CN112456134A - Material taking method and device - Google Patents
Material taking method and device Download PDFInfo
- Publication number
- CN112456134A CN112456134A CN202011264178.9A CN202011264178A CN112456134A CN 112456134 A CN112456134 A CN 112456134A CN 202011264178 A CN202011264178 A CN 202011264178A CN 112456134 A CN112456134 A CN 112456134A
- Authority
- CN
- China
- Prior art keywords
- material taking
- information
- workpiece
- station
- matched
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
- G01R31/2851—Testing of integrated circuits [IC]
- G01R31/2893—Handling, conveying or loading, e.g. belts, boats, vacuum fingers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
- G01R31/2851—Testing of integrated circuits [IC]
- G01R31/2896—Testing of IC packages; Test features related to IC packages
Landscapes
- Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Abstract
The invention discloses a material taking method and a device, wherein the material taking method comprises the following steps: acquiring bearing workpiece information of a bearing mechanism and material taking information of a material taking mechanism; the material taking information comprises starting information of a material taking mechanism; matching the workpiece and the material taking mechanism according to the information of the bearing workpiece and the material taking information to obtain matching information; and taking materials according to the matching information. The problem that the equipment is shut down due to the fact that the workpiece is not placed on the station on the bearing mechanism, the station on the bearing mechanism is damaged, the material taking unit in the material taking structure is damaged, the material taking unit in the material taking mechanism is not started and the like can be effectively avoided, and therefore the problem that the equipment is shut down due to the fact that the material taking mechanism and the bearing workpiece are used is solved, and the reliability and the operation efficiency of the testing equipment are improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of testing, in particular to a material taking method and device.
Background
In the test process of chip packaging, a chip placed in a tray disc needs to be picked up and placed in a test cavity of a tester to realize the material taking process, and then a pin of the chip can be connected to a circuit system of the tester and the test is started.
With the continuous improvement of automation programs in the field of chip packaging and testing, the efficiency of material taking needs to be ensured. At present, most automatic material taking mechanisms are that a plurality of suction nozzles are arranged in a matrix form at equal row-column intervals, a material taking method comprises the steps of sequentially sucking a plurality of suction nozzles from the starting point of a tray disc in a fixed sequence in a group at a time, and then directly or indirectly putting products into test cavities corresponding to the suction nozzles one by one, and the suction nozzles and the test cavities are structurally in a plurality of group forms, so that the material taking efficiency can be improved. In actual production, a certain structure in the suction nozzle and test cavity structure combination is abnormal in most of the time, equipment is required to be maintained regularly in order to not influence production, or yield counting is increased in the equipment program, and when the counting value exceeds a set value, an alarm is given to prompt manual replacement. However, the problem of downtime of the test equipment caused by the problems of the suction nozzle and the test cavity in the production process cannot be avoided by any measures, and the more the combination number of the suction nozzle and the cavity is, the higher the probability of downtime of the test equipment is, so that the reliability of the test equipment is low, and the working efficiency of the test equipment is reduced.
Disclosure of Invention
The invention provides a material taking method and a material taking device, which can improve the reliability and the operation efficiency of test equipment.
In a first aspect, an embodiment of the present invention provides a material taking method, including:
acquiring bearing workpiece information of a bearing mechanism and material taking information of a material taking mechanism; the material taking information comprises starting information of a material taking mechanism;
matching the workpiece and the material taking mechanism according to the information of the bearing workpiece and the material taking information to obtain matching information;
and taking materials according to the matching information.
Optionally, acquire bearing mechanism's the work piece information of bearing and extracting mechanism's material information of getting, include:
acquiring coordinate information and workpiece information of each station on the bearing mechanism; the bearing mechanism comprises a plurality of stations which are arranged in an array mode, and the workpiece information comprises information whether a workpiece is placed on each station;
acquiring the number and the starting condition of each material taking unit on the material taking mechanism; wherein, the material taking units of the material taking mechanism are arranged in an array.
Optionally, match work piece and extracting mechanism according to bearing work piece information and getting material information, acquire matching information, include:
and optimally matching the workpiece and the material taking mechanism by adopting an exhaustive algorithm according to the coordinate information and the workpiece information of each station and the serial number and the starting condition of the material taking unit to obtain matching information.
Optionally, performing optimal matching on the workpiece and the material taking mechanism by using an exhaustive algorithm according to the coordinate information and the workpiece information of each station and the number and the starting condition of the material taking unit, and acquiring matching information, including:
a) initializing the single number of the material taking units matched with the stations;
b) moving the material taking units according to a preset sequence to enable the material taking units to be sequentially arranged opposite to the stations; initializing the optimal number of material taking units matched with stations to be zero;
c) if the material taking unit is started and the workpiece information of the station corresponding to the material taking unit is effective information, the material taking unit is successfully matched with the station corresponding to the material taking unit, and the number of the single times of matching of the material taking unit and the station is increased by 1; simultaneously recording the serial number of the material taking unit and the coordinate information of the station corresponding to the serial number; the effective information of the workpiece information represents a station for placing a workpiece;
d) if the single number of the material taking units matched with the stations is larger than the optimal number of the material taking units matched with the stations, updating the optimal number to be the single number;
e) and acquiring the matched material taking unit number and the corresponding station coordinate information when the material taking unit and the station are matched with the optimal number.
Optionally, get the material according to the matching information, include:
and taking materials according to the matched material taking unit number and the corresponding station coordinate information when the material taking units and the stations are matched with the optimal number.
Optionally, after updating the optimal number to the single number, the method further includes:
and if the single number of the material taking units matched with the stations is equal to the starting number of the material taking units, updating the optimal number to be the current single number.
Optionally, before the initial number of single times and the optimal number of matching between the material taking unit and the station are zero, the method further includes:
setting the maximum row spacing, the minimum row spacing, the maximum column spacing and the minimum column spacing of the material taking unit;
then get the material unit according to predetermineeing the order removal, make and get the material unit and set up with the station is relative in proper order, include:
and moving the material taking units according to the minimum row spacing and the minimum column spacing of the material taking units in a preset sequence, so that the material taking units are sequentially arranged opposite to the stations.
Optionally, after the material taking unit number and the corresponding station coordinate information which are matched when the optimal number of the material taking units and the stations is matched are used for taking materials, the method further comprises the following steps:
judging whether all stations on the bearing mechanism are matched by a retrieval according to the retrieval unit number matched when the retrieval units and the stations are matched with the optimal number and the corresponding station coordinate information;
if all the stations on the bearing mechanism are not searched and matched, repeating the steps b) -e); if all stations on the bearing mechanism are matched with the cables, increasing the row spacing of the material taking units, and repeating the steps a) -e);
and if the row spacing of the material taking units is equal to the maximum row spacing, increasing the row spacing of the material taking units, and repeating the steps a) -e) until the row spacing of the material taking units is equal to the maximum row spacing.
Optionally, after acquiring the coordinate information and the workpiece information of each station on the carrying mechanism, the method further includes:
and if the material taking unit is started and the workpiece information is effective information, and the material taking unit fails to be matched with the corresponding station, alarming.
In a second aspect, an embodiment of the present invention further provides a material taking device, including:
the information acquisition module is used for acquiring the information of the bearing workpiece of the bearing mechanism and the material taking information of the material taking mechanism; the material taking information comprises starting information of a material taking mechanism;
the matching module is used for matching the workpiece and the material taking mechanism according to the information of the bearing workpiece and the material taking information to obtain matching information;
and the material taking module is used for taking materials according to the matching information.
According to the technical scheme, the bearing workpiece information of the bearing mechanism and the material taking information of the material taking mechanism are obtained, the workpiece and the material taking mechanism are matched according to the bearing workpiece information and the material taking information, and after the matching is successful, the material taking unit which is successfully matched in the material taking mechanism is determined to absorb the workpiece on the station which is successfully matched with the material taking unit according to the successfully matched information, so that the material taking of the material taking mechanism is realized. The material taking mechanism can continue to take materials according to the matching information under the conditions that the workpiece is not placed on the station on the bearing mechanism, the station on the bearing mechanism is damaged, the material taking unit in the material taking structure is damaged, the material taking unit in the material taking mechanism is not started and the like in the test equipment, the problem that the test equipment is crashed due to the factors that the workpiece is not placed on the station on the bearing mechanism, the station on the bearing mechanism is damaged, the material taking unit in the material taking structure is damaged, the material taking unit in the material taking mechanism is not started and the like is solved, and the reliability and the operating efficiency of the test equipment are improved.
Drawings
Fig. 1 is a flowchart of a material taking method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a carrying mechanism according to an embodiment of the present invention;
fig. 3 is a schematic material taking diagram of a material taking mechanism according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of another material taking method according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of another material taking method according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a material taking device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of a material taking method according to an embodiment of the present invention, where the embodiment is applicable to a situation where a test device takes a material of workpieces in batches. As shown in fig. 1, the method specifically includes the following steps:
s110, acquiring bearing workpiece information of a bearing mechanism and material taking information of a material taking mechanism; the material taking information comprises starting information of a material taking mechanism;
the bearing workpiece is a workpiece to be tested in the testing process. For example, it may be a packaged chip. The bearing mechanism is a physical supporting platform for placing workpieces (materials), and provides stable placing space for the workpieces. Illustratively, when the workpiece is a chip, the carrier mechanism may be a tray. The bearing mechanism can be provided with a plurality of stations for bearing workpieces, one workpiece (material) can be placed on each station of the bearing mechanism, and then the bearing mechanism can be provided with a plurality of workpieces. The position information of the bearing workpieces, which is included in the bearing workpiece information, is the specific coordinates of the stations on the bearing mechanisms, and the quantity information of the bearing workpieces is the condition that the workpieces are placed on the stations of each bearing mechanism. The condition that the workpiece is carried by the carrying mechanism can be determined by combining the station coordinates of the carrying mechanism and the condition that the workpiece is placed. The reclaiming mechanism may include a plurality of reclaiming units, each reclaiming unit being capable of picking up a workpiece. The material taking information may include enabling information for each material taking unit so that the number and location of material taking by the material taking mechanism at a time may be determined.
S120, matching the workpiece and the material taking mechanism according to the information of the bearing workpiece and the material taking information to obtain matching information;
the matching information comprises the matching condition of the workpiece on the bearing mechanism and the material taking unit in the material taking mechanism. In the material taking process, material is taken by adjusting the position of the material taking mechanism. When a workpiece is placed in a station on the bearing mechanism and the material taking unit corresponding to the current station is in an enabled state, the material taking unit can take materials for the workpiece in the current station when the materials are taken, and at the moment, the current station is successfully matched with the material taking unit. When no workpiece is arranged in the station on the bearing mechanism, or the material taking unit corresponding to the station is not started to load, the material taking unit cannot take the workpiece in the current station when taking the material, and the current station is not successfully matched with the material taking unit. Therefore, the matching condition of the material taking mechanism and the stations on the bearing mechanism can be obtained and used as matching information.
And S130, taking materials according to the matching information.
After the matching information is obtained, the material taking unit which is successfully matched in the material taking mechanism can be determined to suck the workpiece on the station which is successfully matched with the material taking unit according to the matching information, and the material taking of the material taking mechanism is achieved. Therefore, even if the work station on the bearing mechanism is not provided with the workpiece or the material taking unit which is not started exists in the material taking mechanism, the material taking mechanism can continue to take materials, the situation that the workpiece is not arranged on the bearing mechanism or the material taking unit in the material taking mechanism is not started to cause downtime of the testing equipment is avoided, and the reliability and the operation efficiency of the testing equipment are improved.
According to the technical scheme, the bearing workpiece information of the bearing mechanism and the material taking information of the material taking mechanism are obtained, the workpiece and the material taking mechanism are matched according to the bearing workpiece information and the material taking information, after the matching is successful, the material taking unit which is successfully matched in the material taking mechanism is determined to absorb the workpiece on the station which is successfully matched with the material taking unit according to the successfully matched information, and the material taking of the material taking mechanism is achieved. The material taking mechanism can continue to take materials according to the matching information under the conditions that the workpiece is not placed on the station on the bearing mechanism, the station on the bearing mechanism is damaged, the material taking unit in the material taking structure is damaged, the material taking unit in the material taking mechanism is not started and the like in the test equipment, the problem that the test equipment is crashed due to the factors that the workpiece is not placed on the station on the bearing mechanism, the station on the bearing mechanism is damaged, the material taking unit in the material taking structure is damaged, the material taking unit in the material taking mechanism is not started and the like is solved, and the reliability and the operating efficiency of the test equipment are improved.
On the basis of the above embodiment, acquire bearing mechanism's the work piece information of bearing and extracting mechanism's material information of getting, include:
acquiring coordinate information and workpiece information of each station on the bearing mechanism; the bearing mechanism comprises a plurality of stations which are arranged in an array mode, and the workpiece information comprises information whether a workpiece is placed on each station;
the coordinate information of the stations refers to specific coordinates of the stations on the bearing mechanism, and the stations on the bearing mechanism can be arranged in an array mode. And then according to the structural characteristics of array arrangement, taking the row and column numbers of the array where the stations are as the position coordinates of the stations. The workpiece information is the condition of placing workpieces on each station on the bearing mechanism.
Fig. 2 is a schematic structural diagram of a carrying mechanism according to an embodiment of the present invention, and as shown in fig. 2, the carrying mechanism 101 includes a plurality of stations 102 arranged in an array (13 × 8), where each station 102 is an independent space for placing each workpiece. Since the coordinate information of each station 102 on the carrier 101 is known, the coordinate information of the workpiece placed in each station 102 is consistent with the coordinate information of the station 102. For example: and establishing a pool quantity two-dimensional array corresponding to the row number and the column number of the stations 102, recording the array as trace [, ], marking the coordinates of each station 102, and recording the condition of placing a workpiece on each station 102. Setting the station variable corresponding to the workpiece as 1, and setting the station variable corresponding to no workpiece as 0; if there is no workpiece on the workstation 102 in row 1 and column 1, the coordinate information of the workstation 102 may be represented as tray [1,1], and the workstation variable is set to 0, i.e., tray [1,1] ═ 0; if the workstation 102 on row 10 and column 6 has a workpiece, the coordinate information of the workstation 102 can be represented as trace [10,6], and the workstation variable is set to 1, i.e., trace [10,6] is 1.
Acquiring the number and the starting condition of each material taking unit on the material taking mechanism; wherein, the material taking units of the material taking mechanism are arranged in an array.
Wherein, the material taking mechanism can comprise a plurality of material taking units, each material taking unit is a suction nozzle, and each suction nozzle can be arranged in an array mode and is arranged opposite to the station arrangement mode on the bearing mechanism. Can be according to the structural feature that the array was arranged, regard the ranks number of suction nozzle place array as its serial number. The activated state of the mouthpiece mainly comprises two states: the suction nozzle can suck the workpiece under the condition of starting, and the material taking operation can be completed; the suction nozzle can not suck the workpiece under the condition of not starting, and the material taking operation can not be finished. The starting condition of the material taking mechanism is the condition whether each suction nozzle can take material or not. For example, a two-dimensional array of the amount of bool corresponding to the row and column number of the suction nozzles can be established, which is marked as picker [, ], used for marking the number of each suction nozzle and recording the starting condition of each suction nozzle. Setting the variable of the suction nozzle corresponding to the enabled suction nozzle as 1, and setting the variable of the suction nozzle corresponding to the non-enabled suction nozzle as 0; if the suction nozzle in the 1 st row and the 1 st column is not started, the suction nozzle is numbered as picker [1,1], and the suction nozzle variable is set to 0, namely picker [1,1] ═ 0; when the nozzle in the first row, column 4 is enabled, the nozzle number is packer [1,4], and the nozzle variable is set to 1, i.e., packer [1,4] ═ 1.
Optionally, match work piece and extracting mechanism according to bearing work piece information and getting material information, acquire matching information, include:
and optimally matching the workpiece and the material taking mechanism by adopting an exhaustive algorithm according to the coordinate information and the workpiece information of each station and the serial number and the starting condition of the material taking unit to obtain matching information.
Where an exhaustive algorithm is also referred to as an enumeration method. When matching through the exhaustion algorithm, the material taking unit in the material taking mechanism and the station on the bearing mechanism can be aligned in sequence, and when the material taking unit is started and a workpiece is placed in the station, the station and the material taking unit are successfully matched. And after all the material taking units are matched, determining whether the material taking units are optimal matching according to the matching conditions of the material taking units, and if the material taking units are optimal matching, acquiring matching information according to the conditions of the optimal matching. The step of acquiring matching information specifically includes: and matching successfully the coordinate information of the station, the workpiece information, the number of the material taking unit correspondingly matched and the starting condition of the material taking unit.
It should be noted that the optimal matching between the material taking unit and the workpiece is the matching when the matching number between the material taking unit and the workpiece is the largest.
Exemplarily, fig. 3 is a material taking schematic diagram of a material taking mechanism according to an embodiment of the present invention, as shown in fig. 3, when a material taking unit is a suction nozzle, a suction nozzle module of the material taking mechanism 103 corresponds to a station 102 on a carrying mechanism 101 in a position sequence from left to right, and an initial value of the number of the suction nozzles matching in a single time is 0; starting from a first suction nozzle to a last suction nozzle, if the suction nozzle is started and a workpiece exists in a corresponding station 102 below the suction nozzle, matching is successful, the number of the suction nozzle in single matching is increased by 1, and meanwhile, the serial number of the suction nozzle and the row and column number of the corresponding workpiece (the row and column number corresponding to the station 102 where the workpiece exists) are recorded and stored in a database; in the matching process of the suction nozzles, if the single matching number of the current suction nozzle and the station 102 is larger than the optimal matching number stored at the last time, the optimal matching number is updated to be the single matching number of the current suction nozzle and the station 102 and used as a current optimal matching result; the optimal matching is carried out until the matching quantity of the suction nozzle and the workpiece is the maximum. And acquiring the matching data when the matching quantity of the suction nozzle and the workpiece is the maximum, wherein the matching data is the optimal matching information.
Fig. 4 is a schematic flow chart of another material taking method according to an embodiment of the present invention. As shown in fig. 4, the method includes:
s110, acquiring bearing workpiece information of a bearing mechanism and material taking information of a material taking mechanism; the material taking information comprises starting information of a material taking mechanism;
s121, initializing the number of the material taking units and the single time of station matching;
the single number of the material taking units matched with the stations is initialized, namely, the initial quantity is assigned to the single number of the material taking units matched with the stations, so that the total number of the subsequent material taking units matched with the stations can be conveniently recorded.
For example, with continued reference to fig. 3, the initial SUM2 of the single number of the initial picking units and the stations 102 is 0;
s122, moving the material taking units according to a preset sequence to enable the material taking units to be sequentially arranged opposite to the stations; initializing the optimal number of material taking units matched with stations to be zero;
because the material taking units need to be arranged opposite to the stations in sequence in the moving process, the moving sequence of the material taking units needs to be preset with moving tracks according to the arrangement sequence of the stations on the bearing mechanism. Since the material taking unit does not start to be matched with the station before the material taking of the equipment starts, the optimal number of the initial matching is zero.
For example, with reference to fig. 3, when the material taking unit is a suction nozzle, the suction nozzle module is configured to perform position matching with the station 102 in the sequence from left to right and from front to back according to the matrix arrangement characteristics of the station 102; initializing an initial value SUM1 which is matched with the suction nozzle and the station 102 and is 0;
s123, if the material taking unit is started and the workpiece information of the station corresponding to the material taking unit is effective information, the material taking unit is successfully matched with the station corresponding to the material taking unit, and 1 is added to the single number of the material taking unit matched with the station; simultaneously recording the serial number of the material taking unit and the coordinate information of the station corresponding to the serial number; the effective information of the workpiece information represents a station for placing a workpiece;
determining the specific coordinates and the number of the stations for placing the workpieces according to the coordinate information positioning of each station and the workpiece information; and determining the specific number and the enabled number of the material taking units which can be enabled according to the number and the enabled condition of the material taking units. And matching all stations with workpieces and the numbers of the material taking units which can be started by adopting an exhaustive algorithm, and acquiring and recording matching information.
Illustratively, establishing a pool quantity two-dimensional array corresponding to the row number and the column number of the station, which is marked as trace [, ], and is used for recording whether workpieces exist at each position of the station, wherein the array variable corresponding to the workpieces is set to be 1, and the array variable corresponding to the workpieces does not exist is set to be 0; when the material taking unit is a suction nozzle, establishing a pool quantity two-dimensional array corresponding to the row number and the column number of the suction nozzle, recording the number as picker [, ], recording whether each suction nozzle is started, setting the variable of the array corresponding to starting to be 1, and setting the variable of the array corresponding to non-starting to be 0; starting from the first suction nozzle to the last suction nozzle, if the suction nozzle is started and a workpiece is arranged at a corresponding station below the suction nozzle, adding 1 to the single SUM2(SUM 2 is SUM2+ 1) matched with the station, recording the serial number of the suction nozzle and the row and column number of the corresponding workpiece, and storing the serial number and the row and column number of the corresponding workpiece in a database;
s124, if the single number of the material taking units matched with the stations is larger than the optimal number of the material taking units matched with the stations, updating the optimal number to be the single number;
the single number of the material taking units matched with the stations is larger than the optimal number of the material taking units matched with the stations, so that the optimal number of the material taking units matched with the stations is not the optimal number of the material taking units matched with the stations at present, and the optimal number of the material taking units matched with the stations needs to be updated according to the single number of the material taking units matched with the stations at present.
Illustratively, when the material taking unit is a suction nozzle, the SUM2 of the single number of matched suction nozzles and work stations is greater than SUM1 of the optimal number of matched suction nozzles and work stations (SUM2> SUM1), and the SUM1 of the optimal number of matched suction nozzles and work stations is equal to SUM2 of the single number of matched suction nozzles and work stations (SUM1 ═ SUM 2).
And S125, acquiring the matched material taking unit number and the corresponding station coordinate information when the material taking units and the stations are matched with the optimal number.
When all stations with workpieces are matched with the numbers of the material taking units which can be started by adopting an exhaustive algorithm, when the starting numbers of the material taking units are completely matched successfully and/or the stations are searched to the end, the matching numbers of the material taking units and the stations are optimal, and at the moment, the numbers of the material taking units and the row and column numbers of the corresponding stations need to be recorded and stored in a database.
And S130, taking materials according to the matching information.
Exemplarily, material taking is performed according to matching information, and the method comprises the following steps: and taking materials according to the matched material taking unit number and the corresponding station coordinate information when the material taking units and the stations are matched with the optimal number.
When the number of the usable material taking units is successfully matched and/or the stations are searched for the last time, the material taking unit numbers recorded by the database and the row numbers of the corresponding stations control the corresponding numbered material taking units to obtain the workpieces in the corresponding stations according to the database recorded information, so that the condition that the workpieces are not placed on the stations on the bearing mechanism, the stations on the bearing mechanism are damaged, the material taking units in the material taking structure are damaged, the material taking units in the material taking mechanism are not started and the like, and the material taking operation is quickly completed.
Optionally, after updating the optimal number to the single number, the method further includes:
and if the single number of the material taking units matched with the stations is equal to the starting number of the material taking units, updating the optimal number to be the current single number.
When the number of the single material taking units matched with the stations is equal to the starting number of the material taking units, the matching process of the material taking units and the stations cannot be continued because no material taking units which are not started exist, so that the optimal number of the material taking units matched with the stations is the current number of the single material taking units matched with the stations, and the optimal number is updated to be the current number of the single material taking units.
For example, with reference to fig. 3, if the material taking unit is a suction nozzle, if the suction nozzle No. 1 is not started, the suction nozzles No. 2, 3, and 4 are started, when the single number of the matched suction nozzles and the station is equal to the starting number of the suction nozzles, that is, the matching number is 3, all the started suction nozzles are completely matched with the station, the maximum carrying capacity of the started suction nozzles is achieved, and therefore the single number is the optimal number.
Optionally, before the initial number of single times and the optimal number of matching between the material taking unit and the station are zero, the method further includes:
setting the maximum row spacing, the minimum row spacing, the maximum column spacing and the minimum column spacing of the material taking unit;
the minimum line spacing of the material taking units is the unit line spacing of the adjacent material taking units, and the line spacing is increased gradually by the unit line spacing. The maximum row spacing is an integer multiple of the minimum row spacing, i.e., the row spacing between adjacent pickup units that cannot be exceeded at the maximum lateral spacing. The minimum row spacing of the material taking units is the unit row spacing of the adjacent material taking units, and the increased row spacing is gradually increased by the unit row spacing. The maximum row spacing is an integer multiple of the minimum row spacing, i.e., the row spacing at which the longitudinal spacing of adjacent pickup units is at most not exceeded. In addition, the minimum line spacing is consistent with the minimum spacing of the adjacent lines of the stations, and the maximum line spacing is consistent with the maximum spacing of the adjacent lines of the stations; the minimum row spacing is consistent with the minimum spacing of the adjacent rows of the stations, and the maximum row spacing is consistent with the maximum spacing of the adjacent rows of the stations; can satisfy the adjacent station of different intervals like this, the homoenergetic matches gets the material unit.
For example, when the minimum line spacing of the material taking unit is set to be S, the material taking unit can suck workpieces on the positions of the tray [1,1], tray [1,2], tray [1,3] and tray [1,4 ]; when the row spacing of the material taking units is increased to be 2S, the material taking units can absorb workpieces on the positions of the tray [1,1], the tray [1,3], the tray [1,5] and the tray [1,7 ].
Then get the material unit according to predetermineeing the order removal, make and get the material unit and set up with the station is relative in proper order, include:
and moving the material taking units according to the minimum row spacing and the minimum column spacing of the material taking units in a preset sequence, so that the material taking units are sequentially arranged opposite to the stations.
Wherein, minimum line interval, minimum row interval, be favorable to making the material unit of getting to remove fixed distance according to the order of predetermineeing, also get every removal one step of material unit, can foresee the concrete position of getting the material unit, so can indirect planning out get the removal orbit of material unit when matching the station and getting the material, make get the material unit and can set up with the station relatively in proper order at the removal in-process, guarantee to get the material unit and can set up with each station relatively at the removal in-process, be convenient for get the material unit and acquire the work piece of placing in the station, the swift operation of getting the material.
Fig. 5 is a schematic flow chart of another material taking method according to an embodiment of the present invention. As shown in fig. 5, the method includes:
s110, acquiring bearing workpiece information of a bearing mechanism and material taking information of a material taking mechanism; the material taking information comprises starting information of a material taking mechanism;
s121, initializing the number of the material taking units and the single time of station matching;
s122, moving the material taking units according to a preset sequence to enable the material taking units to be sequentially arranged opposite to the stations; initializing the matching sum of the material taking unit and the station to be zero;
s123, if the material taking unit is started and the workpiece information of the station corresponding to the material taking unit is effective information, the material taking unit is successfully matched with the station corresponding to the material taking unit, and 1 is added to the single number of the material taking unit matched with the station; simultaneously recording the serial number of the material taking unit and the coordinate information of the station corresponding to the serial number; the effective information of the workpiece information represents a station for placing a workpiece;
s124, if the single number of the material taking units matched with the stations is larger than the optimal number of the material taking units matched with the stations, updating the optimal number to be the single number;
s125, acquiring the matched material taking unit number and the corresponding station coordinate information when the material taking units and the stations are matched with the optimal number;
s130, taking materials according to the matching information;
s140, judging whether all stations on the bearing mechanism are matched by a retrieval according to the number of the material taking units matched when the material taking units and the stations are matched with the optimal number and the corresponding station coordinate information;
and knowing the specific coordinates and the number of the stations successfully matched according to the material taking unit number matched when the material taking units and the stations are matched with the optimal number and the corresponding station coordinate information. Therefore, whether all stations on the bearing mechanism are matched by the retrieval or not can be easily known, and further whether workpieces on certain stations are omitted or not can be checked in the material taking process, so that the quality of material taking operation is guaranteed.
If all the stations on the bearing mechanism are not searched and matched, repeating the steps S122-S125;
when the situation that the stations on the bearing mechanism are not searched and matched is found, in order to ensure that the workpieces in the rest stations can be taken away, the rest stations need to be matched, all the stations are matched after the material taking process is finished, the workpieces on the stations are ensured to be taken away, and the situation that the workpieces are omitted is avoided.
S150, if all stations on the bearing mechanism are searched and matched, increasing the row spacing of the material taking units, and repeating the steps S121-S125;
and the station and the material taking unit can be successfully matched only when the material taking unit is started and a workpiece is placed in the station. However, when the adjacent material taking units search and match all stations on the bearing mechanism at a fixed line interval, the material taking units are not started, and the workpieces are placed in the stations and the matching is unsuccessful, so that the line interval of the material taking units is increased, the probability that the stations with the workpieces are matched with the started material taking units is increased, and the quality of material taking operation is improved.
S160, judging whether the line spacing of the material taking unit is equal to the maximum line spacing of the material taking unit or not;
s170, if the row spacing of the material taking units is equal to the maximum row spacing, increasing the row spacing of the material taking units, and repeating the steps S121-S125 until the row spacing of the material taking units is equal to the maximum row spacing.
Since the coordinate information of all the stations is known, when the material taking units and the stations are matched with the optimal number, the matched material taking unit number and the corresponding station coordinate information are compared to judge whether all the stations on the bearing mechanism are matched by a retrieval. If all the stations on the bearing mechanism are not matched by the search, the workpiece on the station is not matched and taken away by the material taking unit, so that the steps S122-S125 are repeated to continue to match the material taking unit and the stations, and the matching is the best. If all stations on the bearing mechanism are searched and matched, in order to prevent missing workpieces on stations with larger intervals due to the limitation of the intervals of the material taking units, the line intervals of the material taking units are increased, and the steps S121-S125 are continuously repeated to start the matching of the material taking units and the stations, and the best matching number is obtained. And if the row spacing of the material taking units is equal to the maximum row spacing, the row spacing of the material taking units needs to be increased when the workpieces on all stations on the row where the material taking unit matching stations are located are taken away, and the steps S121-S125 are repeated to start the material taking units and the stations to be matched until the row spacing of the material taking units is equal to the maximum row spacing.
Optionally, after acquiring the coordinate information and the workpiece information of each station on the carrying mechanism, the method further includes:
and if the material taking unit is started and the workpiece information is effective information, and the material taking unit fails to be matched with the corresponding station, alarming.
When the material taking unit is started, the workpiece information is effective, the matching condition is met, and if the matching between the material taking unit and the corresponding station fails, the fault occurs in any one or both of the material taking unit and the station. The equipment gives an alarm, production technicians can be reminded to shield the corresponding material taking units in time, and the remaining material taking units are used for continuing operation, so that the delay of the operation progress caused by the downtime problem of the equipment is reduced, and the operation efficiency of the equipment is improved.
Fig. 6 is a schematic structural diagram of a material taking device according to an embodiment of the present invention, where the device includes:
the information acquisition module 201 is configured to acquire workpiece bearing information of the bearing mechanism and material taking information of the material taking mechanism; the material taking information comprises starting information of a material taking mechanism;
the matching module 202 is used for matching the workpiece and the material taking mechanism according to the information of the bearing workpiece and the material taking information to acquire matching information;
and the material taking module 203 is used for taking materials according to the matching information.
After the material taking device of this embodiment acquires the information of the bearing workpiece of the bearing mechanism and the material taking information of the material taking mechanism through the information acquisition module, the matching module matches the workpiece placed in the upper station of the bearing mechanism with the material taking unit in the starting state in the material taking mechanism corresponding to the current station, and after the matching is successful, the material taking module determines that the material taking unit successfully matched in the material taking mechanism absorbs the workpiece on the station successfully matched with the material taking unit according to the successfully matched information, so that the material taking of the material taking mechanism is realized. The material taking device can avoid the downtime of the testing equipment caused by factors such as the fact that the workpiece is not placed on the station on the bearing mechanism, the station on the bearing mechanism is damaged, the material taking unit in the material taking structure is damaged, and the material taking unit in the material taking mechanism is not started, thereby reducing the downtime problem of the testing equipment caused by the material taking mechanism and the bearing workpiece, and improving the reliability and the operating efficiency of the testing equipment.
On the basis of the above technical solution, optionally, the information obtaining module 201 is specifically configured to obtain coordinate information and workpiece information of each station on the carrying mechanism when being used for obtaining carrying workpiece information of the carrying mechanism and material taking information of the material taking mechanism; the bearing mechanism comprises a plurality of stations which are arranged in an array mode, and the workpiece information comprises information whether a workpiece is placed on each station; the system comprises a material taking mechanism, a control device and a control device, wherein the material taking mechanism is used for acquiring the serial number and the starting condition of each material taking unit on the material taking mechanism; wherein, the material taking units of the material taking mechanism are arranged in an array.
Optionally, the matching module 202 is configured to match the workpiece and the material taking mechanism according to the information of the loaded workpiece and the material taking information, and when the matching information is obtained, specifically, the matching module is configured to optimally match the workpiece and the material taking mechanism by using an exhaustive algorithm according to the coordinate information and the workpiece information of each station and the serial number and the enabling condition of the material taking unit, so as to obtain the matching information.
Optionally, the matching module 202 comprises:
the first initialization unit is used for initializing the single number of the material taking units matched with the stations;
the second initialization unit is used for moving the material taking units according to a preset sequence so that the material taking units are sequentially arranged opposite to the stations; initializing the matching sum of the material taking unit and the station to be zero;
the single matching counting unit is used for successfully matching the material taking unit with the corresponding station if the material taking unit is started and the workpiece information of the station corresponding to the material taking unit is effective information, and adding 1 to the single number of the material taking unit matched with the station; simultaneously recording the serial number of the material taking unit and the coordinate information of the station corresponding to the serial number; the effective information of the workpiece information represents a station for placing a workpiece;
the optimal matching counting unit is used for updating the optimal number to be the single number if the single number of the material taking unit matched with the station is larger than the optimal number of the material taking unit matched with the station;
and the matching information acquisition unit is used for matching the material taking unit number and the corresponding station coordinate information when the material taking unit and the stations are matched with the optimal number.
Optionally, the material taking module 203 is further configured to take materials according to the material taking unit number and the corresponding station coordinate information, which are matched when the material taking unit and the station are matched with the optimal number.
Optionally, the matching module 202 further comprises:
and the optimal matching judgment unit is used for updating the optimal number to be the current single number if the single number of the material taking unit and the station matching is equal to the starting number of the material taking unit.
Optionally, the matching module 202 further comprises:
the spacing setting unit is used for setting the maximum row spacing, the minimum row spacing, the maximum column spacing and the minimum column spacing of the material taking unit;
and the second initialization unit is also used for moving the material taking units according to the minimum line spacing and the minimum row spacing of the material taking units in a preset sequence, so that the material taking units are sequentially arranged opposite to the stations.
Optionally, the matching module 202 further comprises:
the station retrieval judging unit is used for judging whether all stations on the bearing mechanism are retrieved and matched according to the matched material taking unit numbers and the corresponding station coordinate information when the material taking units and the stations are matched with the optimal number;
if all the stations on the bearing mechanism are not searched and matched, returning to the second initialization unit; if all stations on the bearing mechanism are matched by the retrieval, increasing the row spacing of the material taking unit and returning to the first initialization unit;
and if the row spacing of the material taking units is equal to the maximum row spacing, increasing the row spacing of the material taking units, and returning to the first initialization unit until the row spacing of the material taking units is equal to the maximum row spacing.
Optionally, the matching module 202 further comprises:
and the alarm unit is used for giving an alarm if the material taking unit is started and the workpiece information is effective information and the material taking unit fails to be matched with the corresponding station.
The material taking device provided by the embodiment can execute the method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of reclaiming material, comprising:
acquiring bearing workpiece information of a bearing mechanism and material taking information of a material taking mechanism; the material taking mechanism comprises a material taking mechanism, wherein the bearing workpiece information comprises position information and quantity information of a bearing workpiece, and the material taking information comprises starting information of the material taking mechanism;
matching the workpiece with the material taking mechanism according to the information of the bearing workpiece and the material taking information to obtain matching information;
and taking materials according to the matching information.
2. The material taking method according to claim 1, wherein the acquiring of the information of the bearing workpiece of the bearing mechanism and the material taking information of the material taking mechanism comprises:
acquiring coordinate information and workpiece information of each station on the bearing mechanism; the bearing mechanism comprises a plurality of stations which are arranged in an array mode, and the workpiece information comprises information whether a workpiece is placed on each station;
acquiring the number and the starting condition of each material taking unit on the material taking mechanism; the material taking units of the material taking mechanism are arranged in an array.
3. The material taking method according to claim 2, wherein the step of matching the workpiece and the material taking mechanism according to the information of the bearing workpiece and the material taking information to obtain matching information comprises the steps of:
and optimally matching the workpiece and the material taking mechanism by adopting an exhaustive algorithm according to the coordinate information and the workpiece information of each station and the serial number and the starting condition of the material taking unit to obtain matching information.
4. The material taking method according to claim 3, wherein the step of performing optimal matching on the workpiece and the material taking mechanism by using an exhaustive algorithm according to the coordinate information and the workpiece information of each station and the number and the starting condition of the material taking unit to obtain matching information comprises the steps of:
a) initializing the single number of the material taking units matched with the stations;
b) moving the material taking units according to a preset sequence to enable the material taking units to be sequentially arranged opposite to the stations; initializing the optimal number of the material taking units matched with the stations to be zero;
c) if the material taking unit is started and the workpiece information of the station corresponding to the material taking unit is effective information, the material taking unit is successfully matched with the station corresponding to the material taking unit, and the number of the material taking unit matched with the station in a single time is increased by 1; simultaneously recording the serial number of the material taking unit and the coordinate information of the station corresponding to the serial number; the effective information of the workpiece information represents that the workpiece is placed on the station;
d) if the single number of the material taking units matched with the stations is larger than the optimal number of the material taking units matched with the stations, updating the optimal number to be the single number;
e) and acquiring the material taking unit number matched when the material taking unit and the station are matched with the optimal number and the corresponding station coordinate information.
5. The material taking method according to claim 4, wherein material taking is performed according to the matching information, and comprises the following steps:
and taking materials according to the matched material taking unit number and the corresponding station coordinate information when the material taking unit and the station are matched with the optimal number.
6. The reclaiming method as claimed in claim 4, further comprising, after updating the optimal number to the single number:
and if the single number of the material taking units matched with the stations is equal to the starting number of the material taking units, updating the optimal number to be the current single number.
7. The reclaiming method as claimed in claim 4, further comprising, before initializing the number of single passes and the optimum number of matches of the reclaiming unit and the work station to zero:
setting the maximum row spacing, the minimum row spacing, the maximum column spacing and the minimum column spacing of the material taking unit;
then remove according to predetermined order get the material unit, make get the material unit in proper order with the station sets up relatively, include:
and moving the material taking units according to the preset sequence according to the minimum row spacing and the minimum column spacing of the material taking units, so that the material taking units are sequentially arranged opposite to the stations.
8. The material taking method according to claim 7, wherein after material taking is performed according to the matched material taking unit number and the corresponding station coordinate information when the material taking unit and the station are matched with the optimal number, the method further comprises the following steps:
judging whether all stations on the bearing mechanism are matched by a retrieval cable or not according to the retrieval unit number matched when the retrieval unit and the stations are matched with the optimal number and the corresponding station coordinate information;
if all the stations on the bearing mechanism are not searched and matched, repeating the steps b) -e); if all stations on the bearing mechanism are matched with the cables, increasing the row spacing of the material taking units, and repeating the steps a) -e);
and if the row spacing of the material taking units is equal to the maximum row spacing, increasing the row spacing of the material taking units, and repeating the steps a) -e) until the row spacing of the material taking units is equal to the maximum row spacing.
9. The material taking method according to claim 4, wherein after acquiring the coordinate information and the workpiece information of each station on the carrier, further comprising:
and if the material taking unit is started and the workpiece information is effective information, and the material taking unit fails to be matched with the corresponding station, alarming.
10. A material extracting apparatus, comprising:
the information acquisition module is used for acquiring the information of the bearing workpiece of the bearing mechanism and the material taking information of the material taking mechanism; the material taking mechanism comprises a material taking mechanism, wherein the bearing workpiece information comprises position information and quantity information of a bearing workpiece, and the material taking information comprises starting information of the material taking mechanism;
the matching module is used for matching the workpiece with the material taking mechanism according to the information of the bearing workpiece and the material taking information to obtain matching information;
and the material taking module is used for taking materials according to the matching information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011264178.9A CN112456134B (en) | 2020-11-12 | 2020-11-12 | Material taking method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011264178.9A CN112456134B (en) | 2020-11-12 | 2020-11-12 | Material taking method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112456134A true CN112456134A (en) | 2021-03-09 |
| CN112456134B CN112456134B (en) | 2022-04-12 |
Family
ID=74824941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011264178.9A Active CN112456134B (en) | 2020-11-12 | 2020-11-12 | Material taking method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112456134B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113666073A (en) * | 2021-07-22 | 2021-11-19 | 苏州华兴源创科技股份有限公司 | Product transferring method |
| TWI783882B (en) * | 2021-06-24 | 2022-11-11 | 日商山田尖端科技股份有限公司 | Compression molding device and compression molding method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06166428A (en) * | 1992-12-01 | 1994-06-14 | Hitachi Electron Eng Co Ltd | Work transfer device |
| JP2016162955A (en) * | 2015-03-04 | 2016-09-05 | Ｔｏｗａ株式会社 | Manufacturing apparatus, transport method, transport program, and recording medium storing transport program |
| CN106629042A (en) * | 2016-12-28 | 2017-05-10 | 苏州富强科技有限公司 | Feeding method for full-automatic feeding assembly line |
| CN108508802A (en) * | 2018-04-11 | 2018-09-07 | 歌尔股份有限公司 | Material fitting method and device |
-
2020
- 2020-11-12 CN CN202011264178.9A patent/CN112456134B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06166428A (en) * | 1992-12-01 | 1994-06-14 | Hitachi Electron Eng Co Ltd | Work transfer device |
| JP2016162955A (en) * | 2015-03-04 | 2016-09-05 | Ｔｏｗａ株式会社 | Manufacturing apparatus, transport method, transport program, and recording medium storing transport program |
| CN106629042A (en) * | 2016-12-28 | 2017-05-10 | 苏州富强科技有限公司 | Feeding method for full-automatic feeding assembly line |
| CN108508802A (en) * | 2018-04-11 | 2018-09-07 | 歌尔股份有限公司 | Material fitting method and device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI783882B (en) * | 2021-06-24 | 2022-11-11 | 日商山田尖端科技股份有限公司 | Compression molding device and compression molding method |
| CN113666073A (en) * | 2021-07-22 | 2021-11-19 | 苏州华兴源创科技股份有限公司 | Product transferring method |
| CN113666073B (en) * | 2021-07-22 | 2022-10-14 | 苏州华兴源创科技股份有限公司 | Product transferring method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112456134B (en) | 2022-04-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112456134B (en) | Material taking method and device | |
| US8696297B2 (en) | Method and system for stabilizing an egg tray | |
| CN207641886U (en) | Separation unit and checking system | |
| CN102693930B (en) | The pick-up method of nude film splicing machine and nude film splicing machine | |
| KR100269948B1 (en) | Apparatus for inserting/removing and auto sorting semiconductor devices in a semiconductor burn-in process | |
| KR101188841B1 (en) | Burn-in sorter and sorting method using the same | |
| US8689066B2 (en) | Integrated circuit test optimization using adaptive test pattern sampling algorithm | |
| CN102834910A (en) | Component transfer device and method | |
| CN101412027A (en) | Automatic testing and sorting machine for wafer | |
| CN108906662B (en) | Tray dish automatic separation equipment | |
| US20190227116A1 (en) | Wafer Probe Resumption of Die Testing | |
| CN102812544A (en) | Method And Apparatus For Improved Sorting Of Diced Substrates | |
| WO2008120881A1 (en) | System for vision inspection of semiconductor device | |
| KR101812677B1 (en) | System and method for flexible high speed transfer of semiconductor components | |
| JP2003194879A (en) | Method of confirming working position of element conveyor for test handler of semiconductor element | |
| JP3868608B2 (en) | Component mounting equipment | |
| CN104815799A (en) | Test sorting machine | |
| WO2021084594A1 (en) | Holder management apparatus and maintenance process execution method | |
| KR100817469B1 (en) | Burn-in sorter and sorting method using the same | |
| CN101718989A (en) | Sampling inspection method | |
| TWI412762B (en) | Sorting apparatus for semiconductor device | |
| KR101103289B1 (en) | Burn in sorter and operation method using it | |
| KR20080104927A (en) | Sorting handler for burn-in test | |
| KR20100006989A (en) | Picker unit for vision inspection machine | |
| CN212291785U (en) | Automatic row equipment of inserting of electric capacity |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |