A patch machine nozzle parallel pickup control method and system

Abstract

The application provides a patch machine suction nozzle parallel picking control method and system, and belongs to the technical field of intelligent mounting production. A current beat task package is established before the suction nozzle of the patch machine picks up, the demand slot corresponding to the current assembly beat is divided into multiple candidate virtual assembly baskets, a candidate suction nozzle group and a candidate picking action segment are generated, several candidate executable picking units are determined in this way, the final executable picking unit is determined based on the adaptive representation value of each candidate executable picking unit to the current assembly beat, and finally the slot after picking is filled in confirmation and state update, so that the picking task can continue to be executed based on the confirmed current beat task package state and the intelligent tray scrap state. Therefore, the grouping picking reliability of the components required by the current assembly beat in the intelligent tray scrap reuse scenario is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent placement production technology, specifically to a parallel pick-and-place machine nozzle control method and system. Background Technology

[0002] In the intelligent manufacturing stage, the SMT production line no longer operates continuously according to a single work order, a single material strip, and a fixed placement program. Instead, it frequently performs automatic order insertion, batch splitting, batch merging, and production continuation based on order priority, equipment load, board in-process status, and remaining material inventory. To reduce material waste, intelligent warehousing or line-side material units will reposition trial production surplus materials, unpacked surplus materials, returned surplus materials, and unused qualified components from the previous batch into intelligent trays, which are then sent to the temporary pick-up area of ​​the SMT machine for reuse.

[0003] In conventional tape-based material supply scenarios, the same tape typically corresponds to the same material number, the same package, the same feeding rhythm, and a fixed pick-up order. The pick-and-place machine only needs to control the nozzles to pick up components sequentially or in parallel according to a predetermined program. Because the components in the tape are arranged regularly and the feeding order is stable, the traditional parallel pick-and-place machine nozzle picking method usually only needs to consider the spatial distance between the nozzle and the component, whether the nozzle type is suitable, and whether the pick-up path is convenient. However, in intelligent pallet waste recycling scenarios, the same pallet may contain waste components corresponding to multiple production cycles. These components may have similar shapes and even the same package, but their corresponding board sequence, assembly cycle, demand category, and subsequent placement position are different. For example, in multi-variety, small-batch intelligent production, a single intelligent pallet may simultaneously contain resistors remaining from the previous batch of boards, capacitors needed for the current urgent order board, small chips to be used in the next cycle, and several components with similar shapes but belonging to different board sequences.

[0004] Existing parallel pick-and-place machine nozzles typically allocate nozzles based on spatial distance, nozzle diameter, and path convenience. This tends to prioritize picking up components that are closer and easier to pick up, but it cannot guarantee that these components will form the group required for the current assembly cycle. This can lead to situations where a nozzle successfully picks up multiple components, but the current board and cycle still lack certain matching components, preventing subsequent placement operations from being executed consecutively. Furthermore, components that have been picked up but are temporarily unusable occupy nozzle or storage space, reducing cycle time utilization in intelligent manufacturing. To address these issues, some existing methods attempt to incorporate component category filtering before picking or increase the selection priority of components for the current cycle during nozzle allocation. However, these methods still primarily focus on matching individual nozzles with individual components, failing to consider the overall needs of the current assembly cycle and determine whether multiple components selected in a single parallel pick-up can collectively form a usable component group for the current cycle.

[0005] Therefore, in the scenario of intelligent assembly waste material reuse, how to enable the pick-and-place machine nozzles to select in groups around the slots required by the current assembly cycle, and avoid the nozzles picking up waste components belonging to different assembly sequences according to the principle of spatial proximity, remains a technical problem that urgently needs to be solved in intelligent assembly production. Summary of the Invention

[0006] The purpose of this invention is to provide a parallel pick-up control method for pick-up machine nozzles, so as to at least solve the problem that in the scenario of recycling leftover materials in the intelligent production stage, the traditional parallel pick-up method of pick-up machine nozzles tends to pick up leftover components belonging to different assembly sequences according to the principle of spatial proximity, resulting in the inability to pick up the components required for the current assembly cycle in groups.

[0007] To achieve the above objectives, a first aspect of the present invention provides a parallel pick-and-place machine nozzle control method, the method comprising: Acquire data on remaining components, current assembly cycle time, and nozzle capacity within the current intelligent assembly pick-up window, and create a task package for the current cycle time. Based on the current cycle task package, the required slots corresponding to the current assembly cycle are divided into multiple candidate virtual assembly baskets, and the corresponding candidate surplus material filling component groups are determined. Based on the nozzle capability data, corresponding candidate nozzle groups and candidate pickup action segments are generated for each candidate residual material filling element group, and the corresponding candidate virtual assembly basket, candidate residual material filling element group, candidate nozzle group and candidate pickup action segment are bound as candidate executable pickup units. The final executable pickup unit is determined based on the degree of slot completion, the availability of remaining material, the consistency of nozzle actions, and the preparation for placement and release of each candidate executable pickup unit for the current assembly cycle. Based on the final executable pickup unit, the nozzle performs parallel pickup data confirmation processing, generates slot filling confirmation results, and updates the current cycle task package status and intelligent plating residual material status based on the slot filling confirmation results.

[0008] Optionally, acquire the remaining component data, current assembly cycle data, and nozzle capability data within the current intelligent assembly pick-up window, and create a current cycle task package, including: The system acquires the assembly position, plane angle, suction surface size, corresponding board sequence, corresponding assembly cycle, demand category, and mounting position of each surplus material component within the current intelligent assembly pick window, thus forming surplus material component data. The installation position, effective adsorption diameter, supported adsorption categories, and adsorption status of each nozzle that can participate in parallel pickup are obtained to form nozzle capability data. Based on the current board sequence, the current assembly cycle, and the set of slot requirements that the current assembly cycle needs to satisfy, a task package for the current cycle is created.

[0009] Optionally, based on the current beat task package, the demand slot corresponding to the current assembly beat is divided into multiple candidate virtual assembly baskets, including: Based on the current cycle task package, each demand slot in the current assembly cycle is represented as a data object containing the current board sequence, the current assembly cycle, the demand category, and the mounting position. The corresponding board sequence, corresponding assembly cycle and demand category of each surplus component are compared with the data object of each demand slot to determine the slot hit relationship of each surplus component to each demand slot. Based on the slot hit relationship, the number of slots that can be satisfied by surplus material components within the current smart platter picking window for each demand slot is calculated, and the slot scarcity of each demand slot is determined based on this number. Based on the scarcity of slots and the mounting position of each demand slot, the demand slots corresponding to the current assembly cycle are divided into multiple candidate virtual assembly baskets.

[0010] Optionally, the corresponding candidate surplus filler element group is determined, including: Based on the mounting positions of each surplus component and each required slot, and in conjunction with the slot hit relationship, the filling and adaptation relationship of each surplus component to each required slot is determined. For each candidate virtual assembly basket, based on the filling adaptation relationship, surplus material components that can be filled into each required slot in the candidate virtual assembly basket are selected to form a corresponding candidate surplus material filling component group. Based on the positional relationship of each surplus material element in the candidate surplus material filling element group within the current smart platter picking window, the spatial aggregation degree of the candidate surplus material filling element group is determined.

[0011] Optionally, based on the nozzle capability data, corresponding candidate nozzle groups and candidate pickup action segments are generated for each candidate residual material filling element group, including: Based on the installation position, effective adsorption diameter, supported adsorption category and available picking status of each nozzle, as well as the position, adsorption surface size and requirement category of each residual material element, the picking adaptation relationship of each nozzle to each residual material element is determined. Based on the number of residual material elements in the candidate residual material filling element group and the picking adaptation relationship, a corresponding number of nozzles are selected from the nozzles that can currently participate in parallel picking to form a candidate nozzle group. Establish a correspondence between the nozzles in the candidate nozzle group, the scrap components in the candidate scrap filling component group, and the required slots in the candidate virtual assembly basket; Candidate pickup action segments are generated based on the correspondence; wherein, the candidate pickup action segments include the planar movement amount, planar angle, adsorption start time and set negative pressure intensity corresponding to each nozzle.

[0012] Optionally, the corresponding candidate virtual assembly basket, candidate scrap filling element group, candidate nozzle group, and candidate pick-up action fragment are bound as candidate executable pick-up units, including: The same candidate virtual assembly basket, the candidate residual material filling element group for filling the candidate virtual assembly basket, the candidate nozzle group for picking up the candidate residual material filling element group, and the candidate picking action segment corresponding to the candidate nozzle group are bound together to form a candidate executable picking unit. Based on the number of required slots contained in the candidate virtual assembly basket in the candidate executable pickup unit, determine the slot completion degree of the candidate executable pickup unit for the current assembly cycle. Based on the picking and adaptation relationship between each nozzle in the candidate executable picking unit and the corresponding residual material element, the degree of residual material receptivity of the candidate executable picking unit is determined.

[0013] Optionally, based on the degree of slot completion, the availability of remaining material, the consistency of nozzle actions, and the readiness of placement and release for each candidate executable pickup unit in the current assembly cycle, the final executable pickup unit is determined, including: The degree of consistency of nozzle actions is determined based on the differences in the planar movement distances of each nozzle in the candidate executable pickup unit. The placement release readiness level is determined based on the span between the placement positions corresponding to each required slot in the candidate executable pick-up unit. Based on the completion level of the slot, the availability of the remaining material, the consistency of the nozzle action, the readiness level of the placement and release, and the filling evaluation data of the candidate remaining material filling element group, the comprehensive arrangement result of each candidate executable pickup unit is determined. Candidate executable pickers whose overall arrangement results meet the preset selection criteria are determined as the final executable pickers.

[0014] Optionally, candidate executable pickers whose integrated orchestration results meet preset selection criteria are determined as the final executable pickers, including: Based on the comprehensive orchestration results of each candidate executable picker unit, an initial executable picker unit is selected; When the initial executable pick unit does not contain a required slot whose slot scarcity meets a preset scarcity condition, a replacement executable pick unit is regenerated based on a candidate virtual assembly basket containing the required slot; when the improvement of the overall arrangement result of the replacement executable pick unit relative to the initial executable pick unit meets a preset improvement condition, the replacement executable pick unit is used as the updated executable pick unit. Based on the updated executable pick-up unit, a nozzle replacement calculation is performed on the candidate nozzle group. When the improvement of the overall arrangement result after replacement meets the preset improvement conditions, the replaced executable pick-up unit is determined as the final executable pick-up unit.

[0015] Optionally, based on the final executable pickup unit, parallel pickup data confirmation processing of the nozzle is performed to generate a slot filling confirmation result, and the current cycle task package status and intelligent plating residual material status are updated based on the slot filling confirmation result, specifically including: Based on the final pickup action segment in the final executable pickup unit, the negative pressure response data of each nozzle during the adsorption process is obtained, and the adsorption confirmation value of each nozzle is determined based on the negative pressure response data. Based on the adsorption confirmation value of each nozzle and the filling adaptation relationship between the corresponding residual material element and the corresponding required slot, the slot filling confirmation result of each required slot is determined. When the filling confirmation result of any required slot does not meet the preset confirmation conditions, supplementary processing data is generated based on the corresponding required slot, the unreliably picked-up residual material components, and the available suction nozzles. Based on the slot filling confirmation result and the supplementary processing data, update the scrap component picking status, the current cycle task package completion rate, and the next round of picking input data.

[0016] A second aspect of the present invention provides a parallel pick-and-place machine nozzle control system, the system being used to execute the above-described parallel pick-and-place machine nozzle control method, the system comprising: Establish a unit to acquire data on remaining material components, current assembly cycle time, and nozzle capacity within the current intelligent assembly pick-up window, and establish the current cycle time task package; The partitioning unit is used to divide the required slots corresponding to the current assembly cycle into multiple candidate virtual assembly baskets based on the current cycle task package, and to determine the corresponding candidate surplus material filling element groups. The binding unit is used to generate corresponding candidate nozzle groups and candidate pickup action segments for each candidate residual material filling element group based on the nozzle capability data, and bind the corresponding candidate virtual assembly basket, candidate residual material filling element group, candidate nozzle group and candidate pickup action segment as candidate executable pickup units. The determination unit is used to determine the final executable pickup unit based on the degree of slot completion, the availability of remaining material, the consistency of nozzle actions, and the readiness of placement and release for each candidate executable pickup unit in the current assembly cycle. The update unit is used to perform parallel pick-up data confirmation processing of the nozzle based on the final executable pick-up unit, generate slot filling confirmation results, and update the current cycle task package status and intelligent plating residual material status based on the slot filling confirmation results.

[0017] Through the above technical solution, this invention proposes a parallel pick-up control method and system for pick-and-place machine nozzles. Before the pick-and-place machine nozzles pick up components, a task package for the current assembly cycle is established. The required slots corresponding to the current assembly cycle are divided into multiple candidate virtual assembly baskets, generating candidate nozzle groups and candidate pick-up action segments. This determines several candidate executable pick-up units. Then, based on the adaptation characteristics of each candidate executable pick-up unit to the current assembly cycle, the final executable pick-up unit is determined. Finally, through slot filling confirmation and status update after picking, the pick-up task can continue to execute based on the confirmed status of the current cycle task package and the status of the intelligent tray leftover materials. This improves the reliability of grouped picking of components required for the current assembly cycle in the scenario of intelligent tray leftover material reuse.

[0018] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of the steps of the parallel pick-up control method for pick-and-place machine nozzles provided in the embodiments of the present invention.

[0020] Figure 2 This is a system structure diagram of the parallel pick-and-place machine nozzle control system provided in the embodiments of the present invention. Detailed Implementation

[0021] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0022] like Figure 1 As shown, this invention provides a parallel pick-and-place machine nozzle control method, comprising the following steps: S10: Obtain the remaining material component data, current assembly cycle data, and nozzle capability data in the current intelligent assembly pick-up window, and create the current cycle task package.

[0023] Specifically, the current intelligent tray picking window refers to the tray area that the pick-and-place machine's nozzle array can cover in a single picking action. This area can contain multiple surplus components, which can originate from trial production surplus, dismantled tray surplus, returned warehouse surplus, or unused qualified components from the previous batch. The current assembly cycle time data indicates the current sequence of boards requiring servicing and the assembly cycle time, while the nozzle capability data indicates the status of nozzles currently capable of participating in parallel picking.

[0024] In this embodiment of the invention, the current cycle task package is not a simple work order information, but a data object that can be called by combining the current board sequence, the current assembly cycle, and the demand slots that need to be met in the cycle. This is used to determine whether a certain spare material component can be filled into the current demand slot, and whether a certain group of spare material components can form a component group that can be used in the current cycle.

[0025] In this embodiment of the invention, when acquiring the data of surplus components within the current intelligent assembly tray pickup window, it is necessary to obtain both the position and orientation of the surplus components within the assembly tray, as well as the assembly sequence information corresponding to the surplus components. Specifically, the position, planar angle, and suction surface size of the surplus components within the assembly tray are used to determine whether the suction nozzle can stably pick up the component; the board sequence, assembly cycle, demand category, and mounting position corresponding to the surplus components are used to determine whether the component belongs to the current assembly cycle and whether it can be filled into the demand slot corresponding to the current cycle.

[0026] In practical implementation, each surplus material element within the current intelligent assembly pick-up window can be constructed as a comprehensive description data object. This comprehensive description data object includes at least the horizontal coordinates, vertical coordinates, planar angles, equivalent length and width of the receiving surface, corresponding board sequence number, corresponding assembly cycle number, requirement category number, and placement position number of the surplus material element in the coordinate system of the current intelligent assembly pick-up window. This comprehensive description data object can describe both the position and orientation of the surplus material element when it is picked up, as well as whether the surplus material element belongs to the current or non-current assembly cycle.

[0027] It should be noted that the aforementioned surplus component data includes both spatial and assembly attributes. The spatial attributes describe the component's pickability status within the intelligent assembly pickup window, while the assembly attributes describe the correspondence between the component and the current assembly cycle. In practical applications, if the assembly sequence information of the surplus component comes from the intelligent assembly tray entry record, the entry record can be associated with the component's position in the tray; if the assembly sequence information of the surplus component comes from the surplus component registration information in the placement program, the registration information can be matched with the component's position when generating the surplus component data. This invention does not limit the data source to a single method, as long as surplus component data containing both spatial and assembly attributes can be generated within the current intelligent assembly pickup window.

[0028] Furthermore, when acquiring nozzle capability data, it is necessary to obtain the installation location, effective adsorption diameter, supported adsorption categories, and current pick-up status of each nozzle. This data is used to determine whether a nozzle can form a stable pick-up relationship with a certain scrap element and is used to generate candidate nozzle groups. Nozzle capability data reflects the execution conditions on the nozzle side. If a nozzle is in an occupied, maintenance, or non-participating pick-up state, its pick-up status is set to non-participating. If a nozzle can participate in pick-up, but its effective adsorption diameter differs significantly from the adsorption surface size of a certain scrap element, its pick-up adaptation to that scrap element can be reduced. By pre-forming nozzle capability data, it is possible to avoid ignoring equipment execution capabilities based solely on current cycle time requirements.

[0029] After acquiring the data on surplus components and nozzle capabilities, a current cycle task package is established based on the current board sequence, the current assembly cycle, and the set of required slots corresponding to the current assembly cycle. The current cycle task package represents the assembly requirements that the pick-and-place machine should prioritize serving in the current cycle. The set of required slots can contain one or more required slots, each corresponding to a component requirement that needs to be met in the current assembly cycle. It should be noted that once the current cycle task package is established, candidate virtual assembly baskets, candidate surplus component groups, candidate nozzle groups, and candidate pick-up action segments are all generated around this task package. Therefore, the pick-and-place machine's pick-up process no longer involves selecting the nearest available component from all available components in the tray, but instead prioritizes selecting surplus components that can satisfy the current cycle task package.

[0030] In one specific implementation, the current intelligent assembly pick-up window contains eight surplus material components, and four nozzles are currently available for pickup. The current assembly cycle needs to satisfy three required slots. The pick-and-place machine first creates a current cycle task package containing these three required slots, and writes the assembly position, planar angle, suction surface size, and assembly sequence information of the eight surplus material components into the surplus material component data. Simultaneously, it writes the installation position, effective suction diameter, supported suction type, and current pickup status of the four nozzles into the nozzle capability data. Through this processing, current cycle slot selection, surplus material component filling, and nozzle group generation can be performed based on the same data.

[0031] S20: Based on the current cycle task package, divide the required slots corresponding to the current assembly cycle into multiple candidate virtual assembly baskets, and determine the corresponding candidate surplus material filling element groups.

[0032] Specifically, after establishing the current cycle task package, multiple candidate virtual assembly baskets are generated based on the set of demand slots contained in the task package. A virtual assembly basket represents a set of demand slots suitable for simultaneous parallel picking. Unlike traditional methods that directly allocate components from the nozzle, this embodiment first generates candidate virtual assembly baskets from the demand side of the current assembly cycle, and then searches for candidate leftover materials from the tray to fill the basket with component groups.

[0033] In this embodiment of the invention, the required slot in the current assembly cycle can be represented as a data object containing the current board sequence, the current assembly cycle, the required category, and the placement position. Specifically, the same type of component may have different usage meanings in different board sequences or different assembly cycles. Therefore, judging whether it is suitable for picking based solely on the component category is insufficient. This embodiment, by constructing required slot data, can clearly determine whether surplus components can serve a specific position in the current cycle.

[0034] Furthermore, the corresponding board sequence, assembly cycle number, and demand category of each surplus material component are compared with the data objects of each demand slot to determine the slot matching relationship between each surplus material component and each demand slot. When the board sequence number, assembly cycle number, and demand category number of the surplus material component all match the current demand slot, it indicates that the surplus material component can be used as a candidate filling object for that slot. If any information is inconsistent, even if the component is spatially close to the nozzle, it should not be preferentially included in the current cycle picking group. Thus, the slot matching relationship becomes the basic data for generating candidate surplus material filling component groups.

[0035] After obtaining the slot matching relationship, the number of surplus components that can satisfy each required slot within the current smart assembly basket picking window is counted, and the slot scarcity is determined accordingly. Specifically, if the number of surplus components that can be matched for a certain required slot within the current smart assembly basket picking window is small, that slot is more likely to be missed during parallel picking. By calculating the slot scarcity, that slot can receive more attention during the generation of candidate virtual assembly baskets and the determination of the final executable picking unit. It should be noted that the slot scarcity can be determined through the reciprocal relationship of the number of fillable components, hierarchical relationship, or other methods that can reflect the quantity of candidate components; this invention does not limit its only calculation form.

[0036] Based on the slot scarcity and placement position of each required slot, the required slots corresponding to the current assembly cycle are divided into multiple candidate virtual assembly baskets. In this embodiment of the invention, the number of slots in the candidate virtual assembly basket can be less than or equal to the number of nozzles that can participate in parallel picking. Furthermore, when generating candidate virtual assembly baskets, required slots with higher slot scarcity and closer placement positions can be prioritized for grouping together to improve the completion rate of group picking and the continuity of release in the current cycle. The above combination method is not limited to the only method; any combination of required slots that can be filled and executed based on the current cycle task package can be used as an optional implementation of the invention.

[0037] After determining the candidate virtual assembly baskets, the candidate surplus material filling element group is further determined based on the filling adaptation relationship between the surplus material elements and the required slots. In this embodiment of the invention, the filling adaptation relationship considers both whether the surplus material element hits the required slot and its corresponding mounting position. If the surplus material element cannot hit a certain required slot, then the element cannot be filled into that slot; if the surplus material element can hit the required slot, then its filling adaptation degree is further determined based on the proximity between the mounting positions. It is easy to understand that the closer the mounting position corresponding to the surplus material element is to the mounting position corresponding to the required slot, the more suitable the surplus material element is for use in that required slot.

[0038] For each candidate virtual assembly basket, surplus material components that can be filled into each required slot within the basket are selected based on fill adaptation relationships, forming candidate surplus material filling component groups. Specifically, a candidate surplus material filling component group represents a method of filling a candidate virtual assembly basket using the current batch of surplus material. Since the same required slot may correspond to multiple available surplus material components, the same candidate virtual assembly basket can form multiple candidate surplus material filling component groups. By forming multiple candidate surplus material filling component groups, the suction nozzle capability and motion segment can be further combined to select a more suitable execution plan.

[0039] To avoid the components in the candidate leftover filler group being too scattered, the spatial clustering degree of the candidate leftover filler group can be determined based on the positional relationship of each leftover component within the current smart tray pickup window. Spatial clustering degree indicates the relative concentration of each leftover component in the candidate leftover filler group within the tray. A higher spatial clustering degree indicates a more concentrated distribution of leftover components within the candidate leftover filler group within the tray, resulting in a smaller difference in planar movement required for parallel pickup by the corresponding nozzle group. This process avoids selecting spatially dispersed combinations of leftover components to meet current cycle time requirements, thereby improving actual pickup efficiency.

[0040] In one specific implementation, the current assembly cycle includes three demand slots. One demand slot has only one available spare component within the current window, while the other two demand slots each have multiple available spare components. When generating candidate virtual assembly baskets, the system prioritizes scarce slots and combines them with other slots near the placement position number to form candidate virtual assembly baskets. Subsequently, the system filters for available spare components in each candidate virtual assembly basket and forms multiple candidate spare component groups based on their positions. This allows the nozzle selection process to directly target component groups relevant to the current cycle, rather than dealing with an unordered collection of spare components.

[0041] S30: Based on the nozzle capability data, generate corresponding candidate nozzle groups and candidate pickup action segments for each candidate residual material filling element group, and bind the corresponding candidate virtual assembly basket, candidate residual material filling element group, candidate nozzle group and candidate pickup action segment as candidate executable pickup units.

[0042] Specifically, after obtaining candidate virtual assembly baskets and candidate scrap filling element groups, candidate nozzle groups and candidate pick-up action segments are further generated by combining nozzle capability data. This step is used to bind the assembly baskets formed on the current cycle demand side, the filling element groups formed on the scrap tray side, and the nozzle actions on the equipment execution side, thereby forming candidate executable pick-up units.

[0043] In this embodiment of the invention, the candidate executable pickup unit is not a correspondence between a single nozzle and a single component, but rather a data unit that includes required slot combinations, surplus component combinations, nozzle combinations, and motion parameters. Through this processing, the selection process can target complete pickup segments, rather than scattered components or individual nozzles.

[0044] Before generating candidate nozzle groups, it is necessary to determine the nozzle's pick-up compatibility with scrap components. The pick-up compatibility can be determined based on the nozzle's current pick-up capability, the planar distance between the nozzle and the scrap component, the proximity between the nozzle's effective adsorption diameter and the scrap component's surface size, and the match between the nozzle's supported adsorption categories and the scrap component's required categories. Specifically, when a nozzle cannot participate in pick-up, it will not enter the corresponding candidate nozzle group; when the planar distance between the nozzle and the scrap component is small, the nozzle's effective adsorption diameter is close to the scrap component's surface size, and the nozzle supports the adsorption of that type of component, the nozzle has a high pick-up compatibility with that scrap component.

[0045] It should be noted that although this invention focuses on the current cycle task package, it does not mean that the basic compatibility relationship between the nozzle and the residual material components can be ignored. If a residual material component can meet the current slot requirements, but the nozzle's pick-up compatibility with that component is too low, then that component is still unsuitable as the final execution target. Therefore, this embodiment uses the pick-up compatibility relationship to allow both the current cycle requirements and the nozzle execution conditions to participate in the selection simultaneously.

[0046] After obtaining the pick-up adaptation relationship, based on the number of surplus material elements in the candidate surplus material filling element group, a corresponding number of nozzles are selected from the nozzles currently available for parallel picking to form a candidate nozzle group. A correspondence is then established between the nozzles in the candidate nozzle group, the surplus material elements in the candidate surplus material filling element group, and the required slots in the candidate virtual assembly basket. Specifically, if the candidate surplus material filling element group contains three surplus material elements, three nozzles need to be selected from the available nozzles to form a candidate nozzle group, and a correspondence is established between the nozzles, the surplus material elements, and the required slots. In this embodiment of the invention, the generation of the candidate nozzle group can be based on the nozzle's pick-up adaptation relationship with the surplus material elements, or it can be combined with the nozzle's installation position in the nozzle array. Any nozzle set that can form a corresponding candidate surplus material filling element group can be considered an optional implementation of this invention.

[0047] Furthermore, candidate pickup action segments are generated based on the aforementioned correspondence. In one executable implementation, the action parameters may include the nozzle plane movement amount, the residual material element plane angle, the adsorption start time, and the set negative pressure intensity. The adsorption start time can be generated based on the pickup fit degree, the scarcity of slots, and the adsorption size fit degree; the set negative pressure intensity can be generated based on the adsorption size fit degree and the category support fit degree. In this way, the candidate pickup action segments not only describe the correspondence between the nozzle and the element, but can directly support equipment control.

[0048] After forming a candidate pickup action segment, the same candidate virtual assembly basket, the candidate residual material filling element group used to fill the candidate virtual assembly basket, the candidate nozzle group used to pick up the candidate residual material filling element group, and the candidate pickup action segment corresponding to the candidate nozzle group are bound together to form a candidate executable pickup unit.

[0049] In this embodiment of the invention, the candidate executable pickup unit simultaneously includes demand-side, surplus material-side, nozzle-side, and action-side data. The candidate virtual assembly basket indicates which current cycle slots the candidate unit serves; the candidate surplus material filling element group indicates which surplus material elements are used to fill these slots; the candidate nozzle group indicates which nozzles perform the pickup; and the candidate pickup action segment indicates how these nozzles perform the pickup. Through this binding, when selecting a candidate executable pickup unit, its contribution to the current cycle and its feasibility for device execution can be evaluated simultaneously.

[0050] To further illustrate, in one possible application, a candidate virtual assembly basket contains two required slots, corresponding to two surplus material filling element groups containing two surplus material elements. Based on nozzle capability data, the system selects two nozzles from four available nozzles, establishing a correspondence where each nozzle picks up two surplus material elements corresponding to two required slots. Subsequently, the system generates corresponding planar movement, adsorption start-up time, and set negative pressure intensity for the two nozzles, and binds this data to the candidate virtual assembly basket and candidate surplus material filling element groups to obtain a candidate executable pickup unit. This candidate executable pickup unit can directly participate in determining the overall orchestration result.

[0051] S40: Based on the degree of slot completion, the availability of remaining material, the consistency of nozzle actions, and the readiness of placement and release for each candidate executable pickup unit in the current assembly cycle, determine the final executable pickup unit.

[0052] Specifically, after generating multiple candidate executable pickup units, each candidate executable pickup unit is comprehensively processed to determine the final executable pickup unit used for this parallel pickup. This step does not simply select the single nozzle or single component with the highest score, but rather judges whether a candidate executable pickup unit is suitable for the current beat from the perspective of the complete pickup segment.

[0053] In this embodiment of the invention, the evaluation of the candidate executable pickup unit includes at least four aspects: first, how many slots the candidate executable pickup unit can complete in the current cycle time; second, whether the remaining material components in the candidate executable pickup unit are easily picked up by the corresponding nozzle; third, whether the actions of multiple nozzles in the candidate executable pickup unit have good consistency; and fourth, whether the mounting position corresponding to the candidate executable pickup unit is easy to release continuously.

[0054] The degree to which a candidate executable pickup unit completes its slot requirements for the current assembly cycle can be determined based on the ratio between the number of required slots contained in the candidate virtual assembly basket and the total number of required slots for the current assembly cycle. The more required slots a candidate virtual assembly basket contains, the higher its completion rate for the current assembly cycle. The availability of leftover material for a candidate executable pickup unit can be determined comprehensively based on the degree to which each nozzle in the unit can pick up the corresponding leftover material component. If each nozzle in the corresponding relationship can pick up the corresponding leftover material component well, the availability of leftover material is relatively high.

[0055] The consistency of nozzle movements can be determined based on the differences in planar movement distances between the nozzles in the candidate executable pickup units. When multiple nozzles pick up in parallel, if the differences in planar movement distances between the nozzles are too large, it may lead to inconsistent execution rhythms of the motion segments, affecting the efficiency of parallel pickup. By calculating the consistency of nozzle movements, schemes with more consistent nozzle movements can be prioritized when selecting candidate executable pickup units. It should be noted that the consistency of nozzle movements here is used to evaluate the ease of execution of motion segments and does not require the pick-and-place machine to use exactly the same suction timing.

[0056] The readiness level for placement release can be determined based on the span between the placement positions corresponding to each required slot in the candidate executable pick unit. If the placement positions corresponding to each required slot in the candidate virtual assembly basket are close together, the release action is easier to execute continuously; if the placement position span is large, more position switching may be required. By calculating the readiness level for placement release before picking, the waiting time for reorganizing the release order after picking can be reduced.

[0057] Based on the aforementioned data, the comprehensive arrangement result of each candidate executable pickup unit is determined based on the slot completion level, remaining material availability, nozzle action consistency, placement and release preparation level, and filling evaluation data of candidate remaining material filling element groups. For example, the comprehensive arrangement value in the comprehensive arrangement result can be obtained using a weighted summation method. In this embodiment of the invention, the comprehensive arrangement value is used to uniformly evaluate the overall adaptability of the candidate executable pickup unit to the current cycle completion, remaining material availability, action consistency, and release preparation. Specifically, if a candidate executable pickup unit can cover more slots in the current cycle, and the remaining material elements are easy to pick up, the nozzle action is relatively consistent, and placement and release are convenient, then the candidate executable pickup unit has a high comprehensive arrangement value.

[0058] In one executable implementation, the candidate executable pick unit with the highest overall orchestration value can be determined as the initial executable pick unit. Further, when the initial executable pick unit does not contain a required slot whose slot scarcity meets a preset scarcity condition, a replacement executable pick unit is regenerated based on the candidate virtual assembly basket containing that required slot, and the change in overall orchestration value before and after the replacement is calculated. If the improvement in overall orchestration result of the replacement executable pick unit relative to the initial executable pick unit meets a preset improvement condition, then the replacement executable pick unit is used as the updated executable pick unit. Furthermore, based on the updated executable pick unit, nozzle replacement calculations can be performed on the candidate nozzle groups within it, and when the improvement in overall orchestration result after replacement meets a preset improvement condition, the replaced executable pick unit is determined as the final executable pick unit.

[0059] It should be noted that the above replacement process does not involve a random re-search of all data. Instead, it involves targeted data updates based on the already formed candidate executable pick units, focusing on scarce slot coverage and nozzle execution convenience. This process reduces the likelihood of initial selections missing key slots or nozzle groups performing poorly.

[0060] In one specific implementation, if a candidate executable pickup unit with the highest overall arrangement value has good nozzle action consistency but does not include the most scarce demand slot in the current assembly cycle, the system regenerates a replacement executable pickup unit based on a candidate virtual assembly basket that includes the scarce demand slot. If, after replacement, although the nozzle action consistency is slightly reduced, the cycle completion rate and scarce slot coverage are significantly improved, and the overall arrangement result meets the preset improvement conditions, then the system accepts the replacement result. This avoids the pick-and-place machine from missing critical slots in the current cycle for the sake of pickup convenience.

[0061] S50: Based on the final executable pickup unit, perform parallel pickup data confirmation processing of the nozzle, generate slot filling confirmation result, and update the current cycle task package status and intelligent plating residual material status based on the slot filling confirmation result.

[0062] Specifically, after determining the final executable pickup unit, the pick-and-place machine can perform parallel pickup with the nozzles based on the final pickup action segment, and acquire negative pressure response data corresponding to each nozzle during or after pickup. The negative pressure response data is used to determine whether the nozzle reliably adsorbs the corresponding residual material component. Furthermore, this embodiment of the invention does not merely determine whether the nozzle successfully picked up the component, but combines the nozzle adsorption confirmation result with the filling adaptation value of the residual material component for the required slot to generate a slot filling confirmation result.

[0063] During the parallel pickup data confirmation process for the suction nozzles, the negative pressure response data of each nozzle during the adsorption process is obtained based on the final pickup action segment in the final executable pickup unit, and the adsorption confirmation value of each nozzle is determined based on the negative pressure response data. In this embodiment of the invention, the adsorption confirmation value is not only the instantaneous negative pressure value at a certain moment, but also considers the degree of negative pressure rise, the degree of negative pressure maintenance within the judgment time period, and the degree of negative pressure change at the end. Specifically, if the negative pressure rises sufficiently during the pickup process, the average negative pressure is well maintained, and the change at the end is small, it indicates that the adsorption state is relatively reliable, and the adsorption confirmation value is high. This data will be used for slot filling confirmation processing.

[0064] Furthermore, based on the adsorption confirmation value of each nozzle and the filling adaptation relationship of the corresponding residual material element to the corresponding required slot, the slot filling confirmation result of each required slot is determined. The slot filling confirmation value can be expressed as: Y = Z × F. Wherein, Y represents the slot filling confirmation value of the required slot; Z represents the adsorption confirmation value of the corresponding nozzle; and F represents the filling adaptation value of the corresponding residual material element to the corresponding required slot. When there are multiple confirmation data sources corresponding to a required slot, the products of the adsorption confirmation value and the filling adaptation value under each correspondence can be summarized to form the final slot filling confirmation value of the required slot. In this embodiment of the invention, the slot filling confirmation value is used to determine whether a required slot in a certain current cycle has been reliably filled. It is easy to understand that even if the adsorption confirmation value of a nozzle is high, if the adsorbed element is not suitable for the corresponding required slot, the slot cannot be considered to be reliably satisfied. Therefore, this embodiment combines the adsorption confirmation value and the filling adaptation value, and calculates the slot filling confirmation value based on the final correspondence. Thus, the suction result at the nozzle level is converted into the confirmation result at the current beat slot level.

[0065] When the slot filling confirmation result for any required slot fails to meet the preset confirmation conditions, supplementary processing data is generated based on the corresponding required slot, unreliably picked-up residual material components, and available nozzles. Specifically, required slots whose slot filling confirmation values ​​do not reach the preset confirmation threshold can be identified as missing slots; residual material components that have not yet been reliably picked up but can hit the missing slot are selected from the current smart pick-up window as supplementary candidate components; and nozzles that can be used for supplementary picking are selected from idle nozzles or nozzles with insufficient adsorption confirmation values ​​as supplementary candidate nozzles. Supplementary processing data is generated based on the missing slots, supplementary candidate components, and supplementary candidate nozzles.

[0066] The supplementary processing data may include the missing slot number, the set of surplus material components that can be filled into the missing slot, the set of nozzles that can perform supplementary pickup, and the corresponding supplementary pickup action parameters. By generating supplementary processing data, the system does not need to perform repeated pickups on slots that have already been reliably filled, but only performs supplementary processing on missing slots, thereby improving the group pickup efficiency of the current cycle.

[0067] After generating the slot filling confirmation results and supplementary processing data, the remaining material component pickup status, the current cycle task package completion rate, and the next round of pickup input data are further updated. If the nozzle adsorption confirmation value corresponding to a certain remaining material component meets the requirements and the slot filling confirmation value of its corresponding required slot meets the requirements, then the remaining material component is updated to a reliably picked-up status. If the slot filling confirmation value of a certain required slot meets the requirements, then the required slot is updated to a completed status. Furthermore, based on the number of completed required slots and the total number of required slots in the current cycle task package, the current cycle task package completion rate is calculated.

[0068] If the completion rate of the current cycle task package reaches the preset completion threshold, the available placement information for the current cycle is output. This information may include the current board sequence number, the current assembly cycle number, the set of reliably picked remaining components, and the placement release sequence. If the completion rate of the current cycle task package does not reach the preset completion threshold, the input data for the next round of picking is generated based on the missing slots and the remaining components in the smart tray. Through this process, the picking results of the previous round can be reused in the next round, forming a clear data transmission and status update relationship.

[0069] In one specific implementation, there are eight surplus material components in the current intelligent assembly pickup window, four available nozzles, and three required slots for the current assembly cycle. The system first represents the three required slots as a set of slots in the current cycle task package, and calculates the slot matching relationship based on the board sequence number, assembly cycle number, and requirement category number of the eight surplus material components. If only one surplus material component can match a required slot, that slot has a high slot scarcity. Subsequently, the system generates multiple candidate virtual assembly baskets and prioritizes including the scarce slot in the candidate virtual assembly baskets. Further, the system filters surplus material component groups from the eight surplus material components that can be filled into the candidate virtual assembly baskets, and combines this with the four available nozzles to generate candidate nozzle groups and candidate pickup action segments. By calculating the cycle completion value, surplus material availability value, nozzle action consistency value, and placement release preparation value of the candidate executable pickup unit, the final executable pickup unit is determined. After the pick-and-place machine performs parallel pickup according to the final executable pickup unit, it collects the negative pressure response data of each nozzle and calculates the slot filling confirmation value for each required slot. If all required slots reach the preset confirmation threshold, the machine outputs the current cycle placement availability information; if a required slot does not reach the preset confirmation threshold, supplementary processing data is generated only for that missing slot.

[0070] like Figure 2 As shown, this invention provides a parallel pick-and-place machine nozzle control system. The system is used to execute the above-described parallel pick-and-place machine nozzle control method. The system includes: Establish a unit to acquire data on remaining material components, current assembly cycle time, and nozzle capacity within the current intelligent assembly pick-up window, and establish the current cycle time task package; The partitioning unit is used to divide the required slots corresponding to the current assembly cycle into multiple candidate virtual assembly baskets based on the current cycle task package, and to determine the corresponding candidate surplus material filling element groups. The binding unit is used to generate corresponding candidate nozzle groups and candidate pickup action segments for each candidate residual material filling element group based on the nozzle capability data, and bind the corresponding candidate virtual assembly basket, candidate residual material filling element group, candidate nozzle group and candidate pickup action segment as candidate executable pickup units. The determination unit is used to determine the final executable pickup unit based on the degree of slot completion, the availability of remaining material, the consistency of nozzle actions, and the readiness of placement and release for each candidate executable pickup unit in the current assembly cycle. The update unit is used to perform parallel pick-up data confirmation processing of the nozzle based on the final executable pick-up unit, generate slot filling confirmation results, and update the current cycle task package status and intelligent plating residual material status based on the slot filling confirmation results.

[0071] Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a microcontroller, chip, or processor to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0072] The optional embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details described above. Within the scope of the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all fall within the protection scope of the embodiments of the present invention. It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not further describe the various possible combinations.

[0073] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the embodiments of the present invention, they should also be regarded as the content disclosed by the embodiments of the present invention.

Claims

1. A method for parallel pickup control of a pick-and-place machine nozzle, characterized in that, The method includes: Acquire data on remaining components, current assembly cycle time, and nozzle capacity within the current intelligent assembly pick-up window, and create a task package for the current cycle time. Based on the current cycle task package, the required slots corresponding to the current assembly cycle are divided into multiple candidate virtual assembly baskets, and the corresponding candidate surplus material filling component groups are determined. Based on the nozzle capability data, corresponding candidate nozzle groups and candidate pickup action segments are generated for each candidate residual material filling element group, and the corresponding candidate virtual assembly basket, candidate residual material filling element group, candidate nozzle group and candidate pickup action segment are bound as candidate executable pickup units. The final executable pickup unit is determined based on the degree of slot completion, the availability of remaining material, the consistency of nozzle actions, and the preparation for placement and release of each candidate executable pickup unit for the current assembly cycle. Based on the final executable pickup unit, the nozzle performs parallel pickup data confirmation processing, generates slot filling confirmation results, and updates the current cycle task package status and intelligent plating residual material status based on the slot filling confirmation results.

2. The parallel pick-and-place machine nozzle control method according to claim 1, characterized in that, Acquire data on remaining components, current assembly cycle time, and nozzle capacity from the current smart assembly pick-up window, and create a task package for the current cycle time, including: The system acquires the assembly position, plane angle, suction surface size, corresponding board sequence, corresponding assembly cycle, demand category, and mounting position of each surplus material component within the current intelligent assembly pick window, thus forming surplus material component data. The installation position, effective adsorption diameter, supported adsorption categories, and adsorption status of each nozzle that can participate in parallel pickup are obtained to form nozzle capability data. Based on the current board sequence, the current assembly cycle, and the set of slot requirements that the current assembly cycle needs to satisfy, a task package for the current cycle is created.

3. The parallel pick-and-place machine nozzle control method according to claim 1, characterized in that, Based on the current assembly task package, the demand slots corresponding to the current assembly beat are divided into multiple candidate virtual assembly baskets, including: Based on the current cycle task package, each demand slot in the current assembly cycle is represented as a data object containing the current board sequence, the current assembly cycle, the demand category, and the mounting position. The corresponding board sequence, corresponding assembly cycle and demand category of each surplus component are compared with the data object of each demand slot to determine the slot hit relationship of each surplus component to each demand slot. Based on the slot hit relationship, the number of slots that can be satisfied by surplus material components within the current smart platter picking window for each demand slot is calculated, and the slot scarcity of each demand slot is determined based on this number. Based on the scarcity of slots and the mounting position of each demand slot, the demand slots corresponding to the current assembly cycle are divided into multiple candidate virtual assembly baskets.

4. The parallel pick-and-place machine nozzle control method according to claim 3, characterized in that, Identify the corresponding candidate surplus filler element group, including: Based on the mounting positions of each surplus component and each required slot, and in conjunction with the slot hit relationship, the filling and adaptation relationship of each surplus component to each required slot is determined. For each candidate virtual assembly basket, based on the filling adaptation relationship, surplus material components that can be filled into each required slot in the candidate virtual assembly basket are selected to form a corresponding candidate surplus material filling component group. Based on the positional relationship of each surplus material element in the candidate surplus material filling element group within the current smart platter picking window, the spatial aggregation degree of the candidate surplus material filling element group is determined.

5. The parallel pick-and-place machine nozzle control method according to claim 1, characterized in that, Based on the nozzle capability data, corresponding candidate nozzle groups and candidate pickup action segments are generated for each candidate residual material filling element group, including: Based on the installation position, effective adsorption diameter, supported adsorption category and available picking status of each nozzle, as well as the position, adsorption surface size and requirement category of each residual material element, the picking adaptation relationship of each nozzle to each residual material element is determined. Based on the number of residual material elements in the candidate residual material filling element group and the picking adaptation relationship, a corresponding number of nozzles are selected from the nozzles that can currently participate in parallel picking to form a candidate nozzle group. Establish a correspondence between the nozzles in the candidate nozzle group, the scrap components in the candidate scrap filling component group, and the required slots in the candidate virtual assembly basket; Candidate pickup action segments are generated based on the correspondence; wherein, the candidate pickup action segments include the planar movement amount, planar angle, adsorption start time and set negative pressure intensity corresponding to each nozzle.

6. The parallel pick-and-place machine nozzle control method according to claim 5, characterized in that, The corresponding candidate virtual assembly baskets, candidate scrap filling component groups, candidate nozzle groups, and candidate pick-up action fragments are bound to candidate executable pick-up units, including: The same candidate virtual assembly basket, the candidate residual material filling element group for filling the candidate virtual assembly basket, the candidate nozzle group for picking up the candidate residual material filling element group, and the candidate picking action segment corresponding to the candidate nozzle group are bound together to form a candidate executable picking unit. Based on the number of required slots contained in the candidate virtual assembly basket in the candidate executable pickup unit, determine the slot completion degree of the candidate executable pickup unit for the current assembly cycle. Based on the picking and adaptation relationship between each nozzle in the candidate executable picking unit and the corresponding residual material element, the degree of residual material receptivity of the candidate executable picking unit is determined.

7. The parallel pick-and-place machine nozzle control method according to claim 6, characterized in that, Based on the slot completion rate, remaining material availability, nozzle action consistency, and placement release readiness of each candidate executable pickup unit for the current assembly cycle, the final executable pickup unit is determined, including: The degree of consistency of nozzle actions is determined based on the differences in the planar movement distances of each nozzle in the candidate executable pickup unit. The placement release readiness level is determined based on the span between the placement positions corresponding to each required slot in the candidate executable pick-up unit. Based on the completion level of the slot, the availability of the remaining material, the consistency of the nozzle action, the readiness level of the placement and release, and the filling evaluation data of the candidate remaining material filling element group, the comprehensive arrangement result of each candidate executable pickup unit is determined. Candidate executable pickers whose overall arrangement results meet the preset selection criteria are determined as the final executable pickers.

8. The parallel pick-and-place machine nozzle control method according to claim 7, characterized in that, Candidate executable pickers whose overall orchestration results meet preset selection criteria are determined as the final executable pickers, including: Based on the comprehensive orchestration results of each candidate executable picker unit, an initial executable picker unit is selected; When the initial executable pick unit does not contain a required slot whose slot scarcity meets a preset scarcity condition, a replacement executable pick unit is regenerated based on a candidate virtual assembly basket containing the required slot; when the improvement of the overall arrangement result of the replacement executable pick unit relative to the initial executable pick unit meets a preset improvement condition, the replacement executable pick unit is used as the updated executable pick unit. Based on the updated executable pick-up unit, a nozzle replacement calculation is performed on the candidate nozzle group. When the improvement of the overall arrangement result after replacement meets the preset improvement conditions, the replaced executable pick-up unit is determined as the final executable pick-up unit.

9. The parallel pick-and-place machine nozzle control method according to claim 1, characterized in that, Based on the final executable pickup unit, parallel pickup data confirmation processing of the nozzle is performed, generating a slot filling confirmation result, and updating the current cycle task package status and intelligent assembling residual material status based on the slot filling confirmation result, specifically including: Based on the final pickup action segment in the final executable pickup unit, the negative pressure response data of each nozzle during the adsorption process is obtained, and the adsorption confirmation value of each nozzle is determined based on the negative pressure response data. Based on the adsorption confirmation value of each nozzle and the filling adaptation relationship between the corresponding residual material element and the corresponding required slot, the slot filling confirmation result of each required slot is determined. When the filling confirmation result of any required slot does not meet the preset confirmation conditions, supplementary processing data is generated based on the corresponding required slot, the unreliably picked-up residual material components, and the available suction nozzles. Based on the slot filling confirmation result and the supplementary processing data, update the scrap component picking status, the current cycle task package completion rate, and the next round of picking input data.

10. A parallel pick-and-place machine nozzle control system, characterized in that, The system is used to execute the parallel pick-and-place machine nozzle control method according to any one of claims 1-9, the system comprising: Establish a unit to acquire data on remaining material components, current assembly cycle time, and nozzle capacity within the current intelligent assembly pick-up window, and establish the current cycle time task package; The partitioning unit is used to divide the required slots corresponding to the current assembly cycle into multiple candidate virtual assembly baskets based on the current cycle task package, and to determine the corresponding candidate surplus material filling element groups. The binding unit is used to generate corresponding candidate nozzle groups and candidate pickup action segments for each candidate residual material filling element group based on the nozzle capability data, and bind the corresponding candidate virtual assembly basket, candidate residual material filling element group, candidate nozzle group and candidate pickup action segment as candidate executable pickup units. The determination unit is used to determine the final executable pickup unit based on the degree of slot completion, the availability of remaining material, the consistency of nozzle actions, and the readiness of placement and release for each candidate executable pickup unit in the current assembly cycle. The update unit is used to perform parallel pick-up data confirmation processing of the nozzle based on the final executable pick-up unit, generate slot filling confirmation results, and update the current cycle task package status and intelligent plating residual material status based on the slot filling confirmation results.

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