A welding scraping method, welding device, processing equipment and storage medium
By optimizing the path planning and motion parameters of the double-twisted linear scraping trajectory, the problems of single trajectory form and uneven interface treatment in welding were solved. This enabled efficient removal of oxide layer and activation of material interface in the welding area, improved the bonding strength and stability of weld points, reduced the risk of incomplete penetration, and extended the service life of the cutting tool.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HANS PHOTOELECTRIC EQUIP CO LTD
- Filing Date
- 2026-04-17
- Publication Date
- 2026-07-21
AI Technical Summary
Existing wire bonding technologies suffer from limited scraping trajectory patterns, incomplete coverage, and insufficient interface uniformity, leading to a high risk of incomplete penetration and inadequate weld strength and stability.
By employing optimized dual-curved linear scraping trajectory path planning and motion parameters, and generating a target scraping welding trajectory, the oxide layer is efficiently removed and the material interface is fully activated, thereby controlling the wire bonding machine head to perform welding processing at the welding point.
It effectively reduces the risk of incomplete penetration, improves the bonding strength and stability of weld joints, enhances welding quality and weld reliability, and extends the service life of the cleaver.
Smart Images
Figure CN122425378A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of semiconductor packaging technology, especially the field of wire bonding, and specifically relates to a welding scraping method, welding apparatus, processing equipment and storage medium. Background Technology
[0002] Wire bonding, a core interconnection process in electronic packaging and micro-assembly, directly determines the performance and lifespan of microelectronic components such as semiconductor devices and integrated circuits. Among these processes, the formation of the second solder joint is particularly critical and challenging. Traditional bonding processes primarily rely on scraping to remove oxide layers, activate material interfaces, and perform surface pretreatment, thereby ensuring weld strength. Typical weld paths include those along the line, perpendicular to the line, and circular (see...). Figure 1 However, existing scraping trajectories generally suffer from limitations such as a single form, incomplete trajectory coverage, insufficient uniformity of interface processing, and the risk of incomplete solder penetration.
[0003] Therefore, current wire bonding technology urgently needs a scraping method that can achieve more precise and comprehensive interface treatment at the microscale, in order to break through the limitations of traditional trajectories and improve the welding quality and reliability of the second weld point. Summary of the Invention
[0004] The purpose of this application is to provide a welding scraping method, welding apparatus, processing equipment, and storage medium. This application aims to address the problems of single scraping trajectory form, incomplete coverage, and insufficient interface processing uniformity in the prior art by providing a novel welding scraping method. By adopting optimized path planning and motion parameters of the double-hinged linear scraping trajectory, it achieves efficient removal of the oxide layer in the welding area and full activation of the material interface, thereby effectively reducing the risk of incomplete penetration and improving the bonding strength and stability of the weld.
[0005] Firstly, a welding scraping method is provided, which adopts the following technical solution: A welding scraping method, comprising: Obtain the set trajectory parameters; Based on the trajectory parameters and the preset trajectory parameter equation, a target scraping welding trajectory is generated, wherein the target scraping welding trajectory is a double-hinged linear trajectory; Obtain the location of the solder joint; The wire bonding machine head is controlled to perform welding processing at the weld point location based on the target scraping welding trajectory.
[0006] In one implementation, the trajectory parameter equations are as follows:
[0007]
[0008] Where R is the overall scaling factor of the scraping trajectory, used to control the size of the double-twisted linear scraping welding trajectory, and t is a parameter variable, with a value between 0 and 2π.
[0009] In one implementation, the method further includes an asymmetric transformation of the double-hinged linear trajectory, wherein the trajectory parametric equations are as follows:
[0010]
[0011]
[0012] Among them, R It is the overall scaling factor of the scraping trajectory, used to control the size of the double-curved linear scraping welding trajectory. This is the size control factor for the right half-ring. is the size control factor for the left half-loop, m is the transition steepness, and t is a parameter variable, with a value between 0 and 2π.
[0013] In one implementation, the welding scraping method further includes asymmetrically transforming the double-hook linear trajectory while scaling the double-hook linear trajectory in the x and y directions, wherein the trajectory parameter equations are as follows:
[0014]
[0015]
[0016] in, Is Scaling factor in direction controls Magnitude of direction yes Scaling factor in direction controls The magnitude of the direction.
[0017] In one implementation, the welding scraping method further includes asymmetrically changing the double-hook linear trajectory and scaling it in the x and y directions, while simultaneously adjusting the angle of the double-hook linear trajectory, wherein the trajectory parameter equation is as follows:
[0018]
[0019]
[0020] Where θ is the rotation angle.
[0021] In one implementation, the welding scraping method further includes asymmetrically changing the double-hook linear trajectory while first adjusting the angle of the double-hook linear trajectory, and then scaling the double-hook linear trajectory in the x and y directions. The trajectory parameter equations are as follows:
[0022]
[0023]
[0024] Where θ is the rotation angle.
[0025] In one implementation, the welding scraping method further includes a translation operation on the double-curved linear trajectory, the trajectory parameter equations being as follows:
[0026]
[0027]
[0028] or
[0029]
[0030]
[0031] in, for Translation amount in direction, for The amount of translation in the direction.
[0032] In a second aspect, a welding scraping device is provided, which, when executed, implements the welding scraping method of any one of the first aspects described above.
[0033] Thirdly, embodiments of this application provide a processing apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the welding scraping method of any of the first aspects described above.
[0034] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the welding scraping method of any one of the first aspects described above.
[0035] Fifthly, embodiments of this application provide a computer program product that, when running on a terminal device, causes the terminal device to execute the welding scraping method of any one of the first aspects described above.
[0036] The beneficial effects of the embodiments of this application are: This application discloses a welding scraping method, welding apparatus, processing equipment, and storage medium, belonging to the field of semiconductor packaging technology, particularly the field of wire bonding. The method involves obtaining set trajectory parameters; generating a target scraping welding trajectory based on the trajectory parameters and a preset trajectory parameter equation, wherein the target scraping welding trajectory is a double-hinged linear trajectory; obtaining the solder joint position; and controlling the wire bonding machine head to perform welding processing at the solder joint position based on the target scraping welding trajectory. This application aims to address the problems of existing scraping trajectories, such as limited coverage and insufficient interface uniformity, by providing a novel welding scraping method. By employing optimized path planning and motion parameters of a double-hinged linear scraping trajectory, it achieves efficient removal of the oxide layer in the welding area and full activation of the material interface, thereby effectively reducing the risk of incomplete penetration and improving the bonding strength and stability of the solder joint. Attached Figure Description
[0037] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0038] Figure 1 It is one of the scraping motion trajectory diagrams of traditional welding methods; Figure 2 This is a flowchart illustrating the welding scraping method provided in this application; Figure 3 This is the ∞ scraping motion trajectory diagram provided in this application; Figure 4 This is the asymmetric ∞-scratching motion trajectory diagram provided in this application; Figure 5 This is a diagram of the ∞ scraping motion trajectory with changes in the x and y directions provided in this application; Figure 6 This is the 45°∞ scraping motion trajectory diagram provided in this application; Figure 7 The images show the fish tail obtained using traditional welding methods and the remaining fish tail after a tensile test. Figure 8 The image shows the fish tail obtained by the welding method provided in the embodiment of this invention and the residual fish tail after tensile testing. Figure 9This is a comparison chart of the push-pull force of a traditional fish tail and the pull force of the fish tail in this invention's embodiment. Figure 10 This is a comparison diagram of the damage to the cleaver after welding in an embodiment of the present invention and after traditional welding; Figure 11 This is a schematic diagram of the structure of a processing device provided in one embodiment of this application. Detailed Implementation
[0039] To make the technical problem to be solved, the technical solution and the beneficial effects of this application clearer, the following is in conjunction with the appendix. Figures 1 to 9 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
[0040] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.
[0041] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.
[0042] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.
[0043] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."
[0044] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0045] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.
[0046] Firstly, Figure 2 This is a schematic flowchart of a welding scraping method provided in one embodiment of this application. (Reference) Figure 2 The welding scraping method provided in the embodiments of this application includes steps S201 to S204.
[0047] S201, Obtain the set trajectory parameters; S202, Based on the trajectory parameters and the preset trajectory parameter equation, a target scraping welding trajectory is generated, wherein the target scraping welding trajectory is a double-hinged linear trajectory; S203, Obtain the solder joint location; S204, control the wire bonding machine head to perform welding processing at the welding point position based on the target scraping welding trajectory.
[0048] Specifically, in step S201, the operator can input or select preset trajectory parameters through the human-machine interface of the wire bonding machine. These parameters cover the key elements controlling the shape of the double-twisted trajectory. For example, to generate a basic symmetrical double-twisted trajectory, an overall scaling factor R can be set, with a default unit of micrometers. The specific value is determined according to the size requirements of the solder joint. To achieve asymmetrical changes in the trajectory to adapt to the welding requirements of specific solder joints, the size control factor of the right half ring needs to be set separately. and left half-ring size control factor The smoothness of the transition between the left and right halves of the ring is adjusted by the transition steepness m; the larger the m value, the steeper the transition. Furthermore, when different scaling factors are needed for the trajectory in the x and y directions, the x-direction scaling factor sx and the y-direction scaling factor sy can be set respectively. If the welding path needs to be aligned with a specific angle of the weld point, the rotation angle θ can be input. If there is a deviation between the initial position of the trajectory and the actual weld point position, precise adjustments can be made by setting the x-direction translation amount cx and the y-direction translation amount cy.
[0049] In step S202, after receiving the set trajectory parameters, the control system of the wire bonding machine calls the preset trajectory parameter equations. Based on the selected trajectory adjustment method (e.g., asymmetric change only, asymmetric change combined with scaling, asymmetric change combined with scaling and angle control, angle control first followed by scaling, etc.), the corresponding parameters are substituted into the corresponding equations. The parameter variable t is continuously taken within the range of 0 to 2π. The x and y coordinates corresponding to each t value are calculated through the equations. These coordinate points are connected sequentially to form a double-curved linear target scraping welding trajectory that conforms to the expected shape. For example, when asymmetric change, x / y direction scaling, and angle control are performed simultaneously, the system will first... , The R(t) that varies with t is calculated from m, and then the values of x and y are calculated by combining sx, sy and θ through a composite coordinate transformation formula, thereby generating a nylon line trajectory with a specific size, shape and direction.
[0050] Step S203, obtaining the weld point location, typically relies first on the approximate coordinates set in the template, which provide an initial positioning reference for the wire bonding machine. Subsequently, the vision system on the wire bonding machine acquires images of the actual workpiece and precisely compares the acquired weld point images with the weld point images set in the template. Through image recognition algorithms, such as feature point matching and contour comparison, the accurate position of the actual weld point in the workpiece coordinate system is determined to correct any potential deviations in the template's coordinate settings, ensuring the precision of the welding process.
[0051] In step S204, the control system sends control commands to the bonding head drive mechanism of the wire bonding machine based on the obtained accurate solder joint position and the generated target scraping welding trajectory. Driven by the X and Y motors, the bonding head first moves above the solder joint position, and then performs a scraping motion on the solder joint position according to the generated double-hinged linear trajectory. During the scraping process, the bonding head simultaneously applies the set ultrasonic energy and pressure, ensuring full contact between the bonding wire and the solder joint surface to form a reliable weld connection. The continuous and smooth characteristics of the double-hinged linear trajectory ensure uniform friction and energy transfer within the solder joint area, thereby effectively improving welding quality and strength.
[0052] This application aims to address the problems of single scraping trajectory form, incomplete coverage, and insufficient interface treatment uniformity in the existing technology by providing a novel welding scraping method. By adopting optimized path planning and motion parameters of the double-hinged linear scraping trajectory, it achieves efficient removal of oxide layer in the welding area and full activation of material interface, thereby effectively reducing the risk of incomplete penetration and improving the bonding strength and stability of weld joints.
[0053] In one implementation, see Figure 3With the solder joint as the center point, a scraping welding trajectory for controlling the wire bonding machine head is generated. The scraping welding trajectory is a double-hinged line trajectory, i.e. an ∞-shaped scraping welding trajectory, wherein the ∞-shaped scraping welding trajectory is based on the trajectory parametric equation of the double-hinged line.
[0054]
[0055] Where R is the overall scaling factor, used to control the size of the ∞-shaped scraping welding trajectory; t is a parameter variable, which usually varies between 0 and 2π.
[0056] In one implementation, see Figure 4 The scraping trajectory of the wire bonding machine head can undergo asymmetric changes, wherein the trajectory parameter equation of the asymmetrically changing ∞-shaped scraping welding trajectory is:
[0057]
[0058]
[0059] in, It is the overall scaling factor, used to control the size of the ∞-shaped scraping welding trajectory. This is the size control factor for the right half-ring. is the size control factor for the left half-ring; m is the transition steepness (default 10, the larger the value, the steeper the transition); t is a parameter variable, usually varying between 0 and 2π.
[0060] In one implementation, see Figure 5 The ∞-shaped scraping welding trajectory of the wire bonding machine head can be scaled in the x and y directions while undergoing asymmetrical changes. The trajectory parameter equations for the ∞-shaped scraping welding trajectory that can vary in the x and y directions are as follows:
[0061]
[0062]
[0063] in, It is the overall scaling factor, used to control the size of the ∞-shaped scraping welding trajectory. This is the size control factor for the right half-ring. is the size control factor for the left half ring; m is the transition steepness (default 10, the larger the value, the steeper the transition); sx is the scaling factor in the x direction, controlling the size in the x direction; sy is the scaling factor in the y direction, controlling the size in the y direction; t is a parameter variable, usually varying between 0 and 2π.
[0064] The scaling of the ∞-shaped scraping welding trajectory in the x and y directions refers to the independent proportional adjustment of the double-twisted trajectory in the horizontal (x-direction) and vertical (y-direction) directions. Specifically, when sx is greater than 1, the trajectory is stretched and enlarged in the x-direction, increasing the horizontal span of the entire trajectory; when sx is less than 1, the trajectory is compressed and shrunk in the x-direction, reducing the horizontal span. Similarly, when the value of sy is greater than or less than 1, the trajectory will be stretched or compressed in the y-direction accordingly. By setting the values of sx and sy separately, the overall shape proportion of the double-twisted trajectory can be changed, making it no longer limited to a standard symmetrical shape, but flexibly adjustable according to the actual shape and size of the weld joint and the spatial constraints of the welding area to better adapt to different welding scenarios. For example, for a horizontally elongated weld joint, sx can be set to greater than 1 and sy to less than 1, causing the trajectory to extend in the x-direction to cover the horizontal area of the weld joint, while contracting in the y-direction to avoid exceeding the vertical range of the weld joint, thereby achieving precise coverage and effective welding of weld joints with specific shapes.
[0065] In one implementation, see Figure 6 The ∞-shaped scraping welding trajectory of the wire bonding machine head can be asymmetrically varied and scaled in the x and y directions, while also being angle-adjustable. The trajectory parameter equation of the ∞-shaped scraping welding trajectory with adjustable angle is (this equation is calculated by scaling first and then rotating):
[0066]
[0067]
[0068] in, It is the overall scaling factor, used to control the size of the ∞-shaped scraping welding trajectory. This is the size control factor for the right half-ring. is the size control factor for the left half ring; m is the transition steepness (default 10, the larger the value, the steeper the transition); sx is the scaling factor in the x direction, controlling the size in the x direction; sy is the scaling factor in the y direction, controlling the size in the y direction; t is a parameter variable, usually varying between 0 and 2π; θ is the rotation angle (in radians), 0° is a horizontal ∞ shape, 90° is a vertical ∞ shape, 45° is a diagonal ∞ shape, and 180° is a horizontally flipped ∞ shape.
[0069] In one implementation, the ∞-shaped scraping welding trajectory of the wire bonding machine head can be adjusted in angle when undergoing asymmetrical changes, and finally scaled in the x and y directions. The trajectory parameter equation of the ∞-shaped scraping welding trajectory with adjustable angle is (this equation is obtained by first rotating and then scaling):
[0070]
[0071]
[0072] in, It is the overall scaling factor, used to control the size of the ∞-shaped scraping welding trajectory. This is the size control factor for the right half-ring. is the size control factor for the left half ring; m is the transition steepness (default 10, the larger the value, the steeper the transition); sx is the scaling factor in the x direction, controlling the size in the x direction; sy is the scaling factor in the y direction, controlling the size in the y direction; t is a parameter variable, usually varying between 0 and 2π; θ is the rotation angle (in radians), 0° is a horizontal ∞ shape, 90° is a vertical ∞ shape, 45° is a diagonal ∞ shape, and 180° is a horizontally flipped ∞ shape.
[0073] In one implementation, the ∞-shaped scraping welding trajectory of the wire bonding machine head can be translated, wherein the trajectory parameter equation of the translatable ∞-shaped scraping welding trajectory is:
[0074]
[0075]
[0076] in, It is the overall scaling factor, used to control the size of the ∞-shaped scraping welding trajectory. This is the size control factor for the right half-ring. is the size control factor for the left half ring; m is the transition steepness (default 10, the larger the value, the steeper the transition); sx is the scaling factor in the x-direction, controlling the size in the x-direction; sy is the scaling factor in the y-direction, controlling the size in the y-direction; t is a parameter variable, usually varying between 0 and 2π; θ is the rotation angle (in radians), 0° is a horizontal ∞ shape, 90° is a vertical ∞ shape, 45° is a diagonal ∞ shape, and 180° is a horizontally flipped ∞ shape; cx is the translation amount in the x-direction, and cy is the translation amount in the y-direction.
[0077] In one implementation, the ∞-shaped scraping welding trajectory of the wire bonding machine head can be translated, wherein the trajectory parameter equation of the translatable ∞-shaped scraping welding trajectory is:
[0078]
[0079]
[0080] in, It is the overall scaling factor, used to control the size of the ∞-shaped scraping welding trajectory. This is the size control factor for the right half-ring. is the size control factor for the left half ring; m is the transition steepness (default 10, the larger the value, the steeper the transition); sx is the scaling factor in the x-direction, controlling the size in the x-direction; sy is the scaling factor in the y-direction, controlling the size in the y-direction; t is a parameter variable, usually varying between 0 and 2π; θ is the rotation angle (in radians), 0° is a horizontal ∞ shape, 90° is a vertical ∞ shape, 45° is a diagonal ∞ shape, and 180° is a horizontally flipped ∞ shape; cx is the translation amount in the x-direction, and cy is the translation amount in the y-direction.
[0081] In the specific embodiments of this application, please refer to Figure 7 and 8 By comparison Figure 7 Images of the fish tail obtained by traditional welding methods and the residual fish tail after tensile testing. Figure 8 The images of the fishtail obtained by the welding method provided in this invention, and the residual fishtail after tensile testing, clearly show that the fishtail shape formed by the weld wire using the double-twisted linear scraping trajectory welding method of this application is more regular and full, with smooth edge transitions and no obvious burrs or deformation. After the tensile test, the fracture surface of the residual fishtail exhibits typical ductile fracture characteristics, with the fracture location mainly concentrated in the weld wire body rather than the weld joint area, indicating a significant improvement in weld joint strength. In contrast, the fishtail shape of the traditional welding method is relatively irregular, with a certain degree of twisting or collapse at the edges. The fracture surface of the residual fishtail after the tensile test may show some brittle fracture characteristics, or the fracture location may be close to the weld joint, reflecting relatively weak weld joint strength.
[0082] pass Figure 9A comparison of the push-pull force data of the traditional fish tail and the pull force data of the fish tail in the embodiments of this invention shows that the average pull force value of the fish tail is significantly improved after adopting the double-twisted linear scraping trajectory welding method of this application. The pull force data of the traditional method has a large dispersion, and the difference between the maximum and minimum values is more obvious, indicating that its welding quality stability is not good. In contrast, the pull force data of the method of this application is more concentrated and the standard deviation is significantly reduced, indicating that the method can effectively ensure the consistency and reliability of the welding process, thereby greatly reducing the risk of product failure due to insufficient welding strength.
[0083] pass Figure 10 A comparison of the damage to the cutting edge after welding in the embodiments of this invention with that after traditional welding shows that the wear of the cutting edge is significantly reduced after adopting the double-twisted linear scraping trajectory welding method of this application. In traditional welding methods, the cutting edge of the cutting edge may show obvious chipping, scratches, or deformation due to problems such as a single scraping trajectory and local pressure concentration during the welding process. Especially after long-term continuous operation, the service life of the cutting edge is short, and frequent replacement is required to ensure welding quality. However, the method of this application optimizes the symmetry, scaling ratio, and angle of the scraping trajectory, making the contact between the cutting edge and the welding area more uniform and the stress distribution more reasonable, thereby effectively reducing excessive local wear of the cutting edge. As shown in the figure, the cutting edge of the cutting edge of the embodiment of this invention remains relatively intact, with only slight normal wear marks and no obvious chipping or deformation. This not only extends the service life of the cutting edge and reduces production costs, but also avoids the drift of welding parameters caused by cutting edge wear, further ensuring the stability of welding quality.
[0084] The beneficial effects created by this invention include at least the following: (1) The above technical solution is adopted. Through continuous ∞-shaped scraping welding trajectory, the trajectory coverage is more comprehensive, and the contact point and force path can be continuously changed to achieve more uniform interface treatment and significantly reduce the risk of incomplete penetration. (2) Moreover, the continuous path change avoids long-term energy accumulation in a single area, which helps to disperse thermal and mechanical stress and protect the fragile substrate; (3) It has stronger dynamic adaptability. Its composite motion characteristics enable it to better fit the small surface irregularities, giving it better fault tolerance for working condition fluctuations and a wider process window. (4) At the same time, on the basis of scraping heat generation, the stirring effect on the molten pool is increased. The trajectory produces a gentle but continuous stirring effect on the molten pool or interface, which effectively promotes the discharge of gas and small impurities, forms a more uniform and beautiful weld, increases the line arc tensile force, and effectively improves the welding quality. (5) Controllable scraping and cleaning reduces damage to the chopping knife and extends its service life.
[0085] Corresponding to the methods in the above embodiments, only the parts related to the embodiments of this application are shown for ease of explanation.
[0086] Secondly, this application also provides a welding scraping device, which implements the welding scraping method of any one of the first aspects mentioned above when executed. The welding scraping device includes a trajectory generation module, a parameter configuration module, a drive control module, and an execution module. The trajectory generation module is configured to generate ∞-shaped scraping welding trajectory data of the wire bonding machine head based on preset trajectory parameter equations (including the aforementioned asymmetric changes, x / y direction scaling, angle adjustment, translation, and other parameters). The parameter configuration module receives various parameters input by the user or preset by the system, such as the overall scaling factor R(t), the right half-ring size control factor R1, the left half-ring size control factor R2, the transition steepness m, the x-direction scaling factor sx, the y-direction scaling factor sy, the rotation angle θ, the x-direction translation amount cx, the y-direction translation amount cy, and the value range of the parameter variable t, and transmits these parameters to the trajectory generation module so that it generates the corresponding trajectory data. The drive control module is connected to the trajectory generation module, receives the trajectory data output by the trajectory generation module, and converts it into a control signal. This control signal is used to drive the execution module to move according to the generated ∞-shaped scraping welding trajectory.
[0087] The execution module typically includes the X and Y motors of the wire bonding machine, the bonding head, and its drive mechanism. Under the control of the drive control module, it drives the bonding wire (gold or aluminum wire, etc.) to perform a precise ∞-shaped scraping motion in the welding area, thereby completing the welding process. Through the coordinated work of these modules, the welding scraping device can achieve flexible control and precise execution of the ∞-shaped scraping welding trajectory, thereby improving welding quality, stability, and extending the service life of the cutting tool.
[0088] Figure 11 This is a schematic diagram of the structure of a processing device provided in one embodiment of this application. Figure 11 As shown, the processing equipment 18 of this embodiment includes: at least one processor 180 ( Figure 11 Only one is shown in the diagram), memory 181, and computer program 182 stored in memory 181 and executable on at least one processor 180; when processor 180 executes computer program 182, it implements the steps in the various method embodiments described above.
[0089] The processing equipment may include, but is not limited to, processor 180 and memory 181. Those skilled in the art will understand that... Figure 11 This is merely an example of processing equipment and does not constitute a limitation on the processing equipment. It may include more or fewer components than shown in the figure, or combinations of certain components, or different components. For example, it may also include input / output devices, network access devices, buses, etc.
[0090] The processor 180 can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.
[0091] In some embodiments, memory 181 may be an internal storage unit of the processing apparatus 18, such as a hard drive or memory of the processing apparatus. In other embodiments, memory 181 may be an external storage device of the processing apparatus, such as a plug-in hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., provided on the processing apparatus. Furthermore, memory 181 may include both internal and external storage units of the processing apparatus. Memory 181 is used to store operating systems, applications, boot loaders, data, and other programs, such as program code for computer programs. Memory 181 may also be used to temporarily store data that has been output or will be output.
[0092] For example, computer program 182 may be divided into one or more modules / units, one or more of which are stored in memory 181 and executed by processor 180 to complete this application. One or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 182 in processing equipment 18.
[0093] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.
[0094] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0095] If the aforementioned integrated units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. This computer program can be stored in a computer-readable storage medium; when executed by a processor, the computer program can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. Computer-readable media include: any entity or device capable of carrying computer program code to a device / terminal equipment, recording media, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.
[0096] Embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.
[0097] The embodiments of this application provide a computer program product that, when run on a terminal device, enables the terminal device to implement the steps in the various method embodiments described above.
[0098] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.
[0099] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0100] In the embodiments provided in this application, it should be understood that the disclosed apparatus / device and method can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.
[0101] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0102] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.
Claims
1. A welding scraping method, characterized in that, include: Obtain the set trajectory parameters; Based on the trajectory parameters and the preset trajectory parameter equation, a target scraping welding trajectory is generated, wherein the target scraping welding trajectory is a double-hinged linear trajectory; Obtain the location of the solder joint; The wire bonding machine head is controlled to perform welding processing at the weld point location based on the target scraping welding trajectory.
2. The welding scraping method as described in claim 1, characterized in that, The trajectory parameter equations are as follows: Where R is the overall scaling factor of the scraping trajectory, used to control the size of the double-twisted linear scraping welding trajectory, and t is a parameter variable, with a value between 0 and 2π.
3. The welding scraping method as described in claim 1, characterized in that, It also includes an asymmetric transformation of the double-hinged linear trajectory, the trajectory parameter equations of which are as follows: Among them, R It is the overall scaling factor of the scraping trajectory, used to control the size of the double-curved linear scraping welding trajectory. This is the size control factor for the right half-ring. is the size control factor for the left half-loop, m is the transition steepness, and t is a parameter variable, with a value between 0 and 2π.
4. The welding scraping method as described in claim 3, characterized in that, It also includes performing asymmetric transformations on the double-hinged linear trajectory while scaling the double-hinged linear trajectory in the x and y directions, and the trajectory parametric equations are as follows: in, Is Scaling factor in direction controls Magnitude of direction yes Scaling factor in direction controls The magnitude of the direction.
5. The welding scraping method as described in claim 4, characterized in that, It also includes asymmetric transformation of the double-hinged trajectory and scaling in the x and y directions, while simultaneously adjusting the angle of the double-hinged trajectory. The trajectory parameter equations are as follows: Where θ is the rotation angle.
6. The welding scraping method as described in claim 4, characterized in that, It also includes performing asymmetrical changes on the double-hinged linear trajectory, first adjusting the angle of the double-hinged linear trajectory, and then scaling the double-hinged linear trajectory in the x and y directions. The trajectory parameter equations are as follows: Where θ is the rotation angle.
7. The welding scraping method as described in claim 5 or 6, characterized in that, It also includes a translation operation on the double-hinged linear trajectory, the trajectory parameter equations of which are as follows: or in, for Translation amount in direction, for The amount of translation in the direction.
8. A welding apparatus, characterized in that, The welding apparatus implements the welding scraping method as described in any one of claims 1-7.
9. A processing equipment, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the welding scraping method as described in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the welding scraping method as described in any one of claims 1 to 7.