TWI632838B - Pick-and-place soldering system for dual chip modules and method for assembling dual chip modules - Google Patents

Abstract

A pick and place welding system for a two-chip module includes first and second stages to accommodate a plurality of first and second wafers, respectively. A calibration platform is placed between the two carriers, and the first wafer and the second wafer are respectively placed on the calibration platform by the first and second extraction arms. A calibration positioning vision module is used to correct the position and angle of the two wafers. The dual wafer pick-and-place unit has first and second nozzles for respectively sucking the first wafer and the second wafer, and the first wafer and the second wafer are spaced apart by a predetermined distance. A set of device material platforms houses a circuit substrate. A substrate positioning vision module corrects the position of the circuit substrate. The dual wafer pick and place unit places the first wafer and the second wafer together on the circuit substrate. The invention also provides a method of assembling a bimorph module.

Description

Disposing welding system of bimorph module and assembling method of bimorph module

The invention relates to a two-chip module pick-and-place soldering system and a method for assembling a two-chip module, in particular to a pick-and-place soldering system and an assembling method for picking up, placing and soldering two wafers in a circuit. On the substrate.

Due to the progress of electronic technology, electronic products have been equipped with dual-chip modules. For example, a mobile phone has a dual photographic lens for more advanced image processing. A dual photographic lens requires two photographic semiconductor wafers to be soldered to the same board at precise distances, which would otherwise result in an inability to capture accurate images.

In order to solder two photosensitive semiconductor wafers on the same substrate, the current technology is to first place a first photosensitive semiconductor wafer on a substrate, and heat the solder to solder the first photosensitive semiconductor wafer to the substrate. The second photosensitive semiconductor wafer is then placed on the same substrate and spaced a predetermined distance from the first photosensitive semiconductor wafer. The solder is then heated to solder the second photosensitive semiconductor wafer to the substrate. However, in the process of heating the substrate, since the coefficient of thermal expansion of the wafer made of tantalum material is much lower than that of the general substrate (PCB) material, relative displacement is often generated during the heating process, resulting in two photosensitive semiconductor wafers. The distance between them changes, causing errors in assembly.

The technical problem to be solved by the present invention is to provide a dual chip module. By placing a soldering system, the two wafers can be accurately soldered to the circuit substrate at a predetermined interval to avoid assembly errors.

In addition, the technical problem to be solved by the present invention is to provide a method for assembling a dual-wafer module, which can simultaneously place the first wafer and the second wafer at a predetermined distance from each other on a circuit substrate to avoid Assembly error.

In order to solve the above technical problem, according to one aspect of the present invention, a two-chip module pick-and-place soldering system is provided, comprising at least one carrying platform for accommodating a plurality of first wafers and a plurality of second wafers; An arm, each of the arm has a take-up head; a calibration platform, the pick-up head is movably located between the at least one carrier and the calibration platform, and the pick-up head takes one of the a first wafer or a second wafer is placed on the calibration platform; a calibration positioning vision module respectively captures images of the first wafer and the second wafer located on the calibration platform, and the correction Determining the position of the first wafer and generating first position information, correcting the position of the second wafer and adding a parameter of a predetermined distance to a predetermined distance from the first position information, and generating second position information; The wafer pick-and-place unit has a first nozzle and a second nozzle adjacent to the first nozzle, and the first nozzle picks up the first wafer according to the first position information of the first wafer. Second suction Extracting the second wafer according to the second position information of the second wafer, wherein the first wafer is spaced apart from the second wafer by the predetermined spacing; a set of device material platforms to accommodate a circuit substrate; The substrate positioning vision module captures an image of the circuit substrate and corrects a position of the circuit substrate; wherein the dual wafer pick and place unit places the first wafer and the second wafer together on the circuit substrate.

In order to solve the above other technical problem, according to one aspect of the present invention, a method for assembling a bimorph module is provided, comprising the steps of: taking a first wafer and placing it on a calibration platform; An image of the first wafer on the platform, and correcting a position of the first wafer, and generating first position information; using a first nozzle of a dual wafer pick and place unit according to the first position information, Drawing the first wafer; taking a second wafer and placing it on the calibration platform; capturing an image of the second wafer on the calibration platform, and correcting the position of the second wafer, adding a predetermined distance parameter in the second position information at a predetermined distance from the first position information, and generating second position information; using the second nozzle of the dual wafer pick and place unit according to the second Positioning information, drawing the second wafer; and moving the dual wafer pick and place unit and simultaneously placing the first wafer and the second wafer on a circuit substrate.

Preferably, the pick-and-place soldering system of the dual-chip module of the present invention further includes a first carrying platform for accommodating the plurality of first wafers, a first pick-up arm, and a plurality of second a second carrier of the wafer, and a second pick-up arm, wherein the first pick-up arm sequentially takes a first wafer from the first carrier to be placed on the calibration platform; After the dual wafer pick-and-place unit removes the first wafer from the calibration platform, the second pick-up arm sequentially takes a second wafer from the second carrier to be placed on the calibration platform. After the two wafer pick-and-place unit removes the second wafer from the calibration platform, the first pick-up arm sequentially takes one of the first wafers from the first carrier On the calibration platform.

The invention has the following beneficial effects: the pick and place welding system of the two-chip module of the invention has two sets of carrying platforms, and two different kinds of wafers can be assembled. The two sets of stages can be combined with a calibration platform and a calibration positioning vision module. The calibration platform and the calibration positioning vision module are placed between the two sets of loading platforms. The wafer is placed on the calibration platform. By moving the calibration platform for position correction and angle correction, no additional tools are needed to pick up the wafer for offset correction. The dual wafer pick and place unit of the present invention can take the first wafer and the second wafer in stages from the calibration platform, and simultaneously bring the two wafers onto the circuit substrate of the group device material platform, and the dual wafer pick and place unit has a heating module. a filler that heats the bottom edge of the wafer, such as an epoxy resin, can be pre-cured by heating during bonding to ensure wafer flatness, and Avoid wafer displacement during the soldering process. The dual wafer pick and place unit cooperates with the set of device material platforms to accurately seal the two wafers down to the circuit substrate at the same time.

In order to further understand the technology, method and effect of the present invention in order to achieve the intended purpose, reference should be made to the detailed description and drawings of the present invention. The drawings and the annexed drawings are intended to be illustrative and not to limit the invention.

C1‧‧‧ first chip

10a‧‧‧First carrier

C2‧‧‧second chip

10b‧‧‧Second carrier

20a‧‧‧First arm

21a‧‧‧First power source

22a‧‧‧First arm

20b‧‧‧Second arm

21b‧‧‧second power source

22b‧‧‧ second arm

30‧‧‧ Calibration platform

40‧‧‧ Calibration Positioning Vision Module

50‧‧‧Double wafer pick and place unit

51a‧‧‧First nozzle

51b‧‧‧second nozzle

52‧‧‧heating module

60‧‧‧Group equipment platform

70‧‧‧Substrate positioning vision module

P‧‧‧ circuit substrate

D1‧‧‧predetermined spacing

D2, d3‧‧‧ distance

1 is a top plan view of a take-up welding system of a two-chip module of the present invention.

2 to 11 are top plan views showing respective assembly steps of the take-up welding system of the two-chip module of the present invention.

Please refer to FIG. 1 , which is a top plan view of the pick and place welding system of the dual wafer module of the present invention. The present invention provides a two-chip module pick-and-place soldering system including a first carrier 10a for accommodating a plurality of first wafers C1, a second carrier 10b for accommodating a plurality of second wafers C2, and a first A take-up arm 20a, a second pick-up arm 20b, a calibration platform 30, a calibration positioning vision module 40, a dual wafer pick-and-place unit 50, a set of equipment material platforms 60, and a substrate positioning vision module 70.

The present invention is applicable to two wafers that need to be soldered to a circuit substrate P at a precise distance. The first wafer C1 and the second wafer C2 may be of different kinds. The plurality of first wafers C1 may be on one wafer, and the plurality of second wafers C2 may be on another wafer. The wafer is, for example, a semiconductor wafer that can record light changes, such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal-Oxide Semiconductor), but the present invention is not limited thereto.

The first arm 20a and the second arm 20b each have a suctionable And the placing head (such as a vacuum head, a suction cup or other device having a moving ability, etc., omitted) is used to adsorb the first wafer C1 and the second wafer C2. The take-up head of the first arm 20a is movably located between the first stage 10a and the calibration platform 30, and the take-up head of the second arm 20b is movably located on the second stage 10b and the calibration platform Between 30.

The moving line arrangement of each component of this embodiment is described as follows. The calibration platform 30 is located between the first carrier 10a and the second carrier 10b. The calibration platform 30, the first carrier 10a and the second carrier 10b are located substantially on the same moving line. In addition, the calibration platform 30, the dual wafer pick and place unit 50, and the group device material platform 60 are located substantially on the other moving line. The two moving lines are roughly T-shaped. Such an arrangement can increase the efficiency of work.

The first arm 20a and the second arm 20b are respectively located at two sides of the calibration platform 30. The first arm 20a has a first power source 21a and a first arm 22a, and the first power source 21a drives the first arm. The portion 22a moves back and forth, and the second arm 22b has a second power source 21b and a second arm portion 22b. The second power source 21b drives the second arm portion 22b to move left and right.

Briefly, the present invention provides a method for assembling a two-chip module according to the above-described mechanism design, comprising the steps of: taking a first wafer C1 and placing it on a calibration platform 30; The image of the first wafer C1 is corrected, and the position of the first wafer C1 is corrected, and first position information is generated; the first position information represents the position of the first wafer C1 after calibration; and a double wafer pick and place unit is utilized. The first nozzle 51a of the 50 draws the first wafer C1 according to the first position information; takes a second wafer C2 and places it on the calibration platform 30; and captures the position on the calibration platform 30. Image of the second wafer C2, and correcting the position of the second wafer C2, adding a parameter of a predetermined distance to the second position information to be spaced apart from the first position information by a predetermined distance, and generating a second Bit Positioning information; the second position information represents the position of the second wafer C2 after calibration; the second nozzle 51b of the dual wafer pick and place unit 50 draws the second wafer C2 according to the second position information; The twin wafer pick-and-place unit 50 is moved while the first wafer C1 and the second wafer C2 are simultaneously placed on a circuit substrate P.

The distance between the first nozzle 51a and the second nozzle 51b corresponds to a predetermined interval between the first wafer C1 and the second wafer C2. Thereby, the first wafer C1 and the second wafer C2 are calibrated, and the first nozzle 51a of the twin wafer pick-and-place unit 50 is fixed to the second nozzle 51b. Therefore, in this embodiment, the first wafer C1 and the second wafer C2 can be accurately placed on the circuit substrate P at a predetermined interval, thereby avoiding assembly errors.

The flow of the dual wafer assembly of the present invention will be described below with reference to FIGS. 2 through 11. As shown in FIG. 2, the first pick-up arm 20a is placed on the calibration platform 30 by the first carrier 10a. This process can also move a circuit substrate P to the group device platform 60.

As shown in FIG. 3, the calibration positioning vision module 40 moves over the calibration platform 30 and accurately positions the position and angle of the first wafer C1 by aligning the positioning vision module 40 with the movement of the calibration platform 30. . The group device platform 60 carries the circuit substrate P. The substrate positioning vision module 70 is moved above the group device material platform 60, and the position correction of the circuit substrate P is performed in conjunction with the group device material platform 60.

The step of modifying the position of the first wafer C1 in the embodiment includes: capturing the image of the first wafer C1 by using the calibration positioning vision module 40 and analyzing the offset value of the first wafer C1. The calibration platform 30 performs offset correction of the first wafer C1 along the X-axis, the Y-axis, and the θ-axis according to the offset value.

The position of the calibration positioning vision module 40 of the present invention is generally above the calibration platform 30. The calibration positioning vision module 40 respectively captures images of the first wafer C1 or the second wafer C2 located on the calibration platform 30, and corrects the position of the first wafer C1 and generates first position information.

In a specific embodiment, the calibration positioning vision module 40 can be an upper vision detecting device for viewing an image of an upper surface of the wafer, such as a position of a positioning mark of the wafer, to determine the offset value of the wafer by using image analysis, and The detection result is transmitted to a control unit or the like (not shown) to control the subsequent offset correction step.

The embodiment uses the calibration platform 30 to perform correction according to the offset value of the wafer, including displacement along the X-axis or the Y-axis to adjust the position of the wafer, or rotate along the θ axis (ie, the Z-axis direction) to adjust the wafer. The angle to correct the offset value of each wafer. An advantage of this approach is that there is no need to move the wafer with the pick-up head for offset correction.

Taking the first wafer C1 as an example, the calibration positioning vision module 40 captures an image of the first wafer C1 and analyzes an offset value of the first wafer C1. The calibration platform 30 has an X-axis, a Y-axis, and a θ-axis. A displacement mechanism (for example, a servo motor) performs offset correction of the first wafer C1 according to the offset value. In other words, it is possible to move in the horizontal direction and the vertical direction of FIG. 3, and also to rotate, whereby the first wafer C1 is moved to the correct position and angle at the calibration platform 30 to complete position correction and angle correction.

Specifically, the first wafer C1 can be divided into the following steps: First, the calibration positioning vision module 40 captures the image of the first wafer C1, and compares the first wafer C1 with the dual wafer pick-and-place unit. The first position information (X1, Y1) is taken up by 50, and then the offset value of the first wafer C1 is analyzed. Next, the detection result of the offset value of the first wafer C1 is transmitted to the control unit, and the control unit controls the displacement mechanisms of the X-axis, the Y-axis, and the θ-axis of the calibration platform 30 to move the calibration platform 30 so that The first wafer C1 is moved to the correct angle and the correct position, that is, at a first position that is predetermined to be picked up by the twin wafer pick and place unit 50. Thereby, the first nozzle 51a draws the first wafer C1 according to the first position information (X1, Y1) of the first wafer C1.

As shown in FIG. 4, the dual wafer pick and place unit 50 draws the first wafer C1 from the calibration platform 30. The dual wafer pick-and-place unit 50 has a first suction nozzle 51a and a second suction nozzle 51b adjacent to the first suction nozzle 51a. The distance d2 between the first suction nozzle 51a and the second suction nozzle 51b corresponds to the assembly. Between the first wafer C1 and the second wafer C2 The predetermined distance d1 (refer to Figure 8). In this embodiment, the dual wafer pick and place unit 50 moves along the Y axis to the calibration platform 30, and the first wafer C1 is taken up by the first nozzle 51a of the dual wafer pick and place unit 50.

At this point, the calibration positioning vision module 40 can be moved out of the calibration platform 30. Alternatively, the calibration positioning vision module 40 can be located at a higher position of the calibration platform 30 without affecting the entry and exit of the dual wafer pick and place unit 50.

As shown in FIG. 5, the dual wafer pick and place unit 50 continues to suck the first wafer C1 and move out of the calibration platform 30 along the Y axis.

As shown in FIG. 6, the second pick-up arm 20b is sequentially placed on the calibration platform 30 by the second stage Cb.

As shown in FIG. 7, the second wafer C2 is accurately positioned by the calibration positioning vision module 40. Correcting the position of the second wafer C2 to generate second position information. In the process, as shown in FIG. 8, a parameter of a predetermined distance is further added to the second position information (X2, Y2) to be the first The positions are separated by a predetermined distance d1. The surface of the circuit board P is provided with two positioning marks respectively corresponding to the first wafer C1 and the second wafer C2, as indicated by “X” in the figure, and the distance d3 between the two positioning marks is equal to the first nozzle 51a. The distance d2 from the second nozzle 51b, that is, is equal to the predetermined interval d1 between the first wafer C1 and the second wafer C2.

Taking the second wafer C2 as an example, the calibration positioning vision module 40 captures the image of the second wafer C2 and analyzes the offset value of the second wafer C2, and the calibration platform 30 performs the second according to the offset value. The offset of the wafer C2 is corrected, and the calibration platform 30 moves the second wafer C2 according to the parameter of the predetermined pitch d1.

Specifically, for the second wafer C2, first, the calibration positioning vision module 40 captures the image of the second wafer C2, and compares the second position information that the second wafer C2 is intended to be sucked by the dual wafer pick-and-place unit 50 ( X2, Y2), wherein the second position information (X2, Y2) has included a parameter for adding a predetermined distance and a predetermined distance d1 from the first position (X1, Y1). The offset value of the second wafer C2 is then analyzed. Next, the detection result of the offset value of the second wafer C2 is transmitted to the control unit (not shown), and the control unit Controlling the X-axis, Y-axis and θ-axis displacement mechanism of the calibration platform 30 to move the calibration platform 30 to move the second wafer C2 to the correct angle and the correct position, that is, to be placed on the dual wafer The second position (X2, Y2) that unit 50 draws.

As shown in FIG. 9, the dual wafer pick-and-place unit 50 is moved above the calibration platform 30 along the Y-axis direction, and the second nozzle 51b of the dual wafer pick-and-place unit 50 is sucked by the calibration platform 30. Wafer C2. Thereby, the dual wafer pick-and-place unit 50 can accurately adsorb the first wafer C1 and the second wafer C2 in a side-by-side manner. The second nozzle 51b draws the second wafer C2 according to the second position information (X2, Y2) of the second wafer C2, wherein the first wafer C1 is spaced apart from the second wafer C2 by the predetermined The spacing is d1. The dual wafer pick and place unit 50 takes the first wafer C1 and the second wafer C2 from the calibration platform 30 and then brings them over the circuit substrate P.

In this embodiment, preferably, the dual wafer pick-and-place unit 50 further has a heating module 52. The heating module 52 heats the first wafer C1 and the second wafer C2, thereby precuring the wafer. The filler at the bottom edge, after being heated and sealed down on the circuit substrate P, can ensure the flatness of the wafer, and can also avoid the deviation of the first wafer C1 and the second wafer C2 due to thermal expansion and contraction during the soldering process. shift.

As shown in FIG. 10, the twin wafer pick-and-place unit 50 is moved above the group device stock platform 60 in the Y-axis direction. By the substrate positioning vision module 70, the dual wafer pick and place unit 50 simultaneously places the first wafer C1 and the second wafer C2 on the circuit substrate P on the group device platform 60. When the wafer is placed on the group device platform 60, the dual wafer pick and place unit 50 preferably applies some pressure to better fix the heated first wafer C1 and the second wafer C2 to the circuit substrate P. This completes a loop. When the dual wafer pick-and-place unit 50 is placed on the wafer, the first pick-up arm 20a can be sequentially placed on the calibration platform 30 by the first carrier 10a.

As shown in FIG. 11, the dual wafer pick and place unit 50 is moved over the calibration platform 30 to pick up the first wafer C1.

The dual wafer pick and place unit 50 of the present embodiment has a Y-axis and a θ-axis displacement mechanism that cooperate with the set of device material platforms 60. In other words, the dual wafer pick and place unit 50 only needs To move in the Y-axis direction of the drawing, the distance d2 between the first nozzle 51a and the second nozzle 51b is equal to a predetermined distance d1 from the first wafer C1 and the second wafer C2. The X-axis coordinate (X1) of the first position information (X1, Y1) of the first wafer C1 may be a path that has been previously set to move on the Y-axis of the first nozzle 51a; the second position information of the second wafer C2 The X-axis coordinate (X2) of (X2, Y2) has been previously set on the path in which the Y-axis of the second nozzle 51b moves. Therefore, the dual wafer pick and place unit 50 may not need to move along the X axis.

The group device material platform 60 of the present embodiment has an X-axis displacement mechanism that can move the position of the correction circuit substrate P in the direction of the X-axis. The substrate positioning vision module 70 is movably disposed above the group device platform 60 for capturing the image of the circuit substrate P and matching the displacement of the group of device platforms 60 to correct the position of the circuit substrate P.

In this embodiment, the substrate positioning vision module 70 has a Y-axis displacement mechanism, which is moved over the group device platform 60 or removed from the group device platform 60, thereby performing positioning and imaging on the circuit substrate P. . When the circuit substrate P needs to be corrected, the position of the circuit substrate P is moved by the set of device material platforms 60.

When the circuit board P needs to perform the Y-axis and the θ-axis correction, the present embodiment can be corrected by the dual-chip pick-and-place unit 50 to adjust the positions of the first wafer C1 and the second wafer C2 to be aligned with the circuit board P. Thereby, the dual wafer pick-and-place unit 50 can accurately place the first wafer C1 and the second wafer C2 on the circuit substrate P together. The predetermined distance d1 between the first wafer C1 and the second wafer C2, that is, the position corresponding to the two positioning marks on the circuit substrate P, that is, the distance d3 between the two "X" positioning marks in FIG.

The group device platform 60 of the present invention can perform a process in which the two wafers have a phase difference of 180 degrees. The pick-and-place or take-up mechanism can be equipped with a linear motor and a high-precision optical ruler to ensure the accuracy of the movement. In addition, the group device platform 60 may preferably be provided with an auxiliary heating device (not shown) to appropriately heat the circuit substrate P for the first wafer C1 and the second wafer C2 to be placed on the circuit substrate P. Fix and weld.

The above is only one embodiment of the present invention, and the present invention is not limited thereto. For example, the number of the carrying stations may be at least one, and the plurality of first wafers C1 and the plurality of second wafers C2 are accommodated at the same time. The number of the take-up arms may be at least one, and each of the take-up arms has a take-up head. The pick-up head is movably disposed between the at least one carrier and the calibration platform, and the pick-up head takes one of the first wafer C1 or one of the second wafers C2 and is placed on the calibration platform. 30.

The features and functions of the present invention are:

1. The two-chip module pick-and-place soldering system of the present invention has two sets of carrying stages for assembling two different types of wafers. The two sets of carrying platforms (10a, 10b) can be combined with a calibration platform 30 and a calibration positioning vision module 40. The calibration platform 30 and the calibration positioning vision module 40 are placed between the two sets of carrying platforms (10a, 10b). The wafer is placed on the calibration platform 30, and the calibration platform 30 is used along the X-axis, the Y-axis, and the θ-axis for position correction and angle correction, and no additional tools are needed to pick up the wafer for offset correction.

2. The dual wafer pick and place unit 50 of the present invention can take the first wafer C1 and the second wafer C2 from the calibration platform 30 in stages, and simultaneously bring the two wafers onto the circuit substrate P of the group device platform 60, the double wafer. The pick-and-place unit 50 has a heating module 52, which heats the bottom edge of the wafer, such as epoxy resin, which can be pre-cured by heating during bonding, can ensure the flatness of the wafer, and avoid displacement of the wafer during the soldering process. .

3. The dual wafer pick-and-place unit 50 has a Y-axis and a θ-axis displacement mechanism. With the set of device material platforms 60, the two wafers can be accurately sealed down to the circuit substrate P at the same time.

4. The dual-chip pick-and-place unit 50 can be complemented along the Y-axis and the θ-axis. The group device platform 60 of the present embodiment can perform the circuit board P only along the X-axis direction by the substrate positioning vision module 70. Position correction. Even if the circuit board P has an offset of the Y-axis and the θ-axis, the correction can be completed by the dual-chip pick-and-place unit 50.

The above description is only a preferred and feasible embodiment of the present invention. Equivalent changes and modifications made by the scope of the invention are intended to be within the scope of the invention.

Claims (12)

A pick-and-place soldering system for a dual-wafer module includes: at least one carrying platform for accommodating a plurality of first wafers and a plurality of second wafers; at least one picking arm, each of the picking arms having an accessing a calibration platform, the take-up head is movably located between the at least one carrier and the calibration platform, and the pick-up head takes one of the first wafer or one of the second wafers The calibration platform; a calibration positioning vision module, respectively capturing images of the first wafer and the second wafer on the calibration platform, correcting the position of the first wafer and generating first position information Correcting a position of the second wafer and adding a predetermined distance parameter to a predetermined distance from the first position information, and generating second position information; a dual wafer pick and place unit having a first nozzle and a second nozzle adjacent to the first nozzle, the first nozzle sucking the first wafer according to the first position information of the first wafer, and the second nozzle is according to the second wafer The second position information absorbs the second a sheet, wherein the first wafer is spaced apart from the second wafer by the predetermined spacing; a set of device material platforms for accommodating a circuit substrate; and a substrate positioning visual module for capturing images of the circuit substrate and Correcting a position of the circuit substrate; wherein the dual wafer pick and place unit places the first wafer and the second wafer together on the circuit substrate. The detachable soldering system of the two-chip module of claim 1, wherein the at least one carrier further includes a first carrier that houses the plurality of first wafers, and a plurality of a second carrier of the second wafer; wherein the at least one arm further includes a first arm and a second arm, and the first arm is sequentially taken by the first carrier One of the first wafers is placed on the calibration platform; when the dual wafer pick and place unit is removed from the calibration platform, the first After the wafer, the second pick-up arm sequentially takes a second wafer from the second carrier to be placed on the calibration platform; when the dual-chip pick-and-place unit is taken by the calibration platform After the second wafer is taken, the first pick-up arm sequentially takes a first wafer from the first carrier to be placed on the calibration platform. The pick and place welding system of the two-chip module of claim 2, wherein the calibration platform is located between the first carrier and the second carrier. The pick-and-place soldering system of the two-chip module of claim 1, wherein the calibration positioning vision module captures an image of the first wafer and analyzes an offset value of the first wafer, the calibration platform having an X-axis The displacement mechanism of the Y-axis and the θ-axis performs offset correction of the first wafer according to the offset value. The pick and place welding system of the two-chip module of claim 4, wherein the calibration positioning vision module captures an image of the second wafer and analyzes an offset value of the second wafer, the calibration platform according to the The offset value performs offset correction of the second wafer, and the calibration platform moves the second wafer according to the parameter of the predetermined distance. The take-up welding system of the two-chip module of claim 1, wherein the set of equipment platforms has an X-axis displacement mechanism. The pick and place welding system of the two-chip module according to claim 6, wherein the double wafer pick-and-place unit has a Y-axis and a θ-axis displacement mechanism to cooperate with the set of device material platforms. The pick-and-place soldering system of the two-chip module of claim 1, wherein the substrate positioning vision module has a Y-axis displacement mechanism that moves over the set of device material platforms or moves out of the set of device material platforms. The two-chip module pick-and-place soldering system of claim 1, wherein the dual wafer pick-and-place unit has a heating module, and the heating module heats the first wafer and the second wafer. A method for assembling a bimorph module includes the following steps: Taking a first wafer and placing it on a calibration platform; capturing an image of the first wafer on the calibration platform, and correcting the position of the first wafer, and generating first position information; using one The first nozzle of the dual wafer pick-and-place unit picks up the first wafer according to the first position information; takes a second wafer and places it on the calibration platform; and takes a position on the calibration platform An image of the second wafer, and correcting the position of the second wafer, adding a predetermined distance parameter to the second position information to be spaced apart from the first position information by a predetermined distance, and generating second position information; Utilizing the second nozzle of the dual wafer pick and place unit to draw the second wafer according to the second position information; and moving the dual wafer pick and place unit and simultaneously the first wafer and the second The wafer is placed on a circuit substrate. The method for assembling a two-chip module according to claim 10, wherein the step of modifying the position of the first wafer comprises: capturing an image of the first wafer by using the calibration positioning vision module and analyzing the image The offset value of the first wafer is performed, and the calibration platform performs offset correction of the first wafer along the X axis, the Y axis, and the θ axis according to the offset value. The method for assembling a two-chip module according to claim 11, wherein the step of modifying the position of the second wafer comprises: capturing an image of the second wafer by using the calibration positioning vision module and analyzing the first The offset value of the two wafers, the calibration platform performs offset correction of the second wafer along the X axis, the Y axis, and the θ axis according to the offset value.