Overside material taking type laminated plate conveying method and system capable of preventing plate clamping

Abstract

The invention relates to the technical field of laminated material taking, in particular to an upper material taking type laminated plate feeding method and system capable of preventing plate jamming, and the method comprises the following steps: collecting stock bin parameters and motor position to calculate real-time load, calculating dynamic impedance in combination with an inclination angle, mapping the impedance into the minimum torque of a motor, and synchronously adjusting current and frequency; and an anti-jamming instruction is generated to drive the platform to be matched with the load to ascend, and the top-layer plate is controlled to be flexibly in place without overshoot according to a sensor signal. According to the method, the physical load inversion model is constructed through the real-time stroke count value and the inclination angle, the gravity component and friction damping dynamic attenuation caused by the change of the plate number are accurately calculated, the changed mechanical impedance is mapped into the minimum maintaining torque and the safety pulse frequency of the motor in real time, sufficient power is provided at the full-load stage to overcome static friction, and therefore the dynamic load of the motor is improved. And it is ensured that the top-layer plate flexibly reaches the material taking position with constant tiny contact force, and overshoot clamping and plate extrusion deformation caused by excessive torque are effectively eradicated.

Description

Technical Field

[0001] This invention relates to the field of stacked material handling technology, and in particular to a top-loading stacked plate feeding method and system for preventing jamming. Background Technology

[0002] The field of stacked material handling technology involves the automated feeding and transfer of sheet-like workpieces in electronic assembly and automated processing. Its core encompasses the mechanical motion control of material stacking, storage, and separation mechanisms, as well as position detection technology during the transfer process. This field primarily utilizes mechanical transmission structures combined with sensing devices to achieve the sequential separation and continuous transport of sheet-like materials such as PCB circuit boards. Traditional stacked board feeding methods involve vertically stacking multiple PCB circuit boards above the feeding hopper. The boards' own weight is used to keep them pressed against the bottom support plane. A pusher or friction conveyor belt at the bottom directly contacts the lower surface of the bottom PCB circuit board, using horizontal mechanical pushing or friction to extract the bottom PCB circuit board from the stack and transport it to the subsequent workstation.

[0003] In traditional vertical stacking push-down feeding methods, the weight of all the plates acts entirely on the surface of the bottom workpiece to be picked up, resulting in the bottom plates bearing huge interlayer normal pressure and frictional resistance. As the number of stacked plates changes, the mechanical load of the bottom plates exhibits violent nonlinear fluctuations. Under full-load conditions, the fixed torque drive is prone to motor stalling or plate surface scratches due to excessive resistance. Under light-material conditions, excessive driving force often causes multiple plates to slide out simultaneously or the running speed to become uncontrollable. The rigid push plate mechanism lacks adjustment for load changes, making it difficult to ensure the flexibility and precision of the feeding action, resulting in material jamming, machine stoppage, or physical damage to precision plates. Summary of the Invention

[0004] To address the technical problems existing in the prior art, embodiments of the present invention provide a top-loading stacked plate feeding method for anti-jamming plates, comprising the following steps: S1: Collect the tilt angle value of the hopper relative to the vertical plane, obtain the mass value of a single PCB circuit board and the inherent mass value of the lifting and pushing platform itself, monitor the real-time absolute position count value of the stepper motor driver, and obtain the initial physical state data of the tilted hopper. S2: Call the initial physical state data of the tilted hopper, calculate the stroke margin value between the preset full-load total stroke count value and the absolute position count value, and calculate the real-time remaining board material quantity based on the stroke margin value and the thickness value of a single PCB circuit board to obtain the real-time stacked board material gravity load value. S3: Based on the real-time gravity load value of the laminated sheet material, perform a mechanical vector decomposition operation according to the tilt angle value, calculate the normal pressure component value perpendicular to the inner wall of the hopper and the downward gravity component value along the inclined surface of the hopper, and obtain the dynamic operating impedance value of the lifting mechanism. S4: Based on the dynamic operating impedance value of the lifting mechanism, combined with the lead screw value and transmission efficiency value, a conversion calculation is performed to obtain the minimum maintaining torque value required for the motor shaft end to maintain uniform speed operation, and the peak safety pulse frequency value that matches the low-valley maintaining torque value is retrieved to generate the anti-jamming torque speed drive command.

[0005] As a further aspect of the present invention, the initial physical state data of the tilting hopper includes stacking geometric parameters, physical constants of the contact interface, and reference coordinates for mechanism movement; the real-time stacked plate gravity load value includes the variable plate mass, the fixed mechanism mass, and the total vertical gravity value; the dynamic operating impedance value of the lifting mechanism includes mechanical friction, axial gravity component, and total load impedance torque; and the anti-jamming torque and speed drive command includes dynamic current limiting setting value, anti-step-out pulse frequency, and torque-frequency synchronization control information.

[0006] As a further aspect of the present invention, the specific steps of S1 are as follows: S101: Collect the tilt angle value of the hopper relative to the vertical plane, obtain the mass value of a single PCB circuit board and the inherent mass value of the lifting and pushing platform itself, detect the sliding friction characteristics between the edge of the circuit board and the inner wall material of the hopper, scalarize multiple physical quantities and configure corresponding data tags, write the processed multiple parameters into the parameter configuration register of the controller according to the preset memory address allocation information, and establish a static structural physical parameter set. S102: Using the static structure physical parameter set, establish a real-time communication link between the controller and the stepper motor driver, monitor the pulse accumulation data in the encoder feedback register inside the driver, read the absolute position count value representing the rotation angle of the motor shaft end, perform a numerical formatting operation on the absolute position count value to adapt to the controller protocol, and combine and encapsulate the formatted value with the driver status flag bit to obtain the real-time position and posture feedback data of the motor. S103: Call the real-time pose feedback data of the motor, map the static parameters to the non-volatile storage block of the controller, align and index all parameters according to the preset data structure protocol, construct a globally unified physical model input interface, and obtain the initial physical state data of the tilted hopper.

[0007] As a further aspect of the present invention, the specific steps of S2 are as follows: S201: Call the initial physical state data of the tilting hopper, extract the real-time absolute position count value uploaded by the stepper motor driver and the hopper full-load total stroke threshold preset by the controller, perform numerical subtraction operation on the absolute position count value and the full-load total stroke threshold, calculate the displacement difference between the real-time coordinate point of the lifting push plate platform and the mechanical limit point, and unify the displacement difference into the pulse count format of the motor control domain, quantify the remaining available motion range of the lifting mechanism under real-time working conditions, and generate the stroke remaining pulse value; S202: Based on the remaining pulse value of the stroke, combined with the recorded thickness specification of a single PCB circuit board, the thickness specification of a single PCB circuit board is converted into the corresponding motor stepping pulse equivalent according to the lead screw. A division operation is performed on the remaining pulse value and the pulse equivalent to discretize the continuous stroke signal into the layer index of the stacked board. The rounding logic is applied to eliminate the error caused by the transmission gap, and the number of physical workpieces remaining in the real-time hopper is calibrated to obtain the real-time inventory value of the board material to be taken. S203: Using the real-time inventory value of the board material to be retrieved, retrieve the mass measurement value of a single PCB circuit board and the inherent structural mass value of the lifting and pushing platform. Perform multiplication and product on the inventory value and the single mass measurement value to obtain the dynamically changing total mass of the material. Perform linear superposition operation on the total mass of the material and the inherent structural mass value of the platform to obtain the real-time gravity load value of the stacked board material.

[0008] As a further aspect of the present invention, the specific steps of S3 are as follows: S301: Call the real-time gravity load value of the laminated sheet material, retrieve the tilt angle parameter of the hopper relative to the vertical plane, establish a spatial projection model of the gravity load, map the gravity load value in the vertical direction to the normal direction of the inner wall of the hopper and the tangent direction of the inclined plane respectively, calculate the normal extrusion component perpendicular to the contact surface and the sliding component parallel to the motion trajectory, orthogonally encapsulate the mechanical data in the two dimensions, and generate the orthogonal decomposition component of the gravity vector. S302: Based on the orthogonal decomposition of the gravity vector, extract the normal extrusion component data, and based on the recorded sliding friction characteristic values ​​between the edge of the circuit board and the inner wall material, perform a product operation on the normal extrusion component data and the sliding friction characteristic values ​​to quantify the nonlinear damping effect generated by the lateral contact during the upward movement of the board stack and obtain the sliding friction resistance value of the contact surface. S303: Call the sliding friction resistance value of the contact surface, and based on the upward motion vector direction of the lifting platform, determine that the gravity component and friction resistance along the inclined plane are both load sources in the same direction of operation. Perform scalar summation on the two, aggregate the total reverse force at the end of the mechanical transmission chain, and generate the dynamic operating impedance value of the lifting mechanism.

[0009] As a further aspect of the present invention, the specific steps of S4 are as follows: S401: Based on the dynamic operating impedance value of the lifting mechanism, call the recorded lead screw parameters and mechanical transmission efficiency coefficient, perform rotational domain mapping on the mechanical impedance in the linear direction, calculate the theoretical lower limit torque required for the stepper motor output shaft to maintain uniform rotation under real-time damping, use the theoretical lower limit torque as the benchmark quantitative index of dynamic load, and obtain the low-valley maintenance torque value of the motor shaft end. S402: Using the low-valley sustaining torque value at the motor shaft end, retrieve the highest commutation frequency boundary allowed by the torque value, and correct the boundary frequency in combination with the preset safety margin factor to determine the upper limit of the pulse transmission rate that the motor can maintain synchronous operation and magnetic field lock under real-time torque load, and obtain the peak safe operating pulse frequency value. S403: Based on the peak safe operating pulse frequency value, combined with the rated current parameters and torque constant of the stepper motor driver, perform linear scaling calculation to determine the real-time excitation current intensity required for the phase winding, set the current intensity to the target value that matches the real-time load and suppresses the residual torque, perform digital quantization calibration on the power transistor duty cycle parameter of the driver output stage, and generate the load-adaptive phase current adjustment value. S404: Call the load adapter phase current adjustment value, encode and encapsulate the frequency and current parameters according to the communication protocol format of the stepper motor driver, construct a real-time control sequence including speed control word and torque limit word, and generate anti-jamming torque and speed drive command.

[0010] As a further aspect of the present invention, the safety margin factor is limited to a pre-stored dimensionless constant interval value, the dimensionless constant interval value is between 1 and 2, and the dimensionless constant interval value is discretized by a fixed step size to proportionally correct the highest commutation frequency boundary allowed by the torque value. The linear scaling operation is limited to a one-to-one proportional relationship established between the rated current parameter of the stepper motor driver and the torque constant, and the peak safe operating pulse frequency value is mapped to a range. The mapping result is limited to the upper and lower limits of the rated current parameter of the stepper motor driver. The digital quantization calibration of the power transistor's duty cycle parameter is limited to a lookup table mapping using a duty cycle quantization table with a fixed resolution. The fixed resolution is the integer division value of the driver's internal clock cycle, and the load adaptation phase current adjustment value corresponds to a unique duty cycle code value.

[0011] As a further aspect of the present invention, the method further includes step S5: S5: Using the anti-jamming plate torque and speed drive command, a pulse sequence is sent to the stepper motor and the coil current is controlled to drive the lifting push plate platform to push the PCB board up along the inclined plane with the torque matching the real-time load characteristics. The position sensor signal of the material picking port located at the top of the hopper is monitored. The pulse output is stopped the instant the sensor state flips, and the top board is obtained in a flexible and non-overshooting state. The top-layer plate's flexible positioning without overshoot includes zero-speed stop posture, micro-contact stress, and material picking alignment accuracy.

[0012] As a further aspect of the present invention, the specific steps of S5 are as follows: S501: Using the anti-jamming plate torque and speed drive command, the parsed phase current adjustment value is written into the current loop control register of the driver, the real-time excitation intensity of the stator coil is adjusted, and the safety pulse frequency value is loaded into the pulse generation unit of the controller. The stepper motor outputs an electromagnetic torque that is strictly balanced with the real-time mechanical impedance, driving the lifting pusher platform to push the PCB board to overcome the gravity component of the inclined plane and the frictional resistance to perform the upward action, and establishing a flexible upward action flow of the load; S502: For the load flexible rising motion flow, start a high-frequency polling scan task on the position sensor of the material picking port at the top of the silo, collect the real-time photoelectric switching signal of the sensor and perform de-jitter filtering, compare the processed signal state with the preset trigger logic level in real time, and immediately activate the stop logic when the signal state is determined to be reversed, and generate a material picking zero point trigger interrupt signal. S503: Based on the zero-point trigger interrupt signal for material picking, perform a hardware-level pulse output blocking operation to cut off the drive source of the stepper motor. Utilize the low-phase current characteristics after real-time dynamic adjustment to make the motor rotor converge to a stationary state under extremely low inertia, eliminate the board position deviation caused by mechanical overshoot, determine the position of the PCB board and the material picking mechanism, and establish a flexible positioning state for the top board without overshoot.

[0013] The top-loading stacked pallet feeding system for preventing pallet jamming includes: The initial state parameter acquisition module collects the tilt angle value of the hopper relative to the vertical plane, obtains the mass value of a single PCB circuit board and the inherent mass value of the lifting and pushing platform itself, monitors the real-time absolute position count value of the stepper motor driver, and stores multiple values ​​as initial input quantities into the controller storage unit to construct the initial physical state data of the tilted hopper. The load calculation module calls the initial physical state data of the tilted hopper, calculates the difference between the preset full-load total stroke count value and the absolute position count value as the stroke margin value, and calculates the real-time remaining board material quantity based on the stroke margin value and the thickness value of a single PCB circuit board, thereby obtaining the real-time gravity load value of the stacked board material. The dynamic operation analysis module performs a mechanical vector decomposition operation based on the real-time gravity load value of the laminated sheet material and the tilt angle value to calculate the normal pressure component perpendicular to the inner wall of the hopper and the downward gravity component along the inclined surface of the hopper. The normal pressure component is combined with the sliding friction characteristic value to calculate the dynamic friction resistance value along the contact surface and obtain the dynamic operating impedance value of the lifting mechanism. The drive control command generation module performs conversion calculations based on the dynamic operating impedance value of the lifting mechanism, combined with the lead screw value and transmission efficiency value, to obtain the maintaining torque value required for the motor shaft end to maintain uniform speed operation, adjusts the output phase current value of the stepper motor driver, and generates anti-jamming torque and speed drive commands. The flexible positioning execution module uses the anti-jamming plate torque and speed drive command to send a pulse sequence to the stepper motor and control the coil current, driving the lifting pusher platform to push the PCB board up along the inclined plane with a torque that matches the real-time load characteristics. It monitors the position sensor signal of the material picking port located at the top of the hopper to obtain the flexible positioning state of the top board without overshoot.

[0014] Compared with the prior art, the advantages and positive effects of the present invention are as follows: In this invention, a physical load inversion model is constructed by using real-time stroke count values ​​and tilt angles to accurately calculate the gravity component and dynamic attenuation of friction damping caused by changes in the number of sheet materials. The changing mechanical impedance is mapped in real time to the minimum holding torque and safe pulse frequency of the motor. The amplitude of the drive current and the pulse transmission frequency are adjusted synchronously to eliminate the drive torque mismatch caused by load fluctuations. Sufficient power is provided to overcome static friction during the full load stage, and the output torque and acceleration are automatically suppressed during the low load stage. This ensures that the top sheet material reaches the picking position flexibly with a constant small contact force, effectively preventing overshoot jamming and sheet material extrusion deformation caused by excessive torque. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the steps of the present invention; Figure 2 This is a detailed schematic diagram of S1 of the present invention; Figure 3 This is a detailed schematic diagram of S2 of the present invention; Figure 4 This is a detailed schematic diagram of S3 of the present invention; Figure 5This is a detailed schematic diagram of S4 of the present invention; Figure 6 This is a detailed schematic diagram of S5 of the present invention; Figure 7 This is a block diagram of the plate feeding system of the present invention. Detailed Implementation

[0017] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0018] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0019] In the embodiments of this invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning. Similarly, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning.

[0020] In this embodiment of the invention, sometimes a subscript such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.

[0021] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0022] Please see Figure 1 This invention provides a top-loading stacked plate feeding method for anti-jamming plates, comprising the following steps: S1: Collect the tilt angle value of the hopper relative to the vertical plane, obtain the mass value of a single PCB circuit board and the inherent mass value of the lifting and pushing platform itself, monitor the real-time absolute position count value of the stepper motor driver, store multiple values ​​as initial input quantities into the controller storage unit, and obtain the initial physical state data of the tilted hopper. S2: Call the initial physical state data of the tilting hopper, calculate the stroke margin value between the preset full load total stroke count value and the absolute position count value, calculate the real-time remaining board material quantity based on the stroke margin value and the thickness value of a single PCB circuit board, combine the remaining board material quantity with the mass value of a single PCB circuit board and aggregate the inherent mass value of the lifting and pushing platform to obtain the real-time stacked board material gravity load value. S3: By using the real-time gravity load value of the stacked sheet material, and performing a mechanical vector decomposition operation based on the tilt angle value, the normal pressure component value perpendicular to the inner wall of the hopper and the downward gravity component value along the inclined surface of the hopper are calculated respectively. The normal pressure component value is combined with the sliding friction characteristic value to calculate the dynamic friction resistance value along the contact surface. The dynamic friction resistance value is combined with the downward gravity component value to obtain the dynamic operating impedance value of the lifting mechanism. S4: Based on the dynamic operating impedance value of the lifting mechanism, combined with the lead value of the lead screw and the transmission efficiency value, a conversion calculation is performed to obtain the minimum maintaining torque value required for the motor shaft end to maintain uniform speed operation. The peak safety pulse frequency value that matches the valley maintaining torque value is retrieved. At the same time, the output phase current value of the stepper motor driver is adjusted proportionally according to the valley maintaining torque value to avoid acceleration caused by excessive driving force in the low impedance state when the plate material is reduced, and an anti-plate jamming torque speed drive command is generated. S5: Using the anti-jamming plate torque speed drive command, a pulse sequence is sent to the stepper motor and the coil current is controlled to drive the lifting push plate platform to push the PCB board up along the inclined plane with the torque matched with the real-time load characteristics. The position sensor signal of the material picking port located at the top of the hopper is monitored. The pulse output is stopped the instant the sensor state flips, and the top board is obtained in a flexible and non-overshooting state. The initial physical state data of the tilting hopper includes stacking geometric parameters, physical constants of the contact interface, and reference coordinates of the mechanism's motion. The real-time gravity load values ​​of the stacked plates include the mass of the variable plates, the mass of the fixed mechanism, and the total vertical gravity value. The dynamic operating impedance values ​​of the lifting mechanism include mechanical friction, axial gravity component, and total load impedance torque. The anti-jamming torque and speed drive commands include dynamic current limiting settings, anti-step-out pulse frequency, and torque-frequency synchronization control information. The flexible positioning state of the top plate without overshoot includes zero-speed stop posture, micro-contact stress, and material picking alignment accuracy.

[0023] Please see Figure 2 The specific steps of S1 are as follows: S101: Collect the tilt angle value of the hopper relative to the vertical plane, obtain the mass value of a single PCB circuit board and the inherent mass value of the lifting and pushing platform itself, detect the sliding friction characteristics between the edge of the circuit board and the inner wall material of the hopper, scalarize multiple physical quantities and configure corresponding data tags, write the processed multiple parameters into the parameter configuration register of the controller according to the preset memory address allocation information, and establish a static structural physical parameter set. The system performs parameterized calibration for the physical environment of the tilted silo. It acquires numerical data on the silo's tilt angle relative to the vertical plane using an industrial-grade MEMS high-precision dual-axis tilt sensor (e.g., model SCA103T). The sensor transmits real-time tilt angle data to the controller via an RS485 bus at a frequency of 100Hz. The controller receives the 16-bit hexadecimal raw data (e.g., 0x03E8) output by the sensor, converts it to a decimal value of 1000 according to the sensor communication protocol, and calculates the value using a preset resolution coefficient of 0.01 degrees / digit. The calculated actual physical tilt angle is 10.00°. Regarding the mass of a single PCB board, before production implementation, a precision electronic balance with an accuracy of 0.01g was used to weigh a standard sample multiple times, and the average value was obtained, yielding a single PCB mass of 0.35 kg. Regarding the inherent mass of the lifting and pushing platform itself, by consulting the mechanical design BOM and the material density parameters of each component, and through physical weighing verification, the total mass of the platform assembly was determined to be 4.50 kg. Regarding the sliding friction characteristics between the PCB edge and the inner wall of the hopper, under standard constant... In a temperature-controlled laboratory environment, a digital push-pull force gauge was used to measure the dynamic friction between the PCB substrate (e.g., FR-4 material) and the inner wall of the hopper (e.g., polished 304 stainless steel). The dynamic friction coefficient was obtained by combining the positive pressure with the negative pressure. Subsequently, the controller performed scalarization processing on the above physical quantities, converting the angle value, mass value, and friction coefficient into a 32-bit floating-point number format conforming to the IEEE 754 standard, and configuring corresponding data tags, which were defined as "Angle_Tilt", "Mass_PCB", "Mass_Plat", and "Coef_Fric" respectively. According to the preset memory address allocation information, the controller sequentially wrote the processed parameters into the controller's parameter configuration register. For example, "Angle_Tilt" was written to address 0x2000, "Mass_PCB" to address 0x2004, "Mass_Plat" to address 0x2008, and "Coef_Fric" to address 0x200C, thus establishing a static structural physical parameter set. Table 1 shows the initial static physical parameter configuration in the embodiment. Table 1: Static Physical Parameter Configuration Table

[0024] As shown in Table 1, the above steps complete the digital definition and address mapping of key static physical quantities, providing accurate basic constants for subsequent dynamic calculations.

[0025] S102: Using the static structure physical parameter set, establish a real-time communication link between the controller and the stepper motor driver, monitor the pulse accumulation data in the encoder feedback register inside the driver, read the absolute position count value representing the rotation angle of the motor shaft end, perform a numerical formatting operation on the absolute position count value to adapt to the controller protocol, and combine and encapsulate the formatted value with the driver status flag bit to obtain the real-time position and posture feedback data of the motor. The controller (employing a high-performance motion controller based on the ARM Cortex-M7 core) establishes a real-time communication link with the stepper motor driver via an EtherCAT industrial Ethernet bus. The communication cycle is strictly set to 1 millisecond to ensure high real-time data performance. Within each communication cycle, the controller accesses the driver's object dictionary and monitors the driver's internal encoder feedback register (object dictionary index 0x6064, PositionActualValue) in real time. It reads the absolute position count value representing the motor shaft end rotation angle. This value is a 32-bit signed integer, for example, at a certain sampling moment. The original pulse count value read is 120,000 pulses. In order to adapt to the floating-point unit inside the controller, the controller performs a numerical formatting operation on the read absolute position count value, converting the original integer pulse number fed back by the driver into a double-precision floating-point number. By reading the driver's status word (index 0x6041, Statusword), the controller extracts the status of key flag bits such as "voltage enable", "fault alarm", and "target position reached". The controller combines and encapsulates the formatted position value (120,000.0) with the parsed driver status flag bits (e.g., 0x0237) to obtain the real-time position and posture feedback data of the motor.

[0026] S103: Call the real-time posture feedback data of the motor, map the static parameters to the non-volatile storage block of the controller, perform timestamp alignment and index association of all parameters according to the preset data structure protocol, build a globally unified physical model input interface, and obtain the initial physical state data of the tilted hopper. The location information and static parameters are mapped together to the controller's non-volatile storage block (such as FRAM ferroelectric memory) to ensure that data is not lost in the event of an unexpected power failure. According to the preset data structure protocol, all parameters are timestamped and indexed. The controller has a high-precision microsecond-level timer that timestamps the feedback data at the moment it is collected (e.g., Timestamp: 3450020us) to eliminate timing errors caused by communication delays. At the same time, an index association is established to bind the current motor position 120000 pulses with the current static parameters (e.g., the current batch of PCB weight 0.35kg) to build a globally unified physical model input interface. Through this interface, the three-dimensional state vector containing "time-position-load attributes" can be retrieved at any time to obtain the initial physical state data of the tilting hopper.

[0027] Please see Figure 3 The specific steps of S2 are as follows: S201: Call the initial physical state data of the tilting hopper, extract the real-time absolute position count value uploaded by the stepper motor driver and the hopper full-load total stroke threshold preset by the controller, perform numerical subtraction operation on the absolute position count value and the full-load total stroke threshold, calculate the displacement difference between the real-time coordinate point of the lifting push plate platform and the mechanical limit point, and unify the displacement difference into the pulse count format of the motor control domain, quantify the remaining available motion range of the lifting mechanism under real-time working conditions, and generate the stroke remaining pulse value; Extract the real-time absolute position count value uploaded by the stepper motor driver (e.g., the current value is 120,000 pulses). Simultaneously, extract the controller's preset threshold for the total full-load stroke of the hopper. The threshold setting process is as follows: Given that the effective stacking height of the hopper is 600 mm, the lead screw of the transmission mechanism is 10 mm / rpm, and the motor driver microstepping is set to 10,000 pulses / rpm, the total number of pulses corresponding to a 600 mm stroke is calculated to be 600 / 10 x 10,000 = 600,000 pulses. Therefore, set 600,000 as the total full-load stroke. The threshold is calculated by subtracting the absolute position count from the full-load total stroke threshold to determine the displacement difference between the real-time coordinates of the lifting platform and the mechanical limit point. The calculation process is: 600000 - 120000 = 480000 pulses. This result of 480000 pulses is the displacement difference. This difference is then standardized into the pulse count format of the motor control domain. The remaining available physical space above the hopper when the lifting mechanism is at the current position of 120000 pulses is quantified, and the remaining stroke pulse value is 480000.

[0028] S202: Based on the remaining pulse value of the stroke and the recorded thickness specification of a single PCB board, the thickness specification of a single PCB board is converted into the corresponding motor stepping pulse equivalent according to the lead screw. A division operation is performed on the remaining pulse value and the pulse equivalent to discretize the continuous stroke signal into the layer index of the stacked board. The rounding logic is applied to eliminate the error caused by the transmission gap, and the number of physical workpieces remaining in the real-time hopper is calibrated to obtain the real-time inventory value of the board to be retrieved. Based on the recorded thickness specifications of a single PCB board, such as 1.6 mm, the thickness of the single PCB board is converted into the corresponding motor stepping pulse equivalent according to the lead screw pitch. The calculation process is as follows: a lead screw pitch of 10 mm corresponds to 10,000 pulses, therefore 1 mm corresponds to 1,000 pulses, and 1.6 mm corresponds to... The pulse, specifically the pulse equivalent for a single sheet thickness, is 1600. A division operation is performed between the remaining pulse value of 480000 and the pulse equivalent of 1600: The calculation discretizes the continuous travel signal into the layer index of the stacked board. In actual working conditions, there are small transmission gaps or measurement errors. If the calculation result is a decimal (e.g., 300.2), the error caused by the transmission gap is eliminated by applying the round-down logic. The number of solid workpieces retained in the real-time silo is calibrated to be 300 sheets, thereby obtaining the real-time inventory value of the board to be taken as 300.

[0029] S203: Using the real-time inventory value of the board material to be retrieved, the mass measurement value of a single PCB circuit board and the inherent structural mass value of the lifting and pushing platform are retrieved. The inventory value and the single mass measurement value are multiplied and multiplied to obtain the dynamically changing total mass of the material. The total mass of the material is linearly superimposed with the inherent structural mass value of the platform to obtain the real-time gravity load value of the stacked board material. The recorded mass of a single PCB circuit board (0.35 kg) and the inherent structural mass of the lifting and pushing platform (4.50 kg) are retrieved. The total mass of the dynamically changing materials is calculated by multiplying the existing mass values ​​with the single-board mass values. The formula is as follows: The total mass of the material, 105.0 kg, is linearly superimposed with the platform's inherent structural mass, 4.50 kg. The kilogram indicates that the total vertical mass that the motor needs to overcome at the current moment is 109.5 kilograms, which is the real-time gravity load value of the laminated sheet material.

[0030] Please see Figure 4 The specific steps of S3 are as follows: S301: Call the real-time gravity load value of the laminated sheet material, retrieve the tilt angle parameter of the hopper relative to the vertical plane, establish a spatial projection model of the gravity load, map the gravity load value in the vertical direction to the normal direction of the inner wall of the hopper and the tangent direction of the inclined plane respectively, calculate the normal extrusion component perpendicular to the contact surface and the sliding component parallel to the motion trajectory, orthogonally encapsulate the mechanical data in the two dimensions, and generate the orthogonal decomposition component of the gravity vector. The calculated real-time gravity load value of the laminated sheet material is 109.5 kg, which is then converted into a gravity value (using standard gravitational acceleration). ),Right now Newton, with the hopper's tilt angle parameter of 10.00° relative to the vertical plane, establish a spatial projection model of the gravity load, mapping the vertical gravity load values ​​to the normal direction of the hopper's inner wall and the tangent direction of the inclined plane, respectively, and calculate the normal extrusion component perpendicular to the contact surface. Perform cosine operations. Newton, calculate the sliding component parallel to the trajectory along the path. Perform sine calculation. Newton orthogonally encapsulated the mechanical data in these two dimensions, with the normal component being 1056.79 N and the tangential component being 186.29 N. He decomposed the single force of gravity into two components that have different effects on motion, accurately describing the mechanical distribution under tilted conditions and generating orthogonal decomposition components of the gravity vector.

[0031] S302: Based on the orthogonal decomposition of the gravity vector, extract the normal extrusion component data. Based on the recorded sliding friction characteristic values ​​between the edge of the circuit board and the inner wall material, perform a product operation on the normal extrusion component data and the sliding friction characteristic values ​​to quantify the nonlinear damping effect generated by the lateral contact during the upward movement of the board stack and obtain the sliding friction resistance value of the contact surface. The extracted normal extrusion component data is 1056.79 Newtons, based on the recorded sliding friction characteristics (coefficient of friction) between the circuit board edge and the inner wall material. =0.15), perform a product operation on the normal extrusion component data and the sliding friction characteristic value to calculate the sliding friction force. Newton, numerically quantified, the lateral contact nonlinear damping effect generated by the gravitational component pressing the inner wall of the hopper during the rising of the sheet metal stack, the sliding friction resistance value of the contact surface is obtained as 158.52 Newtons.

[0032] S303: Call the sliding friction resistance value of the contact surface. Based on the upward motion vector direction of the lifting platform, determine that the gravity component and friction resistance along the inclined plane are both load sources in the same direction of operation. Perform scalar summation on the two to aggregate the total reverse force at the end of the mechanical transmission chain and generate the dynamic operating impedance value of the lifting mechanism. Based on the upward motion vector direction of the lifting platform, the gravitational component (186.29 Newtons) and frictional resistance (158.52 Newtons) along the inclined plane are determined to be load sources in the same direction (i.e., both are in the same direction and both oppose upward motion). A scalar summation operation is performed on both to aggregate the total opposing force at the end of the mechanical transmission chain. The result is the dynamic operating impedance value of the lifting mechanism, indicating that the motor needs to output power capable of overcoming an axial load of at least 344.81 Newtons. Table 2 lists the calculation example data of the mechanical model in the steps. Table 2: Results of Dynamic Load Mechanics Calculation

[0033] As shown in Table 2, the total mechanical impedance under the current working condition was accurately obtained through layer-by-layer analysis, providing a quantitative basis for the precise control of motor torque.

[0034] Please see Figure 5 , The specific steps are as follows: S401: Based on the dynamic operating impedance value of the lifting mechanism, the recorded lead screw parameters and mechanical transmission efficiency coefficient are called to perform rotational domain mapping on the mechanical impedance in the linear direction, calculate the theoretical lower limit torque required for the stepper motor output shaft to maintain uniform rotation under the condition of overcoming real-time damping, and use the theoretical lower limit torque as the benchmark quantitative index of dynamic load to obtain the low valley maintenance torque value of the motor shaft end. The recorded lead screw parameter P = 10 meters (i.e., 0.01 meters) and mechanical transmission efficiency coefficient are retrieved. (Considering the combined efficiency of the lead screw and guide rail, a typical value of 0.9 is taken), the mechanical impedance in the linear direction is mapped in the rotational domain, and the theoretical lower limit torque required for the stepper motor output shaft to maintain uniform rotation under real-time damping is calculated. The calculation process performs the following operations: Substitute the values ​​into the calculation: Newton-meter (N·m) was used as the theoretical lower limit torque of 0.61 N·m as the benchmark quantification index for dynamic load. The results showed that the motor output torque must be greater than 0.61 N·m to drive the load to rise. The mechanical requirements of linear motion were converted into the torque requirements of a rotating motor, completing the parameter conversion from the mechanical domain to the motor domain, and obtaining the low-valley sustaining torque value of the motor shaft end.

[0035] S402: Using the low-valley sustaining torque value at the motor shaft end, the highest commutation frequency boundary allowed by the torque value is retrieved, and the boundary frequency is corrected in combination with the preset safety margin factor to determine the upper limit of the pulse transmission rate that the motor can maintain synchronous operation and magnetic field lock under real-time torque load, and obtain the peak safe operating pulse frequency value. Searching the motor's torque-frequency characteristic curve database, assuming the selected stepper motor (such as the NEMA23 series) has a maximum usable speed of 600 rpm under a 0.61 N·m load, to ensure operational stability, the boundary frequency is corrected using a preset safety margin factor (e.g., 0.7, i.e., retaining a 30% torque margin). The corrected maximum speed is: Converting rotational speed to pulse frequency: Given that the number of pulses per revolution of the motor is 10,000 after microstepping by the driver, the frequency calculation formula is: Therefore, the upper limit of the pulse transmission rate at which the motor can maintain synchronous operation and magnetic field lock under real-time torque load is determined, and the peak safe operating pulse frequency value is obtained as 70000Hz (i.e. 70kHz).

[0036] S403: Based on the peak safe operating pulse frequency value, combined with the rated current parameters and torque constant of the stepper motor driver, perform linear scaling calculation to determine the real-time excitation current intensity required by the phase winding, set the current intensity to the target value that matches the real-time load and suppresses the residual torque, perform digital quantization calibration on the power transistor conduction duty cycle parameter of the driver output stage, and generate load-adaptive phase current adjustment value. Combining the rated current parameters of the stepper motor driver (e.g., 4.0 Ampers) and the torque constant (e.g., 0.5 N·m / A, for a simplified linear model reference), a linear scaling operation is performed to determine the real-time excitation current intensity required for the phase winding. The target holding torque is 0.61 N·m. To suppress residual torque (prevent overshoot) and match the load, the target torque must include a certain safety factor (set to 1.2). The required current can be calculated by working backward from the torque constant: (Here, 0.9 is the current efficiency factor), or adjust directly according to the rated parameters: assuming the motor's maximum holding torque is 2.0 N·m corresponding to 4.0 A, and the real-time required torque is 0.732 N·m, The current intensity is set to 1.5 amps (rounded down for optimization). The duty cycle parameter of the power transistor in the output stage of the driver is digitally quantized and calibrated to generate a load-adaptive phase current adjustment value of 1.5A. By reducing the drive current, the motor output torque is made just enough to meet the lifting requirements, avoiding excessive torque and heat caused by "over-powered motor". At the same time, the motor is more likely to stop out of step when mechanical jamming occurs, which plays a protective role. The load-adaptive phase current adjustment value is generated.

[0037] S404: Calls the load adapter phase current adjustment value, encodes and encapsulates the frequency and current parameters according to the communication protocol format of the stepper motor driver, constructs a real-time control sequence including speed control word and torque limit word, and generates anti-jamming torque and speed drive instructions. Based on the communication protocol format of the stepper motor driver (such as the CiA402 driver configuration protocol), the frequency parameters (corresponding to the TargetVelocity object, index 0x60FF) and current parameters (corresponding to the MaxCurrent object, index 0x6073) are encoded and encapsulated to construct a real-time control sequence, which includes a speed control word (setting the operating mode to ProfileVelocityMode and setting the acceleration / deceleration time constant) and a torque limit word. The instruction packet is a set of hexadecimal data streams conforming to the bus specification, ready to be sent to the driver for execution. The physical layer calculation results are converted into low-level control code that the driver can recognize, realizing the digital implementation of the control strategy and generating anti-jamming torque and speed drive instructions.

[0038] Please see Figure 6 The specific steps of S5 are as follows: S501: It adopts anti-jamming torque and speed drive command, writes the parsed phase current adjustment value into the current loop control register of the driver, adjusts the real-time excitation intensity of the stator coil, and loads the safety pulse frequency value into the pulse generation unit of the controller to control the stepper motor output electromagnetic torque that is strictly balanced with the real-time mechanical impedance, drives the lifting pusher platform to push the PCB board to overcome the gravity component of the inclined plane and frictional resistance to perform the upward action, and establishes the load flexible upward action flow; The resolved phase current adjustment value (1.5A) is written into the current loop control register of the driver via the communication bus. After receiving the instruction, the driver instantly adjusts the real-time excitation intensity of the stator coil, changing it from the standby current or rated current to the load matching current (1.5A). At the same time, the safety pulse frequency value (70kHz) is loaded into the pulse generation unit (PWM generator) of the controller. The controller controls the stepper motor to output an electromagnetic torque that is strictly balanced with the real-time mechanical impedance (approximately 0.73N·m, including safety margin), driving the lifting and pushing platform to push the PCB board to overcome the gravity component of the inclined plane and frictional resistance to perform the upward movement. At this time, the motor is in a "flexible" drive state. Because the driving torque is highly matched with the load impedance, the motor runs smoothly and eliminates the risk of mechanical shock caused by excessive torque, ensuring the stability of the board's posture during the upward process and establishing a flexible upward movement flow for the load.

[0039] S502: For the load flexible rising motion flow, start the high-frequency polling scan task of the position sensor of the material picking port at the top of the hopper, collect the real-time photoelectric switching signal of the sensor and perform de-jitter filtering, compare the processed signal state with the preset trigger logic level in real time, and immediately activate the stop logic when the signal state is determined to be reversed, and generate the material picking zero point trigger interrupt signal. A high-frequency polling scan of the material hopper top position sensor (e.g., slotted photoelectric switch or reflective fiber optic sensor) is initiated, with the scan frequency set to 5kHz (i.e., one detection every 200 microseconds). The controller acquires the real-time photoelectric switch signal from the sensor and performs de-jitter filtering: only when the same signal flip state is detected three times consecutively (e.g., three consecutive cycles of reading low level) is the state change confirmed as valid, thus filtering out electrical noise interference. The processed signal state is compared in real time with the preset trigger logic level (e.g., from "light-through" high level to "light-blocking" low level). When the signal state flips (i.e., the top surface of the plate just blocks the light beam), the stop logic is immediately activated. Through high-frequency sampling and digital filtering, extremely high response speed and accuracy of material hopper position detection are ensured, and a material hopper zero-point trigger interrupt signal is generated.

[0040] S503: Based on the zero-point trigger interrupt signal for material picking, perform a hardware-level pulse output blocking operation to cut off the drive source of the stepper motor. Utilize the low-phase current characteristics after real-time dynamic adjustment to make the motor rotor converge to a stationary state under extremely low inertia, eliminate the board position deviation caused by mechanical overshoot, determine the position of the PCB board and the material picking mechanism, and establish a flexible positioning state for the top board without overshoot. The hardware-level pulse output blocking operation is executed, directly controlling the controller's timer register to stop the PWM output and cut off the stepper motor's drive source. Utilizing the low phase current characteristic (1.5A instead of the rated 4.0A) after real-time dynamic adjustment in the S501, the electromagnetic locking force of the motor rotor is small, and the running speed is already within the safe range. In this state, the motor rotor, under extremely low inertia, quickly converges to a stationary state within 1-2 pulse equivalents. Since the motor output torque is in close balance with the load gravity and friction torque, when the drive source is cut off, the load's own gravity component and friction resistance assist the rotor in braking quickly, eliminating the mechanical overshoot (overshoot can reach dozens of pulses) caused by traditional high-current, high-torque drives. This accurately determines the position of the PCB board and the picking mechanism, establishing a flexible positioning state for the top board without overshoot.

[0041] Please see Figure 7 The anti-jamming top-loading stacked plate feeding system includes: The initial state parameter acquisition module collects the tilt angle value of the hopper relative to the vertical plane, obtains the mass value of a single PCB circuit board and the inherent mass value of the lifting and pushing platform itself, monitors the real-time absolute position count value of the stepper motor driver, and stores multiple values ​​as initial input quantities into the controller storage unit to construct the initial physical state data of the tilted hopper. The load calculation module calls the initial physical state data of the tilted hopper, calculates the difference between the preset full-load total stroke count value and the absolute position count value as the stroke margin value, and calculates the real-time remaining board material quantity based on the stroke margin value and the thickness value of a single PCB circuit board, thus obtaining the real-time gravity load value of the stacked board material. The dynamic operation analysis module calculates the normal pressure component perpendicular to the inner wall of the hopper and the downward gravity component along the inclined surface of the hopper by performing mechanical vector decomposition based on the real-time gravity load value of the stacked plate material and the tilt angle value. The normal pressure component value is combined with the sliding friction characteristic value to calculate the dynamic friction resistance value along the contact surface and obtain the dynamic operating impedance value of the lifting mechanism. The drive control command generation module performs conversion calculations based on the dynamic operating impedance value of the lifting mechanism, combined with the lead screw value and transmission efficiency value, to obtain the maintaining torque value required for the motor shaft end to maintain uniform speed operation, adjusts the output phase current value of the stepper motor driver, and generates anti-jamming torque and speed drive commands. The flexible positioning execution module uses the anti-jamming plate torque and speed drive command to send a pulse sequence to the stepper motor and control the coil current. This drives the lifting and pushing platform to push the PCB board along the inclined plane with a torque that matches the real-time load characteristics. The module monitors the position sensor signal of the material inlet located at the top of the hopper to obtain the flexible positioning state of the top board without overshoot.

[0042] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A non-jamming top pick-up type sheet stacking method, characterized by, The method comprises the following steps: S1: Collecting the inclination angle value of the silo relative to the vertical plane, obtaining the mass value of a single PCB circuit board and the inherent mass value of the lifting push plate platform, monitoring the real-time absolute position count value of the stepper motor driver, and obtaining the initial physical state data of the inclined silo; S2: Calling the initial physical state data of the inclined silo, calculating the stroke margin value between the preset full load total stroke count value and the absolute position count value, calculating the real-time remaining board material quantity according to the stroke margin value and the thickness value of the single PCB circuit board, and obtaining the real-time stacked board gravity load value; S3: According to the real-time stacked board gravity load value, performing mechanical vector decomposition operation according to the inclination angle value, respectively calculating the normal pressure component value perpendicular to the inner wall of the silo and the sliding gravity component value along the inclined surface direction of the silo, and obtaining the dynamic running impedance value of the lifting mechanism; S4: Based on the dynamic running impedance value of the lifting mechanism, combined with the lead value of the screw and the transmission efficiency value, performing conversion operation to obtain the minimum maintenance torque value required for the motor shaft end to maintain uniform speed running, searching for the peak safety pulse frequency value matched with the trough maintenance torque value, and generating the anti-stuck board torque speed driving instruction.

2. The upper-taken layer-stacking sheet feeding method according to claim 1, wherein The initial physical state data of the inclined silo includes stacking geometric parameters, contact interface physical constants, and mechanism motion reference coordinates. The real-time stacked board gravity load value includes variable board mass, fixed mechanism mass, and vertical gravity total value. The dynamic running impedance value of the lifting mechanism includes mechanical friction, axial gravity component, and total load impedance torque. The anti-stuck board torque speed driving instruction includes dynamic current limiting setting value, anti-out-of-sync pulse frequency, and torque frequency synchronization control information.

3. The method according to claim 1, wherein The specific steps of S1 are as follows: S101: Collecting the inclination angle value of the silo relative to the vertical plane, obtaining the mass value of a single PCB circuit board and the inherent mass value of the lifting push plate platform, detecting the sliding friction characteristic value between the circuit board edge and the inner wall material of the silo, performing scalar processing on multiple physical quantities and configuring corresponding data tags, writing the processed multiple parameters into the parameter configuration register of the controller according to the preset memory address allocation information, and establishing a static structure physical parameter set; S102: Using the static structure physical parameter set, establishing a real-time communication link between the controller and the stepper motor driver, monitoring the pulse accumulation data in the encoder feedback register inside the driver, reading the absolute position count value representing the motor shaft end rotation angle, performing value formatting operation on the absolute position count value to adapt to the controller protocol, and combining and packaging the formatted value with the driver state flag bit to obtain the real-time pose feedback data of the motor; S103: Calling the real-time pose feedback data of the motor, mapping the static parameters to the non-volatile storage block of the controller, aligning the time stamp of all parameters according to the preset data structure protocol and associating the index, constructing a globally unified physical model input interface, and obtaining the initial physical state data of the inclined silo.

4. The method according to claim 3, wherein The specific steps of S2 are as follows: S201: Call the initial physical state data of the inclined bin, extract the real-time absolute position count value uploaded by the stepping motor driver and the bin full total stroke threshold value preset by the controller, perform numerical subtraction operation on the absolute position count value and the full load total stroke threshold value, calculate the displacement difference between the real-time coordinate point of the lifting push plate platform and the mechanical limit point, and unify the displacement difference into pulse count format in the motor control domain, quantify the remaining available motion interval of the lifting mechanism under real-time working condition, and generate stroke remaining pulse value; S202: Based on the stroke remaining pulse value, combine the recorded single PCB circuit board thickness specification, convert the single PCB circuit board thickness specification into corresponding motor stepping pulse equivalent according to the lead screw lead, perform division operation on the remaining pulse value and the pulse equivalent, discretize and convert the continuous stroke signal into the number of layers of the laminated board, apply the rounding logic to eliminate the error caused by the transmission gap, calibrate the remaining number of real-time bin internal physical workpieces, and obtain the real-time inventory value of the to-be-taken board material; S203: Use the real-time inventory value of the to-be-taken board material to call the mass measurement value of the single PCB circuit board and the inherent structural mass value of the lifting push plate platform, perform multiplication operation on the inventory value and the single mass measurement value to obtain the dynamically changing total mass of the material, perform linear superposition operation on the total mass of the material and the platform inherent structural mass value to obtain the real-time laminated board gravity load value.

5. The method according to claim 4, wherein The specific steps of S3 are: S301: Call the real-time laminated board gravity load value, retrieve the inclination angle parameter of the bin relative to the vertical plane, establish a space projection model of the gravity load, map the vertical gravity load value to the normal direction of the bin inner wall and the tangent direction of the inclined plane respectively, calculate the normal extrusion component perpendicular to the contact surface and the along-the-way sliding component parallel to the motion trajectory, orthogonalize and package the mechanical data in two dimensions, and generate the gravity vector orthogonal decomposition component; S302: According to the gravity vector orthogonal decomposition component, extract the normal extrusion component data, according to the recorded sliding friction characteristic value between the circuit board edge and the inner wall material, perform multiplication operation on the normal extrusion component data and the sliding friction characteristic value, quantify the nonlinear damping effect of the board material stack in the rising process due to lateral contact, and obtain the contact surface sliding friction impedance value; S303: Call the contact surface sliding friction impedance value, according to the upward motion vector direction of the lifting platform, determine that the gravity component along the inclined plane and the friction resistance are both same-direction load sources, perform scalar summation operation on the two, aggregate the total reverse force at the end of the mechanical transmission chain, and generate the dynamic running impedance value of the lifting mechanism.

6. The method according to claim 5, wherein The specific steps of S4 are: S401: Based on the dynamic running impedance value of the lifting mechanism, call the recorded lead screw lead parameter and mechanical transmission efficiency coefficient, perform rotational domain mapping on the linear direction mechanical impedance, calculate the theoretical lower limit torque required for the stepping motor output shaft to maintain uniform rotation under the condition of overcoming the real-time damping state, take the theoretical lower limit torque as the benchmark quantitative index of dynamic load, and obtain the motor shaft end trough maintenance torque value; S402: Adopt the motor shaft end trough maintenance torque value, retrieve the highest commutation frequency boundary allowed by the torque value, and correct the boundary frequency in combination with a preset safety margin factor to determine the upper limit of the pulse sending rate at which the motor can maintain synchronous operation and field locking under real-time torque load, and obtain a peak safety operation pulse frequency value; S403: According to the peak safety operation pulse frequency value, in combination with the rated current parameter and torque constant of the stepper motor driver, a linear scaling operation is performed to determine the real-time excitation current intensity required by the phase winding, the current intensity is set as a target value that matches the real-time load and suppresses the residual torque, the power tube conduction duty cycle parameter of the driver output stage is digitally quantized and calibrated to generate a load-adapted phase current adjustment value; S404: Call the load-adapted phase current adjustment value, encode and package the frequency parameter and the current parameter according to the communication protocol format of the stepper motor driver, construct a real-time control sequence including a speed control word and a torque limit word, and generate a anti-stuck plate torque speed drive instruction.

7. The upper-take-out type sheet stacking method according to claim 6, wherein The safety margin factor is defined as a pre-stored dimensionless constant interval value, which is between 1 and 2, and the dimensionless constant interval value is discretely selected with a fixed step, and the highest commutation frequency boundary allowed by the torque value is proportionally corrected; The linear scaling operation is defined as a one-to-one proportional relationship established based on the rated current parameter of the stepper motor driver and the torque constant, which maps the peak safety operation pulse frequency value in an interval, and the mapping result is limited within the upper and lower limits of the rated current parameter of the stepper motor driver; The digital quantization calibration of the power tube conduction duty cycle parameter is defined as look-up table mapping using a fixed resolution duty cycle quantization table, the fixed resolution is an integer division value of the internal clock period of the driver, and the load-adapted phase current adjustment value corresponds to a unique duty cycle encoding value.

8. The method according to claim 1, wherein The method further comprises the S5 step: S5: Use the anti-stuck plate torque speed drive instruction to send a pulse sequence to the stepper motor and control the coil current, drive the lifting push plate platform to match the torque of the real-time load characteristic of the PCB board along the inclined plane, monitor the material taking port position sensor signal at the top of the stock bin, stop pulse output at the instant of sensor state flip, and obtain a top layer board without overshoot flexible in-place state; The top layer board without overshoot flexible in-place state includes zero speed stop pose, micro contact stress, and material taking alignment accuracy.

9. The method according to claim 8, wherein The specific steps of S5 are: S501: Use the anti-stuck plate torque speed drive instruction to write the analyzed phase current adjustment value into the current loop control register of the driver, modulate the real-time excitation intensity of the stator coil, simultaneously load the safety pulse frequency value to the pulse generation unit of the controller, control the stepper motor to output an electromagnetic torque that is strictly balanced with the real-time mechanical impedance, drive the lifting push plate platform to push the PCB board to overcome the gravity component and friction resistance of the inclined plane to perform the lifting action, and establish a load flexible lifting action flow; S502: For the load flexible rising action flow, start high-frequency polling scan task of the silo top material taking port position sensor, collect real-time photoelectric switch signal of the sensor and perform debouncing filter processing, compare the processed signal state with preset trigger logic level in real time, activate stop logic immediately when signal state inversion is determined, and generate material taking zero point trigger interrupt signal; S503: According to the material taking zero point trigger interrupt signal, perform pulse output blocking operation at the hardware level, cut off the driving source of the stepper motor, use the low phase current characteristic after real-time dynamic adjustment, make the motor rotor converge to the static state under extremely low inertia, eliminate the position deviation of the board caused by mechanical overshoot, determine the position of the PCB board and the material taking mechanism, and establish the top board without overshoot flexible positioning state.

10. An upper-takeout type sheet stacking and sheet feeding system of a jam-preventing sheet feeder, characterized by The board feeding system is used to realize the anti-blocking upper material taking type laminated board feeding method of any one of claims 1-9, and the board feeding system comprises: An initial state parameter acquisition module acquires the inclination angle value of the silo relative to the vertical plane, obtains the mass value of a single PCB circuit board and the inherent mass value of the lifting push plate platform, monitors the real-time absolute position count value of the stepper motor driver, stores multiple values as initial input values in the controller storage unit, and constructs the initial physical state data of the inclined silo; A load calculation module calculates the difference between the preset full load total stroke count value and the absolute position count value as a stroke margin value, calculates the real-time remaining board material quantity according to the stroke margin value and the thickness value of a single PCB circuit board, and obtains a real-time laminated board gravity load value; A dynamic running analysis module performs mechanical vector decomposition operation according to the inclination angle value through the real-time laminated board gravity load value, respectively calculates the normal pressure component value perpendicular to the inner wall of the silo and the sliding gravity component value along the silo inclined surface, calculates the dynamic friction resistance value along the contact surface by combining the normal pressure component value and the sliding friction characteristic value, and obtains the dynamic running impedance value of the lifting mechanism; A drive control instruction generation module performs conversion operation based on the dynamic running impedance value of the lifting mechanism, combines the screw lead value and the transmission efficiency value, obtains the maintenance torque value required for the motor shaft end to maintain uniform speed running, adjusts the output phase current value of the stepper motor driver, and generates anti-blocking torque speed drive instructions; A flexible positioning execution module uses the anti-blocking torque speed drive instructions to send pulse sequences to the stepper motor and control the coil current, drives the lifting push plate platform to match the torque of the real-time load characteristic, drives the PCB board to rise along the inclined surface, monitors the material taking port position sensor signal at the top of the silo, and obtains the top board without overshoot flexible positioning state.

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