Electronic cam synchronous pick-and-place control system and method based on fusion information

Abstract

The invention relates to the technical field of electronic cam pick-and-place control, and discloses an electronic cam synchronous pick-and-place control system and method based on fusion information, and the system comprises a data module which is used for data collection and processing, and an algorithm control module which is used for building a pick-and-place monitoring model and fitting an error between a predicted value and an actual value. The control module is used for receiving a control instruction and distributing and controlling pick-and-place parts; the driving module is used for driving a servo motor to control pick-and-place part operation; the safety module is used for ensuring that the electronic cam synchronous pick-and-place part control system works normally; the feedback measurement module is used for collecting pick-and-place part data in real time and feeding back the pick-and-place part monitoring model; according to the invention, through combination of an intelligent algorithm and a multi-sensing control network, high-precision control of taking and placing of the electronic cam is realized, and the accuracy and stability of the synchronous taking and placing process of the cam are ensured.

Description

Technical Field

[0001] The invention relates to the technical field of electronic cam pick-and-place control, and discloses an electronic cam synchronous pick-and-place component control system and method based on fusion information. Background Art

[0002] The electronic cam synchronous pick-and-place control system based on fusion information is one of the key technologies in modern manufacturing. It combines a variety of advanced technologies to achieve precise control and automation. Electronic control technology is the core of this system. It covers digital control, PLC, sensor technology, etc., which are used to monitor and control equipment movement, position and speed in real time. These technologies enable the control system to achieve high-precision motion control and synchronous operation. Data fusion and big data analysis technologies are used to process and analyze large amounts of data collected by sensors to obtain insights and optimization information for the production process. At the same time, embedded systems play a vital role in the control system, providing real-time computing and control functions. These systems usually integrate microprocessors, real-time operating systems and related software to execute control algorithms, data processing and communication functions, but this control system usually involves the fusion application of multiple advanced technologies, so system design, integration and maintenance require professional knowledge and skills. This leads to a high complexity of the system and also brings high costs, making it difficult for some small and medium-sized enterprises to afford it. The security and stability of the control system are crucial to the production process, but because the system involves complex software and hardware structures and network communications, there are security risks such as hacker attacks and virus infections. At the same time, the stability of the system may also be affected by external interference and electromagnetic interference.

[0003] For example, the patent with publication number EP1693727A1 provides a motor controller with an electronic cam function, which can make it run smoothly even if the number of operating modes is reduced. The electronic gears in the servo amplifier and the divider are used to change the transmission ratio of the electronic gears in a pre-provided ratio according to the external rotation position, so as to realize the electronic cam function. The motor controller includes a program execution unit so that the electronic gear operates according to the program. Since the electronic gear function and the divider are included in the cheap servo amplifier and are used to realize the electronic cam function, a cheap and intelligent system can be realized. Since the divider is set in the system, the data quantity and reading frequency of the cam pattern can be reduced, thereby realizing a cheap system. The above patent cannot realize the precise control of the cam synchronous pick-up and placement process, especially in the case of complex workpiece shapes or high-speed movement, and cannot process a large amount of real-time sensor data and respond quickly. During the production process, equipment parameters and workpiece characteristics may change, and control strategies and parameters need to be adjusted in real time to optimize production efficiency and quality.

[0004] The above patents cannot predict equipment failures or abnormal conditions, and may not fully utilize equipment and resources, resulting in low production efficiency. Summary of the invention

[0005] In order to solve the above technical problems, the main purpose of the present invention is to provide an electronic cam synchronous pick-and-place control system and method based on fusion information, the electronic cam synchronous pick-and-place control system based on fusion information includes: Data module, used for data collection and processing; An algorithm control module, including a pick-and-place monitoring model established according to the received processed data, a loss calculation unit for fitting the error between the predicted value output by the pick-and-place monitoring model and the actual value monitored, and an optimization unit for pruning the pick-and-place monitoring model; The control module comprises a receiving unit for receiving control instructions and an instruction distributing unit for distributing control instructions; A drive module, used to drive the servo motor to control the pick-and-place operation according to the control instructions; Safety module, used to ensure the normal operation of the electronic cam synchronous pick-and-place control system; The feedback measurement module is used to collect the pick-and-place data in real time and provide feedback to the pick-and-place monitoring model.

[0006] The visualization module includes a visualization screen for displaying control parameters in the process of synchronously picking and placing parts by the electronic cam, and a remote control unit for remote control by the user.

[0007] As a preferred solution of the electronic cam synchronous pick-and-place control system based on fusion information of the present invention, wherein: The data module includes a data acquisition unit, a data integration unit and a data processing unit; The data acquisition unit is used to collect real-time data from various sensors and detectors; The data integration unit is used to integrate and coordinate the real-time data from sensors and detectors; The data processing unit is used to analyze, process and convert the integrated and coordinated real-time data.

[0008] As a preferred solution of the electronic cam synchronous pick-and-place control system based on fusion information of the present invention, wherein: The pick-and-place monitoring model includes push-trip monitoring and return-trip monitoring; The push-range monitoring of the pick-and-place monitoring model outputs different pulses by collecting the motion laws corresponding to different pick-and-place parts, and then calculates the push-range displacement. The push-range monitoring calculation expression of the pick-and-place monitoring model is as follows: ; in, is the displacement value of the push stroke, is the boundary thrust constant of the thrust motion, It is the mth power of the push angle of the electronic cam during the push process, where m is a positive integer. is the i-th group of inference characteristic values, i is an ordinal number ranging from 1, 2, 3, ..., n, n represents the number of groups of inference characteristic values, and b is the correction deviation; The return monitoring of the pick-and-place monitoring model calculates the return displacement by calculating the electric pulse frequency and the number of pulses. The calculation expression is as follows: ; in, is the return displacement value, is the control system resolution, is the electronic gear ratio of the control system, M is the pitch, The ordinal number is 1, 2, 3, ..., g, where g represents the g-th return process. is the moving boundary support constant during the j-th return process, is the return angle of the electronic cam during the jth return process, and z is the return correction deviation.

[0009] As a preferred solution of the electronic cam synchronous pick-and-place control system based on fusion information of the present invention, wherein: The loss calculation unit calculates the loss value by back-propagating the fitted network error value. The calculation expression is as follows: ; in, is the matrix rank conversion of the k+1 layer loss value, is the matrix rank conversion of the loss value of the kth layer, The maximum displacement value monitored by the pick-and-place monitoring model of group a, is the standard displacement value of the pick-and-place part, a is the ordinal number, ranging from 1, 2, 3, ..., a1, a1 is the number of displacement values ​​monitored by the pick-and-place monitoring model, is the weight of the kth hidden layer; The k-th hidden layer is the k-th layer among multiple hidden layers.

[0010] As a preferred solution of the electronic cam synchronous pick-and-place control system based on fusion information of the present invention, wherein: The receiving unit is used to receive the control instructions of the pick-and-place monitoring model and the operator, and the control instructions include instructions for picking up, placing, and moving distance; The instruction distribution unit is used to distribute the received control instruction to the device that executes the action corresponding to the control instruction.

[0011] As a preferred solution of the electronic cam synchronous pick-and-place control system based on fusion information of the present invention, wherein: The drive module includes a motor driver, a control algorithm and a communication interface; The motor driver is used to provide current and voltage, and output the speed, position and torque of the servo motor; The control algorithm is used to feed back the actual position and speed data of the servo motor and adjust the motor driver output; The communication interface is used for data exchange and command transmission with the servo motor and the motor driver.

[0012] As a preferred solution of the electronic cam synchronous pick-and-place control system based on fusion information of the present invention, wherein: The safety module is used for emergency stop, collision detection and protection, safety limit and boundary detection, and fault diagnosis and feedback of the electronic cam synchronous pick-and-place control system; The emergency stop is to immediately cut off the power supply of the motor and stop all movement in an emergency; The collision detection and protection is to detect whether there is any accidental contact with the workpiece, the working environment or the operator; The safety limit and boundary detection is to detect the motion range of the electronic cam synchronous pick-and-place control system through position sensors and encoders; The fault diagnosis and feedback is to monitor the status and operation of each component of the control system. If a fault or abnormality with a safety risk is detected, the safety module will report it to the operator and the upper control system through an alarm, display and communication interface.

[0013] As a preferred solution of the electronic cam synchronous pick-and-place control system based on fusion information of the present invention, wherein: The feedback measurement module is used for data collection and transmission as well as measurement and feedback of the pick-and-place parts; The data collection and transmission of the picking and placing parts is to collect the key parameter data of the picking and placing parts in real time through the built-in sensors; The measurement and feedback are to establish the connection and communication between the control system and the pick-and-place monitoring model; The visualization module is used for parameter display and real-time monitoring, remote control, user customized services and data recording.

[0014] The present invention discloses an electronic cam synchronous picking and placing control method based on fusion information, comprising the following steps: S1, collecting historical motion data of the electronic cam synchronous pick-and-place control system, the historical motion data including electronic cam speed, acceleration, push-stroke electric pulse and return-stroke electric pulse, and preprocessing and integrating the historical motion data; S2. Based on the pre-processed and integrated historical motion data, a pick-and-place monitoring model is established to monitor and predict the motion data and control parameters of the electronic cam synchronous pick-and-place motion process; S3, receiving control parameters and generating control instructions to distribute to the servo motor; S4, the servo motor receives the control command and performs synchronous picking and placing of parts; S5. Real-time acquisition of control parameters of the motion process of the synchronous pick-and-place control system and feedback to the pick-and-place monitoring model to optimize the pick-and-place monitoring model; S6. The control parameters of the electronic cam synchronous picking and placing process are displayed in real time on the visual screen.

[0015] The invention discloses an electronic device, comprising: a memory for storing instructions; a processor for executing the instructions, so that the device executes and implements the electronic cam synchronous picking and placing control method based on fusion information.

[0016] The invention discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed, the electronic cam synchronous picking and placing control method based on fusion information is realized.

[0017] Beneficial effects of the present invention: The present invention introduces an artificial intelligence-based control algorithm and a multi-sensor network to achieve high-precision control of equipment movement, ensure the accuracy and stability of the electronic cam synchronous pick-up and placement process, and adaptively adjust control parameters and strategies through intelligent control algorithms combined with real-time sensor data to optimize the production process. It also continuously improves to adapt to the ever-changing production environment and needs, achieves refined management and optimization of the production process, improves equipment utilization and production efficiency, reduces production costs, and enhances competitiveness. The present invention realizes rapid processing and analysis of a large amount of real-time data, ensuring that the control system can make accurate decisions and responses in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them: Figure 1 It is a system composition diagram of the electronic cam synchronous pick-and-place control system based on fusion information of the present invention; Figure 2 It is a flow chart of the electronic cam synchronous picking and placing control method based on fusion information of the present invention; Figure 3This is a simulation result diagram of the push-range displacement monitoring of the present invention; Figure 4 This is a diagram of the simulation results of the return displacement monitoring of the present invention. DETAILED DESCRIPTION

[0019] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0020] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0021] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0022] Example 1

[0023] like Figure 1 As shown, the electronic cam synchronous pick-and-place control system based on fusion information includes: Data module, used for data collection and processing; Among them, the data module includes a data acquisition unit, a data integration unit and a data processing unit; The data acquisition unit is used to collect real-time data from various sensors and detectors. These data may involve various parameters such as motor position, speed, torque, temperature, etc. In the electronic cam synchronous pick-and-place control system, the data collection point is usually directly connected to the engine control unit to achieve precise control and feedback; The data integration unit is used to integrate and coordinate data from sensors, detectors, and data sources to ensure that the system can comprehensively utilize this information for accurate operation control, including integrating data from motor control, sensor feedback, and environmental condition monitoring into a unified data stream; The data processing unit is used to analyze, process and convert the integrated and coordinated data so that the system can accurately control and optimize the motor operation status. In the electronic cam synchronous pick-and-place control system, it includes components such as real-time control algorithms, filters, and state estimators, which can process complex sensor data and provide accurate feedback and control signals.

[0024] An algorithm control module, including a pick-and-place monitoring model established according to the received processed data, a loss calculation unit for fitting the error between the predicted value output by the pick-and-place monitoring model and the actual value monitored, and an optimization unit for pruning the pick-and-place monitoring model; The pick-and-place monitoring model includes push-trip monitoring and return-trip monitoring; The push-range monitoring of the pick-and-place monitoring model collects the motion laws corresponding to different pick-and-place parts and outputs different pulses, and then calculates the push-range displacement. The push-range monitoring calculation expression of the pick-and-place monitoring model is as follows: ; in, is the displacement value of the push stroke, is the boundary thrust constant of the thrust motion, It is the mth power of the push angle of the electronic cam during the push process, where m is a positive integer. is the i-th group of inference characteristic values, i is an ordinal number ranging from 1, 2, 3, ..., n, n represents the number of groups of inference characteristic values, and b is the correction deviation; The return monitoring of the pick-and-place monitoring model calculates the return displacement by calculating the electrical pulse frequency and pulse number. The calculation expression is as follows: ; in, is the return displacement value, is the control system resolution, is the electronic gear ratio of the control system, M is the pitch, The ordinal number is 1, 2, 3, ..., g, where g represents the g-th return process. is the moving boundary support constant during the j-th return process, is the return angle of the electronic cam during the jth return process, and z is the return correction deviation; The control system resolution is the measurement angle of the encoder of the pick-and-place device; For example, an electronic cam synchronous pick-and-place control system is set up with a displacement function expression of the displacement monitoring function as follows: , Control the push stroke and return stroke constants for the electronic cam synchronous pick-and-place control system. is the initial push angle, is the thrust angle of the first thrust stage, is the thrust angle of the second thrust stage, is the pushing angle in the third pushing stage; the displacement simulation diagram is as follows Figure 3 As shown, Figure 3The horizontal axis is the push time t, and the vertical axis is the push displacement value S of the electronic cam pick-up and place part push distance to the initial position; because the placement time is set by software program debugging, 8 seconds to 24 seconds is the placement time, and the push displacement is 0, 24 seconds to 33 seconds is the arbitrary setting of the return stroke, so the push displacement value decreases with time; For example, the return monitoring displacement function expression of an electronic cam synchronous pick-and-place control system is set as , then the displacement simulation diagram is as follows Figure 4 As shown, Figure 4 The horizontal axis is the return time t1, and the vertical axis is the return displacement value S1. is the return angle in the initial return phase, is the return angle of the first return stage, is the return angle of the second return stage, is the return angle of the third return stage. Since the software program sets a delay time to evaluate the accuracy of the pick-and-place monitoring model, the return displacement from 10s to 23s is 0; The loss calculation unit fits the error value of the previous layer of the network through back propagation, and then calculates the loss value. The calculation expression is as follows: ; in, is the matrix rank conversion of the k+1 layer loss value, is the matrix rank conversion of the loss value of the kth layer, The maximum displacement value monitored by the pick-and-place monitoring model of group a, is the standard displacement value of the pick-and-place part, a is the ordinal number, ranging from 1, 2, 3, ..., a1, a1 is the number of displacement values ​​monitored by the pick-and-place monitoring model, is the weight of the kth hidden layer; The kth hidden layer is in the pick-and-place monitoring model and is the kth layer among multiple hidden layers.

[0025] The optimization unit includes structural pruning and dynamic pruning; Structural pruning reduces the number of model parameters and computational complexity by removing unimportant convolution kernels and unimportant channels in the convolution layer while maintaining the accuracy of the model. Dynamic pruning is a runtime optimization that dynamically selects to retain and discard connected nodes based on the characteristics of the input data to optimize the computing resource utilization of the model. The control module comprises a receiving unit for receiving control instructions and an instruction distributing unit for distributing control instructions; The receiving unit is used to receive the control instructions of the pick-and-place monitoring model and the operator. The control instructions include instructions for picking up, placing, moving distance and other actions, and parse and verify the received instructions to ensure the integrity and legality of the instructions for further processing and execution.

[0026] The instruction distribution unit is used to distribute the received control instruction to the device for executing specific actions.

[0027] The instruction dispatch unit integrates the scheduling algorithm, distributes instructions to appropriate execution devices according to the system's scheduling strategy, and manages resource allocation and priority.

[0028] A drive module, used to drive the servo motor to control the pick-and-place operation according to the control instructions; The drive module includes the motor driver, control algorithm and communication interface; The motor driver is used to provide precise current and voltage, and the output controls the speed, position and torque of the servo motor to ensure that the servo motor can move at the predetermined speed and position.

[0029] The control algorithm is used to feed back the actual position and speed data of the servo motor and adjust the output of the motor driver so that the servo motor can respond to control instructions quickly and accurately to achieve closed-loop control of the servo motor.

[0030] Communication interfaces include CAN bus, Ethernet, Modbus, etc., which are used to exchange data and transmit instructions with servo motors and motor drivers. Through these interfaces, the drive module can receive instructions from the upper system connected to the electronic cam synchronous pick-and-place control system, and feed back the real-time status information of the servo motor and motor driver to the control system; Furthermore, the drive module has real-time performance, responding to control instructions at the microsecond level and ensuring the stability and reliability of the servo motor operation, especially in high-precision pick-and-place operations.

[0031] Safety module, used to ensure the normal operation of the electronic cam synchronous pick-and-place control system; The safety module is used for emergency stop, collision detection and protection, safety limit and boundary detection, and fault diagnosis and feedback of the electronic cam synchronous pick-and-place control system; Emergency stop includes an emergency stop button and related circuit logic, which is used to immediately cut off the power supply of the motor and stop all movement in an emergency, ensuring that when an unexpected or dangerous situation occurs during operation, the equipment can be stopped quickly to prevent injury or equipment damage; Collision detection and protection integrates collision detection sensors or systems to detect whether there is an unexpected contact with the workpiece, working environment or operator. If a collision is detected, the safety module performs corresponding protective actions through the drive module or direct control system, such as stopping, retracting or changing the motion path to avoid injury or damage; Safety limit and boundary detection detects the motion range of the electronic cam synchronous pick-and-place control system through position sensors or encoders to ensure operation within the preset safety limits; Fault diagnosis and feedback are used to monitor the status and operation of each component of the electronic cam synchronous pick-and-place control system. If a fault or abnormality with a safety risk is detected, the safety module reports it to the operator and the upper system through alarms, displays and communication interfaces. Feedback measurement module, used to collect pick-and-place data in real time and provide feedback on the pick-and-place monitoring model; The feedback measurement module includes data collection and transmission of pick-and-place parts as well as measurement and feedback; Data collection and transmission includes real-time collection of key parameter data of the pick-and-place parts, such as position, speed, acceleration, force and torque, through built-in sensors (such as position sensors, force sensors, etc.). These data are usually transmitted and fed back to the pick-and-place monitoring model in the form of digital signals or analog signals; Measurement and feedback are used to seamlessly connect and communicate with the electronic cam synchronous pick-and-place control system and the pick-and-place monitoring model. Therefore, measurement and feedback have good scalability and compatibility, integrate sensors of different types and brands, and support multiple communication protocols (such as CAN bus, Ethernet, etc.).

[0032] The visualization module includes a visualization screen for displaying the parameters of the pick-and-place system for user remote control.

[0033] The visualization module includes parameter display and real-time monitoring, remote control, user customization services and data logging; Parameter display and real-time monitoring include operation status display and control parameter monitoring; The operation status display is used to display the operation status of the electronic cam synchronous pick-and-place control system in real time, including the current position, speed, acceleration, and actuator status. This information is presented in the form of charts, digital displays or dynamic images to help operators understand the real-time operation of the system.

[0034] Control parameter monitoring is used for users to view and monitor the change trend of control parameters of the electronic cam synchronous pick-and-place control system, such as the change of position over time, the load condition of the actuator, etc. Remote control includes operation interface and remote control; The operation interface is used by users to set target positions, adjust motion parameters, select action modes, etc. The operation interface is usually designed to be concise and clear so that users can understand and operate quickly.

[0035] Remote Control supports remote control function, which allows operators to remotely access and control the pick-and-place system through network connection. This function is very practical for production environments that require remote monitoring and operation, which can improve response speed and flexibility.

[0036] User customization service is used to support user customization settings, adjust the display content and interface layout according to specific application requirements, so that it is more in line with the operator's working habits and needs; Data logging is used to save historical operating data for subsequent analysis and report generation. The stored data is useful for performance evaluation, production efficiency analysis and quality control.

[0037] Example 2

[0038] like Figure 2 As shown, the electronic cam synchronous pick-and-place control method based on fusion information includes: S1, collecting historical motion data of the electronic cam synchronous pick-and-place control system, the historical motion data including electronic cam speed, acceleration, push-stroke electric pulse and return-stroke electric pulse, and preprocessing and integrating the historical motion data; S2. Based on the pre-processed and integrated historical motion data, a pick-and-place monitoring model is established to monitor and predict the motion data and control parameters of the electronic cam synchronous pick-and-place motion process; S3, receiving control parameters and generating control instructions to distribute to the servo motor; S4, the servo motor receives the control command and performs synchronous picking and placing of parts; S5. Real-time acquisition of control parameters of the motion process of the synchronous pick-and-place control system and feedback to the pick-and-place monitoring model to optimize the pick-and-place monitoring model; S6. The control parameters of the electronic cam synchronous picking and placing process are displayed in real time on the visual screen.

[0039] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only two embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible, for example, the size, scale, structure, shape and ratio of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc., without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. Any "device plus function" clause is intended to cover the structure of the execution function described in this article, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiment. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0040] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment may not be described (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those features that are not relevant to implementing the invention).

[0041] It should be understood that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but for those of ordinary skill having the benefit of this disclosure, the development effort will be a routine task of design, fabrication, and production without undue experimentation.

[0042] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An electronic cam synchronous pick-and-place control system based on fusion information, characterized in that: include: Data module, used for data collection and processing; An algorithm control module, including a pick-and-place monitoring model established according to the received processed data, a loss calculation unit for fitting the error between the predicted value output by the pick-and-place monitoring model and the actual value monitored, and an optimization unit for pruning the pick-and-place monitoring model; The control module comprises a receiving unit for receiving control instructions and an instruction distributing unit for distributing control instructions; A drive module, used to drive the servo motor to control the pick-and-place operation according to the control instructions; Safety module, used to ensure the normal operation of the electronic cam synchronous pick-and-place control system; Feedback measurement module, used to collect pick-and-place data in real time and provide feedback on the pick-and-place monitoring model; The visualization module includes a visualization screen for displaying control parameters in the process of synchronously picking and placing parts by the electronic cam, and a remote control unit for remote control by the user.

2. The electronic cam synchronous pick-and-place control system based on fusion information according to claim 1 is characterized in that: The data module includes a data acquisition unit, a data integration unit and a data processing unit; The data acquisition unit is used to collect real-time data from various sensors and detectors; The data integration unit is used to integrate and coordinate the real-time data from sensors and detectors; The data processing unit is used to analyze, process and convert the integrated and coordinated real-time data.

3. The electronic cam synchronous pick-and-place control system based on fusion information according to claim 2 is characterized in that: The pick-and-place monitoring model includes push-trip monitoring and return-trip monitoring; The push-range monitoring of the pick-and-place monitoring model outputs different pulses by collecting the motion laws corresponding to different pick-and-place parts, and then calculates the push-range displacement. The push-range monitoring calculation expression of the pick-and-place monitoring model is as follows: ； in, is the displacement value of the push stroke, is the boundary thrust constant of the thrust motion, It is the mth power of the push angle of the electronic cam during the push process, where m is a positive integer. is the i-th group of inference characteristic values, i is an ordinal number ranging from 1, 2, 3, ..., n, n represents the number of groups of inference characteristic values, and b is the correction deviation; The return monitoring of the pick-and-place monitoring model calculates the return displacement by calculating the electric pulse frequency and the number of pulses. The calculation expression is as follows: ； in, is the return displacement value, is the control system resolution, is the electronic gear ratio of the control system, M is the pitch, The ordinal number is 1, 2, 3, ..., g, where g represents the g-th return process. is the moving boundary support constant during the j-th return process, is the return angle of the electronic cam during the jth return process, and z is the return correction deviation.

4. The electronic cam synchronous pick-and-place control system based on fusion information according to claim 3 is characterized in that: The loss calculation unit calculates the loss value by back-propagating the fitted network error value. The calculation expression is as follows: ； in, is the matrix rank transformation of the loss value of the k+1 hidden layer in the pick-and-place monitoring model, is the matrix rank conversion of the loss value of the kth layer, The maximum displacement value monitored by the pick-and-place monitoring model of group a, is the standard displacement value of the pick-and-place part, a is the ordinal number, ranging from 1, 2, 3, ..., a1, a1 is the number of displacement values ​​monitored by the pick-and-place monitoring model, is the weight of the kth hidden layer in the pick-and-place monitoring model.

5. The electronic cam synchronous pick-and-place control system based on fusion information according to claim 4 is characterized in that: The receiving unit is used to receive the control instructions of the pick-and-place monitoring model and the operator, and the control instructions include instructions for picking up, placing, and moving distance; The instruction distribution unit is used to distribute the received control instruction to the device that executes the action corresponding to the control instruction.

6. The electronic cam synchronous pick-and-place control system based on fusion information according to claim 5, characterized in that: The drive module includes a motor driver, a control algorithm and a communication interface; The motor driver is used to provide current and voltage, and output the speed, position and torque of the servo motor; The control algorithm is used to feed back the actual position and speed data of the servo motor and adjust the motor driver output; The communication interface is used for data exchange and command transmission with the servo motor and the motor driver.

7. The electronic cam synchronous pick-and-place control system based on fusion information according to claim 6 is characterized in that: The safety module is used for emergency stop, collision detection and protection, safety limit and boundary detection, and fault diagnosis and feedback of the electronic cam synchronous pick-and-place control system; The emergency stop is to immediately cut off the power supply of the motor and stop all movement in an emergency; The collision detection and protection is to detect whether there is any accidental contact with the workpiece, the working environment or the operator; The safety limit and boundary detection is to detect the motion range of the electronic cam synchronous pick-and-place control system through position sensors and encoders; The fault diagnosis and feedback is to monitor the status and operation of each component of the electronic cam synchronous pick-and-place control system. If a fault or abnormality with a safety risk is detected, the safety module reports it to the operator and the upper control system through an alarm, display and communication interface.

8. The electronic cam synchronous pick-and-place control system based on fusion information according to claim 7, characterized in that: The feedback measurement module is used for data collection and transmission as well as measurement and feedback of the pick-and-place parts; The data collection and transmission of the picking and placing parts is to collect the key parameter data of the picking and placing parts in real time through the built-in sensors; The measurement and feedback are to establish the connection and communication between the control system and the pick-and-place monitoring model; The visualization module is used for parameter display and real-time monitoring, remote control, user customized services and data recording.

9. A method for controlling synchronous pick-up and placement of electronic cam parts based on fusion information, which is implemented based on the electronic cam synchronous pick-up and placement control system based on fusion information according to any one of claims 1 to 8, characterized in that: include: S1, collecting historical motion data of the electronic cam synchronous pick-and-place control system, the historical motion data including electronic cam speed, acceleration, push-stroke electric pulse and return-stroke electric pulse, and preprocessing and integrating the historical motion data; S2. Based on the pre-processed and integrated historical motion data, a pick-and-place monitoring model is established to monitor and predict the motion data and control parameters of the electronic cam synchronous pick-and-place motion process; S3, receiving control parameters and generating control instructions to distribute to the servo motor; S4, the servo motor receives the control command and performs synchronous picking and placing of parts; S5. Real-time acquisition of control parameters of the motion process of the synchronous pick-and-place control system and feedback to the pick-and-place monitoring model to optimize the pick-and-place monitoring model; S6. The control parameters of the electronic cam synchronous picking and placing process are displayed in real time on the visual screen.

10. An electronic device, characterized in that: include: A memory for storing instructions; The processor is used to execute the instructions so that the device implements the electronic cam synchronous picking and placing control method based on fusion information as described in claim 9.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the electronic cam synchronous picking and placing control method based on fusion information as described in claim 9 is implemented.

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