Method of process control and process equipment

Abstract

The application relates to the technical field of processing and manufacturing, and discloses a processing control method and processing equipment, which comprises the following steps: when receiving a processing request of each processing mechanism, obtaining the ID identification of each driver; identifying the corresponding driver according to the ID identification, and controlling the servo module to move to a preset position through the driver; obtaining the stress value collected by each pressure sensor in real time through the driver, and comparing each stress value with a preset stress threshold value; generating a control instruction according to the comparison result, and sending the control instruction to the corresponding driver according to the ID identification, and controlling the servo module to move to a target position through the driver for product processing. In the above manner, the position and strength of the servo output can be accurately adjusted, and the controller can simultaneously control multiple servo modules to automatically adapt to the position and strength of respective products.

Description

Technical Field

[0001] This invention relates to the field of processing and manufacturing technology, and in particular to a processing control method and processing equipment. Background Technology

[0002] In the field of electronic product processing, assembly, and testing, products typically undergo numerous processing steps and surface treatments. Therefore, during product assembly, there are high requirements for the force and position of the servo output. The conventional approach is to add a lead screw and pressure sensor to the servo motor to achieve this. However, the position or force of the conventional servo output has poor adjustability and cannot automatically adapt to different positions and forces of the product. Summary of the Invention

[0003] Based on this, this application provides a processing control method and processing equipment to solve the problem that the position or force adjustability of the servo output in the prior art is poor and it is impossible to automatically adapt to different positions and forces of the product.

[0004] To solve the above-mentioned technical problems, one technical solution adopted in this application is: providing a machining control method applied to a machining equipment, the machining equipment including: a controller and multiple machining mechanisms, each machining mechanism including a servo module, a driver for driving the servo module to move, a displacement sensor for acquiring the position value of the servo module, and a pressure sensor for acquiring the force value of the servo module; the controller is connected to the driver, and the driver is connected to the displacement sensor and the pressure sensor; the machining control method includes:

[0005] Upon receiving a processing request from each of the aforementioned processing mechanisms, the ID identifier of each of the aforementioned drivers is obtained;

[0006] The corresponding driver is identified based on the ID identifier, and the servo module is controlled to move to a preset position via the driver.

[0007] The driver acquires the force values ​​collected by each pressure sensor in real time and compares each force value with a preset force threshold.

[0008] Control commands are generated based on the comparison results, and the control commands are sent to the corresponding driver according to the ID identifier. The driver controls the servo module to move to the target position for product processing.

[0009] Preferably, the motion modes of the servo module include a position mode and a force control mode, and the step of identifying the corresponding driver based on the ID identifier and controlling the servo module to move to a preset position via the driver further includes:

[0010] The corresponding driver is identified based on the ID identifier;

[0011] The driver controls the servo module to move up a first preset distance according to the position mode;

[0012] The driver controls the servo module to continue moving upwards a second preset distance according to the force control mode, so that the servo module moves to the preset position.

[0013] Preferably, the step of generating control commands based on the comparison results and sending the control commands to the corresponding driver according to the ID identifier, and controlling the servo module to move to the target position for product processing via the driver, further includes:

[0014] If the comparison result shows that the force value is within the preset force threshold range, a first control command is generated and sent to the corresponding driver according to the ID identifier. The driver controls the servo module to move to the target position for product processing.

[0015] If the comparison result indicates that the force value is not within the preset force threshold range, a second control command is generated and sent to the corresponding driver according to the ID identifier. The driver then controls the servo module to move to the target position for product processing.

[0016] Preferably, the step of sending the first control command to the corresponding driver based on the ID identifier, and controlling the servo module to move to the target position for product processing via the driver, includes:

[0017] The first control command is sent to the corresponding driver according to the ID identifier. The driver controls the servo module to continue to move upward according to the position mode and acquires the position value collected by the displacement sensor in real time.

[0018] Determine whether the current position value is within the preset position value threshold range;

[0019] If so, the current position of the servo module is locked, and the current position is used as the target position for product processing.

[0020] Preferably, the step of sending the second control command to the corresponding driver based on the ID identifier, and controlling the servo module to move to the target position for product processing via the driver, includes:

[0021] The second control command is sent to the corresponding driver according to the ID identifier. The driver controls the servo module to continue to push upward at a preset speed until the force value is within the preset force threshold range, and the first control command is generated.

[0022] The first control command is sent to the corresponding driver based on the ID identifier, and the driver controls the servo module to move to the target position for product processing.

[0023] Preferably, the step of controlling the servo module to continue lifting at a preset speed via the driver until the force value is within the preset force threshold range, and generating the first control command, includes:

[0024] The driver controls the servo module to continue ascending at a preset speed;

[0025] The force value collected by the pressure sensor is acquired in real time, and the force value is compared with the preset force threshold.

[0026] If the comparison result shows that the force value is within the preset force threshold range, then the first control command is generated.

[0027] To solve the above-mentioned technical problems, another technical solution adopted in this application is: to provide a processing device, characterized in that it includes:

[0028] Electrical control box;

[0029] Support columns and support bases are provided on the electrical control box;

[0030] A working panel is provided on the support column;

[0031] Multiple processing mechanisms are mounted on the work panel and the support base. Each processing mechanism includes: a servo module mounted on the support base, a driver for driving the servo module, a displacement sensor for acquiring the position value of the servo module, and a pressure sensor for acquiring the force value of the servo module. The driver, the displacement sensor, and the pressure sensor are all mounted on the servo module, and the driver is connected to the displacement sensor and the pressure sensor, respectively.

[0032] A controller is located in the electrical control box and is connected to the drive. The controller is used to execute the machining control method described above.

[0033] Preferably, the processing mechanism further includes a first fixing block fixed to the support base, and the servo module includes a housing fixed to the first fixing block, a drive motor fixed to the housing and connected to the driver, a lead screw connected to the drive motor, and a motion shaft connected to the lead screw.

[0034] Preferably, the pressure sensor is fixed below the motion shaft, and the support base is provided with a second fixing block that cooperates with the pressure sensor. The second fixing block is used to fix the pressure sensor when the motion shaft is reset.

[0035] Preferably, the processing mechanism further includes a first sliding component and a second sliding component disposed opposite to each other on the housing. The first sliding component is fixed to the housing, and the second sliding component is slidably connected to the first sliding component. The servo module further includes a support block disposed above the motion axis and cooperating with the motion axis. The second sliding component is detachably connected to the support block.

[0036] The beneficial effects of this application are as follows: This invention assigns a corresponding ID to each driver. When a processing request is received from a processing mechanism, the controller identifies each driver based on its ID. Each driver controls its servo module to move to a preset position. Each driver acquires the force value collected by its respective pressure sensor in real time and feeds it back to the controller. The controller compares the force value with a preset force threshold and generates control commands based on the comparison results. The controller sends these control commands to each driver based on its ID, and each driver controls its servo module to move to the target position for product processing. Through this method, the present invention can precisely adjust the position and force of the servo output, and the controller can simultaneously control multiple servo modules to automatically adapt to the position and force of their respective products. Attached Figure Description

[0037] Figure 1 This is a three-dimensional structural diagram of the processing equipment according to an embodiment of the present invention;

[0038] Figure 2 for Figure 1 A three-dimensional structural schematic diagram of the processing mechanism shown;

[0039] Figure 3 This is a schematic flowchart of a processing control method according to an embodiment of the present invention;

[0040] Figure 4 This is a schematic flowchart of a processing control method according to an embodiment of the present invention;

[0041] Figure 5 This is a schematic flowchart of a processing control method according to an embodiment of the present invention.

[0042] The meanings of the labels in the attached diagram are as follows:

[0043] 100-Processing equipment; 1-Electrical control box; 2-Support column; 3-Support base; 4-Work panel; 5-Processing mechanism; 51-Servo module; 52-First fixed block; 53-Second fixed block; 54-First sliding assembly; 55-Second sliding assembly; 511-Pressure sensor; 512-Housing; 513-Motion axis; 514-Support block. Detailed Implementation

[0044] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0045] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0047] Figure 1 This is a schematic diagram of the structure of the processing equipment 100 according to an embodiment of the present invention. Figure 1 and Figure 2 As shown, the processing equipment 100 includes: an electrical control box 1, a support column 2 and a support base 3 mounted on the electrical control box 1, a work panel 4 mounted on the support column 2, multiple processing mechanisms 5 mounted on the work panel 4 and the support base 3, and a controller (not shown in the figure) located inside the electrical control box 1. Further, each processing mechanism 5 includes: a servo module 51 mounted on the support base 3, a driver (not shown in the figure) for driving the servo module 51, a displacement sensor (not shown in the figure) for acquiring the position value of the servo module 51, and a pressure sensor 511 for acquiring the force value of the servo module 51. The driver, displacement sensor, and pressure sensor 511 are all mounted on the servo module 51, and the driver is connected to the displacement sensor and the pressure sensor 511; the controller is connected to the driver.

[0048] In one feasible embodiment, please refer to Figure 2The processing mechanism 5 includes a first fixing block 52 fixed on the support base 3. The servo module 51 includes a housing 512 fixed on the first fixing block 52, a drive motor (not shown in the figure) fixed on the housing 512 and connected to the driver, a lead screw (not shown in the figure) connected to the drive motor, and a motion shaft 513 connected to the lead screw. Preferably, the driver, drive motor, lead screw, and displacement sensor are integrated inside the housing 512. In this embodiment, the controller instructs the driver to drive the drive motor to rotate, and the lead screw pushes the motion shaft 513 upward. When the motion shaft 513 is pushed upward, the housing 512, driver, drive motor, lead screw, and displacement sensor do not move with the motion shaft 513, thus effectively ensuring the safety of each component.

[0049] In one feasible embodiment, please refer to Figure 2 The pressure sensor 511 is fixed below the motion shaft 513. The support base 3 is provided with a second fixing block 53 that cooperates with the pressure sensor 511. The second fixing block 53 is used to fix the pressure sensor 511 when the motion shaft 513 is reset. In this way, the second fixing block 53 can effectively protect the pressure sensor 511 when the motion shaft 513 is reset.

[0050] In one feasible embodiment, please refer to Figure 2 The processing mechanism 5 includes a first sliding component 54 and a second sliding component 55 disposed opposite to each other on the housing 512. The first sliding component 54 is fixed to the housing 512, and the second sliding component 55 is slidably connected to the first sliding component 54. The servo module 51 also includes a support block 514 disposed above the motion axis 513. The second sliding component 55 is detachably connected to the support block 514, and the support block 514 can move synchronously with the motion axis 513. The pressure sensor 511 receives the force on the support block 514. Preferably, the support block 514 has a first mounting part for mounting the rivet part on its upper part, and a second mounting part that cooperates with the motion axis 513 on its lower part, which can effectively ensure the safety and stability of the product to be processed during the lifting process. Preferably, the first sliding component 54 is a slide rail, and the second sliding component 55 is a slider. There are two sets of slide rails and two sets of sliders. The two sets of sliders are symmetrically positioned with protrusions for supporting the support block 514. In the initial state, the support block 514 is fitted with the pull pin and is movably positioned at the end of the motion shaft 513. The slider supports the support block 514. When the drive motor drives the motion shaft 513 to move upward, the motion shaft 513 drives the support block 514 to move together. At the same time, the slider moves synchronously along the slide rail and the motion shaft 513 to support the synchronous movement of the support block 514. In this way, the balance of the sliding of the support block 514 can be effectively guaranteed.

[0051] Preferably, the electrical control box 1 is also equipped with a driver communication board, a power distribution power supply, and corresponding air switches, fuses, and solid-state relays. In this embodiment, each processing mechanism 5 is independently controlled by the controller, and the processing mechanisms 5 do not interfere with each other. Therefore, the controller can issue corresponding instructions according to the situation of each processing mechanism 5.

[0052] The workflow of the processing equipment 100 is as follows: The controller sends instructions to the driver, the driver receives the instructions and drives the drive motor to rotate, the lead screw converts the torque of the drive motor into a vertical thrust, the lead screw pushes the motion shaft 513 upward, the displacement sensor collects the position value of the motion shaft 513 in real time and sends it to the driver, the pressure sensor 511 collects the force value of the support block 514 in real time and sends it to the driver, the driver feeds back the position value and force value to the controller, the controller issues corresponding instructions based on the position value and force value, instructing the motion shaft 513 to rise to the target position for product processing.

[0053] Figure 3 This is a schematic flowchart of a processing control method according to an embodiment of the present invention. It should be noted that if substantially the same result is achieved, the method of the present invention is not necessarily identical. Figure 3 The illustrated process sequence is limited. The processing control method of this invention assigns an ID to each driver, and the controller identifies each driver through these IDs. Based on the pressure and displacement information fed back by each driver, the controller controls each servo module to move to its target position, achieving precise one-to-one adjustment so that each servo module adapts to its specific product position and force. For example... Figure 1 As shown, the machining control method includes the following steps:

[0054] Step S101: When a processing request is received from each processing mechanism, obtain the ID identifier of each driver.

[0055] In step S101, the controller and the driver communicate using a master-slave communication method. The driver's ID is pre-set in the system and can be recognized by the controller. Each driver has only one ID, and the IDs of each driver are different.

[0056] Step S102: Identify the corresponding driver based on the ID identifier, and control the servo module to move to the preset position through the driver.

[0057] In step S102, by setting a unique ID in each driver, the controller can independently control each driver. Each driver receives its own instructions, and the drivers do not interfere with each other. This allows the controller to accurately instruct each driver based on the information fed back by each driver. The controller instructs each driver to control the movement of its respective servo module to a preset position in the system. The preset position can be set by the user and adjusted according to specific needs. The preset positions of each servo module can be different. In this embodiment, the preset position is defined as the servo module reaching the preset position when the pressure sensor begins to collect values. In this embodiment, the driver receives the force value collected by the pressure sensor and feeds the force value back to the controller. The controller issues corresponding instructions to the driver based on the force value, enabling each driver to accurately control the movement of each servo module to its respective preset position.

[0058] In one feasible embodiment, the motion modes of the servo module include a position mode and a force control mode. See also... Figure 4 Step S102 further includes:

[0059] Step S1021: Identify the corresponding driver according to the ID identifier, and control the servo module to move up to the first preset distance according to the position mode through the driver;

[0060] Step S1022: Control the servo module to continue to move upwards a second preset distance in force control mode via the driver, so that the servo module moves to the preset position.

[0061] Furthermore, in position mode, the controller issues corresponding commands only based on the position value, unaffected by the force value, and the servo module's movement speed is the first preset speed; in force control mode, the controller issues corresponding commands only based on the force value, unaffected by the position value. In this case, the servo module's position is locked, and the servo module's movement speed is the second preset speed, which is 20% of the first preset speed. The first preset speed can be adjusted according to the user's needs based on the servo module's stroke and movement time settings.

[0062] Furthermore, the first preset distance is set according to the stroke of the servo module and can be adjusted in a timely manner according to the different products to be processed. The first preset distance of each servo module can be the same. The second preset distance is the distance after the servo module has moved the first preset distance and then rises until the pressure sensor collects the force value. The second preset distance of each servo module can be different. In this embodiment, the first preset distance is much larger than the second preset distance.

[0063] In this embodiment, by using a position mode to push up a first preset distance, each servo module can quickly complete the first preset distance and all servo modules take the same amount of time; by using a force control mode to slowly push up a second preset distance to a preset position, the preset position of each servo module can be accurately found according to the different positions of the products to be processed, reducing the chance of product damage.

[0064] Step S103: The force values ​​collected by each pressure sensor are acquired in real time through the driver, and each force value is compared with the preset force threshold.

[0065] In step S103, each driver acquires the force value collected by its respective pressure sensor in real time, and each driver feeds back its force value to the controller. The controller compares each force value with a preset force threshold. The preset force thresholds for each servo module are the same; for example, the preset force threshold is a preset force standard ± a preset tolerance value. The preset tolerance value can be freely set by the user according to the different products to be processed. For example, the preset force standard is 50N, and the preset tolerance value is 5N. The preset force standard and preset tolerance value ensure that each servo module can output the same force on uneven surfaces. In this embodiment, the controller monitors the force value of each servo module in real time, further avoiding damage to the product due to excessive upward force from the servo modules.

[0066] Step S104: Generate control commands based on the comparison results, and send the control commands to the corresponding drivers according to the ID identifier. The drivers control the servo module to move to the target position for product processing.

[0067] In step S104, the controller compares the force value of each servo module with a preset force threshold. Based on each comparison result, it generates different control commands and sends them to the corresponding drivers. The drivers receive their respective control commands and control their servo modules to move to their respective target positions for product processing. By generating control commands one-to-one, the controller can control each servo module to automatically adapt to the force and position of its respective product.

[0068] In one feasible embodiment, please refer to Figure 5 Step S104 further includes:

[0069] Step S1041: Determine whether each force value is within the preset force threshold range.

[0070] Step S1042: If the comparison result is that the force value is within the preset force threshold range, a first control command is generated and sent to the corresponding driver according to the ID identifier. The driver controls the servo module to move to the target position for product processing.

[0071] In step S1042, when the controller determines that the current force value is within the force threshold range, the controller generates a corresponding first control command and sends the first control command to the corresponding driver according to the ID identifier. The driver executes the first control command to control the servo module to continue to move upward according to the position mode and obtain the position value collected by the displacement sensor in real time. It is determined whether the current position value is within the preset position value threshold range. If so, the current position of the servo module is locked, the current position is used as the target position, and product processing is performed.

[0072] Furthermore, the preset position value threshold is equal to the current position value ± the preset tolerance value, which can be set by the user according to the actual situation of the product to be processed. In this embodiment, when the force value of each servo module is within the preset force threshold range, the controller sends a first control command to each driver. Each driver instructs each servo module to switch to position mode. At this time, the servo module moves at a relatively fast speed, but the force value of each servo module remains unchanged and is within the preset force threshold range. Each driver receives the position value collected by each displacement sensor and feeds it back to the controller. The controller compares the position value with the preset position value threshold range. If the position value is within the preset position value threshold range, the current position of the servo module is locked and product processing is performed. If the position value is not within the preset position value threshold range, the driver is instructed to control the servo module to continue to move upward until the position value is within the preset position value threshold range. In this way, the time taken for each servo module to move to each target position is not significantly different, and damage to the product is avoided due to excessive upward distance.

[0073] Furthermore, once the product processing is complete, the controller instructs each driver to retract a certain distance in position mode. The retraction distance can be freely set by the user based on the previously processed product and the previous stroke of the servo module. At this point, each servo module returns to its initial state, waiting for the next product processing.

[0074] Step S1043: If the comparison result is that the force value is not within the preset force threshold range, a second control command is generated and sent to the corresponding driver according to the ID identifier. The driver controls the servo module to move to the target position for product processing.

[0075] In step S1043, if the controller determines that the force value is not within the preset force threshold range, it generates a second control command and sends it to the corresponding driver according to the ID identifier. The driver controls the servo module to continue to lift at a preset speed, acquiring the force value collected by the pressure sensor in real time and comparing it with the preset force threshold range until the force value is within the preset force threshold range, at which point a first control command is generated. Preferably, the preset speed is 20% of the second preset speed, and the preset speed can be freely set by the user according to the different products to be processed. In this embodiment, the actions after generating the first control command are similar to those after generating the first control command in step S1042, and for simplicity, they will not be described again here.

[0076] In this embodiment, if the force value of some servo modules reported by some drivers is not within the preset force threshold range, but the force value of other servo modules is within the preset force threshold range, it indicates that the force value of some servo modules that have not reached the preset force threshold range is not much different from the preset force threshold. At this time, the generated second control command controls the servo modules to continue to push upward. At this time, the motion mode is still force control mode, but its motion speed is reduced to 20% of the second preset speed in the original force control mode. Since the stroke that the servo modules need to continue to run is extremely short at this time, while ensuring that the time taken for all servo modules to run to the force value within the preset force threshold range is about the same, reducing the motion speed can effectively avoid damage to the product.

[0077] In one embodiment of the present invention, the processing control method assigns a unique ID to each driver. The controller identifies each driver through the ID and sends instructions to each driver. Each driver controls its servo module to move upward a first preset distance in position mode according to the instructions. Then, the controller instructs each driver to control its servo module to switch to force control mode and move upward a second preset distance to its preset position in force control mode. At this time, the controller receives the force values ​​collected by each pressure sensor from each driver and compares the force values ​​with a preset force threshold. If the force value is not within the preset force threshold range, the controller generates a second control instruction and sends it to the driver. The driver controls its servo module to continue moving upward at a preset speed according to the instruction until the force value is within the preset force threshold range. After the force value is within the preset force threshold range, the controller generates a first control instruction. At this time, the controller instructs each driver to control its servo module to switch to position mode and continue moving upward. The controller monitors the position values ​​collected by each displacement sensor fed back by each driver in real time and determines whether the position values ​​are within the preset position value threshold range. If not, it continues moving upward; if so, it locks the current position for product processing. In this way, the controller can control each driver one-to-one, and each driver controls each servo module to automatically adapt to the position of its respective product and output different forces according to the situation of its respective product.

[0078] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0079] The above embodiments merely illustrate preferred implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention should be determined by the appended claims.

Claims

1. A machining control method applied to a machining device, characterized by, The processing equipment comprises a controller and a plurality of processing mechanisms, each of the processing mechanisms comprises a servo module, a driver for driving the servo module to move, a displacement sensor for collecting a position value of the servo module, and a pressure sensor for collecting a force value of the servo module, the controller is connected with the driver, and the driver is connected with the displacement sensor and the pressure sensor; the processing control method comprises the following steps: When a processing request of each of the processing mechanisms is received, an ID of each of the drivers is acquired; According to the ID, the corresponding driver is identified; the servo module is controlled by the driver to move up by a first preset distance in a position mode; the servo module is controlled by the driver to continue moving up by a second preset distance in a force control mode, so that the servo module moves to a preset position; Real-time force values collected by each of the pressure sensors are acquired by the driver, and each of the force values is compared with a preset force threshold value; According to a comparison result, a control instruction is generated, and the control instruction is sent to the corresponding driver according to the ID, and the servo module is controlled by the driver to move to a target position for product processing; If the comparison result is that the force value is not within the preset force threshold value range, a second control instruction is generated, and the second control instruction is sent to the corresponding driver according to the ID, and the servo module is controlled by the driver to continue moving up at a preset speed until the force value is within the preset force threshold value range, a first control instruction is generated; the first control instruction is sent to the corresponding driver according to the ID, and the servo module is controlled by the driver to move to a target position for product processing in the position mode; the movement speed of the servo module in the position mode is a first preset speed, the movement speed of the servo module in the force control mode is a second preset speed, the second preset speed is 20% of the first preset speed, and the preset speed is 20% of the second preset speed.

2. The process control method of claim 1, wherein According to a comparison result, a control instruction is generated, and the control instruction is sent to the corresponding driver according to the ID, and the servo module is controlled by the driver to move to a target position for product processing; If the comparison result is that the force value is within the preset force threshold value range, a first control instruction is generated, and the first control instruction is sent to the corresponding driver according to the ID, and the servo module is controlled by the driver to move to a target position for product processing.

3. The process control method of claim 2, wherein, According to a comparison result, a control instruction is generated, and the control instruction is sent to the corresponding driver according to the ID, and the servo module is controlled by the driver to move to a target position for product processing; According to the ID, the first control instruction is sent to the corresponding driver, and the servo module is controlled by the driver to continue moving up in the position mode and to acquire a position value collected by the displacement sensor in real time; According to the ID, the first control instruction is sent to the corresponding driver, and the servo module is controlled by the driver to continue moving up in the position mode and to acquire a position value collected by the displacement sensor in real time; determining whether the current position value is within a preset position value threshold range; if yes, locking the current position of the servo module, taking the current position as the target position and performing product processing.

4. The process control method of claim 1, wherein the first control instruction is generated by controlling the servo module to continue the upstroke at a preset speed through the driver until the force value is within the preset force threshold range, including: controlling the servo module to continue the upstroke at a preset speed through the driver; real-time acquisition of the force value collected by the pressure sensor, and comparison of the force value with the preset force threshold value; if the comparison result is that the force value is within the preset force threshold range, the first control instruction is generated.

5. A processing apparatus characterized by comprising: including: an electrical control box; a support column and a support seat provided on the electrical control box; a work panel provided on the support column; a plurality of processing mechanisms mounted on the work panel and the support seat, each of the processing mechanisms including a servo module mounted on the support seat, a driver for driving the servo module to move, a displacement sensor for collecting a position value of the servo module, and a pressure sensor for collecting a force value of the servo module, the driver, the displacement sensor, and the pressure sensor being mounted on the servo module, the driver being connected with the displacement sensor and the pressure sensor respectively; and a controller provided in the electrical control box, the controller being connected with the driver, and the controller being used for executing the processing control method according to any one of claims 1-4.

6. The processing apparatus of claim 5, wherein, The processing mechanism further includes a first fixing block fixed to the support seat, and the servo module includes a housing fixed to the first fixing block, a driving motor fixed to the housing and connected with the driver, a lead screw connected with the driving motor, and a movement shaft connected with the lead screw.

7. The processing apparatus of claim 6, wherein, The pressure sensor is fixed below the movement shaft, and the support seat is provided with a second fixing block matched with the pressure sensor, the second fixing block being used for fixing the pressure sensor when the movement shaft is reset.

8. The processing apparatus of claim 7, wherein, The processing mechanism further includes a first sliding assembly and a second sliding assembly oppositely provided on the housing, the first sliding assembly being fixed to the housing, and the second sliding assembly being slidably connected with the first sliding assembly, and the servo module further includes a support block provided above the movement shaft and matched with the movement shaft, and the second sliding assembly is detachably connected with the support block.

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