Flexible intelligent manufacturing device

Abstract

The application discloses a flexible intelligent manufacturing device, which comprises a rack, a plurality of working modules, a detachable fixing mechanism, a module position detection unit and a control unit. Through the isomorphic design of the standard fixing interface group of the rack and the module fixing interface group of the working module, the flexible intelligent manufacturing device realizes the quick exchange of different types or the same type of working module, and significantly improves the equipment reuse rate and the flexible production adaptation capability. Meanwhile, the module position detection unit on the top of the rack monitors the module position in real time, and the control unit controls the associated module to stop working in time according to the offset, thereby effectively solving the continuous production interruption and safety problems caused by the position offset of the high-frequency working module.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent manufacturing equipment, and particularly relates to a flexible intelligent manufacturing equipment. BACKGROUND

[0002] In the field of industrial manufacturing, traditional non-standard equipment usually adopts a full-welded fixed architecture, and each working module is welded on the rack. Although the stability of high-risk scenes (such as chemical reaction kettle acid liquid conveying and semiconductor wafer transmission) can be ensured, the function of the equipment is fixed, which leads to the need for overall disassembly when the production line is changed, and the downtime is long, which is difficult to adapt to the flexible production demand of multiple varieties and small batches. Based on this, the applicant has developed a general working machine with detachable working modules, which can realize the quick exchange of various working modules, significantly improve the equipment reuse rate, and perfectly adapt to the flexible production scene. However, the applicant found in the research and development process that in some use scenarios, some working modules may deviate due to high-frequency work, which may affect the continuous production of the flexible manufacturing line and pose certain safety problems. SUMMARY

[0003] The main purpose of the present application is to provide a flexible intelligent manufacturing equipment, which aims to solve the problem that some working modules are prone to position deviation in the related art, which may affect the continuous production of the flexible manufacturing line and pose certain safety problems.

[0004] To achieve the above-mentioned purpose, in a first aspect, the present application provides a flexible intelligent manufacturing equipment, comprising:

[0005] a rack, a standardized fixed interface group is arranged on the mounting surface of the rack, and the standardized fixed interface group comprises a plurality of fixed units distributed along a preset direction;

[0006] a plurality of working modules, the working modules include a feeding module, a feeding module and a discharging module, and the bottom of one or two working modules of the working modules is provided with a module fixed interface group;

[0007] a detachable fixing mechanism, which is formed by cooperation of the standardized fixed interface group and the module fixed interface group, and is used for fixing the working module on the rack through a detachable connection mode;

[0008] a module position detection unit, which is arranged on the top of the rack and is used for collecting module position data of the working module mounted on the mounting surface in real time;

[0009] A control unit electrically connected with the module position detection unit, configured to calculate an offset of the work module installed with the module fixed interface group according to the module position data, and control the associated work module to stop working according to a control strategy when the offset exceeds a first preset offset;

[0010] All the module fixed interface groups and the standardized fixed interface group have the same matching size and connection form to realize the interchange of the same type or different types of work modules.

[0011] Optionally, the standardized fixed interface group comprises a threaded hole array, the module fixed interface group comprises a through hole group, the detachable fixing mechanism further comprises a bolt penetrating through the through hole and screwing with the threaded hole, and the bolt simultaneously undertakes the module positioning and locking functions, wherein the threaded holes in the threaded hole array are uniformly distributed along the first direction and the second direction perpendicular to each other at a first preset interval to form a grid positioning reference, the through hole group comprises a plurality of through holes, and the interval between any two adjacent through holes is a second preset interval, and the second preset interval is an integer multiple of the first preset interval.

[0012] Optionally, the detachable fixing mechanism comprises a complementary electromagnetic unit and a magnetic guide unit, the electromagnetic unit is integrated in the standardized fixed interface group or the module fixed interface group and comprises at least one electromagnet array, and the magnetic guide unit is correspondingly integrated in the module fixed interface group or the standardized fixed interface group and comprises a magnetic guide area matched with the electromagnet array, and the distribution positions of the magnetic guide unit and the electromagnetic unit are matched to fix the work module through adsorption force when powered.

[0013] Optionally, the bottom of two of the work modules is provided with a module fixed interface group, and the other work module is fixed on the rack in a non-detachable connection mode.

[0014] Optionally, the bottom of the feeding module and the bottom of the feeding module are provided with a module fixed interface group, and the discharging module is fixed on the rack in a non-detachable connection mode.

[0015] Optionally, the bottom of the feeding module and the bottom of the feeding module are provided with a module fixed interface group, and the discharging module is fixed on the rack in a non-detachable connection mode.

[0016] Optionally, the bottom of one of the work modules is provided with a module fixed interface group, and the other two work modules are fixed on the rack in a non-detachable connection mode.

[0017] Optionally, the bottom of the feeding module is provided with a module fixing interface group, and the feeding module and the discharging module are fixed on the rack in a non-detachable connection mode.

[0018] Optionally, the control unit is configured to control the associated working module to reduce working power according to a control strategy when the offset exceeds a second preset offset, the second preset offset being lower than the first preset offset.

[0019] Optionally, the control unit is configured to generate a position adjustment signal according to a control strategy when the offset exceeds a third preset offset, the position adjustment signal being used to instruct a user to adjust the position of the working module that has the offset, the third preset offset being lower than the first preset offset.

[0020] The flexible intelligent manufacturing equipment provided by the technical scheme of the present application realizes the quick exchange of different types or the same type of working modules through the isomorphic design of the standardization fixing interface group of the rack and the module fixing interface group of the working module, significantly improving the equipment multiplexing rate and the flexible production adaptation capability. At the same time, the module position detection unit at the top of the rack monitors the module position in real time, and the control unit controls the associated module to stop working in a timely manner according to the offset, effectively solving the continuous production interruption and safety problems caused by the position offset of the high-frequency working module. The present application not only retains the stability of traditional non-standard equipment in specific scenarios such as high-risk scenarios, but also takes into account the quick changeover demand and operation safety of flexible production through the modular and detachable design and dynamic offset control, significantly improving the adaptability and reliability of the intelligent manufacturing production line. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical schemes in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the structures shown in the drawings.

[0022] Figure 1 It is the overall view of the flexible intelligent manufacturing equipment of the present application;

[0023] Figure 2 It is one of the local structure views of the flexible intelligent manufacturing equipment of the present application;

[0024] Figure 3 It is the second local structure view of the flexible intelligent manufacturing equipment of the present application;

[0025] Figure 4 It is the third local structure view of the flexible intelligent manufacturing equipment of the present application;

[0026] Figure 5 Figure 4 is a partial structural diagram of the flexible intelligent manufacturing device.

[0027] Figure 6 Figure 5 is a partial structural diagram of the flexible intelligent manufacturing device.

[0028] Figure 7 Figure 6 is a system schematic diagram of the flexible intelligent manufacturing device.

[0029] BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 1. Flexible intelligent manufacturing device; 11. Rack; 111. Standardized fixed interface group; 1111. Threaded hole; 12. Working module; 121. Feeding module; 122. Feeding module; 123. Discharging module; 124. Module fixed interface group; 1241. Through hole; 13. Detachable fixing mechanism; 14. Module position detection unit; 15. Control unit.

[0031] The purposes, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0033] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly disposed on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component.

[0034] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or component referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0035] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the meaning of "and / or" appearing throughout the text is that it includes three parallel schemes. For example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor in the protection scope claimed by the present application.

[0036] It should be understood that the structure, proportion, size and the like shown in the drawings of the specification are only used to cooperate with the content disclosed in the specification for understanding and reading by those skilled in the art, and do not define the limiting conditions for the implementation of the present application, so they do not have technical significance. Any modification of structure, change of proportion relationship or adjustment of size, which does not affect the effect and purpose that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application.

[0037] In the field of industrial manufacturing, traditional non-standard equipment usually adopts a full-welded fixed architecture, welding each working module on the rack, which can ensure the stability of high-risk scenes (chemical reaction kettle acid liquid transportation, semiconductor wafer transmission), but the solidification of equipment function leads to the need for overall disassembly of production line change, long downtime, and is difficult to adapt to the flexible production demand of multi-variety and small-batch. Based on this, the applicant has developed a general working machine with detachable working modules, which can realize the rapid exchange of various working modules, significantly improve the equipment reuse rate, and perfectly adapt to the flexible production scene. However, the applicant found during the research and development that in some use scenarios, some working modules may be displaced due to high-frequency work, which may affect the continuous production of flexible manufacturing production lines and pose certain safety problems.

[0038] In view of this, the application provides a flexible intelligent manufacturing equipment 1, which realizes the quick exchange of different types or same type work modules 12 through the isomorphic design of the standardized fixed interface group 111 of the rack 11 and the module fixed interface group 124 of the work module 12, and significantly improves the equipment reuse rate and flexible production adaptation capability. At the same time, the module position detection unit 14 on the top of the rack 11 monitors the module position in real time, and the control unit 15 controls the associated work module 12 to stop working in time according to the offset, effectively solving the continuous production interruption and safety problems caused by the position offset of the high-frequency work module 12. The application not only retains the stability of traditional non-standard equipment in specific scenes such as high-risk scenes, but also takes into account the quick change demand and operation safety of flexible production through the modular and detachable design and dynamic offset control, significantly improving the adaptability and reliability of the intelligent manufacturing line.

[0039] Please refer to Figures 1 to 7 , Figures 1 to 7 The flexible intelligent manufacturing equipment 1 provided by the application is shown. Specifically, the flexible intelligent manufacturing equipment 1 can include a rack 11, a plurality of work modules 12, a detachable fixing mechanism 13, a module position detection unit 14, and a control unit 15.

[0040] Among them, the mounting surface of the rack 11 is provided with a standardized fixed interface group 111, and the standardized fixed interface group 111 includes a plurality of fixed units distributed along a predetermined direction.

[0041] The work module 12 includes a feeding module 121, a feeding module 122, and a discharging module 123, and the bottom of one or two work modules 12 in the work module 12 is provided with a module fixed interface group 124.

[0042] The detachable fixing mechanism 13 is composed of the standardized fixed interface group 111 and the module fixed interface group 124, and the detachable fixing mechanism 13 is used for fixing the work module 12 on the rack 11 by detachable connection.

[0043] The module position detection unit 14 is arranged on the top of the rack 11, and is used for collecting the module position data of the work module 12 installed on the mounting surface in real time.

[0044] The control unit 15 is electrically connected with the module position detection unit 14, and is used for calculating the offset of the work module 12 installed with the module fixed interface group 124 according to the module position data, and controlling the associated work module 12 to stop working according to the control strategy when the offset exceeds a first preset offset.

[0045] All the module fixing interface groups 124 and the standardized fixing interface groups 111 have the same matching size and connection form, so as to realize the interchange of the same type or different types of the working modules 12.

[0046] Specifically, the rack 11 refers to a basic frame structure for carrying all the working modules 12, which is usually made of high-strength metal (such as aluminum alloy or steel), and has one or more mounting surfaces on the top for fixing the working modules 12. The inside of the rack 11 can be integrated with power supply lines, air ducts and communication buses to provide energy and signal transmission channels for the working modules 12.

[0047] The standardized fixing interface groups 111 refer to a set of fixing units distributed on the mounting surface of the rack 11 according to a preset rule, which are used to provide a unified connection reference for the working modules 12. The core role is to ensure that all the working modules 12 can be connected to the rack 11 in the same way through standardized design (such as unified spacing, size and shape). For example, the standardized fixing interface groups 111 can be an array of threaded holes 1111, which are specifically distributed in a grid shape as a mechanical locking fixing reference. The standardized fixing interface groups 111 can also be a set of uniformly distributed electromagnets as a non-contact locking adsorption reference. In addition, the standardized fixing interface groups 111 can also be other fixing structures, such as pneumatic clamping fixing structures, etc.

[0048] The working module 12 refers to an independent unit for performing a specific function, including a feeding module 121 (for material feeding), a feeding module 122 (for material transfer), and a discharging module 123 (for finished product output). The bottom of one or two of the working modules 12 is provided with a module fixing interface group 124 for matching with the standardized fixing interface group 111 of the rack 11. In the embodiments of the present application, the bottom of one or two of the above-mentioned three working modules 12 is provided with a module fixing interface group 124 for matching with the standardized fixing interface group 111 of the rack 11. The remaining working modules 12 are fixed to the rack 11 by a non-detachable connection mode.

[0049] As Figure 3As shown, the module fixing interface group 124 refers to the connecting structure at the bottom of the working module 12, which is designed to completely match the standardized fixing interface group 111 of the rack 11. For example, if the rack 11 is an array of threaded holes 1111, the bottom of the module is a corresponding through hole 1241; if the rack 11 is an electromagnetic adsorption point, the bottom of the module is a magnetic conductive plate. Its core function is to realize the quick alignment and fixing of the module and the rack 11. It should be noted that the adaptable interface group of all working modules 12 is strictly uniform in size, spacing and connection form, thereby ensuring that modules of the same type can be directly interchangeable across types, such as replacing the flexible vibration feeding module 121 with a clip feeding module 121, or replacing the flexible vibration feeding module 121 with a tray module.

[0050] The detachable fixing mechanism 13 is a connecting system composed of the standardized fixing interface group 111 and the module fixing interface group 124, which realizes the detachable fixing of the working module 12 through physical action (such as mechanical pressing force, electromagnetic adsorption force). Detachable fixing refers to a connection form (such as bolt connection, electromagnetic adsorption, pneumatic clamping, etc.) that can be separated without damaging the structure, and its core feature is to allow quick replacement of the working module 12.

[0051] Specifically, if the detachable fixing mechanism 13 belongs to a bolt connection type fixing structure, it is suitable for heavy load processing environments (such as stamping, bending), requires high vibration resistance and rigid fixing, etc. scenarios, then the rack 11 mounting surface can be an array of threaded holes 1111, and the bottom of the working module 12 corresponds to a through hole 1241. This detachable fixing mechanism 13 is matched with a bolt. If the detachable fixing mechanism 13 belongs to an electromagnetic adsorption type fixing structure, it is suitable for clean rooms or high-frequency change production lines (such as electronic assembly), requires non-contact quick operation, etc. scenarios, then the rack 11 mounting surface can be an array of electromagnetic adsorption units, and the bottom of the working module 12 corresponds to a magnetic conductive plate.

[0052] In this application, all module fixing interface groups 124 and standardized fixing interface groups 111 have the same matching size and connection form, specifically referring to the fact that all module fixing interface groups 124 of the working module 12 and the standardized fixing interface groups 111 of the rack 11 are completely consistent in size (such as hole diameter, spacing), shape (such as circular, square) and connection method (such as threaded rotation, magnetic attraction), which is the core technical basis for realizing module interchange.

[0053] For example, Figure 1 And Figure 2As shown, the module position detection unit 14 is a position sensing system installed on the top of the rack 11, which is used to collect the module position data of the working module 12 installed on the mounting surface in real time. Specifically, it can be an optical sensor, such as a laser displacement sensor, which obtains position coordinates by measuring the reflective markers on the side of the module; or a vision system, such as a recognition camera, which captures the positioning marks (such as a two-dimensional code or a specific pattern) on the top of the working module 12, or captures the shape of the working module 12 to identify the module, and calculates the position deviation through image processing. Therefore, the module position detection unit 14 can monitor the actual position of the working module 12 after the module works in real time, and identify the deviation of the working module 12 caused by high-frequency vibration.

[0054] The control unit 15 can be arranged in the electric control box on the side wall of the rack 11 or other positions, and is electrically connected (through wired or wireless signal transmission) with the module position detection unit 14. After receiving the real-time position data, the control unit 15 calculates the offset amount (such as X / Y direction displacement or angular deflection relative to the initial installation position) of the working module 12 installed with the module fixed interface group 124 through the built-in algorithm (such as coordinate transformation and displacement calculation). When the offset amount exceeds the first preset offset amount (a threshold value set according to the module working accuracy or safety requirement, such as ±0.5 mm), the control unit 15 controls the associated working module 12 to stop working according to the preset control strategy (such as suspending the work of the current offset module), so as to prevent the accumulation of offset from causing production accidents (such as material mispositioning and collision) or product quality problems.

[0055] In some specific embodiments, the control unit 15 is specifically configured to:

[0056] perform Kalman filtering noise reduction on the module position data to obtain denoised data; calculate the real-time offset amount according to the denoised data; when the real-time offset amount exceeds the first preset offset amount and the duration exceeds the preset sampling time, send a stop instruction to the working module 12 that has deviated to cut off the power supply of the working module 12 that has deviated; query the module association mapping table to determine the associated working module 12; send a stop instruction to the associated working module 12 to cut off the power supply of the associated working module 12.

[0057] In the embodiment, the control unit 15 can collect the working module position data in real time through the module position detection unit, dynamically calculate the real-time offset (combined with the static reference or trajectory planning reference) after hardware synchronization and Kalman filter noise reduction, and when the offset continuously exceeds the preset threshold and times out, immediately send an emergency stop instruction through the communication protocol and cut off the power supply of the faulty module (using solid-state relays or contactors), while querying the pre-constructed associated mapping table (recording the physical / logical dependence between modules), stopping the associated modules (such as adjacent joints, conveyors) in batches, and optimizing communication efficiency through multicast protocol. And in the process, it can record fault logs (including timestamp, offset, associated modules) for subsequent analysis, and finally complete system recovery through manual inspection, reference reset and parameter optimization (such as dynamic threshold, filter parameters), ensuring millisecond-level abnormal response and cascading failure prevention and control.

[0058] In some use scenarios, such as in semiconductor wafer transmission scenarios, traditional non-standard equipment needs to be disassembled and reassembled as a whole when changing the type of the working module 12, which may take several hours of downtime, and if the transmission module moves slightly due to high-frequency work, it may cause wafer scratches or transmission jam, affecting yield. The flexible intelligent manufacturing equipment 1 of the present application can realize production line type change through rapid module replacement, greatly reducing downtime, while the module position detection unit 14 monitors the position of the transmission module in real time, and when the offset exceeds the preset value (e.g. 0.5mm), the control unit 15 immediately stops the transmission module and the associated feeding / discharging module 123, preventing wafer damage, improving change efficiency, and ensuring production safety and product quality.

[0059] The flexible intelligent manufacturing equipment 1 provided by the technical solution of the present application realizes the rapid exchange of different types or the same type of working module 12 through the isomorphic design of the standardized fixed interface group 111 of the rack 11 and the module fixed interface group 124 of the working module 12, significantly improving the equipment reuse rate and flexible production adaptation ability. At the same time, the module position detection unit 14 on the top of the rack 11 monitors the module position in real time, and the control unit 15 controls the associated modules to stop working in time according to the offset, effectively solving the problem of continuous production interruption and safety caused by the position offset of high-frequency working modules 12. The present application not only retains the stability of traditional non-standard equipment in specific scenarios such as high-risk scenarios, but also takes into account the rapid change requirements and operational safety of flexible production through modular and detachable design and dynamic offset control, significantly improving the adaptability and reliability of intelligent manufacturing production lines.

[0060] In some embodiments, the control unit 15 can integrate an AI intelligent control subunit, which can adopt a multi-level artificial intelligence architecture. Specifically, the AI intelligent control subunit can adopt an NVIDIA Jetson Xavier edge computing platform as the core processor, equipped with 8GB LPDDR4x memory and 512GB NVMe solid state storage. This platform integrates 384 CUDA cores and 48 Tensor Cores, providing up to 32 TOPS of AI inference performance. Equipped with a gigabit Ethernet interface and a 5G communication module, it supports real-time data synchronization with the cloud AI platform.

[0061] In some specific embodiments, the raw data collected by the module position detection unit 14 can be transmitted to the AI intelligent control subunit through the PCIe3.0 interface. The AI intelligent control subunit can use an adaptive filtering algorithm in the data preprocessing stage, with a sampling frequency of 1 kHz and a data processing delay of less than 2 ms. The AI intelligent control subunit can establish a device state model based on digital twinning, and update the six-degree-of-freedom pose information of the working module in real time.

[0062] In addition, the AI intelligent control subunit can integrate a deep learning inference engine based on TensorRT acceleration, using a ResNet-50 convolutional neural network for feature extraction combined with an LSTM time series prediction model. The training data set contains more than 100,000 displacement samples, covering different working conditions of the module motion pattern. The model inference accuracy reaches 0.01 mm, and the prediction time span is 5-30 seconds.

[0063] The AI intelligent control subunit can communicate with each actuator through the EtherCAT bus with a control cycle of 1 ms. Model predictive control (MPC) algorithm can be used to calculate the optimal control strategy in real time. When detecting a position deviation of the working module, adjustment instructions can be generated within 10 ms to achieve precise positioning through a PID controller.

[0064] In addition, the AI intelligent control subunit can also integrate an intelligent diagnosis module based on an anomaly detection algorithm, using the isolation forest and autoencoder combination technology to identify abnormal working conditions. A fault knowledge graph is established to support intelligent decision-making based on case-based reasoning, providing multiple emergency handling schemes.

[0065] And it can communicate with the cloud AI platform through the MQTT protocol, supporting model updates in the federated learning mode. The AI intelligent control subunit automatically uploads the desensitized operation data every week, downloads the optimized algorithm model, and realizes continuous performance improvement.

[0066] As Figure 4As shown, in some optional embodiments, the standardized fixing interface group 111 includes an array of threaded holes 1111, the module fixing interface group 124 includes through holes 1241, and the detachable fixing mechanism 13 further includes bolts that pass through the through holes 1241 and are screwed with the threaded holes 1111, which simultaneously undertake the functions of module positioning and locking. Among them, the threaded holes 1111 in the array of threaded holes 1111 are uniformly distributed along the first direction and the second direction perpendicular to each other at a first preset interval to form a grid positioning reference. The through holes 1241 include a plurality of through holes 1241, and the interval between any two adjacent through holes 1241 is a second preset interval, which is an integer multiple of the first preset interval.

[0067] In the embodiments of the present application, the standardized fixing interface group 111 is an array of threaded holes 1111 on the mounting surface of the rack 11, which is uniformly distributed along the X-axis and Y-axis directions perpendicular to each other at a preset interval to form a grid fixing reference covering the entire mounting surface. The module fixing interface group 124 at the bottom of the working module 12 is a through hole 1241, and the diameter of the through hole 1241 is slightly larger than the inner diameter of the threaded hole 1111. For example, assuming that the threaded hole 1111 is an M8 threaded hole 1111, then the M8 threaded hole 1111 corresponds to a Φ8.5mm through hole 1241, and the tolerance range is ±0.1mm. The position of the through hole 1241 is strictly consistent with the grid pitch of the array of threaded holes 1111, ensuring that at least four through holes 1241 can be aligned with the corresponding threaded holes 1111 when the module is positioned at any position on the mounting surface. The inner wall of the through hole 1241 needs to be deburred and chamfered (such as C0.5) at the edge, so that the bolt can smoothly pass through. In addition, the detachable fixing mechanism 13 can use stainless steel bolts (such as A2-70 level), and the bolts can be used in combination with spring washers and flat washers. The spring washer is used to prevent loosening, and the flat washer is used to distribute the pressing force to avoid deformation of the module or the surface of the rack 11. At this time, the bolt can simultaneously undertake the functions of coarse positioning and fine locking. The coarse positioning function refers to the size matching of the through hole 1241 and the threaded hole 1111 (ensuring automatic alignment when the module is initially placed, with a position deviation of not more than ±0.2mm). The fine locking function refers to that after the bolt is tightened to a preset torque, the axial pressing force generated by the bolt firmly fixes the module on the rack 11, and the anti-vibration capability reaches 10g acceleration (in line with GB / T 2423.10 standard).

[0068] Specifically, the array of threaded holes 1111 in the standardized fixed interface group 111 is evenly distributed along mutually perpendicular first direction (such as X-axis) and second direction (such as Y-axis) with a first preset interval, forming a grid positioning reference covering the mounting surface of the rack 11. For example, assuming that the first preset interval is 50 mm, i.e. the center-to-center distance between adjacent threaded holes 1111 in the X-axis and Y-axis directions is 50 mm, a standard grid of 50 mm x 50 mm is formed. The threaded holes 1111 are of M8 specification, with a depth of 15 mm and a thread accuracy grade of 6H. This grid design can ensure that any position on the mounting surface of the rack 11 can serve as a fixed reference point for the module. Moreover, the grid layout of the array of threaded holes 1111 can be formed by a numerical control machining center in one pass, with a position accuracy error of less than ±0.05 mm. The surface of the threaded holes 1111 is galvanized to improve corrosion resistance.

[0069] In the through holes 1241 at the bottom of the working module 12, the distance between any two adjacent through holes 1241 is a second preset interval, and the second preset interval is an integer multiple of the first preset interval. For example, when the first preset interval is 50 mm, the second preset interval can be set to 200 mm (i.e. 4 times the interval) or 400 mm (i.e. 8 times the interval), etc. By setting the distance between the through holes 1241 to be an integer multiple of the distance between the threaded holes 1111, it is ensured that regardless of how the module moves in the grid, the through holes 1241 at the bottom of the module can at least be completely aligned with a group of threaded holes 1111. For example, when the length of the module is 1000 mm, two through holes 1241 are provided at the bottom of the module along the X-axis direction, with a distance of 800 mm (16 x 50 mm), so that the through holes 1241 can be aligned with the next group of threaded holes 1111 every 50 mm along the X-axis on the rack 11. It can be understood that the through holes 1241 at the bottom of the working module 12 are generally provided with 4 through holes 1241, 2 through holes 1241 in the X-axis direction and 2 through holes 1241 in the Y-axis direction, the distance between the two through holes 1241 in the X-axis direction is the second preset interval, and the distance between the two through holes 1241 in the Y-axis direction is the second preset interval. However, it should be noted that the second preset interval in the X-axis direction and the second preset interval in the Y-axis direction can be consistent or inconsistent. For example, the second preset interval in the X-axis direction is 4 times the first preset interval, and the second preset interval in the Y-axis direction is 3 times the first preset interval.

[0070] The embodiments of the present application support quick alignment of modules at any grid position of the rack 11 through the integer multiple relationship between the array of grid threaded holes 1111 and the spacing of the through holes 1241, and can achieve global flexible positioning. Moreover, through the spacing matching rules, multi-module collaborative operation or single-module position migration can be easily realized, and the present application has the ability of rapid expansion. At the same time, the present application can eliminate the need for customized tooling in the traditional scheme, greatly improve the universality of spare parts, and can realize low-cost upgrading. In the fields of automobile manufacturing and electronic assembly, the present application effectively solves the problems of position fixation and time-consuming adjustment of traditional equipment, and provides a standardized and low-cost hardware foundation for high-flexibility production lines.

[0071] In some optional embodiments, the detachable fixing mechanism 13 comprises a complementary arrangement of electromagnetic units and magnetic conductive units. The electromagnetic units are integrated in the standardized fixing interface group 111 or the module fixing interface group 124, and contain at least one electromagnet array. The magnetic conductive units are correspondingly integrated in the module fixing interface group 124 or the standardized fixing interface group 111, and contain magnetic conductive areas matched with the electromagnet array. The distribution positions of the magnetic conductive units and the electromagnetic units are matched, so as to fix the working module 12 by adsorption force when energized.

[0072] In the embodiments of the present application, the detachable fixing mechanism 13 can be composed of a complementary arrangement of electromagnetic units and magnetic conductive units. That is, in addition to the detachable fixing mechanism 13 composed of threaded holes 1111, through holes 1241 and bolts mentioned in the foregoing, the detachable fixing mechanism 13 can also be composed of a complementary arrangement of electromagnetic units and magnetic conductive units. The electromagnetic unit refers to a component in the detachable fixing mechanism 13 that generates a magnetic field, and is composed of an electromagnet array. The electromagnetic unit can be integrated in the standardized fixing interface group 111 of the rack 11 or the module fixing interface group 124 of the working module 12. The electromagnet array is a collection of one or more electromagnets arranged in a predetermined rule (such as a grid shape). The magnetic conductive unit refers to a magnetic conductive component in the detachable fixing mechanism 13 that cooperates with the electromagnetic unit, and is composed of a magnetic conductive area. The magnetic conductive unit is correspondingly integrated in the module fixing interface group 124 or the standardized fixing interface group 111. The magnetic conductive area is a magnetic conductive structure made of high magnetic permeability material (such as low-carbon steel, silicon steel), which is used to concentrate magnetic induction lines and enhance electromagnetic adsorption force. The distribution position matching refers to the physical layout of the magnetic conductive unit and the electromagnetic unit corresponding completely. For example, if the electromagnetic unit is an electromagnet with a 50mm×50mm grid distribution, the magnetic conductive unit needs to cover at least one complete grid area (such as a 50mm×50mm magnetic conductive plate). The adsorption force fixation refers to that when energized, the electromagnetic unit generates a magnetic field, the magnetic conductive unit is adsorbed due to magnetization, forming a non-contact fixation; after de-energization, the magnetic field disappears, the adsorption force is released, and quick disassembly is realized.

[0073] In the embodiments of the present application, the complementary design of the electromagnetic unit and the magnetic conduction unit realizes the non-contact quick installation and disassembly of the working module 12. When the electromagnet array in the electromagnetic unit is powered on, the magnetic conduction area in the magnetic conduction unit is magnetized and generates strong adsorption force, firmly fixing the module at the target position of the rack 11; after power off, the adsorption force disappears immediately, and the module can be easily removed. This design not only avoids the metal debris and physical wear that may be generated in the operation of traditional bolts or clamps, but also significantly improves the module replacement efficiency, especially suitable for scenes sensitive to environmental pollution such as clean rooms and sterile workshops. For example, in a semiconductor wafer handling equipment, when replacing the mechanical arm module, there is no need to manually disassemble the bolts, and only by activating or turning off the electromagnet through the control system, the type replacement can be completed within a few minutes, while ensuring that the clean room air quality meets the ISO 5 level standard. In addition, the grid layout of the electromagnetic unit and the precise matching of the magnetic conduction area make the module positioning accuracy reach ±0.05mm, without the need for manual calibration, greatly shortening the downtime and reducing the operation complexity. Compared with the traditional scheme, the present design takes into account the efficiency, environmental protection and high precision through the physical mechanism of electromagnetic adsorption, providing reliable technical support for high flexibility manufacturing scenes.

[0074] As shown in Figure 2 and Figure 5 In some specific embodiments, the bottom of two of the working modules 12 is provided with a module fixing interface group 124, and the other working module 12 is fixed on the rack 11 by a non-detachable connection mode.

[0075] In the embodiments of the present application, the working module 12 includes three types of supply module 121, feeding module 122 and discharging module 123, wherein the bottom of two of the working modules 12 (for example, the feeding module 122 and the discharging module 123) is provided with a module fixing interface group 124, which cooperates with the standardized fixing interface group 111 distributed along the preset direction (such as the production line flow direction) on the installation surface of the rack 11, forms a detachable fixing mechanism 13 through quick insertion, locking bolt or electromagnetic adsorption, etc. detachable connection mode, to realize the quick fixing with the rack 11; the other working module 12 (for example, the supply module 121) is fixed on the rack 11 by a non-detachable connection mode, which refers to a connection form that cannot be quickly released, such as welding, riveting or high-strength threaded bolt connection, to ensure the long-term stability of the connection between the module and the rack 11.

[0076] The implementation method of this application uses a fixing method in which some working modules 12 are detachable and some are not detachable. This retains the flexibility advantage of detachable modules for quick model change to adapt to multi-variety small-batch production, while the non-detachable modules ensure the long-term stability of key functions (such as high-precision material feeding). This avoids the problem that key modules may be misaligned due to high-frequency disassembly and assembly, which may affect production, which may be caused by all modules being detachable. At the same time, it solves the problem that model change requires overall adjustment and long downtime when all modules are not detachable.

[0077] like Figure 2 As shown in some more specific embodiments, both the feeding module 121 and the loading module 122 are provided with module fixing interface group 124 at the bottom, and the unloading module 123 is fixed to the frame 11 by a non-detachable connection.

[0078] In this embodiment, both the feeding module 121 and the loading module 122 are provided with a module fixing interface group 124 at their bottom. This interface group cooperates with the standardized fixing interface group 111 distributed along a preset direction (such as the production line flow direction) on the mounting surface of the frame 11. The detachable fixing mechanism 13 is formed by a detachable connection method such as quick plug, locking bolt or electromagnetic adsorption, so as to achieve quick fixing to the frame 11. The unloading module 123 is fixed to the frame 11 by a non-detachable connection method to ensure that its connection with the frame 11 has long-term stability.

[0079] The embodiments of this application, by making the feeding module 121 and loading module 122 detachable and the unloading module 123 non-detachable and fixed, retain the flexibility advantage of detachable modules for quick changeover to adapt to multi-variety small-batch production, while ensuring the long-term stability of finished product sorting through the non-detachable unloading module 123 (avoiding sorting position shift caused by frequent disassembly and assembly). This solves the pain points of production quality being affected by frequent disassembly and assembly of key modules (such as unloading) when all modules are detachable, and long downtime caused by overall adjustment when all modules are non-detachable.

[0080] In some typical application scenarios, such as in electronic component assembly lines, the feeding module 121 (precision dispensing system) and the loading module 122 (component gripping mechanism) need to be frequently changed according to product type. The unloading module 123 (finished product sorting mechanism), however, needs to maintain a fixed sorting path (e.g., sorting finished products of different specifications into corresponding boxes). A non-removable connection is used to avoid sorting position shifts caused by disassembly. If the unloading module 123 were detachable, frequent changes could cause the sorting position to shift (e.g., 2mm), leading to mixed finished products. If all modules were non-removable, changing the feeding / loading module 122 would require disassembling the entire frame 11, resulting in significant downtime. In this embodiment, the feeding / loading module 122 can be quickly changed, and the unloading module 123 maintains a stable position, improving changeover efficiency and ensuring accurate finished product sorting.

[0081] As Figure 5 shown in some more specific embodiments, the upper feeding module 122 and the bottom of the lower feeding module 123 are each provided with a module fixed interface group 124, and the feeding module 121 is fixed to the rack 11 by a non-detachable connection mode.

[0082] In the embodiments of the present application, the upper feeding module 122 and the bottom of the lower feeding module 123 are each provided with a module fixed interface group 124, which cooperates with a standardized fixed interface group 111 distributed along a preset direction (such as the direction of the production line process) on the mounting surface of the rack 11 to form a detachable fixing mechanism 13 by a detachable connection mode such as quick insertion, locking bolt or electromagnetic attraction, thereby realizing quick fixing with the rack 11; and the feeding module 121 is fixed to the rack 11 by a non-detachable connection mode, thereby ensuring the long-term stability of the connection between the feeding module 121 and the rack 11.

[0083] In the embodiments of the present application, the upper feeding module 122 and the lower feeding module 123 are detachable, and the feeding module 121 is non-detachable, which not only retains the flexible advantage of quick replacement of the detachable modules to adapt to small-batch production of multiple varieties, but also guarantees the long-term stability of the key functions (such as high-precision feeding) by the non-detachable feeding module 121 (avoiding the position deviation of the feeding caused by frequent disassembly and assembly), thereby solving the pain points of affecting production quality due to high-frequency disassembly and assembly of the key modules (such as feeding) when all modules are detachable, and long downtime caused by overall adjustment when all modules are non-detachable.

[0084] In some typical use scenarios, for example, in an electronic component assembly production line, the upper feeding module 122 (grabbing components) and the lower feeding module 123 (sorting finished products) need to be frequently replaced according to product types, while the feeding module 121 (precision dispensing system) needs to maintain a high-precision glue feeding position, and thus avoids the glue nozzle deviation caused by disassembly and assembly through non-detachable connection. If the feeding module 121 is detachable, the glue nozzle may deviate after frequent replacement, resulting in uneven dispensing. If all modules are non-detachable, the rack 11 needs to be disassembled and assembled as a whole when replacing the upper / lower feeding module 123, which requires a long downtime. In the embodiments of the present application, the upper / lower feeding module 123 is quickly replaced, the position of the feeding module 121 is stable, and the dispensing precision deviation is small, thereby improving the replacement efficiency and guaranteeing the quality of the key processes.

[0085] As Figure 6 shown in some specific embodiments, the bottom of one of the working modules 12 is provided with a module fixed interface group 124, and the other two working modules 12 are fixed to the rack 11 by a non-detachable connection mode.

[0086] In some more specific embodiments, the bottom of the feeding module 122 is provided with a module fixing interface group 124, and the feeding module 121 and the discharging module 123 are fixed on the rack 11 in a non-detachable connection mode.

[0087] In the embodiments of the present application, the working module 12 includes three types of feeding module 121, feeding module 122 and discharging module 123, wherein the bottom of one type of working module 12 (for example, the feeding module 122) is provided with a module fixing interface group 124, which cooperates with the standardized fixing interface group 111 distributed along the preset direction (for example, the direction of the production line flow) on the mounting surface of the rack 11 to form a detachable fixing mechanism 13 through quick insertion, locking bolt or electromagnetic adsorption, etc., to realize quick fixing with the rack 11. The other two types of working modules 12 (for example, the feeding module 121 and the discharging module 123) are fixed on the rack 11 in a non-detachable connection mode (for example, welding, riveting or high-strength threaded bolt connection), to ensure the long-term stability of the connection between them and the rack 11.

[0088] In the embodiments of the present application, one type of working module 12 is detachable, and the other two types are non-detachable, which not only retains the flexibility of quick replacement of the detachable module to adapt to small-batch production of multiple varieties, but also ensures the long-term stability of the key functions (such as high-precision feeding and fixed sorting path) through the non-detachable module (avoiding feeding deviation or sorting errors caused by frequent disassembly and assembly), solving the pain points of affecting production quality due to high-frequency disassembly and assembly of key modules when all modules are detachable, and long downtime caused by overall adjustment when all modules are non-detachable.

[0089] In some typical use scenarios, for example, in electronic component assembly production lines, the feeding module 122 (grabbing components) needs to be frequently replaced according to product types, while the feeding module 121 (precision dispensing system) and the discharging module 123 (finished product sorting mechanism) need to maintain high-precision glue dispensing position and fixed sorting path, and thus are connected in a non-detachable manner to avoid glue nozzle deviation or sorting position deviation caused by disassembly and assembly. If the feeding and discharging modules 123 are detachable, the glue nozzle may deviate after frequent replacement, resulting in uneven glue dispensing, and may also cause the sorting position to deviate, resulting in mixed materials of finished products. If all modules are non-detachable, the rack 11 needs to be disassembled and assembled as a whole when the feeding module 122 is replaced, resulting in long downtime. In the embodiments of the present application, the feeding module 122 is quickly replaced, and the feeding and discharging modules 123 are stable in position, reducing the precision deviation of glue dispensing and sorting, which not only improves the replacement efficiency, but also ensures the quality of key processes.

[0090] In some specific embodiments, the control unit 15 is configured to control the associated working module 12 to reduce the working power according to a control strategy when the offset exceeds a second preset offset, the second preset offset being lower than the first preset offset.

[0091] In some specific embodiments, the control unit 15 is specifically configured to:

[0092] When the offset exceeds the second preset offset but does not reach the first preset offset, the degradation parameter of the associated working module 12 is read from the power mapping table; the corresponding PWM instruction is generated according to the degradation parameter of the associated module; and the PWM instruction is sent to the corresponding associated working module 12, so that the associated working module 12 reduces the working power according to the PWM instruction.

[0093] In the embodiments of the present application, the control unit 15 can calculate the current offset by an internal algorithm, and compare the offset with the first preset offset (such as 0.5 mm) and the second preset offset (such as 0.2 mm, lower than the first preset value). If the offset exceeds the second preset offset but does not reach the first preset offset, the control unit 15 can read the degradation parameter of the associated working module 12 from the power mapping table pre-stored in its memory (the power mapping table stores the module working parameter adjustment values corresponding to different offset ranges, for example, the specific parameters such as 20% reduction of motor speed and 15% reduction of output force corresponding to 0.2-0.5 mm offset range). After reading the degradation parameter, the control unit 15 can generate the corresponding PWM (pulse width modulation) instruction according to the parameter type (such as the speed reduction ratio). The PWM instruction controls the working power of the module by adjusting the pulse width, for example, the PWM duty cycle is adjusted to 80% corresponding to 20% reduction of speed. Finally, the control unit 15 can send the PWM instruction to the associated working module 12 (such as the feeding module 122 and the discharging module 123) through the signal line. After the driving circuit (such as the motor driver) of the module receives the PWM instruction, the pulse width is analyzed and the power supply voltage or current is adjusted, so as to reduce the working power of the module (such as reducing the motor speed and reducing the output force).

[0094] The embodiments of the present application set a hierarchical intervention threshold (the second preset value triggers power reduction, and the first preset value triggers shutdown), when the module offset is small but there is a risk of aggravation, the working power of the associated module is first reduced, which avoids the production interruption caused by immediate shutdown, and delays the offset aggravation by reducing the vibration or load of the module, so as to gain the adjustment time for the operator, and ensures the continuity and safety of production.

[0095] In some typical application scenarios, for example, in a semiconductor wafer transmission production line, when the transmission module slightly deviates (0.3mm, exceeds the second preset value but does not reach the first preset value 0.5mm) due to high-frequency operation, the control unit 15 can immediately read the parameter corresponding to 0.2-0.5mm from the power mapping table, that is, the motor speed is reduced by 20%, generate a PWM instruction with a duty cycle of 80%, and send it to the motor driver of the transmission module, so that the motor speed is reduced by 20%, the vibration is reduced, and the deviation is further enlarged to 0.6mm (stops after exceeding the first preset value). The present embodiment ensures continuous operation of the production line by early intervention, provides an adjustment window for maintenance personnel, and improves production efficiency and stability.

[0096] In some specific embodiments, the control unit 15 is configured to generate a position adjustment signal according to a control strategy when the deviation exceeds a third preset deviation, the position adjustment signal being used to instruct a user to adjust the position of the working module 12 that deviates, and the third preset deviation is lower than the first preset deviation.

[0097] In the present embodiment, when the deviation exceeds the third preset deviation but does not reach the first preset deviation, the control unit 15 can generate a position adjustment signal (such as a text prompt of "Module A deviates 0.15mm, please adjust", flashing of an indicator light, or short beeping of a buzzer) according to a preset strategy, and send the signal to the user through a human-machine interface (such as a touch screen or an operation panel on the rack 11) or a remote communication module (such as a mobile terminal APP connected by Wi-Fi or Bluetooth).

[0098] The present embodiment sets the third preset deviation lower than the first preset deviation as a user intervention threshold, timely prompts the user to adjust when the module deviation is small but there is a risk of aggravation, and avoids the deviation from further expanding to the extent that requires shutdown (exceeding the first preset value), thereby reducing unplanned downtime and ensuring the continuity and efficiency of production.

[0099] In some typical application scenarios, for example, in an electronic component assembly production line, when the feeding module 122 slightly deviates (0.12mm, exceeds the third preset value 0.1mm but does not reach the first preset value 0.5mm) due to vibration, the control unit 15 immediately pops up an adjustment prompt on the touch screen, and the operator can complete the module position adjustment within a short time to avoid the deviation from expanding, thereby ensuring the continuous operation of the production line.

[0100] The above is only an optional embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation made by using the contents of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A flexible intelligent manufacturing device, characterized by, The utility model relates to a modularized production line system, comprising: a rack, a mounting surface of the rack is provided with a standardized fixing interface group, the standardized fixing interface group contains a plurality of fixing units distributed along a preset direction; a plurality of working modules, the working modules include a feeding module, a feeding-in module and a discharging module, the bottom of one or two of the working modules is provided with a module fixing interface group; a detachable fixing mechanism, the standardized fixing interface group and the module fixing interface group cooperate to form the detachable fixing mechanism, the detachable fixing mechanism is used for fixing the working modules on the rack through a detachable connection mode; a module position detection unit, the module position detection unit is arranged on the top of the rack and is used for collecting module position data of the working modules installed on the mounting surface in real time; a control unit, the control unit is electrically connected with the module position detection unit, is used for calculating the offset of the working module installed with the module fixing interface group according to the module position data, and controls the associated working module to stop working according to a control strategy when the offset exceeds a first preset offset; wherein, all the module fixing interface groups and the standardized fixing interface group have the same cooperation size and connection form to realize the interchange of the same type or different type of working modules; wherein, the control unit is specifically configured to: Kalman filter noise reduction is carried out on the module position data to obtain denoising data; real-time offset is calculated according to the denoising data; when the real-time offset exceeds the first preset offset and the duration exceeds the preset sampling time, a stop instruction is sent to the working module that has deviated, and the power supply of the working module that has deviated is cut off; a module association mapping table is queried to determine the associated working module; a stop instruction is sent to the associated working module, and the power supply of the associated working module is cut off; wherein, the control unit is configured to: when the offset exceeds a second preset offset, control the associated working module to reduce the working power according to the control strategy, and the second preset offset is lower than the first preset offset; wherein, the control unit is specifically configured to: when the offset exceeds the second preset offset but does not reach the first preset offset, read the degradation parameters of the associated working module from a power mapping table; the corresponding PWM instruction is generated according to the degradation parameters of the associated module; the PWM instruction is sent to the corresponding associated working module, so that the associated working module reduces the working power according to the PWM instruction.

2. The flexible smart manufacturing device of claim 1, wherein, The standardized fixing interface group includes a threaded hole array, the module fixing interface group includes a through hole group, the detachable fixing mechanism further includes a bolt penetrating through the through hole and being screwed with the threaded hole, the bolt simultaneously undertakes the module positioning and locking functions, wherein the threaded holes in the threaded hole array are uniformly distributed along the first direction and the second direction perpendicular to each other at a first preset interval to form a grid positioning reference, the through hole group contains a plurality of through holes, the interval between any two adjacent through holes is a second preset interval, and the second preset interval is an integer multiple of the first preset interval.

3. The flexible smart manufacturing device of claim 1, wherein, The detachable fixing mechanism comprises a complementary electromagnetic unit and a magnetic conductive unit, the electromagnetic unit is integrated in the standardized fixing interface group or the module fixing interface group and comprises at least one electromagnet array, the magnetic conductive unit is correspondingly integrated in the module fixing interface group or the standardized fixing interface group and comprises a magnetic conductive area matched with the electromagnet array, and the magnetic conductive unit is matched with the distribution position of the electromagnetic unit to fix the working module by adsorption force when powered.

4. The flexible smart manufacturing device of claim 1, wherein, The bottom of two of the working modules is provided with the module fixing interface group, and the other working module is fixed on the rack in a non-detachable connection mode.

5. The flexible smart manufacturing device of claim 4, wherein, The bottom of the feeding module and the upper feeding module is provided with the module fixing interface group, and the lower feeding module is fixed on the rack in a non-detachable connection mode.

6. The flexible smart manufacturing device of claim 4, wherein, The bottom of the upper feeding module and the lower feeding module is provided with the module fixing interface group, and the feeding module is fixed on the rack in a non-detachable connection mode.

7. The flexible smart manufacturing device of claim 1, wherein, The bottom of one of the working modules is provided with the module fixing interface group, and the other two working modules are fixed on the rack in a non-detachable connection mode.

8. The flexible smart manufacturing device of claim 7, wherein, The bottom of the upper feeding module is provided with the module fixing interface group, and the feeding module and the lower feeding module are fixed on the rack in a non-detachable connection mode.

9. The flexible smart manufacturing device of claim 1, wherein, The control unit is configured to generate a position adjustment signal according to a control strategy when the offset exceeds a third preset offset, the position adjustment signal being used to instruct a user to adjust the position of the working module that has deviated, and the third preset offset being lower than the first preset offset.

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