays the execution time; the avoidance mechanism adopts priority control, with nozzle A maintaining the main task rhythm and nozzle B making flexible adjustments to ensure overall efficiency and safety.

[0169] 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.

[0170] 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.

[0171] 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.

[0172] 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.

[0173] 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.

[0174] 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.

[0175] This invention has excellent intelligent scalability. Its software control platform supports functions such as dynamic task updates, path replanning, and adaptive model optimization, enabling the system to respond quickly to product version iterations, structural changes, or load changes, and truly achieve the goal of flexible manufacturing with "software and hardware collaboration and plug-and-play".

[0176] From an economic perspective, this invention achieves a significant increase in output per unit time (measured efficiency increase of over 40%) without increasing the number of devices through intelligent allocation and precise scheduling of limited hardware resources. This saves enterprises money on equipment investment, labor waiting time, and production line space, reduces manufacturing costs, and increases equipment reuse rate, making it highly valuable for promotion.

[0177] Furthermore, while ensuring mounting accuracy, this invention further expands the system's adaptability, supporting the simultaneous mounting of various components from micro-electronic devices to medium-to-large heterogeneous packaging structures. It is widely applicable to high-density integrated circuit assembly fields such as 5G communication modules, automotive electronics, and smart terminals, providing a sustainable, high-performance, and highly intelligent key process path for the development of my country's independent high-end surface mount equipment.

[0178] In summary, this invention is not only an engineering and technological innovation that improves mounting efficiency and safety, but also an important support for promoting the electronics manufacturing industry towards intelligence, flexibility, and integration. It has profound significance for improving the country's high-end equipment manufacturing level and the industry's independent controllability.

[0179] Example 4

[0180] This embodiment is based on embodiment 1:

[0181] This embodiment provides a computer device, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement a multi-nozzle synchronous flexible placement method according to Embodiment 1. The computer program can be in the form of source code, object code, executable file, or some intermediate form.

[0182] Example 5

[0183] This embodiment is based on embodiment 1:

[0184] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements a multi-patch nozzle synchronous flexible mounting method according to Embodiment 1. The computer program can be in the form of source code, object code, executable file, or some intermediate form. The storage medium includes any entity or device capable of carrying 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 contained in the storage medium can be appropriately added or removed 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 electrical carrier signals and telecommunication signals.

[0185] The above description is merely a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the concept described herein through the above teachings or related technologies or knowledge. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

[0186] It should be noted that, for the sake of simplicity, the foregoing method embodiments are described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this 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 a heuristic algorithm to minimize the nozzle's movement path. Real-time detection of path intersections or potential interference between nozzles; if so, triggering an avoidance mechanism, which includes a priority scheduling strategy, a path reconstruction strategy, and a speed limit adjustment strategy. 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 coefficient for path conflict costs; 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. and At time A and time B respectively Location information, time ; This is the minimum safe distance threshold; 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.

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: , 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, 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.

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 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. 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.

8. The method for simultaneous flexible mounting of multiple patch nozzles according to claim 7, 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 is an adjustment coefficient for path conflict cost, used to balance the importance of the two objectives of 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.

9. 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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