The Research On The Key Technologies Of The Gravity Chip Handler

The logical motion controlling, the real-time dynamic alarming mechanism and the chip temperature controlling play the most important roles in the gravity chip handler’s key controlling technologies. The processing capability of the gravity chip handler is affected by the logical action of the actuators, the alarm resetting, the chip heating time and the accuracy, etc. The quantity of actuators and the complex process are the difficulties of the realization of logical action controlling, while the rational alarming mechanism determines the handler’s JAM rate. During the chips heating process, the types and the quantities of the controlled objects, the time consuming of the controller parameter tuning, the long time of the temperature heating, the big overshoot volume and the temperature not being measured directly are also the main factors influencing the gravity chip handler’s efficiency.On the basis of analyzing and researching the structure of the handler and the chip flow process, the logical action and chips controlling flow in each part of the handler was designed to complete the entire action process from the chip input part to the storage part. A dynamic alarming system was designed by using the controller, the configuration interface and the real-time database, then it can complete the function of alarm information recording, real-time alarm querying, historical alarm querying, alarm querying by conditions and reports generation, etc. Several Human-computer interfaces were designed to realize the visualization of the handler’s operating state and gather the information and data.The method of heating chips in a multi-stage heating way and compensating in each heating part was used to complete the heating process from normal temperature to the testing temperature. For the problem of the complexity of parameters tuning, and in order to achieve the purposes of speeding up the dynamic response, reducing the temperature setting time and suppressing the temperature overshoot, this paper proposed a method that combine the self-tuning algorithm based on the relay feedback and the integral-separated PID algorithm. On the basic of obtaining mathematical model of the controlled object by system identification, the method has been verified by the simulation. At last, the validity and the rationality of the method have been verified again by the gravity chip handler heating test.With the gravity chip handler being put into using, reasonable chip flow controlling strategies and the alarming mechanism ensure the high efficiency of handler. The testing data show that the handler average daily capacity is 28000 and the average JAM rate is lower than 0.5‰.In the chip heating process, the method proposed in the paper can complete the function of parameters self-tuning, at the same time reduce the temperature setting time and suppress the temperature overshoot. It can meet the needs of chips heating in the high temperature test mode.