RU1773643C - Installation for connecting wire outlets - Google Patents

Abstract

Usage: for microwelding of printed circuits. SUMMARY OF THE INVENTION: the installation comprises a welding head with an elastic beam, on which a welding load sensor and a welding tool, a positioner with the ability to move in three coordinates, an oscillating energy calculator, a disturbance generator Bospeficim and an installation leveling block are placed. 1 p. Cb-py, 12 silt

Description

The invention relates to the field of microelectronics, in particular to equipment for connecting wire leads by thermocompress method to various integrated circuits and semiconductor devices,

A device for pressure welding, comprising a welding head consisting of a coop / ca v spring lever with a welding tool, a vertical movement mechanism of the welding head with a stepper drive, a welding load sensor mounted on the spring lever, an amplifier connected to the welding load detector by an input, control unit with direct drive with start signals -; at the first input, output connected to a step drive, clock generator, analog-to-digital converter, operational buffer apominayuschee unit delay element, R-S-rpwep, etrobiruemy subtractor, two formers, two and two programming schem soavneni.

The prototype is an assembly for connecting wire leads, comprising a bed, a bit, mounted on a bed, a welding head, a body of the welding head, a welding tool, a welding load sensor, a step drive of the welding head mounted on the bed and interacting with the welding head, clamping jaws with a drive located on the body of the welding head, a ball forming unit, a welding load profile generator and a welding system control unit.

The disadvantage of these installations is the lack of automatic activation systems for the surfaces to be welded, depending on their state before welding (the presence of oxide and adsorption films, gas molecules, contaminants, etc.), therefore, the welded joints are of poor quality, which in turn leads to for a decrease in the yield of suitable devices.

The aim of the invention is the introduction into the welding process of the dosed vibrational energy of a welding tool with auto &

its magical stabilization over time.

On Fig, 1 presents a General view of the installation; in FIG. 2 - general view of the welding head; on Fig, 3 is a structural diagram of the installation; in FIG. 4 - sequence diagram of the installation; Fig. 5 is a structural diagram of a current driver of the current coordinate; in FIG. 6 is a structural diagram of a phase current former; in FIG. 7 is a structural diagram of a converter; in FIG. 8 is a structural diagram of a calculator of vibrational energy; in FIG. 9 is a structural diagram of a disturbance driver; in FIG. 10- structural diagram of the control unit for the welding load; Fig. 11 is a flow diagram of the operation of a disturbance driver; in FIG. 12 is a flow chart of the installation control unit.

The installation for attaching wire leads consists of a bed 1 (Fig. 1), a welding tool 2, a welding load sensor 3, a displacement meter 4, a welding head 5 (Fig. 2), made in the form of an elastic beam 6, for example, with a U-shaped a groove at one end of which a welding tool 2 is fixed, m of the housing 7, on which the second end of the elastic beam 6 is rigidly fixed, and a welding load sensor 3 is located at this end of the elastic beam, discharge 8, clamping jaws 9 with the drive 10, mounted on welding head housing 5, coils with Variable conductor 11, positioner 12 mounted on the frame 1 with the possibility of simultaneous movement in three coordinates X, Y and Z using three step drives 13, 14 and 15, on which, in turn, the welding head 5 is mounted, while on the second step drive 14, a displacement meter 4, of the welding load control unit 16 (Fig. 3) is installed, the first input of the welding load connected to the sensor 3, of the ball forming unit 17, the output of which is connected to discharge 8, of three formers of the current coordinate 18, 19 and 20 m X, Y and Z soo accordingly, three phase current shapers 21, 22 m 23, a converter 24, the first input connected to the displacement meter 4, and the installation control unit 25 with a start signal at the first input, the second input of which is connected to the output of the welding load control unit 16, the third - with the output of the converter 24, the fourth with the output of the first driver of the current coordinate 18 and the input of the first driver of the phase currents 21 connected to the first step drive 13 of the positioner 12, which moves the spark plug 5 along the X axis, the fifth with the output second current coordinate shaper 19, the sixth - a third output shaper 20 and current coordinates

the input of the third phase current shaper 23 connected to the third step drive 15 of the positioner 12 moving the welding head 5 along the Z axis, the first output of the keyless control unit 25 to the second input of the welding load control unit 16 and the second input of the converter 24, the second to the input the first driver of the current coordinate 18, the third to the input of the second driver

5 of the current coordinate 19, the fourth to the input of the third driver of the current coordinate 20, the fifth to the input of the ball forming unit 17, and the sixth to the drive 10 of the clamping jaws 9, as well as the switch

0 26 and series-connected calculator 27 of vibrational energy, the register of reference energy 28, subtractor 29, controller 30, generator 31 of the disturbing effect and adder 32, and

5, the first input of the subtractor 27 of the vibrational energy is connected to the output of the converter 24 and the third input of the unit 25 controlling the NMR installation, the second to the output of the control unit for the welding load 16 and the second

0 to the input of the installation control unit 25, the third to the first output of the welding system control unit, the second input of the welding load control unit 16 and the second input of the converter 24, and the fourth to

5 to the seventh output of the installation control unit 25, the second input of the disturbance generator 31, the second input of the controller 30 and the third input of the converter 24, the output of the oscillator 27 and the first input of the reference energy register 28 connected to the second input of the subtractor 129, the second input of the adder 32 - with the output of the second driver of the current coordinate 19 and the fifth input 5 of the control unit of the welding system, the output of the adder 32 - with the input of the second driver of the phase currents 22 connected to the second step drive at positioner 12, which moves the welding head along the Y axis, and switch 26 is connected to the second input of the reference energy register 28.

Shaper of the current coordinate 18, 19 and 20 (Fig. 5} consists of a reference

5 of a generator 33, a controlled frequency divider 34, two And 35 and 36 elements and a reverse counter 37, and a controlled frequency divider 34 with an input connected to the output of the reference generator 33, and an output with the first inputs of the And 35 elements

and 36, the outputs of which are in turn connected to the incremental and incremental inputs of the reverse counter 37, a group of inputs consisting of an information input of a controlled frequency divider 34 and second inputs of the first and second elements And 35 and 36, is the input of the driver the current coordinate 18, 19 and 20, and the output of the reverse counter 37 is the output of the shaper of the current coordinate 18, 19 and 20.

The phase current generator 21, 22 and 23 (Fig. 6) consists of m series-connected constant memory devices 38, digital-to-analog converters 39 and power amplifiers 40, the inputs of the constant memory devices being combined and being the input of the phase current generator 21, 22 and 23, and the group of outputs m of power amplifiers 40, each of which is connected to the corresponding phase winding of the stepper motor 13, 14 and 15, and is the output of the phase current former 21, 22 and 23.

Converter 24 (Fig. 7) consists of a series-connected amplifier 41, analog-to-digital converter 42 and calculator 43, the clock inputs of the analog-to-digital converter 42 and calculator 43 are combined and are the second input (synchronization input) of the converter 24, the starting input of the calculator 43 is the third (start) input of the converter 24, the input of the amplifier 41 is the first input of the converter 24, and the output of the transmitter 43 is the output of the converter 24.

The oscillatory energy calculator 27 (Fig. 8) consists of a unit module for calculating the number 44, an adder 45, a multiplier 46, the first input connected to the output of the unit for calculating the unit number 44, and an output for the first input of the adder 45, inverter 47, delay element 48, the first and second registers 49 and 50, and the input of the first register 49 is connected to the output of the adder 45, and the output is connected to the second input of the adder 45 and the input of the second register 50, the output of the inverter 47 is connected to the input of the delay element 48 and the clock input of the second register 50, the output delay element 48 is connected to the reset input of the first register 49, the input of the module 44 being the first input, the second input of the multiplier 46 being the second input of the vibrational energy calculator 27, the clock input of the first register 49 being the third (clock) input, and the input of the inverter 47 the fourth (starting) input, and the output

the second register 50 - the output of the calculator 27 of vibrational energy.

Shock generator 31 (Fig. 9) consists of a programmer 5 51 of the duration of the disturbance, a programmable single vibrator 52, a subtractor 53, the first input connected to the output of the programmer 51 of the duration of the disturbance, and output 10 with the information input of the programmable one-shot 52, programmer 54 of the phase disturbance and multiplexer 55, the first input connected to the output of the programmer 54 of phase 15 of the disturbance, the second input to the logical zero bus, and the control input the odor to the output of the programmable single-shot 52. wherein the start input of the programmable single-shot 52 is the second (start) input, the second input of the subtractor 53 is the first input, and the output of the multiplexer 55 is the output of the disturbance driver 31.

The control unit for the welding load 16 5 (Fig. 10) consists of series-connected amplifier 56 and the analog-to-digital converter 57, the input of the amplifier 56 being the first input of the unit for controlling the welding load 16, the output (information) of the analog-to-digital converter is the output of the control unit for the welding load 16, and the second input (the same) of the analog-to-digital converter 57, the second input of the unit for monitoring the welding load 5 16.

The principle of operation of the installation is as follows.

The integrated circuit is placed on a stage and heated to a temperature of 280-350 ° C, after which the welded conductor, at the end of which the melted ball is combined with the contact pad of the semiconductor crystal, and the loading force necessary for welding is applied to the ball. When the loading force reaches the optimum value, the stepwise drive 14 (Fig. 4), which moves the welding head along the Y axis, is supplied with a pulse of dosed duration, which causes the welding tool 2 to oscillate. The tangential vibrations in the contact zone cause friction due to the return - translational movement of the compressed contacting surfaces, resulting in the destruction of oxide films and displacement of adsorbed films, gas molecules and contaminants to the periphery, which ultimately leads to the formation of good about physical contact be- tween jointed surfaces, and

intensifies the process of compound formation. The duration of the pulse supplied to the step drive 14 is determined by the magnitude of the vibrational energy measured at each previous welding, and its value is adjusted for each subsequent welding.

Installation works as follows,

After the unit is connected to an electric energy source, all internal registers of the controller 30 are reset to the zero state, in (as a result of which, the output of the controller 30 has a zero code. In addition, the switch 26 is in a state in which its output takes place a signal of a logical unit that allows information to pass from the input of the reference energy register 28 to its output. Thus, the first and second inputs of the subtracter 29 receive the same digital code, as a result of which the output of the subtractor 29 has a month 0 code (Fig. 3). Before starting the formation of a jumper between the semiconductor chip and the traverse of the integrated circuit, the operator manually starts (Fig. 4) at time ti the block forming the sip (Fig. 3), melts the ball on the tip of the wire high-voltage pulse from arrester 8 and combines the first contact pad of the integrated circuit semiconductor chip with the axis of tool 2 and provides a trigger signal (Fig. 4, time tz) to the first input of the unit control unit 25. The latter starts the third driver of the current coordinate 20 (Fig. 3) to lower the welding i-head, and simultaneously from its first output starts to clock the second input of the welding load control unit 16, the converter 24 and the oscillating energy calculator 27. The current coordinate generator 20 generates at its output a binary code incrementally incrementing by one, arriving at the third phase current generator 23, switching the windings of the stepper drive 15, which moves the welding head 5 to the welding position, at the moment of contact (Fig. 4, time point gz) the molten ball of the contact pad of the semiconductor crystal, the elastic beam 6 (Fig. 2) of the welding head 5 begins to bend as the welding head 5 is lowered and, due to its elasticity, creates a load of welding mye details. The magnitude of the load is regulated by the sensor 3 of the welding load, located at the end of the elastic beam 6, made in the form of a two-shoulder tensometric bridge sprayed onto a silicon membrane, and is fed to the first input of the control unit for the welding load 16. The unit for controlling the welding load 16 amplifies and converts the signal into a digital code from the output of the welding load sensor 3, after which the signal thus converted is fed to the second input of the installation control unit 25 and the second input

0 calculator 27 of vibrational energy. The installation control unit 25 compares the current value of the welding load during lowering of the welding head 5 with a predetermined PI (Fig. 4), which is preliminarily recorded in the memory of the installation control unit 25 and at the moment of their equality, the installation control unit 25 through the current coordinate generator 20 and the phase current former 23 stops

0 switching the windings of the stepper drive 15 and stops the welding head 5. At the same time, the installation control unit 25 supplies a start signal from its seventh output to the third input of the converter 24,

5 the fourth input of the subtractor 27 of the vibrational energy, the second input of the regulator and the second input of the driver of the disturbing effect, these elements are put into operation, and at the output of the switch 26 there is a logic unit signal that sets the operating mode of the reference energy register 28t at wherein the signal at its output repeats the value of the signal at its input. Therefore on

At both inputs of subtractor 29, a signal of the same level is present, and at the output of the subtracter is a signal of zero level, as a result, at the output of controller 30 and, therefore, at the first input of exciter 27, there is also a signal of zero level. The perturbation driver 31 generates a step drive 14 through the adder by summing the current code from the output of the current positioner for example 19 with the code from the output of the disturbing driver 31 the disturbing effect in the form of a dose-rate jump of the control vector of the magnetic field of the magnetic inductor of the stepper drive 14, causing welding oscillations tool 2. The duration of the jump of the magnetic field vector and its value are selected using the programmers of the shaper 31 of the disturbing air ystvi Browse maximum strength weld at the same time to reflect the effect of conditions at the welded surfaces of the weld quality and automatically maintain the mode of the device, close to the optimum, during application of the perturbing effect is produced m the calculation of the vibrational energy of the welding tool,

The vibrational energy is calculated as follows.

The signal from the displacement meter 4 (Fig. 1) is input to the converter 24, where the input signal is converted to a digital code and the movement of the welding tool 2 is calculated during the considered time interval. For example, if an acceleration sensor made on a piezoceramic basis is used as displacement transducer 4, then transducer 24 implements the calculation of the following formula:

i - 1

+ 2 hours).

  , ai - 1 + at

4

where ASi is the current value of the elementary movement of the welding tool 2; ai is the current measured value of the acceleration of the welding tool 2, coming from the output of the displacement meter 4; ajC e 0,1,2, ... 1-1) is the acceleration measured earlier on the J-periods of synchronization, starting from the moment the converter 24 starts; At is the synchronization period specified from the seventh output of the welding load control unit 25.

The signal converted by such an image is supplied to the first input of the vibrational energy calculator 27, to the second input of which the signal from the output of the welding load measuring unit 16 is received.

The vibrational energy calculator 27 calculates the vibrational energy of the welding tool according to the formula

E 2) Fi f ASi I,

 0

where Fi is the current value of the load on the materials being welded;

 ASt I - current movement module of welding tool 2;

I is the number of synchronization pulses of duration A g during the measurement of vibrational energy.

Since the logic unit signal is installed at the output of switch 26, as was established above, at the first input of the disturbance driver, there is a zero code coming from the output of controller 30, and thus the value of vibrational energy calculated for the current welding performed by the calculator of vibrational energy 27 not

will affect the operation of the disturbance driver 31.

Under the influence of the welding load, heating of the welding zone and disturbing action 5, the welded conductor is deformed during the time ts - 14 (Fig. 4) necessary for the formation of the welding joint, and at time ts, the welding load control unit 25 starts the shaper the current coordinate 20 and through the phase current former 23 switches the windings of the stepper drive 15 to raise the welding head 5 to the height Hp (Fig. 4) necessary to form a wire loop 15. Then, at time te, the control unit of the welding system automatically starts the current positioners 18 and 19. which, through the phase current conditioners 21 and 22 0, move the welding head 5 to the position of the conductor to the traverse of the device. Welding of the conductor to the traverse of the integrated circuit occurs similarly to welding of the ball to the contact pad 5 with the difference that the ball is not formed in this situation and excitation of disturbance is excluded to activate the connected surfaces, since usually the conductor is welded to the traverse of the device 0 to significant gold metallization thickness (up to 5 microns) and does not require intensification of the process. At the end of the welding process on the traverse of the device, the installation control unit 25 starts (Fig. 4, 5 moment of time d) the current coordinate generator 20, which, through the phase current generator 23, switches the windings of the step drive 15 to raise the welding head 5. At time ts, when the welding head increased by a value of Ho (Fig. 4), the control unit of the welding system from its sixth output sends a signal to the drive 10 of the clamping jaws 9. The clamping jaws clamp the wire and, with a further 5 further rise of the welding head 5, it breaks off thinning near the weld on the traverse of the integrated circuit, and from the welding tool shank 2 serves But wire length needed to form 0 bead and welding head 5 is moved to its initial state. Installation of subsequent jumpers occurs similarly to that described, with all the coordinates of the contact pads and the integrated circuit tracker being written to the memory of the installation control unit 25 during installation training. The welding head is moved to a predetermined point of the integrated circuit by starting the current conditioners 18 and 19 and comparing the output codes of the current coordinates 18 and 19, which are supplied to the fourth and fifth inputs of the installation control unit 25 with the settings in the memory of the installation control unit 25. When these codes are equal, the welding head 5 stops moving along the X and Y axes and moves to the welding position along the Z axis.

Upon completion of the formation of the current jumper, the operator analyzes the nature of the welded joint formed by the integrated circuit pad and the gold wire. If the nature of the connection is unsatisfactory, the operator sets a new value on the programmer 51 for the duration of the disturbance (Fig. 9) of the disturbance driver 31 and starts the installation to execute the next jumper. Then the operator again analyzes the nature of the welded joint formed by the more or less powerful oscillatory movement of the welding tool 2. Such test welds are performed by the operator to obtain a satisfactory quality of the welded joint. After selecting the optimal oscillatory movement of the tool 2, the operator sets the switch 26 to the position at which the output value of the signal is a logical zero. In this case, the energy value calculated by the vibrational energy calculator 27 during the last jumper formation cycle, in which the operator determined the optimal mode for the formation of the welded joint, will be recorded in the reference energy register 28. Then, when the next jumper is formed, the vibrational energy calculator 27 will determine the vibrational energy of the next welded joint at the contact area of the integrated circuit, the digital code of which is supplied to the second input of the calculator 29, at the first input of which there is a digital code of the reference activation energy coming from the output of the reference register energy 28, the value of which was recorded in it, when the operator set the signal at the output of switch 26 from a logical state units to a state of logical zero. If the measured activation energy code for the current welding is the same as the reference code, i.e. the error of the transfer of vibrational energy to the welding zone relative to the reference energy is zero, then the digital input code will be received at the first input of the controller 30 and, therefore, it will output

there is also a zero code, and as a result, when forming the next jumper, the perturbing driver 31 will generate an output at its output

a control action that does not differ in duration from the previous cycle. If, over time, due to the drift of the characteristics of the electromagnetic system of the drive 13, for example, due to a change in the clearance of the air cushion between the stator and the inductor of the motor, changes in the magnetic properties of the structural materials that make up this motor, and temperature drift of the characteristics of the shaper

phase currents 21, etc., as well as due to a change in the damping decrement of the mechanical vibrations of the welding tool 2 due to a change in the conditions of formation of the welded joint (pollution, the presence of adsorbed and oxide films, etc.), at the output of the vibrational energy calculator 27 a digital code is different from the code coming from the output of the reference energy register 28, resulting in

at the input of controller 30, a nonzero digital error code equal to the difference between the reference energy and measured in the last welding cycle is detected. Regulator 30 will give the first value of this error.

the input of the disturbance generator 31 is a digital code that corrects the duration of the last signal generated by the disturbance in the direction of increasing or decreasing the vibrational movement of the welding tool. For example, if the calculated value of the vibrational energy for only that welding is less than the reference value recorded in the reference energy register 28, then at the first input of the perturbation driver 31, a digital code is added, increasing the duration of the perturbation. In this way, the constant vibrational energy introduced into the welding zone on the contact area of the integrated circuit over time is maintained.

The formation of a melted ball during the unwinding of subsequent jumpers occurs automatically when the welding head 5 is lowered by a signal from the installation control unit when passing the tool

2 near discharge 8,

Shapers of the current code 18, 19 and 20 (Fig. 5) are designed to set a digital code of the current position of the inductor of the linear step drive 13, 14 and 15

circuit switching phase windings of the motor with electric step crushing.

Shapers 18, 19 and 20 work as follows,

When applying a digital code to the information input of the controlled frequency divider 34, the latter divides the clock frequency of the reference oscillator 33, thereby setting the movement frequency of the step drives 13, 14 and 15. The frequency signal thus converted is fed to the first inputs of the I 35 and 36 to the second inputs of which signals are received that control the direction of the downturn of the stepper drives 13, 14 and 13, left-right stepper drive 13, front-to-back stepper drive 14 and up-down of the fifth drive 15. Further, signals c. the outputs of the elements And 35 and 36 are fed to the incremental and decrement inputs of the reversible counter 37, which generates a sequentially changing digital code, increasing or decreasing depending on which of the inputs of the reversing counter 37 are supplied with clock pulses. Thus, at the output of the reversible counter 37, a code for setting the current position of the inductor of the linear stepper drive is generated. The capacity of the reverse counter 37 is CdglR MS, where Cd is the crushing coefficient; m is the number of phase windings of a linear step drive; R is the number of slicing periods of the stator line of the linear stepper drive, which determines the maximum stroke length of the inductor.

The phase current generators 21, 22 and 23 (Fig. 6) are designed to generate phase currents in the respective windings of the step drives 13,14 and 15 according to a predetermined law. Shapers phase currents 21. 22 and 23 work as follows.

When a digital code for setting the current coordinate is supplied to the inputs of the ROMs 381, Z82 ... 38t, the latter set the digital values of the current levels at each of the m outputs for each of the m corresponding phase windings of the dialog drive inductor (13, 14,15) according to the pre-written in them the law of commutation. These digital codes are then converted to the corresponding analogue levels in the xZE1, 39 ... 39 digital-to-analog converters, and then they are supplied to the corresponding power amplifiers 40, 402 ... 40, which - directly set the required current values in each of the corresponding m phase windings of the step drive 13, 14, and 15. Power amplifiers 40 are used to improve the dynamic properties of the drive. 402 ... 40t may have local

feedback and current boost circuits of the correction circuit. The capacity of the ROM 381. 38 ... 38t is Nn Kdt, where Kd is the crushing coefficient;

m is the number of phase windings of the motor.

The Converter 24 (Fig. 7} is designed to convert the signal from the sensor 4 into a digital code for moving the welding head 5 along the Y axis. The Converter 24 calculates the elementary movement of the welding head 5 along the Y axis for each synchronization period At. The converter 24 operates as follows In the initial state, the transmitter 43 of the converter 24 is set to the zero state by the logic zero starting signal from the seventh output of the installation control unit 25, which is supplied to the third input of the converter 24 and correspondingly directly to the starting input of the calculator 43.

The analog signal from the output of the displacement meter 4, for example, an acceleration sensor, is fed through an amplifier 41 to the input of an analog-to-digital converter 42, where the -isn signal is converted to a digital code for each synchronization clock At, which is supplied to its clock input from the first output of the welding system control unit . When a signal of a logical unit arrives at the start-up input of the calculator 43 (Fig. 11, time instant and), the latter starts to calculate the value of the elementary displacement at each clock cycle according to the formula

(-L ± ai + || l) f

where A Si is the elementary movement of the coordinate on the i-th synchronization period;

ai - acceleration on the 1st period of synchronization;

aj are the accelerations measured on the j-th synchronization period, starting from the moment the converter is started.

After the logical unit signal is supplied to the start input of the calculator 43 (Fig. 11, time ts), the last one is reset to its initial zero state. Thus, during the operation of the logical unit signal at the block enable input, at its output there is a sequence of elementary increment codes ASi calculated by the above formula.

As a displacement meter 4 in the device, for example, a tachogenerator winding on a motor inductor or an optical raster displacement sensor can also be used. In this case, the transducer 24 is modified according to the type of sensor used.

The vibrational energy calculator 27 (Fig. 8) is designed to calculate the vibrational energy of the welding tool when a disturbing action is applied to the step drive 14.

In the initial state, a logic zero level occurs at the input of the inverter 47 and the first register 49 is set to zero, since a logic level signal is present at its reset input.

When a logic unit signal is input to the inverter 47, a logic zero signal is output from the output of the delay element 48 from the output of the delay element 48, by which information is recorded in the first register 49. At the input of the first register 49, a digital code with the output of the adder 45, which is numerically equal to the product of the module of the number from the output of the calculation unit of the module of the number 44 supplied to the first input and the code that carries information about the load on the parts to be welded from the output of the measurement unit of the welding load 16 (Fig. 4), dull at the second input of the calculator 27 of the vibrational energy.

When the first Lee pulse (Fig. 11) arrives at the clock input of the first register 49, this value is written to the first register 49, and this value goes to the second input of the adder 45. When the second Ata pulse arrives at the clock, the input of the first register 49 is written to it the sum of the values) A Sal Fa, coming to the first input of the adder 45 from the output of the multiplier 46 and I ASil Fi, coming from the output of the first register 49, etc. When the first register of the 491st clock pulse arrives at the clock input, the value is written to it (Д Si FI. Then, when a logic zero signal appears at the inverter 47 input, the information from the output of the first register 49 is written to the second register 50 along the switching edge of the signal at the inverter output 47 from a logical zero state to a logical one state. With the same signal, after a time delay on the delay element 48, the first register 40 is again reset to zero. Thus, the output of the second register 50 will have hundred

value Y FI | ДSi /, where I-number of strokes i -о

At, which takes place at the time of setting the signal of the logical unit, at the starting input of the vibrational energy calculator 27. The perturbing driver 31 (Fig. 9) is designed to generate a metered perturbation on the step drive 13, 14 and 15 (Fig. 1) in the form of a jump in the dosage length;

the vector of the magnetic field of the inductor, defining its position relative to the stator of the stepper motor 13, 14 and 15.

The perturbation driver operates as follows. The multiplexer 55 is turned on in its initial state by a logic zero signal from the output of the programmable one-shot 52 to pass information from its second input, which is connected to the logical O bus, to its output. Thus, in the initial state, the driver 31 of the exciting action generates a zero digital code at its output.

At the information input of the programmable single vibrator 52, there is a digital code coming from the output of the subtractor 53, which is the difference set on the disturbance programmer 51 with a digital code and a digital disturbance correction code supplied to the second input of the subtractor 53 from the output of the controller 30 ( Fig. 4). Moreover, the information at the second input of the subtractor 53 enters an additional code, i.e. the subtractor 53 can also work with negative numbers. In the latter case, the digital code at the output of the subtractor 53 may be larger than the digital code defined on the programmer 51 for the duration of the disturbance 51.

When a start-up signal (Fig. 11) of a logical unit (time 1i) is applied to the control input of the programmable single-vibrator 52, the last one at its output will generate a signal of a logical unit with a duration determined by the value of the digital code at its information input. This signal of a logical unit, arriving at the control input of multiplexer 55, switches the latter to information passing from its second input, which is connected to the output of the disturbance phase programmer 54, to its output. This digital code, which determines the value of the jump in the position setting relative to the current position of the inductor of the stepper motor in steps, will take place at the time of pulse formation at the output of programmable one-shot 52. The duration of which (Fig. 11, time point tit) is determined by the state of the duration programmer 51 disturbing effect. Then, at the end of the logical unit signal at the output of the programmable single-vibrator 52, the output of the multiplexer 55 will switch to the initial state of the zero code (Fig. 11, time ti). Thus, the perturbation driver 31 according to the signal arriving at its starting input generates a signal at the output with a value determined by the state of the perturbing phase programmer 54 and a duration determined by the state of the perturbing programmer 51 minus the digital code received correction of the disturbing effect at its input.

As a programmable one-shot, for example, a programmable integral timer of the type KR580VI53 can be selected.

The coefficients for the proportional, integral, and differential links of the PID controller are selected at the setup setup stage and depend on the particular design of the positioner.

The control unit for the welding load 16 (Fig. 10) is intended for the amplifier and converter in digital form of the signal from the sensor 3 of the welding load. The control unit of the welding load operates as follows. The signal from the welding load sensor 3 is amplified by an amplifier 56 and fed to the input of the analog-to-digital converter 57. The analog-to-digital converter 57 converts the analog signal into a sequence of binary codes appearing at its output through each clock pulse At appearing at its input from the second output of the installation control unit 25.

The installation control unit 25 is a microprocessor system with a three-bus architecture. The installation control unit operates according to the algorithm shown in FIG. 12 as follows.

In the initial state, the step drives 13 and 14 (Fig. 1) are in a state that determines the position of the welding tool 2 on the first contact pad of the integrated circuit, and the state of the actuator 15 determines the position of the welding tool 2 in the LOW position (Fig. 4), and the installation control unit 25 is in the state {pos. 58, FIG. 12), in which the latter expects the appearance of a start signal at its first input. When this signal appears, the unit control unit 25 switches to the state (pos. 59, Fig. 12), in which the latter generates at its fifth output a pulse of duration t2 - ti (Fig. 4) to start the reflow ball forming unit 17 the shank of the gold wire drawn from the welding tool 2. Then, the installation control unit 25 switches to the state {pos. 60, FIG. 12), in which the latter, at its fourth information output, sets a digital code recorded in the block memory that determines the speed of movement of the positioner 12 along the Z axis and sets the direction of downward movement 5. At the same time, the installation control unit 25 reads information at its second information input, which receives information from the output of the control unit of the welding 10 of the load 16, which determines the current value of the loading force of the welded gold wire to the contact area of the integrated circuit. Thus, the welding tool 2, the drill g moves 15 down the axis 2. until the elastic beam 6, on one end of which is fixed the welding tool 2, and the other end of which is fixed on the body of the welding head 5, does not create the required effort 0 loading of welded elements. The code for this PI force (Fig. 4) is recorded in the memory of the installation control unit 25. Upon receipt of a digital code equal to or 5 greater than the PI code at the second input of the control unit 25, the latter sets a digital code on its fourth output, which stops the operation of the phase current former 20 and, therefore, the welding head moves along the 0 Z axis. Then, the control unit 25 the installation goes into the state {pos. 61, FIG. 12), in which the latter sets the signal of the logical unit at its seventh output, through which the disturbance generator 5 is launched, and the vibrational energy calculator 27 is activated and the converter 24 goes on and on (pos. 62, Fig. 12) , in which the state of the unit 0 control unit 25 analyzes the information on the elementary increments A Si of the welding tool 2 as a result of applying a dosed disturbing action to the step drive 14 at each synchronization period At (Fig. 11). This analysis is carried out in order to determine the end of the disturbing action on the step drive 14, namely, to determine if the amplitude of the damped oscillations of the step drive 14 falls into the Ausp limit set in the memory of the control unit 25 (Fig. 11). In this case, the control unit sums up all current increments of the ascending or 5 descending half-waves of the damped oscillatory motion of the step-by-step drive 14. If, after changing the sign A Si, the received sum exceeds the value Ausp, then the calculation of the sum starts first for the next half-wave. In the example (Fig. 11)

the ascending half-wave taking place over the interval indicated by m (Fig. 11) does not exceed the value of L yen, therefore, in this case, the installation control unit 25 at the end of this half-wave will determine the end of the influence of the disturbing action on the step drive 14, as a result of which the latter transfers to a state (pos. 63, Fig. 12) in which a logic zero level is set at its seventh output. According to this signal, the converter 24 and the calculator 27 are set to the initial state, and the controller 30, clocked at its second (clock) input, will perform another iteration with the newly received error in the energy of the vibrational motion of the welding tool 2 in the just made welding cycle relative to the reference recorded in the reference energy register 28. Then, the unit control unit 25 switches to the state (pos. 64, Fig. 12), in which the latter sets a digital code on its fourth output that determines the stepping drive 15 at a speed recorded in the memory of the block and specifying the direction of upward movement. In this case, the installation control unit 25 analyzes the information arriving at its sixth input about the current position of the welding tool 2 along the Z axis. When it reaches the level Нп (Fig. 4}, the installation control unit 25 sets a digital code on its fourth output, when wherein the current-coordinate generator 20 stops generating the current position of the sequentially changing code on its counter setting, the step drive 15 stops in the current position NC. Then, the control unit 25 switches to the state (pos. 65, Fig. 12), at wherein the latter generates tasks for moving the welding tool 2 by means of step drives 13 and 14. To the position of the step drives along each coordinate X, Y is similar to that described above for controlling the step drive along coordinate 2.

Next, the installation control unit switches to the state (pos. 66, Fig. 12), in which the latter moves the welding tool 2 to form a welded joint on the traverse of the lead frame according to the procedure described above. Then, the installation control unit 25 enters a state (key 67, Fig. 12) in which there is a delay by the time the weld is formed, in which the installation control unit does not give any signals. Next, the control unit of the welding installation enters the state (pos. 68, Fig. 12), in which the step drive 15 starts up to the initial position Nysh (Fig. 4) according to the above procedure. At the same time, at a height of Ho, the installation control unit 25 at its sixth output generates a signal to the drive 10 of the clamping jaws, as a result of which the gold wire breaks off and a tail is left at the tip of the welding tool 2, the length determined by the value of Ho, intended for subsequent formation of a ball from it . Next, the installation control unit 25 (pos. 69, Fig. 12) controls the movement of the step drives 13 and 14 along the X and Y axes to the position of the next contact pad, after which the installation control unit 25 switches to the state (pos. 58, Fig. 12), in which he is ready to form the next jumper.

Thus, the installation makes it possible to improve the quality of welded joints by introducing the dosed vibrational energy of the welding tool during the welding process with its automatic stabilization over time.

Claims (2)

Formula of the invention i Installation for attaching wire leads, comprising a welding head made of a housing on which an elastic beam is fixed at one end, a welding tool is mounted at its free end, a welding load sensor is mounted on a fixed end of the elastic beam, discharge, clamping jaws with a drive , a coil with wire mounted on the body of the welding head, rigidly fixed with a positioner connected to three step drives in X, Y and Z, located on the mounting frame, and also a motion meter no Y, a welding load control unit connected to the welding load sensor by the first input, a ball forming unit whose output is connected to the spark gap, three current coordinate shapers, three phase current shapers, a converter connected to the displacement transducer by the first input in Y, and the unit control unit with a start signal at the first input, the second input of which is connected to the output of the welding load control unit, the third to the output of the converter, the fourth - with the output of the first driver of the current coordinate and the input of the first driver of the phase currents, the output of the positioner connected to the first step drive by X, the fifth - with the output of the second shaper of the current coordinate, sixth - with the output of the third shaper of the current coordinate and the input of the third shaper of phase currents connected to the step drive along the Z positioner, the first output of the control unit is connected to the second input of the control unit for the welding load and the second input of the converter, the second to the input of the first driver of the current coordinate, the third - to the input of the second driver of the current coordinate, the fourth - to the input of the third driver of the current coordinate, the fifth - to the input of the block the ball, and the sixth to the clamping jaw drive, the output of the second phase current former being connected to the Y positioner stepwise drive, characterized in that, in order to introduce the dosed vibrational energy of the welding tool during welding with its automatic stabilization over time, a switch and series-connected oscillator energy calculator, a reference energy register, a subtracter, a regulator, a disturbance driver and an adder are introduced, the first input of the calculator vibrational energy is connected to the output of the converter and the third input of the installation control unit, the second to the 3 output of the welding load control unit and the second input of the installation control unit, the third - to the first output of the installation control unit, the second input of the welding load control unit and the second input of the converter, and the fourth - to the seventh output of the installation control unit, the second input of the disturbance driver, the second input of the controller and the third input a converter, wherein the output of the vibrational energy calculator and the first input of the reference energy register are connected to the second input of the subtractor, the second input of the adder is connected to the output of the second form irovatel current position and a fifth input control setting unit, the adder output - to an input of a second shaper of the phase currents, and the switch is connected to the second input of the reference power register. 2. Installation according to claim 1, characterized in that the perturbation driver includes a series-connected duration programmer, a subtracter, a programmable one-shot and a multiplexer, as well as a phase programmer connected to the control input of the multiplexer, to the second input of which a bus is connected logical zero, the output of which is the output of the driver, and the inputs are the second inputs of the subtractor and the programmable one-shot. / 3  1, g s -: b cfs. t Ј l i-f Otff) Qnnoaovinbtd & cb w) # 0t / ti u / p ewcui . 5 .6 Fig.7 rig.Z pui.4Q SHZH1ZHILL1ShLL1 .-t tl $ G Start J Knowledge. , K6 & oro smg.noly on / -em8 S9 Fore and R & S1 about 5-on. 60 Subpro & laziness b & ihenin 2 LG b down to s & zonir with & Q load level Pi 61 Tired & co log 1 1 on 7-on Bt / tete 62. QsdjboHue. soothing gtr & Uspano & m logical S HO 7-he & e & e 64 Tg1rЈle b & b hp hpoSo Z Ј5 & bepx on & ysogpu Np ABOUT 6f Governing. B & x & n. L'OLLOWING C & QPK.UHQ TRA & ERSU I 66 CENTER FOR PREPARATION OF LURBA 2TF & HU & up to co-anner welding nogrtskhi P & I Delay No & Repair with & Arch 6 & CPU LIFE REDUCTION FOR S3 t starting position with & KAYUCH nor & m at & oa bahima -zxfax Q o / co / ne 69 NPu & oto & XJS control UM s1 UtfHsniftrnHbrO LOCO # LAYOUT # YESCH.E.