SU1179272A1 - Device for programmed control of coordinate travels for processes for assembling integrated circuits - Google Patents

Description

The invention relates to the field of automation and computer technology and can be used in systems of automatic numerical program control of coordinate displacements - 5 stumps, in particular, for installations for connecting wire leads when collecting integrated circuits.

The purpose of the invention is to improve the accuracy of the operation of the device of two coordinates-10 ^{0 of} programmed control by eliminating the positioning error of the coordinate table.

FIG. 1 is a block diagram of the device; in fig. 2 - block diagram of 15 teams.

The block diagram of the device contains a block of 1 commands, two control channels, each consisting of a counter 2 current coordinates, a block of 3 programs, a block of ~ 20 and 4 comparisons, a block of 5 stepper drives, a sensor 6 of movements of the coordinate table, in each control channel of which is a pad 7, lens 8, photo sensor 9, amplifier 10, Schmidt trigger 25 11, coordinate grid 12 and stepper motors 13, coordinate with thickness 14.

The command unit consists of a memory node 15, a Start 16 bus, an input bus 17, a control trigger 18, a setpoint 19 of the number of welding points, And 20, a pulse counter 21, outputs 22 and 23. Block 15 is a standard circuit, for example K155 RU5 or ₃₅ K565RU1.

. The device works as follows.

The initial position of the elements of the device is determined by end-sensors 40 (not shown), which are rigidly mounted on the table of the welding installation, one along the x axis, the other along the axis. y relative to the coordinate table 14 (Fig. 1). Moreover, the position of these 45 sensors is such that when the coordinate table moves 14 k. To the beginning of the coordinate space (that is, to the initial or initial position), these sensors are in contact with the faces 50 of the coordinate table. At the output of these sensors, a signal appears, which is used to reset the counters of 2 current coordinates. Thus, the device is in the original 55 state (or initial). As these sensors can be used any limit switches. In the initial state, the welding head of the welding unit, which is equipped with this device (not shown), is in the initial state. The output of the pulse counter 21 (figure 2) is set to a binary number, 'corresponding to zero. The "Start" command, for example, from the Start button of the welding machine, enters pulse pulse 21 via a bus 16 into which pulse information from the output of the number of welding points 19, corresponding to the number of welding points, is entered into the counter. The same impulse sets the signal "1" at the output of the control trigger 18 and, therefore, the element I 20 opens for passage of the pulses of the welding head along the bus 17 to the subtractive input of the pulse counter 21. These pulses are formed by the welding head at the moment of welding, i.e. for each point of welding one pulse. The output of the counter 21 is set to the value of the binary number corresponding to the number dialed by the setting device 19. This value is fed to the address input of the memory node 15, where the value of the necessary logic signal is stored at this address, corresponding to the required direction of movement of the welding head (all the necessary direction values are written into RAM 22 preliminary). At the output of node 15, the corresponding logical signal "Direction" appears, which is fed to the input of the reverse of the pulse counter. From the output of the pulse counter 21, the value of the binary number also enters the input of block 3 of the programs (Fig. 1), where the value of the corresponding coordinate of the first welding point is stored at this address. Thus, the first set number at the output of the pulse counter 21 by the "Start" command is a binary four-bit number (for example, "1111"), which corresponds to a decimal number of 16, i.e. 16 points of welding. This number goes through bus 22 to block 3 (made, for example, in the form of a ROM K556PTI), i.e. to the address input of this block (ROM), where the coordinate value of the sixteenth welding point is stored at this address. In addition, the output of the pulse counter 21 is also connected to the address input of the node 15 (Fig. 2), where

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This address (also number 16) stores a binary number, the value of which is. It corresponds to the required direction of movement of the drive Thus, the value of the number at output 5

pulse counter 21 corresponds to the address for block 3 and node 15, the output of which forms the coordinate values of the next welding point (in this example, the sixteenth) and the direction of movement, respectively. After performing the operation of the next welding point (for example, the sixteenth), the binary number at the output of the pulse counter is 21 15

will decrease by one (i.e., it will become equal to "1110"), since a pulse from the welding head will be sent to its subtracting input via bus 17 via element 20. This new number will become the new address for block 3 and node 15, where respectively the values of the new coordinates and the value of the new direction for instruments x and y.

After the "Start" command, a binary number appears at the exit ^ 5 of block 3, which corresponds to the coordinate of the first welding point. This binary number is fed to the second input of block 4 of the comparison, and the first input from the output of the counter-30 ka 2 current coordinates receives a double number corresponding to zero (since the counter 2 of the current coordinates was set to zero by the end sensors of the coordinate table). Thus, 35 due to the inequality of the value of binary numbers at the input of the comparison unit 4, the signal "1" (high logic level) appears at its output, the value of which corresponds to the signal · 40 "Start" for the block '5 stepper drive,

From the output of the program block 3 to the second input of the comparison block 4, the coordinate value of the Next point of movement is received. From the output of the block stepper 45 drive 5 to the input of the stepper motor

13 of the corresponding coordinates are the motor control pulses. ' The engine moves the coordinate table

14 with respect to the displacement sensor 50 6, from the output of which pulses with a repetition period equal to the repetition period of the stepping motor control pulses, i.e. 55 at each step the motors at the output of the sensor appear one pulse. This is achieved as follows: the coordinate grid 12 on the coordinate table 14 is made with a step whose value is equal to the step of moving the coordinate table, for example 10 μm. The coordinate grid 12 is projected using the lens 8 onto the sensitive area of the photo sensor 9, and the lens magnification is chosen so that the width of the image lines of the coordinate grid does not exceed the geometrical dimensions of the sensitive area of the photo sensor, for example, when the grid size is 10 μm and the size of the sensitive area of the photo sensor is 100 μm. must be equal to 10 times. The signal from the photo sensor is amplified by amplifier 10 and is fed to the input of Schmidt trigger 1 1, from the output of which a logical signal is fed to the input of the current coordinate counter 2. Moving the coordinate table will continue until the current coordinate value coming from the output of counter 2 to the first input block 4. comparison does not become equal to the value of the address coordinate received at the second input of comparison block 4 from the output of the program block 3. As soon as the current coordinate value becomes equal to the address value, from the output of block 4 compare At the input of the stepper drive unit, the signal 'Stop' · 'will be received. Coordinate table 14 will be moved exactly by the value specified in block 3 of the programs, regardless of the stepping of the stepper motor 13. After the welding head performs the welding operation at the point c given coordinates, bus 17 will send a pulse through element 17 of the subtracting input of counter 21, for example, from the welding head sensor, and at the output of pulse counter 21, the binary number will decrease by one, the memory node 15 will output a new one according to the new address the direction value, and block 3 of the program the new value of the coordinate of the next welding point and the welding head with the welding tool will move to the new welding point. Thus, the pulse counter 21 will produce the value of the address of the subsequent point of welding until its output reaches the value corresponding to zero. The signal "Borrow" from * the output of the pulse counter 21> will go to the input "Reset" of the control trigger 18 and set the output of the control trigger $

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18 Value ”0". Element And 20 will be closed For passing the pulses of the welding head to the input of the pulse counter 21. Welding. 5

the head will come to its original state. The "Direction" signal, coming from the output of block 1 to the input of the reverse of the counter 2 current coordinates, is necessary so that a change in the value of 10 binary numbers at its output is consistent with a change in the direction of movement of the coordinate tables. For example, if the coordinate value for the second weld point is less than 15 for the first one, i.e. the value of the binary number at the output of the block '3 for the second assembly point is less than the value of the binary number for the first, and

at the output of counter 2, before the start of moving to the second point, the binary number for the first point remains, then this number should be reduced, for which it is necessary to use the counter reverse, i.e. before starting to move to the second weld point at the "Reverse" input of counter 2, the corresponding signal will be sent via bus 23 from the output of memory node 15.

The use of this device for two-coordinate programmed control in installations for the processes of assembling an IC allows one to increase the accuracy and, consequently, the percentage of yield of devices, as well as to increase the productivity of equipment.

FIG. ΐ

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figure 2.

Claims (2)

1. DEVICE FOR SOFTWARE CONTROL OF COORDINATE MOVEMENTS FOR ASSEMBLING OF INTEGRAL MICROCHEMPS, containing a command block and in each control channel a fixed memory unit whose output is connected to the first input of the comparator, the second input of which is connected to the output of the current coordinate counter, and the output to the first input the input of the stepper drive unit connected by the second input to the first input of the current coordinate counter and to the first output of the command block, the second output of which is connected to the input of the permanent memory block, is different scheesya in that, in order to increase the accuracy of the device, it is entered coordinate table displacement sensor consisting of serially connected to each trigger control channel Schmidt, an amplifier and a photo sensor, the output of a Schmidt trigger is connected to the second input of the current position counter in each control channel, the second output of the command block is connected to the input of the permanent memory block. 2. The device according to claim 1, characterized in that the command block contains, for each control coordinate, a control trigger, an AND element, a pulse counter, a setpoint for the number of welding points and a memory node, the output of which is connected to the first output of the command block, and the address inputs are address outputs of the pulse counter and with the second output of the command block, the loan output of the pulse counter is connected to the first control trigger input, the second input of which is connected to the first input of the command block, to the first control trigger input of another channel and the write input account A pulse pulse, the second input of which is connected to the outputs of the setpoint of the number of welding points, the output of the control trigger is connected to the first input of the element I, the second input of which is connected to the second input of the command block, and the output to the subtractive input of the pulse counter. WITH $ m WITH m one 1179272 2