Special automatic feeding equipment for Plasma

Abstract

The invention relates to the technical field of automatic feeding, in particular to special automatic feeding equipment for Plasma, which comprises a fixing frame, a first plate feeding device, a second plate feeding device, a plugging and unplugging device, a transmission device and a distributed cooperative control system are arranged on the fixing frame, and the devices are electrically connected with a central controller; the first plate feeding device and the second plate feeding device are arranged side by side, the plugging and unplugging device is located on one side of the second plate feeding device, and the conveying device passes through the lower portion of the plugging and unplugging device. The distributed cooperative control system comprises a distributed control node triggered by a dynamic event, a digital twin cooperative optimization platform and a fault-tolerant self-healing module. And the distributed control node optimizes an actuator action strategy through a reinforcement learning algorithm. Plugging positioning precision of a clamping plate frame reaches + / -0.02 mm, the dislocation rate of a PCB is smaller than or equal to 0.1%, efficiency is optimized, production changing time is shortened by 83%, productivity is improved by 25%, reliability is enhanced, single-node fault recovery time is smaller than or equal to 5 s, and system availability is larger than or equal to 99.99%.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic feeding, and in particular to a special automatic feeding device for Plasma. Background Art

[0002] At present, in the field of circuit board production and manufacturing, high-end intelligent fully automatic production is an advancing trend; the loading of circuit boards on existing production lines all adopts semi-automatic or fully automatic methods, but the existing automation only transfers the PCB board from the loading cart to the production line through a manipulator; at present, for the automatic production of the PLASMA process, the clamping frame carrying the PCB board needs to be placed vertically and at equal intervals in the PLASMA plasma degumming machine, and then the clamping frame is taken out after degumming. And the operations required to accurately set the PCB board on the clamping frame are very complex. Almost no full automation has been achieved in the existing PCB production process, and it is all semi-automatic loading, which hinders the development of intelligent full automation in PCB manufacturing.

[0003] Existing PCB automatic loading lines mostly adopt centralized PLC control, and have the following defects:

[0004] Insufficient control accuracy: Traditional PID control is difficult to adapt to the multi-motor-cylinder cooperation scenario, and the plugging and unplugging actions are prone to positioning deviation (more than ±0.1 mm) due to mechanical vibration.

[0005] Low flexibility: When changing products, manual parameter adjustment is required, and the position of the moving frame bar of the clamping frame cannot be dynamically optimized according to the PCB size.

[0006] Long fault recovery time: Under single-point centralized control, the failure of sensors or actuators is likely to cause the entire line to stop. Summary of the Invention

[0007] The purpose of the present invention is to provide a special automatic feeding device for Plasma to solve the problems raised in the above background art.

[0008] To achieve the above purpose, the present invention provides the following technical solution: A special automatic feeding device for Plasma, including a fixed frame, on which a first loading device, a second loading device, a plugging and unplugging and clamping device, a transmission device and a distributed collaborative control system are arranged, and the above devices are all electrically connected to a central controller; the first loading device and the second loading device are arranged side by side, the plugging and unplugging and clamping device is located on one side of the second loading device, and the transmission device passes under the plugging and unplugging and clamping device;

[0009] The distributed collaborative control system includes:

[0010] Distributed control nodes triggered by dynamic events, digital twin collaborative optimization platforms, and fault-tolerant self-healing modules; the distributed control nodes optimize the actuator action strategy through a reinforcement learning algorithm, the digital twin platform dynamically injects control parameters through virtual simulation, the reinforcement learning algorithm is a deep deterministic policy gradient algorithm, and its reward function includes multi-objective optimization terms for positioning error, action time, and energy consumption. The digital twin platform tunes the PID parameters through a genetic algorithm and synchronizes the parameter validity verified in the virtual environment to the physical controller.

[0011] Preferably, the distributed control node includes a transmission control node and a plug-and-play switch control contact point;

[0012] Among them, the transmission control node designs a motion controller for the sliding table module based on the Lyapunov stability theorem, and the dynamic model is:

[0013]

[0014] Among them, η is the robust term gain, which suppresses the tracking error caused by external disturbances;

[0015] The plug-and-play switch control contact point integrates a deep reinforcement learning algorithm to optimize the action timing of the clamping cylinder:

[0016] State space: the position error of the clamping plate frame, the cylinder pressure, and the visual positioning coordinates;

[0017] Action space: the extension speed v of the clamping member ∈ [0.1, 0.5] m / s, and the clamping force F ∈ [5, 20] N;

[0018] Reward function: R = -(α·e 2 +β·Δt+γ·E 能耗 )

[0019] Among them, α, β, and γ are weight coefficients, and Δt is the action completion time.

[0020] Preferably, the transmission device includes a first motor, the first motor is connected to a first linear sliding table module, a plate carrier is mounted on the first linear sliding table module, a pluggable clamping plate frame is provided on the plate carrier, a plate clamp is provided on the clamping plate frame, and the first linear sliding table module drives the clamping plate frame to move below the plug-and-play clamping device;

[0021] The plug-and-play clamping device includes a plugging and unplugging mechanism and a clamping mechanism. The plugging and unplugging mechanism includes a second motor, the second motor is connected to a second linear sliding table module, and a grasping component is provided on the second linear sliding table module to grasp and drive the clamping plate frame to move up and down; the clamping mechanism includes a clamping cylinder, and a clamping member is provided at the movable end of the clamping cylinder. The clamping cylinder drives the clamping member to extend / retract to open / close the plate clamp;

[0022] The second upper plate device includes a PCB board positioning table and a second manipulator. A vision camera is arranged above the PCB board positioning table to obtain the position information of the PCB board. The second manipulator grabs the PCB board and transfers it to the clamping plate frame.

[0023] The first upper plate device includes a PCB board lifting table and a first manipulator. The first manipulator grabs the PCB board from the PCB board lifting table and then transfers it to the PCB board positioning table.

[0024] Preferably, a first coordinate sensor electrically connected to the central controller is arranged on the first linear slide table module to construct the coordinate system of the transfer device.

[0025] A second coordinate sensor electrically connected to the central controller is arranged on the second linear slide table module to construct the coordinate system of the plugging and unplugging clamping device.

[0026] Preferably, the second motor is connected to the two vertically arranged second linear slide table modules through a transmission rod; the grabbing assembly includes a grabbing cylinder, and a clamping piece is arranged at the movable end of the grabbing cylinder. Clamping grooves are arranged on both sides of the clamping plate frame. The grabbing cylinder drives the clamping piece to be inserted into the clamping groove to grab the clamping plate frame; the clamping plate frame includes a fixed frame and a movable frame strip that are parallel to each other. The plate clamps are arranged on both the fixed frame strip and the movable frame strip. A clamping area is formed between the fixed frame strip and the movable frame strip. The movable frame strip can move relative to the fixed frame strip to adjust the size of the clamping area.

[0027] Preferably, the unclamping mechanism includes a main frame. Both sides of the main frame are slidably connected to the fixed frame through slide cylinders. A position sensor is arranged on the slide cylinder to determine the moving position of the main frame. The unclamping cylinder is arranged on the main frame; the slide cylinder drives the main frame to approach the grabbing assembly and abut against the clamping plate frame, and the unclamping piece extends to open the plate clamp.

[0028] Preferably, a rotary telescopic cylinder is provided on the main frame, and a stabilizing head is provided at the movable end of the rotary telescopic cylinder. The rotary telescopic cylinder can drive the stabilizing head to extend / rotate / retract to abut and stabilize the clamping plate frame. A third motor is also provided on the main frame. The third motor is connected to a third linear slide table module, and a moving frame is provided on the third linear slide table module. The moving direction of the moving frame is the same as the moving direction of the moving frame bar; a positioning cylinder is provided on the moving frame, and a positioning head is provided at the movable end of the positioning cylinder. Corresponding positioning holes are provided on the moving frame bar. The positioning cylinder drives the positioning head to penetrate into the positioning holes to dock with the moving frame bar. The third motor drives the moving frame to drive the moving frame bar to move to adjust the size of the clamping plate area; the opening cylinder and the rotary telescopic cylinder are correspondingly provided on the moving frame.

[0029] Preferably, a third coordinate sensor electrically connected to the central controller is provided on the third linear slide table module to construct the coordinate system of the moving frame.

[0030] Preferably, the first upper plate device further includes a scanner electrically connected to the central controller. The scanner can obtain the size information of the PCB board on the PCB board lifting table and transmit it back to the central controller.

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0032] Precision improvement: The plugging and unplugging positioning precision of the clamping plate frame reaches ±0.02 mm, and the misalignment rate of the PCB board is ≤0.1%.

[0033] Efficiency optimization: The changeover time is reduced by 83%, and the production capacity is increased by 25%.

[0034] Reliability enhancement: The single-node fault recovery time is ≤5 s, and the system availability is ≥99.99%. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0036] Figure 1 is a three-dimensional view of the upper and lower plate automatic line of the present invention;

[0037] Figure 2 is the front view of the upper and lower plate automatic line of the present invention after removing the fixing frame;

[0038] Figure 3 is an exploded view of the upper and lower plate automatic line of the present invention after removing the fixing frame;

[0039] Figure 4 is an exploded view and a partial enlarged view of the transmission device of the present invention;

[0040] Figure 5 is an exploded view and a partial enlarged view of the plug-in and clamping device of the present invention;

[0041] Figure 6 is a three-dimensional view of the clamping plate frame of the present invention;

[0042] Figure 7 is a three-dimensional view and a partial enlarged view of the clamping mechanism of the present invention;

[0043] Figure 8 is an exploded view and a partial enlarged view of the clamping mechanism of the present invention.

[0044] Explanation of reference numerals:

[0045] 100, fixing frame;

[0046] 200, transmission device; 201, first motor; 202, first linear slide module; 2021, first coordinate sensor;

[0047] 203, board carrier; 204, clamping plate frame; 2041, fixed frame bar; 2042, movable frame bar; 2043, clamping groove; 2044, alignment hole; 205, board clamp; 206, clamping plate area;

[0048] 300, plug-in and clamping device; 310, plug-in and extraction mechanism; 311, second motor; 312, second linear slide module; 3121, second coordinate sensor; 313, transmission rod; 320, clamping mechanism; 321, main frame; 322, clamping cylinder; 3221, clamping part; 323, slide cylinder; 324, position sensor; 325, rotary telescopic cylinder; 3251, stabilizing head; 326, third motor; 327, third linear slide module; 3271, third coordinate sensor; 328, moving frame; 329, alignment cylinder; 3291, alignment head; 330, grasping component; 331, grasping cylinder; 332, clamping part;

[0049] 400, second upper plate device; 401, PCB board positioning table; 402, second manipulator; 403, vision camera;

[0050] 500, first upper plate device; 501, PCB board lifting table; 502, first manipulator; 503, scanner. Detailed implementation manners

[0051] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0052] Please refer to Figures 1 to 8 , the present invention provides a technical solution:

[0053] A Plasma-specific automatic loading device, including a fixed frame 100, on which a first upper plate device 500, a second upper plate device 400, a plugging and clamping device 300, and a transmission device 200 are provided, and the above devices are all electrically connected to a central controller (not shown); the first upper plate device 500 and the second upper plate device 400 are arranged side by side, the plugging and clamping device 300 is located on one side of the second upper plate device 400, and the transmission device 200 passes under the plugging and clamping device 300. The transmission device 200 includes a first motor 201, the first motor 201 is connected to a first linear slide module 202, a plate rack vehicle 203 is mounted on the first linear slide module 202, and a fixing mechanism is provided on the first linear slide module 202 to fix the plate rack vehicle 203 on the slide of the first linear slide module 202. A plurality of vertically arranged clamping plate frames 204 that can be plugged and unplugged up and down at equal intervals are detachably arranged on the plate rack vehicle 203, and a plate clamp 205 is provided on the clamping plate frame 204 to clamp and fix the PCB board. The first linear slide module 202 drives the slide to move back and forth to drive the clamping plate frame 204 to move to directly below the plugging and clamping device 300. The plugging and clamping device 300 includes a plugging and unplugging mechanism 310 and a clamping mechanism 320. The plugging and unplugging mechanism 310 includes a second motor 311, the second motor 311 is connected to a second linear slide module 312, and a grasping component 330 is provided on the second linear slide module 312 to grasp and drive the clamping plate frame 204 to move up and down to load the PCB board onto the clamping plate frame 204 or insert the clamping plate frame 204 back onto the plate rack vehicle 203; the clamping mechanism 320 includes a clamping cylinder 322, a clamping member 3221 is provided at the movable end of the clamping cylinder 322, and the clamping cylinder 322 drives the clamping member 3221 to extend / retract to open / close the plate clamp 205, completing a fully automatic clamping / unclamping action. The second upper plate device 400 includes a PCB board positioning table 401 and a second manipulator 402. A vision camera 403 is provided above the PCB board positioning table 401. The vision camera 403 can obtain the accurate position information of the PCB board and feedback it to the central controller to instruct the second manipulator 402 to perform fixed-point positioning to grasp the PCB board and transfer it to the clamping plate frame 204 to complete the upper plate action. The first upper plate device 500 includes a PCB board lifting table 501 and a first manipulator 502. The PCB board lifting table 501 is loaded with a stack of PCB boards transferred from the previous process. A height sensor is provided on the PCB board lifting table 501 to sense the height of the PCB board stack and feedback the information to the central processor. The central processor controls the lifting of the PCB board lifting table 501 to always keep the topmost PCB board at the optimal height for easy grasping. The first manipulator 502 grasps the PCB board from the PCB board lifting table 501 and transfers it to the PCB board positioning table 401.

[0054] See further Figure 5, It should be noted that in this embodiment, the second motor 311 is connected to two vertically symmetrically arranged second linear slide table modules 312 through a transmission rod 313. Gripping components 330 are symmetrically arranged on the two linear slide table modules 312. By using one motor to control the synchronous up and down movement of the two gripping components 330, the clamping plate frame 204 can be stably gripped and driven to move up and down; the gripping component 330 includes a gripping cylinder 331, and a clamping member 332 is arranged at the movable end of the gripping cylinder 331. Clamping grooves 2043 are arranged on both sides of the clamping plate frame 204. The gripping cylinder 331 drives the clamping member 332 to be inserted into the clamping groove 2043 to stably grip the clamping plate frame 204

[0055] Further refer to Figure 4 and Figure 5 , in this embodiment, a first coordinate sensor 2021 electrically connected to the central controller is arranged on the first linear slide table module 202 to construct a coordinate system of the transmission device 200 in the central controller, so that each clamping plate frame 204 can be accurately controlled to move below the gripping component 330, so that the gripping component 330 can grip and insert and remove the clamping plate frame 204 up and down; a second coordinate sensor 3121 electrically connected to the central controller is arranged on the second linear slide table module 312 to construct a coordinate system of the plugging and unclamping device 300 in the central controller, so that the up and down travel of the gripping component 330 can be accurately controlled, and the automatic process of lifting the clamping plate frame 204 to the required height upward or just plugging it back into the board rack 203 downward can be completed.

[0056] Further refer to Figure 6 , in this embodiment, the clamping plate frame 204 includes a fixed frame bar 2041 and a movable frame bar 2042 that are parallel to each other. Plate clamps 205 are arranged on both the fixed frame bar 2041 and the movable frame bar 2042. A clamping area 206 is formed between the fixed frame bar 2041 and the movable frame bar 2042. The movable frame bar 2042 can move relative to the fixed frame bar 2041 to adjust the size of the clamping area 206, so that the automatic production of PCB boards with different sizes can be satisfied without replacing the clamping plate frame 204.

[0057] Further refer to Figures 6 - 8 , in this embodiment, the unclamping mechanism 320 includes a main frame 321. Both sides of the main frame 321 are slidably connected to the fixed frame 100 through slide cylinders 323. A position sensor 324 is arranged on the slide cylinder 323 to ensure that the front end of the main frame 321 is driven by the slide cylinder 323 to move to a position just abutting against the clamping plate frame 204. An unclamping cylinder 322 is arranged on the main frame 321; the slide cylinder 323 drives the main frame 321 to approach the gripping component 330 and abut against the clamping plate frame 204, and the unclamping member 3221 extends out to open the plate clamp 205.

[0058] More specifically, in this embodiment, a rotary telescopic cylinder 325 is provided on the main frame 321. A stabilizing head 3251 is provided at the movable end of the rotary telescopic cylinder 325. The rotary telescopic cylinder 325 can drive the stabilizing head 3251 to extend / rotate / retract so as to abut against and stably clamp the clamping plate frame 204, so that when the second manipulator 402 plates the clamping plate frame 204, the clamping plate frame 204 will not shake, ensuring the accuracy and stability of the plating and clamping.

[0059] More specifically, in this embodiment, a third motor 326 is further provided on the main frame 321. The third motor 326 is connected

[0060] to a third linear slide table module 327. A moving frame 328 is provided on the third linear slide table module 327. Both ends of the moving frame 328 are slidably connected to the main frame 321 through a slide rail mechanism to further improve the stability during its up and down movement. The moving direction of the moving frame 328 is the same as the moving direction of the moving frame bar 2042, both being linear movement in the up and down direction. A positioning cylinder 329 is provided on the moving frame 328. A positioning head 3291 is provided at the movable end of the positioning cylinder 329. A positioning hole 2044 is correspondingly provided on the moving frame bar 2042. The positioning cylinder 329 drives the positioning head 3291 to penetrate into the positioning hole 2044 to dock with the moving frame bar 2042. The third motor 326 drives the moving frame 328 to drive the moving frame bar 2042 to move, so as to adjust the size of the clamping plate area 206. An open-clamping cylinder 322 and a

[0061] rotary telescopic cylinder 325 are correspondingly provided on the moving frame 328. Through the control of the central controller, this setting can complete the automatic adjustment of the size of the clamping plate area 206, without the need for manual adjustment of the size of the clamping plate area 206 according to different sizes of PCB boards by humans, further improving the efficiency of PCB production automation.

[0062] Meanwhile, in this embodiment, a third coordinate sensor 3271 electrically connected to the central controller is provided on the third linear slide table module 327, so as to construct a coordinate system of the moving frame 328 in the central controller, and accurately adjust the size of the clamping plate area 206 of the clamping plate frame 204 according to the corresponding size of the produced PCB board.

[0063] Further referring to Figure 3 , in this embodiment, the first loading device 500 further includes a scanner electrically connected to the central controller. The scanner can obtain the size information of the PCB board on the PCB board lifting table 501 and transmit it back to the central controller to guide the moving frame 328 to accurately adjust the size of the clamping plate area 206 of the clamping plate frame 204.

[0064] It should be noted that the above linear slide table module can be a lead screw slide table module or a synchronous belt slide table module, preferably

[0065] The tread belt sliding table module. The synchronous belt drive has an accurate transmission ratio, no slip, can obtain a constant speed ratio, smooth transmission, can absorb vibration, low noise, a large transmission ratio range, generally up to 1:10. The allowable linear speed can reach 50M / S, and the transmitted power ranges from a few watts to hundreds of kilowatts. The transmission efficiency is high, generally up to 98%, the structure is compact, suitable for multi-axis transmission, does not require lubrication, and is pollution-free. Therefore, it can work normally in places where pollution is not allowed and the working environment is relatively harsh. At the same time, all the above-mentioned signal transmission or power drive components such as motors, sensors, and cylinders are electrically connected to the central controller, and this automatic line performs signal acquisition and actuation through the central controller. Through the settings of the central controller and the coordinate sensor, precise control of the movable position of the displacement stroke can be achieved, and there is no need to set other additional in-place sensors and limit mechanisms. Expect complex settings through a more intelligent solution to simplify the equipment

[0066] To sum up, the operation process of this PCB loading and unloading automatic line is summarized as follows. The transmission device 200 will drive the board carrier 203 to move, so that the first clamping plate frame 204 is located directly below the grasping component. Then, the plugging and unplugging mechanism controls the grasping component to move downward, and the grasping cylinder of the grasping component positions and fixes the clamping plate frame 204. Then, it drives the clamping plate frame 204 upward to the fixed upper plate position, and the clamping plate frame 204 is pulled out and separated from the board carrier 203. Then, the clamping release mechanism 320 is actuated, and the sliding table cylinder 323 drives the front part of the main frame 321

[0067] The end face moves and presses the clamping plate frame 204. The rotating telescopic cylinder 325 drives the stabilizing head 3251 to extend, rotate, and retract to stably clamp the clamping plate frame 204. The alignment cylinder 329 drives the alignment head 3291 to penetrate into the alignment hole 2044 of the moving frame bar 2042, completing the alignment of the moving frame 328 and the moving frame bar 2042. At the same time, the limit of the moving frame bar 2042 is released, enabling the moving frame bar 2042 to move relative to the fixed frame bar 2041 (normally, the moving frame bar 2042 will maintain a fixed distance from the fixed frame bar 2041 through a limiting mechanism and cannot slide relative to the fixed frame bar 2041). The third motor 326 drives the moving frame 328 to drive the moving frame bar 2042 to move, adjusting the clamping plate area 206 to the corresponding size. The clamping cylinder 322 drives the clamping member 3221 to extend to open the plate clamp 205; while the above process is in progress, the first upper plate device 500 and the second upper plate device 400 are also running synchronously. The scanner 503 identifies the size information of the PCB board and uploads it to the central controller. The first manipulator transfers the PCB board to the PCB board positioning table 401. Then, the vision camera 403 takes a photo to obtain the specific position information of the PCB board, guiding the second manipulator 402 to accurately grab the PCB board at a fixed point and transfer it to the clamping plate frame 204. Then, the rotating telescopic cylinder 325, the alignment cylinder 329, and the sliding table cylinder 323 of the clamping mechanism 320 all retract. The plate clamp 205 closes and clamps the PCB board. The plugging and unplugging mechanism 310 drives the clamping plate frame 204 with the PCB board installed to move downward and plug back into the original position of the board rack cart 203. The grasping cylinder 331 retracts to release the clamping plate frame 204. Then, the above steps are repeated until all the clamping plate frames 204 on the board rack cart 203 are installed with PCB boards.

[0068] The distributed collaborative control system includes:

[0069] Distributed control nodes triggered by dynamic events, a digital twin collaborative optimization platform, and a fault-tolerant self-healing module; the distributed control nodes optimize the actuator action strategy through a reinforcement learning algorithm, the digital twin platform dynamically injects control parameters through virtual simulation, the reinforcement learning algorithm is the deep deterministic policy gradient algorithm, and its reward function includes multi-objective optimization items of positioning error, action time, and energy consumption. The digital twin platform tunes the PID parameters through a genetic algorithm and synchronizes the parameter effectiveness to the physical controller after pre-verifying in the virtual environment.

[0070] The distributed control nodes include transmission control nodes and plug-and-unplug switch control contacts;

[0071] Among them, the transmission control node designs a sliding table module motion controller based on the Lyapunov stability theorem, and the dynamic model is:

[0072]

[0073] Among them, η is the gain of the robust term, which suppresses the tracking error caused by external disturbances;

[0074] The plug-and-play switch control contact integrates a deep reinforcement learning algorithm to optimize the action timing of the clamping cylinder:

[0075] State space: the position error of the clamping plate frame, the cylinder pressure, and the visual positioning coordinates;

[0076] Action space: the extension speed v of the clamping part ∈ [0.1, 0.5] m / s, and the clamping force F ∈ [5, 20] N;

[0077] Reward function: R = -(α·e 2 +β·Δt+γ·E 能耗 )

[0078] Among them, α, β, and γ are weight coefficients, and Δt is the action completion time.

[0079] Digital twin collaborative optimization platform

[0080] Virtual model construction: Based on a physics engine (such as Gazebo), a high-fidelity model is established to map the actual production line status in real time.

[0081] Parameter optimization process:

[0082] Generate multiple groups of PID parameters K in the virtual environment p ,K i ,K d

[0083] Solve the optimal parameters through the genetic algorithm:

[0084]

[0085] Among them, w1 and w2 are the weights of error and energy consumption;

[0086] Synchronize the optimized parameters to the actual controller.

[0087] Fault tolerance and self-healing mechanism

[0088] Multi-sensor voting mechanism: Median filtering is used for the coordinate sensor data:

[0089] x valid = Median(x C1 ,x C2 ,x C3 )

[0090] Node failure takeover strategy: When a node communication times out, the neighboring node takes over the control right through the distributed consensus protocol (Raft algorithm);

[0091] Reinforcement learning-driven adaptive control:

[0092] The DDPG algorithm optimizes the clamping cylinder action in real time. Compared with the fixed timing strategy, the positioning accuracy is improved by 40% (±0.02 mm), and the energy consumption is reduced by 15%.

[0093] Digital twin dynamic parameter injection:

[0094] The virtual model and the actual system data are synchronously bidirectionally. When changing products, the adjustment time of the clamping plate frame is shortened from 120 s to 20 s.

[0095] Distributed event-triggered communication:

[0096] Based on the state error dynamic communication mechanism, the network load is reduced by 80%, and the communication delay ≤ 1 ms;

[0097] Example 1: Reinforcement learning strategy deployment

[0098] Training phase:

[0099] Simulate 100,000 clamping actions in the digital twin environment to collect state-action-reward data.

[0100] Use the Adam optimizer to update the Actor network (learning rate 0.001) and the Critic network (learning rate 0.002).

[0101] Online inference phase:

[0102] Deploy the lightweight DDPG model to the edge computing unit (such as Jetson AGX) of the plug-and-clamp control node.

[0103] The real-time decision-making cycle ≤ 10 ms, meeting the production line beat requirements (60 pieces / minute).

[0104] Example 2: Digital twin parameter optimization

[0105] Import the actual production line parameters (motor model, slide table friction coefficient, etc.) into the virtual model.

[0106] Inject random perturbations (±5% load fluctuation) into the simulation environment to generate 200 groups of PID parameters.

[0107] Select the optimal parameters through the genetic algorithm (population size 50, iteration 100 times) and synchronize them to the actual PLC.

[0108] Finally, 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 foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dedicated automatic loading device for Plasma, characterized in that: It includes a fixing frame (100), on which a first upper plate device (500), a second upper plate device (400), a plug-in and clamping device (300), a transmission device (200) and a distributed collaborative control system are provided, and the above devices are all electrically connected to a central controller; the first upper plate device (500) and the second upper plate device (400) are arranged side by side, the plug-in and clamping device (300) is located on one side of the second upper plate device (400), and the transmission device (200) passes under the plug-in and clamping device (300). The distributed collaborative control system includes: Distributed control nodes triggered by dynamic events, a digital twin collaborative optimization platform and a fault-tolerant self-healing module; The distributed control nodes optimize the actuator action strategy through a reinforcement learning algorithm, and the digital twin platform dynamically injects control parameters through virtual simulation. The reinforcement learning algorithm is a deep deterministic policy gradient algorithm, and its reward function includes multi-objective optimization items of positioning error, action time and energy consumption. The digital twin platform tunes the PID parameters through a genetic algorithm and synchronizes them to the physical controller after pre-verifying the parameter effectiveness in the virtual environment.

2. The automatic loading equipment dedicated to Plasma according to claim 1, characterized in that: The distributed control nodes include transmission control nodes and plug-in switch control contacts; Among them, the transmission control node designs a sliding table module motion controller based on the Lyapunov stability theorem, and the dynamic model is: where η is the robust term gain, which suppresses the tracking error caused by external disturbances; The plug-in switch control contacts integrate a deep reinforcement learning algorithm to optimize the action timing of the clamping cylinder: State space: the position error of the clamping plate frame, the cylinder pressure, the visual positioning coordinates; Action space: the extension speed v of the clamping part ∈ [0.1, 0.5] m / s, the clamping force F ∈ [5, 20] N; Reward function: R = -(α·e 2 + β·Δt + γ·E 能耗 ) where α, β, γ are weight coefficients, and Δt is the action completion time.

3. The automatic feeding device dedicated to Plasma according to claim 1, wherein: The transmission device (200) includes a first motor (201), the first motor (201) is connected to a first linear sliding table module (202), a plate carrier (203) is mounted on the first linear sliding table module (202), a vertically pluggable clamping plate frame (204) is provided on the plate carrier (203), a plate clamp (205) is provided on the clamping plate frame (204), and the first linear sliding table module (202) drives the clamping plate frame (204) to move under the plug-in and clamping device (300); The plug-in and clamping device (300) includes a plug-in mechanism (310) and a clamping mechanism (320). The plug-in mechanism (310) includes a second motor (311), the second motor (311) is connected to a second linear sliding table module (312), and a grasping component (330) is provided on the second linear sliding table module (312) to grasp and drive the clamping plate frame (204) to move up and down; the clamping mechanism (320) includes a clamping cylinder (322), and a clamping part (3221) is provided at the movable end of the clamping cylinder (322), and the clamping cylinder (322) drives the clamping part (3221) to extend / retract to open / close the plate clamp (205); The second upper plate device (400) includes a PCB board positioning table (401) and a second manipulator (402). A vision camera (403) is arranged above the PCB board positioning table (401) to obtain the position information of the PCB board. The second manipulator (402) grabs the PCB board and transfers it to the clamping frame (204). The first upper plate device (500) includes a PCB board lifting table (501) and a first manipulator (502). The first manipulator (502) grabs the PCB board from the PCB board lifting table (501) and then transfers it to the PCB board positioning table (401).

4. A Plasma dedicated automatic feeding device according to claim 3, characterized in that: A first coordinate sensor (2021) electrically connected to the central controller is arranged on the first linear slide module (202) to construct the coordinate system of the transfer device (200). A second coordinate sensor (3121) electrically connected to the central controller is arranged on the second linear slide module (312) to construct the coordinate system of the plugging and clamping device (300).

5. The automatic feeding device dedicated to Plasma according to claim 4, wherein: The second motor (311) is connected to the two vertically arranged second linear slide modules (312) through a transmission rod (313). The grasping assembly (330) includes a grasping cylinder (331). A clamping member (332) is arranged at the movable end of the grasping cylinder (331). Clamping grooves (2043) are arranged on both sides of the clamping frame (204). The grasping cylinder (331) drives the clamping member (332) to be inserted into the clamping grooves (2043) to grasp the clamping frame (204). The clamping frame (204) includes a fixed frame (2041) and a movable frame bar (2042) that are parallel to each other. Plate clamps (205) are arranged on both the fixed frame bar (2041) and the movable frame bar (2042). A clamping area (206) is formed between the fixed frame bar (2041) and the movable frame bar (2042). The movable frame bar (2042) can move relative to the fixed frame bar (2041) to adjust the size of the clamping area (206).

6. The automatic loading equipment dedicated to Plasma according to claim 5, wherein: The unclamping mechanism (320) includes a main frame (321). Both sides of the main frame (321) are slidably connected to the fixed frame (100) through a slide cylinder (323). A position sensor (324) is arranged on the slide cylinder (323) to determine the moving position of the main frame (321). An unclamping cylinder (322) is arranged on the main frame (321). The slide cylinder (323) drives the main frame (321) to approach the grasping assembly (330) and abut against the clamping frame (204). The unclamping member (3221) extends out to open the plate clamp (205).

7. The automatic feeding device dedicated to Plasma according to claim 6, characterized in that: A rotary telescopic cylinder (325) is provided on the main frame (321). A stabilizing head (3251) is provided at the movable end of the rotary telescopic cylinder (325). The rotary telescopic cylinder (325) can drive the stabilizing head (3251) to extend / rotate / retract so as to abut against and stabilize the clamping plate frame (204). A third motor (326) is also provided on the main frame (321). The third motor (326) is connected to a third linear slide module (327). A moving frame (328) is provided on the third linear slide module (327). The moving direction of the moving frame (328) is the same as the moving direction of the moving frame bar (2042). A positioning cylinder (329) is provided on the moving frame (328). A positioning head (3291) is provided at the movable end of the positioning cylinder (329). A positioning hole (2044) is correspondingly provided on the moving frame bar (2042). The positioning cylinder (329) drives the positioning head (3291) to penetrate into the positioning hole (2044) to dock with the moving frame bar (2042). The third motor (326) drives the moving frame (328) to drive the moving frame bar (2042) to move, so as to adjust the size of the clamping plate area (206). The opening clamp cylinder (322) and the rotary telescopic cylinder (325) are correspondingly provided on the moving frame (328).

8. A Plasma dedicated automatic loading device according to claim 7, characterized in that: A third coordinate sensor (3271) electrically connected to the central controller is provided on the third linear slide module (327) to construct the coordinate system of the moving frame (328).

9. The automatic feeding device dedicated to Plasma according to claim 8, wherein: The first upper plate device (500) further includes a scanner electrically connected to the central controller. The scanner can obtain the size information of the PCB board on the PCB board lifting table (501) and transmit it back to the central controller.

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