Multi-station parallel operation method and system for die-cutting machine

Abstract

The invention discloses a die-cutting machine multi-station parallel operation method and system, and relates to the technical field of multi-mechanism synchronous control, the method comprises the following steps: at least two processing modules with independent functions are arranged side by side along a material conveying path, and each module executes different processes; a synchronous cooperation mechanism is configured according to the station space-time relation of the machining modules so as to control the material conveying position and module machining parameters; and then a station parallel control instruction is generated, stepping conveying of the materials is controlled, module circulation machining is conducted, and finally continuous integration operation of multiple procedures is completed in the single material stroke. The technical problem that an existing control scheme is difficult to balance operation efficiency, machining precision and multi-product adaptability in a multi-process cooperative machining scene is solved, and the technical effects of improving production efficiency and machining precision, enhancing multi-product adaptability and guaranteeing operation safety and stability in multi-process continuous operation are achieved.

Description

Technical Field

[0001] This invention relates to the field of multi-mechanism synchronous control technology, and in particular to a method and system for multi-station parallel operation of a die-cutting machine. Background Technology

[0002] In die-cutting, continuous multi-station operation is key to improving production efficiency, and the industrial control system, as a crucial support, directly impacts processing accuracy and flexibility. Currently, die-cutting machines often employ a serial station layout or a simple parallel design, coupled with conventional control methods to achieve process execution. These solutions are effective in single-process or low-cycle production, but as production requirements upgrade, limitations become apparent when applied to multi-station collaborative scenarios: traditional industrial control systems struggle to adapt to the spatiotemporal constraints of multiple modules, suffer from insufficient synchronization accuracy, and lack dynamic positioning correction and rapid changeover adaptation mechanisms. This results in low processing efficiency, error accumulation, and a missing data feedback loop, making it difficult to meet the high-efficiency, high-precision, and flexible production demands of die-cutting. Summary of the Invention

[0003] This application provides a method and system for multi-station parallel operation of a die-cutting machine, which solves the technical problem that existing control schemes are difficult to balance in multi-process collaborative processing scenarios, such as operation efficiency, processing accuracy and multi-product adaptability.

[0004] The first aspect of this application provides a method for multi-station parallel operation of a die-cutting machine. The method includes: setting at least two functionally independent processing modules side-by-side along a material conveying path, wherein each processing module is used to perform different processing steps on the material; configuring a synchronization and coordination mechanism between the processing modules according to the spatiotemporal relationship of the workstations, wherein the synchronization and coordination mechanism is used to control the material conveying position and control the processing parameters of each processing module; generating a workstation parallel control command according to the synchronization and coordination mechanism, controlling the material conveying system to position the material below a processing module, synchronously triggering the current processing module to perform processing actions, and controlling the material conveying system to step-transfer the material to the next processing module after the processing action of the current processing module is completed, and cyclically circulating the module workflow process, thereby completing a continuous integrated operation of multiple processes in a single material travel.

[0005] A second aspect of this application provides a multi-station parallel operation system for a die-cutting machine. The system includes: a processing module setting module, used to set at least two functionally independent processing modules in parallel along a material conveying path, wherein each processing module is used to perform different processing steps on the material; a synchronization and coordination mechanism construction module, used to configure a synchronization and coordination mechanism between the processing modules according to the spatiotemporal relationship of the workstations, wherein the synchronization and coordination mechanism is used to control the material conveying position and control the processing parameters of each processing module; and a workstation parallel control command acquisition module, used to generate workstation parallel control commands according to the synchronization and coordination mechanism, control the material conveying system to position the material below a processing module, synchronously trigger the current processing module to perform processing actions, and after the processing action of the current processing module is completed, control the material conveying system to step-transfer the material to the next processing module, and cycle the module workflow process to complete the continuous integrated operation of multiple processes in a single material travel.

[0006] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0007] This application achieves continuous processing of multiple processes in a single stroke by rationally arranging multiple functionally independent processing units and configuring a collaborative control method. It combines unified cycle synchronization, dynamic position correction, anomaly protection, and quality feedback adjustment, while also adapting to the pre-configuration and rapid recall of multiple product parameters. This results in improved production efficiency and processing accuracy, enhanced multi-product adaptability, and ensured safe and stable operation in multi-process continuous operation. Attached Figure Description

[0008] 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.

[0009] Figure 1 This is a flowchart illustrating a multi-station parallel operation method for a die-cutting machine provided in an embodiment of this application.

[0010] Figure 2 This is a schematic diagram of the structure of a multi-station parallel operation system for a die-cutting machine provided in an embodiment of this application.

[0011] Figure labeling: Processing module setting module 1, Synchronous collaboration mechanism construction module 2, Workstation parallel control command acquisition module 3. Detailed Implementation

[0012] This application provides a method and system for multi-station parallel operation of a die-cutting machine, which solves the technical problem that existing control schemes are difficult to balance in multi-process collaborative processing scenarios, such as operation efficiency, processing accuracy and multi-product adaptability.

[0013] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0014] It should be noted that the terms "first," "second," etc., in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or modules not explicitly listed or inherent to such processes, methods, products, or devices.

[0015] Example 1, as Figure 1 As shown, a method for multi-station parallel operation of a die-cutting machine, wherein the method includes: At least two functionally independent processing modules are arranged side by side along the material conveying path, each processing module being used to perform different processing procedures on the material.

[0016] In this embodiment, the processing module is a dedicated unit in the die-cutting machine that is functionally independent, equipped with a dedicated actuator and local control components, used to complete specific die-cutting processing steps and can participate in multi-station collaborative operations.

[0017] Specifically, the overall process list for die-cutting was first analyzed to identify the core processing steps required to complete the target product. Simultaneously, the process requirements and operating standards for each step were determined, and the logical relationships between the processes were clarified. Considering the problems of long waiting times and low overall production efficiency associated with a sequential workstation layout, a parallel layout was chosen to optimize the process arrangement.

[0018] Subsequently, following the extension direction of the material conveying path, the specific installation position of each processing module is planned based on the technological characteristics of each process, the continuity requirements of material conveying, and the spatial range of processing actions. The spacing between adjacent modules is rationally set to meet the spatial requirements of material step-by-step conveying while avoiding mechanical interference during module processing, ensuring smooth material conveying.

[0019] Next, for each specific processing step, a dedicated processing module is selected or designed. Each processing module integrates the actuators and local control units required to complete the corresponding process. The functional boundaries of each processing module are clearly defined to ensure that each processing module focuses only on the processing operation of a single process and does not overlap with the functions of other processing modules. At the same time, the processing parameters of each processing module can be adjusted independently to adapt to the processing requirements of materials of different specifications.

[0020] Finally, each processing module was installed and fixed in its planned position, and no-load testing was conducted to check the installation accuracy and operational coordination of the modules. Material trial processing was performed to verify whether each processing module could accurately execute its corresponding process, and to confirm the material transfer and connection status between processing modules. This ensured that the setup could achieve a parallel spatial layout for multiple processes, providing a structural foundation for subsequent synchronous and collaborative processing.

[0021] According to the workstation spatiotemporal relationship of the processing modules, a synchronization and coordination mechanism is configured between the processing modules. The synchronization and coordination mechanism is used to control the material transmission position and control the processing parameters of each processing module.

[0022] Optionally, the initial processing state and target processing state of each processing module are first analyzed. The spatiotemporal constraint relationship is determined through process response time constraint analysis and processing alignment space constraint analysis. Then, based on the spatiotemporal constraint relationship, the spatial position synchronization relationship and process time response window relationship between each processing module are configured, and finally the configuration of the synchronization and collaboration mechanism is completed.

[0023] According to the synchronous collaboration mechanism, the workstation parallel control command is generated, and the material transfer system is controlled to position the material below a processing module. The current processing module is synchronously triggered to perform processing actions. After the processing action of the current processing module is completed, the material transfer system is controlled to step-transfer the material to the next processing module and cycle through the module workflow process. In a single material travel, multiple processes are completed in a continuous integrated operation.

[0024] In this embodiment, the material conveying system is an automated device in the die-cutting machine consisting of a drive motor, a conveyor belt, and a positioning component, used to accurately convey processed materials such as films and tapes between processing modules according to a preset rhythm.

[0025] In one embodiment of this application, a processing environment requirement analysis is first performed on each processing module to determine its movement state, processing parameters, and processing duration during the processing. Based on the overall target production cycle time, the maximum allowable time for material transfer between adjacent workstations is analyzed to determine the transfer efficiency range. Next, the workstation switching constraint time window is analyzed based on the aforementioned processing parameters and processing duration. Finally, using this switching constraint time window as a constraint, and combining the transfer efficiency range and the movement state during the processing, an acceleration S-curve is fitted. The fitted acceleration S-curve is then integrated with the synchronization and coordination mechanism to generate workstation parallel control commands. This step will be described in detail later.

[0026] Next, after the parallel control instructions for the workstations are generated, the control system uses a PLC (Programmable Logic Controller) as the core controller. It receives instruction signals through a Profinet communication interface, parses the material positioning coordinates, processing trigger timing, and step-by-step conveying parameters corresponding to each processing module, and distributes these parameters to the material transfer system and the control modules of each processing module, providing a clear basis for subsequent actions. The material transfer system uses servo motors to drive the conveyor belt. The servo motors have built-in encoders to achieve closed-loop position feedback. Simultaneously, diffuse reflection photoelectric sensors are installed under each processing module. The sensor detection distance is adjusted to 5-10 cm, and the sensitivity is adjusted to stably identify the target material. After transmission starts, the servo motor drives the conveyor belt according to the parsed positioning parameters. The encoder collects the motor rotation angle in real time and converts it into the material movement distance, feeding it back to the PLC for comparison with the target positioning coordinates. If there is a deviation, the motor drive signal is corrected through PID adjustment until the photoelectric sensor detects the material and sends a position signal. The PLC immediately controls the servo motor to stop, completing the precise positioning of the material under the current processing module.

[0027] After material positioning is complete, the position signal from the photoelectric sensor is synchronously transmitted to the PLC. The PLC triggers the actuator of the current processing module to start the processing action via I / O signals, and simultaneously controls the green indicator light on the processing module to remain on to indicate the processing status. The actuators of the processing module, such as the die-cutting head and the pressing assembly, operate according to the processing parameters parsed in the instruction. During processing, limit switches installed on the actuators detect whether the action is in place. If it is a pressure-related process such as die-cutting, a pressure sensor is used to monitor the processing pressure in real time to ensure that the processing action meets the process requirements. When the limit switch triggers the position signal or the pressure sensor detects a preset pressure value and maintains stability, the processing action is determined to be complete. This completion signal is fed back to the PLC in real time, the green indicator light goes out, and preparation is made for subsequent stepping conveyor.

[0028] Next, after the PLC receives the processing completion signal, it immediately calls the stepper conveyor parameters and controls the servo motor to drive the conveyor belt according to the preset step distance. The step distance parameter is preset based on the center distance between adjacent processing modules. When the servo motor is running, the encoder continuously collects movement data and feeds it back to the PLC. By comparing it with the preset step distance, real-time deviation correction is performed to ensure that the material is accurately conveyed to the next processing module. During the operation of the conveyor belt, laser counting sensors installed between the processing modules count the number of modules that the material passes through. The statistical data is stored in the PLC's data block in real time and compared with the preset total number of process modules to determine whether the cycle needs to continue.

[0029] If the number of modules counted by the laser counting sensor does not reach the total number of processes, the PLC repeats the above positioning-processing-transfer control logic, controlling the material transfer system to sequentially transfer materials to subsequent processing modules until all preset processes are completed. If the counted number reaches the total number of processes, the PLC controls the material transfer system to transfer the finished product to the receiving area, and simultaneously controls the red indicator light to briefly illuminate to indicate the completion of a single stroke. Throughout the entire cycle, the PLC monitors the duration of each step through a timer. If any step exceeds the time limit, an alarm signal is immediately issued and the machine is stopped to ensure operational safety and stability.

[0030] By implementing the above steps in a continuous manner, the automated linkage of material positioning, processing triggering, stepping conveying and cyclic operation is realized. This not only ensures the accuracy of material transfer between multiple modules and the synchronization of processing actions, but also realizes the continuous integrated operation of multiple processes, effectively improving the efficiency of die-cutting production and the processing accuracy of products, while ensuring the stability of equipment operation and the integrity of material form.

[0031] Furthermore, the method provided in this application embodiment includes: The initial processing state and target processing state of the processing module are analyzed; the process response time constraint analysis and processing alignment space constraint analysis are performed on the initial processing state and target processing state to determine the spatiotemporal constraint relationship; using the spatiotemporal constraint relationship, the spatial position synchronization relationship and process time response window relationship between each processing module are configured; and the synchronization and coordination mechanism is configured according to the spatial position synchronization relationship and process time response window relationship.

[0032] Specifically, the initial processing state is first determined by collecting data such as the current position of the actuator, power output status, and whether it is in standby or working state through the operating status sensors built into each processing module. Based on the die-cutting production task list, the specific processes to be completed by each processing module, the processing accuracy standards, and the final execution position requirements are extracted. By matching the task parameters with the module functions, the target processing state of each module is determined.

[0033] When conducting process response time constraint analysis, historical operation data of each processing module for completing the corresponding process are retrieved. The average processing time, maximum response delay, and minimum completion time for a single processing operation are statistically analyzed. Combined with the material, thickness, and other characteristics of the material being processed, the time fluctuation range of process execution is estimated through simulation, clarifying the time constraint boundaries between each process. When conducting processing alignment space constraint analysis, two-dimensional geometric models of the processing area and actuator trajectory of each processing module are drawn. The material transmission path between modules is simulated, the spatial overlap risk of processing actions of different processing modules is detected, the safe distance between the processing areas of each module and the alignment benchmark for material positioning are determined, and then the time and space analysis results are integrated to form a spatiotemporal constraint relationship.

[0034] Next, spatial position synchronization is configured using spatiotemporal constraints. A unified spatial baseline parallel to the material conveying path is established. A laser rangefinder measures the distance between the key positioning points of each processing module and the baseline. The module installation positions are adjusted to ensure that the processing positioning surfaces of all processing modules are parallel to the baseline and spaced evenly, guaranteeing that material alignment requirements are met when it is transferred to any processing module. When configuring the process time response window, a dedicated time window is defined for each processing module's processing action based on the time constraint boundaries in the spatiotemporal constraints. This specifies the trigger time for material transfer to the module, the start time of the processing action, and the completion time limit, preventing time conflicts between processing actions of different modules.

[0035] Finally, a synchronization and coordination mechanism is configured. The parameters of the established spatial location synchronization relationship and process time response window relationship are transformed into rule codes that the control system can recognize. The control threshold of the material transmission position is set, the adjustment range of the processing parameters of each processing module is defined, and a linkage mapping relationship between the material transmission position and the module processing parameters is established. This enables the control system to automatically adjust the material transmission position and the processing parameters of each processing module according to the rules, thus completing the configuration of the synchronization and coordination mechanism.

[0036] Furthermore, the method provided in this application embodiment includes: Based on the virtual spindle, a unified motion beat signal is generated, and the execution units and material transfer systems of each processing module are synchronized with the virtual spindle as electronic slave axes. According to the unified motion beat signal, the synchronization and coordination mechanism is synchronously controlled and mapped to establish the temporal logic relationship between each processing module.

[0037] In this embodiment, the virtual spindle is a non-physical reference unit constructed by software in an industrial control system. Its core is the generation of a stable and unified clock signal by a control program, serving as the motion clock reference for all associated actuators. It requires no physical axis structure and relies solely on software logic to achieve clock synchronization. The electronic slave axis refers to various actuators controlled by the virtual spindle, specifically including die-cutting head drive units, material handling mechanism actuators, conveyor belt drive motors, positioning and pushing components, and all other actuators participating in multi-station collaborative operations. Their operating state is completely adjusted according to the clock signal of the virtual spindle, receiving instructions from the virtual spindle and feeding back their own operating data to achieve precise alignment with the reference clock.

[0038] Optionally, based on the overall target cycle time of die-cutting production, determine the baseline parameters corresponding to the material transfer speed and processing module operation frequency per unit time. The target cycle time is quantified in "pieces / minute". The conversion logic of the baseline parameters is as follows: Let the target cycle time be T, in pieces / minute, then the processing cycle of a single product t = 60 / T, in seconds. Combining the material step distance and the reduction ratio i of the transmission mechanism, the output frequency of the pulse generator is then determined. The unit is Hz, and this parameter is input into the control system. A fixed period is set through the built-in timer module of the control system. The clock period of the virtual spindle is consistent with the timer period, which is set to 1ms. Each clock period corresponds to one pulse signal output. The rising edge of the pulse serves as the trigger point for the beat reference, which starts the pulse generator to generate a continuous and uniform pulse signal. This pulse signal is the motion beat signal of the virtual spindle, and its frequency matches the reference parameter to ensure the stability and uniformity of the beat signal.

[0039] Next, synchronization between the execution units of each processing module and the material handling system is achieved. A signal receiving module is configured for each execution unit and material handling system to collect the cycle pulse signal of the virtual spindle in real time, using this as the reference command for its own operation. Simultaneously, the encoders on each electronic slave axis collect actual operating speed and position data, transmitting the collected data to the control system in real time for comparison with the reference cycle signal of the virtual spindle. If a deviation between the actual operating state and the reference is detected, the PID control method, well-known to those skilled in the art in industrial control, is employed. The basic PID parameter range suitable for die-cutting processing scenarios is: proportional coefficient Kp = 0.5-2.0, integral time Ti = 0.1-1.0s, and derivative time Td = 0.01-0.1s. This can be fine-tuned according to the load characteristics of each electronic slave axis; for example, a larger Kp value is used for high-speed die-cutting heads, and a smaller Kp value for low-speed conveyor belts. The drive signal of the electronic slave axis is adjusted, such as by adjusting the motor's power supply voltage or drive frequency, to correct the operating deviation and ensure that the motion cycle of each electronic slave axis remains consistent with the virtual spindle.

[0040] Finally, the synchronous coordination mechanism is analyzed, and the processing action triggering events of each processing module and the stepping movement events of the material transfer system are mapped to specific phase angles under the virtual spindle clock signal. Then, based on the position adjustment relationship between each movement event planned by the phase angle, the clock signal is uniformly controlled, thereby establishing the timing control logic relationship between each processing module. This step will be explained in detail in the following content.

[0041] By constructing a virtual spindle to generate a unified cycle time and using electronic slave axis signals for closed-loop adjustment, precise synchronization between the processing module execution unit and the material transfer system is achieved, providing stable and reliable technical support for the timing coordination of multi-station parallel operations.

[0042] Furthermore, the method provided in this application embodiment includes: The synchronous coordination mechanism is analyzed, and the processing action trigger events of each processing module and the stepping movement events of the material conveying system are mapped to specific phase angles under the virtual spindle clock signal. Based on the position adjustment relationship between each movement event planned by the phase angle, the control cycle signal is unified, and the timing control logic relationship between each processing module is established.

[0043] Specifically, the configuration parameters of the synchronous collaboration mechanism are retrieved first to clarify the triggering conditions for the processing actions of each processing module, such as material arrival signal and feedback of the completion of the previous process; execution time, such as the time for die-cutting and pressing actions; and the start threshold for the stepping movement of the material transfer system, such as the triggering of the completion signal of the previous processing action, the movement distance, i.e. the preset material step distance, and the matching with the spacing of adjacent modules, etc., to complete a comprehensive analysis of the synchronous collaboration mechanism. Next, the clock signal cycle of the virtual spindle is evenly divided into several continuous phase intervals according to 360 degrees. The angle range of each interval is allocated according to the total number of events and the proportion of time consumed by each event. For example, in a clock cycle with a total time of 1 second, an event that takes 0.2 seconds corresponds to a 72-degree phase interval. According to the execution order and time consumption of each processing action trigger event and step movement event, a unique specific phase angle is assigned to each event. The starting point of the phase angle starts from 0 degrees of the clock signal cycle and extends sequentially to ensure that the phase angles of different events do not overlap and cover the entire 360-degree cycle, which is completely consistent with the event timing logic, realizing the accurate mapping of events to the phase angle of the virtual spindle clock signal. Among them, the step movement event is a specific action event in which the material transfer system transfers materials from the current processing module to the next processing module according to a preset step distance and uniform rhythm.

[0044] Then, by comparing the phase angle values ​​corresponding to each event, the phase difference between events is obtained. Combined with the fixed beat frequency of the virtual spindle, which represents the number of beat cycles per unit time and serves as the benchmark quantization standard for synchronization control, this is achieved through the formula... Complete the time interval conversion, among which The time interval between events. The phase difference value. To fix the cycle frequency and thus determine the position adjustment range and timing between each movement event, the position adjustment range is calculated based on the time interval and material conveying speed. v represents the preset material conveying speed, ensuring that the adjustment range matches the module spacing and material step distance, thus planning a reasonable position adjustment relationship. Next, using the unified clock signal of the virtual spindle as a reference, the phase angle corresponding to each event is converted into a synchronous control pulse signal. A phase angle of 0 degrees corresponds to the rising edge of the pulse, serving as the event start trigger point. When the phase angle reaches the end of the corresponding interval of the event, it corresponds to the falling edge of the pulse, serving as the event end judgment point. The control cycle time of all processing module execution units and the material conveying system is uniformly calibrated to eliminate the inherent cycle time deviation of different actuators, ultimately establishing an orderly and conflict-free timing control logic relationship between each processing module.

[0045] By using methods such as rule extraction, clock signal segmentation mapping, phase difference calculation, and pulse signal calibration, precise timing matching between processing actions and material transfer actions was achieved, providing reliable timing support for the orderly collaboration of multi-station parallel operations.

[0046] Furthermore, the method provided in this application embodiment includes: The actual position information of the material after transmission is obtained through a visual perception module; the actual position information is compared with the theoretical target position corresponding to the process to obtain the position deviation; the processing coordinates or processing path of the current target processing module are dynamically adjusted according to the position deviation.

[0047] Specifically, firstly, an area-array industrial camera, commonly used in industrial vision inspection, is used as the vision perception module. It is fixedly installed at a preset height above each processing module, ensuring that the camera's field of view completely covers the entire processing area after the material is transferred to the module. After the vision perception module is activated, the camera continuously captures images of the material at a preset frame rate, such as 30 frames per second, and transmits the raw image data to the image processing unit in real time via an image transmission interface. The raw image is processed using a grayscale threshold segmentation method, setting a fixed grayscale threshold to distinguish the material from the background area, extracting the material's contour edge features. Then, using a geometric center calculation method, based on the pixel coordinates of the material's contour edge, the geometric center coordinates of the contour are calculated. These coordinates represent the actual position information of the material after transfer.

[0048] Next, the theoretical target position coordinates corresponding to the current process are retrieved from the production formula stored in the control system. These coordinates are pre-set and stored based on the design parameters and processing requirements of the die-cut product. The actual position coordinates obtained by the vision perception module are compared with the theoretical target position coordinates axis by axis, and the position deviation values ​​in the X-axis and Y-axis directions are calculated respectively. The deviation value is the actual coordinate minus the theoretical coordinate. A positive value indicates the positive direction of the material's deviation from the theoretical position, and a negative value indicates the negative direction of the deviation, thus clarifying the magnitude and direction of the position deviation.

[0049] The coordinate adjustment amount is then determined using a proportional adjustment method, with a proportional coefficient set to, for example, 0.8-1.0. The adjustment amount equals the position deviation value multiplied by the proportional coefficient, ensuring that the adjustment range matches the deviation and does not exceed the adjustment range of the processing module. If the position deviation is small, such as less than 0.1mm, the processing coordinate parameters of the current target processing module are dynamically modified directly, causing the target position of the processing actuator to shift synchronously with the deviation. If the position deviation is large, such as greater than or equal to 0.1mm, the processing path is optimized using a path planning algorithm. This algorithm first determines the starting point of the actuator's movement as the current reference position based on the deviation between the actual position of the material and the theoretical target position, and the target endpoint as the processing station that adapts to the actual position of the material. Combining the maximum speed, acceleration, and other motion constraint parameters of the actuator, a piecewise interpolation method is used to divide the path between the starting point and the endpoint into several continuous trajectory nodes. The coordinate values ​​of each node are calculated to ensure that the trajectory is smooth and without abrupt changes. Then, the coordinates of each node are integrated into continuous motion trajectory data according to the time series, generating a path command that can directly drive the actuator, causing the actuator to move along the optimized trajectory to adapt to the actual position of the material. The entire adjustment process is completed in real time, from the time the material is positioned until the processing action is started, ensuring that the adjusted processing coordinates or processing path are accurately matched with the actual position of the material.

[0050] By employing industrial vision acquisition, coordinate comparison calculation, and proportional adjustment techniques, dynamic correction of material position deviations is achieved, ensuring precise alignment between the processing module and the actual material position, and improving the positional accuracy of die-cutting processing.

[0051] Furthermore, the method provided in this application embodiment includes: A processing environment requirement analysis is performed on each processing module to determine the movement state, processing parameters, and processing duration during the processing process. Based on the overall target production cycle time, the maximum allowable time for material transfer between adjacent workstations is analyzed to determine the transfer efficiency range. The workstation switching constraint time is analyzed using the processing parameters and processing duration to obtain the switching constraint time window, which represents the minimum workstation switching time window between the end of processing at one workstation and the start of processing at the next workstation. Using the switching constraint time window as a constraint, an acceleration S-curve is fitted based on the transfer efficiency range and the movement state during the processing process. The fitted acceleration S-curve is then fused with the synchronous coordination mechanism to generate workstation parallel control commands.

[0052] Specifically, when analyzing the processing environment requirements for each processing module, the technical manuals of each module, such as the die-cutting module and the pressing module, are first retrieved to clarify whether the movement of the actuators, such as the cutter head and the pressure head, is linear reciprocating or rotary positioning, thus determining the movement state during processing. Next, target materials such as films and tapes are selected for trial processing, recording parameters such as processing pressure and temperature for different materials to determine the processing parameters. Simultaneously, a timing tool is used to record the time from the start of the actuator to the completion of the action for each processing cycle, obtaining the processing duration. During trial processing, the material deformation must be observed to ensure that the processing parameters are adapted to the material characteristics, avoiding stretching or wrinkling of the material and ensuring its integrity.

[0053] Next, the conveying efficiency range is determined based on the overall target production cycle time. The overall target production cycle time is set as the number of products processed per minute. The total processing cycle for a single product is calculated as 60 seconds divided by the target cycle time. The sum of the processing times of each processing module is subtracted from the total processing cycle time to obtain the maximum allowable time for material transfer between adjacent workstations. Combining the standard step distance of the material, the minimum conveying speed is calculated as the step distance divided by the maximum allowable time. At the same time, the rated operating speed of the processing module's conveying mechanism is used as the maximum speed. The range between these two values ​​is the conveying efficiency range. Setting this range avoids the conveying speed exceeding the equipment's rated range, reduces equipment overload, and helps improve equipment operational stability.

[0054] Then, based on the processing duration of each processing module, the end time of the previous module's processing action is determined. Combined with the preparation time required for the processing parameters of the next module, such as the preheating waiting time before the pressing module is processed, the minimum interval time between the end of processing at one station and the start of processing at the next station is calculated. This interval time is the switching constraint time window. This time window reserves a stable preparation period for subsequent transmission actions, which helps ensure the accurate triggering of processing actions and provides support for process accuracy.

[0055] Next, an acceleration S-curve is fitted and integrated with a synchronous coordination mechanism. A combination of piecewise fitting and phase mapping is used. Specifically, based on the speed range within the conveying efficiency interval, the running speed of the uniform speed segment of the S-curve is determined. Combining the duration of the switching constraint time window, the time ratio of the acceleration and deceleration segments of the S-curve is allocated, fitting a continuously changing acceleration S-curve trajectory to ensure no abrupt acceleration changes during transmission and prevent material stretching or deformation due to sudden speed changes. Then, based on the spatiotemporal constraints in the synchronous coordination mechanism, the acceleration, uniform speed, and deceleration segments of the S-curve are mapped to specific phase points of the virtual spindle clock signal. The motion parameters of the S-curve are integrated with the control rules of the synchronous coordination mechanism to generate a workstation parallel control instruction set containing conveying speed and processing trigger timing. This instruction set ensures smooth material movement during transmission, providing a relatively stable processing environment for processes such as die-cutting and laser processing, thus helping to improve processing accuracy.

[0056] Through the above continuous steps, the processing parameters and material characteristics are adapted, the equipment operating load is reasonably controlled, and the processing and transmission actions are precisely connected. This not only ensures the integrity of the material form and improves the operational stability and service life of the equipment, but also balances the process accuracy and production efficiency of die-cutting.

[0057] Furthermore, the method provided in this application embodiment includes: The working status of each processing module is monitored in real time, including pressure, temperature, displacement and fault signals. When any processing module reports an abnormal status, the synchronization and coordination mechanism is triggered to enter the safety interlock mode. The safety interlock mode includes: immediately interrupting the operation of the current processing module, preventing the material from being transferred to the abnormal workstation, and pausing the entire cycle process after the current cycle is completed.

[0058] In one embodiment, strain gauge pressure sensors are first installed on the drive cylinders of the actuators in each processing module, thermocouple temperature sensors are attached to the surface of the heating components, and grating ruler displacement sensors are fixed to the guide rail side of the actuator. Simultaneously, fault detection switches are connected in series in the control circuit of each module. All sensors and detection switches are connected to a safety PLC via an RS485 interface. The sensors collect pressure, temperature, and displacement data at a fixed frequency of 10Hz, and the fault detection switches monitor the circuit's on / off status in real time, continuously transmitting the collected analog and digital signals to the PLC.

[0059] The PLC internally stores normal threshold ranges for each working state. The pressure threshold is set according to the characteristics of the processed material, the temperature threshold is set according to process requirements, and the displacement threshold is set to match the actuator stroke range. The fault detection switch is normally in the closed state. After receiving a signal, the PLC converts the analog data into digital data through analog-to-digital conversion and compares it with the preset threshold in real time. At the same time, it monitors the on / off state of the fault detection switch. When any data exceeds the threshold or the fault detection switch is open, it is immediately determined to be an abnormal state and a trigger signal is sent to the synchronization and coordination mechanism.

[0060] Next, upon receiving an abnormal trigger signal, the synchronous coordination mechanism immediately enters the safety interlock mode. The PLC first outputs an emergency stop control signal, cutting off the drive power to the actuator of the currently malfunctioning processing module. Simultaneously, it sends a stop command to the actuator's servo driver, forcibly terminating the ongoing processing action to prevent the fault from escalating. Subsequently, the PLC sends a prohibition command to the material handling system's control module. The servo motors of the material handling system immediately stop running, and the conveyor belt's drive mechanism is locked. Regardless of whether it is currently in standby or transport mode, no material will be conveyed to the malfunctioning workstation, ensuring that subsequent materials do not enter the faulty area.

[0061] The PLC records the start time of the current processing cycle using a timer and combines this with the preset single-cycle processing time to determine whether the current cycle has been completed. If the current processing action has terminated and there are no unfinished processes, the entire cycle is paused directly. If some processes are still unfinished, the PLC waits for the remaining processes to be completed before triggering the start command for the next cycle. At the same time, abnormal alarm information is displayed on the human-machine interface (HMI), recording the abnormal workstation number, abnormal type, and occurrence time for operators to troubleshoot and handle.

[0062] Furthermore, the method provided in this application embodiment includes: Monitor the quality of processed products downstream of the final workstation. When there is an abnormality in the quality of processed products, locate the abnormal parameters and feed them back to the control center. Based on the abnormal parameters, trace back and adjust the processing parameters of one or more related processing modules upstream.

[0063] In this embodiment, the control center is an industrial control unit in the die-cutting machine that uses a PLC as its core and integrates data processing and communication modules. It is used to receive various detection signals, coordinate various processing modules and material transmission systems, and perform control, traceability and parameter adjustment.

[0064] Optionally, an area array industrial camera and light source assembly can be fixedly installed above the material conveying path downstream of the final workstation to construct a visual quality inspection system. Based on the design standards of the die-cut products, preset quality inspection parameters are established, including the product's key dimensional tolerance range, die-cut edge flatness threshold, and burr-free cut judgment criteria. The visual quality inspection system acquires finished product images at a fixed frame rate of 20 frames per second. The images are processed using grayscale contrast and contour extraction algorithms to extract feature data such as the product's actual size and edge morphology. These features are then compared point-by-point with the preset standard parameters. When any feature data exceeds the threshold range, an abnormality in product quality is determined, and an anomaly signal is triggered.

[0065] Next, a mapping table between quality anomaly types and processing parameters is pre-stored in the control center, clearly defining the correlation rules such as dimensional deviations corresponding to die-cutting pressure and positioning coordinate parameters, edge roughness corresponding to cutter head temperature and transmission speed parameters, and cut offset corresponding to synchronization phase relationship parameters. Upon receiving a quality anomaly signal, the system automatically identifies the anomaly type, locates the processing parameters directly related to the anomaly based on the mapping table, generates an anomaly parameter list, and records the processing timestamp of the anomaly product.

[0066] The list of abnormal parameters and timestamps are then synchronously fed back to the PLC in the control center. The PLC calls the production process data log and, based on the processing timestamp of the abnormal product, traces the real-time processing parameters, material transfer parameters, and synchronization and coordination phase data of the product as it passed through each upstream processing module. The traced historical parameters are compared with the parameter range in the standard production formula to filter out parameters that deviate from the standard values, and to identify one or more related processing modules and specific abnormal parameter items that caused the quality abnormality.

[0067] Finally, based on the traceability results, the adjustment amount is set at 1.2 times the abnormal deviation value to ensure that the adjustment effect covers the impact of the deviation. The PLC sends parameter adjustment instructions to the relevant upstream processing modules to dynamically modify their processing parameters, such as increasing die-cutting pressure, correcting positioning coordinates, and adjusting synchronization phase angle. After parameter adjustment, quality data of subsequent products is continuously collected and compared with standard parameters for verification. If the abnormality is eliminated, the adjusted parameters are maintained; if the abnormality still exists, the traceability and adjustment process is repeated until the product quality meets the standard.

[0068] By employing techniques such as visual inspection, parameter mapping, time-series tracing, and proportional adjustment, we have achieved precise location of quality anomalies and closed-loop adjustment of processing parameters, ensuring the stability and consistency of die-cut product quality.

[0069] Furthermore, the method provided in this application embodiment includes: Based on the type of die-cut target product and processing target, a production formula is pre-configured for each type of product. The production formula includes the processing parameter set of each processing module, the phase relationship of the synchronization and coordination mechanism, and the material transfer parameters. When the processing target product is switched, the production formula corresponding to the die-cut target product is called, all parameters are automatically loaded, and the reference position calibration of each actuator is completed.

[0070] In one embodiment, based on the type of the target die-cut product (e.g., film die-cutting, tape die-cutting) and processing objectives (e.g., die-cutting accuracy, cut smoothness requirements), a trial processing optimization method is used to determine various parameters of the production formula. Through multiple trial processing runs, the optimal processing parameters for different processing modules, such as die-cutting pressure and pressing temperature, are recorded, forming a set of processing parameters for each processing module. Similarly, based on the spatiotemporal constraints of the synchronous coordination mechanism, the virtual spindle phase angle corresponding to each processing action trigger event and material transfer event is determined, clarifying the phase relationship of the synchronous coordination mechanism. Combined with the overall target production cycle time, the step distance, speed, and pause time of material transfer are calculated to determine the material transfer parameters. These three types of parameters are categorized by product type and stored in the formula database of the control system. Each product type corresponds to a unique formula identifier for easy retrieval and recall.

[0071] When it is necessary to switch the target product for processing, the operator selects the target product type through the HMI and triggers a formula recall command. After receiving the command, the control system retrieves the corresponding production formula from the formula database based on the formula identifier. Through the Profinet communication interface, it sends the processing parameter set, phase relationship data, and material transfer parameters to the control modules of each processing module, the synchronous coordination mechanism control unit, and the servo driver of the material transfer system, respectively, so as to realize the automatic loading of all parameters without the need for manual adjustment of the parameters one by one.

[0072] After the parameters are loaded, the reference position calibration process for each actuator is initiated. Using the grating ruler displacement sensors installed on the actuators of each processing module, the current actual reference position coordinates of the actuators are collected and compared with the preset theoretical reference position coordinates in the production formula to calculate the deviation value. A proportional adjustment method is used to correct the deviation, adjusting the drive signals of the actuators to control the deviation between the actual and theoretical reference position coordinates within 0.01mm. During the calibration process, the control system monitors the deviation value in real time until the deviation meets the requirements. Once the calibration is complete, the equipment enters the ready-to-process state, ensuring that the positional accuracy of each actuator meets the processing requirements after switching.

[0073] By utilizing existing technologies such as trial processing optimization, formula classification and storage, automatic parameter loading, and grating ruler calibration, rapid switching between different types of die-cut products has been achieved, reducing the adjustment time for product changeovers and ensuring the consistency and stability of product processing after changeovers.

[0074] In summary, the multi-station parallel operation method for die-cutting machines provided in this application has the following technical effects: This application utilizes parallel processing modules with independent functions along the material conveying path, configured with a synchronous collaboration mechanism, and combines technologies such as virtual spindle synchronization, dynamic position adjustment, and safety interlocking to generate parallel control commands for workstations. This controls the step-by-step conveying of materials and the cyclic processing of modules, enabling continuous integrated operation of multiple processes in a single stroke. This achieves the technical effects of improving production efficiency and processing accuracy, enhancing multi-product adaptability, and ensuring safe and stable operation in continuous multi-process operations.

[0075] Example 2, as Figure 2 As shown, based on the same inventive concept as in Embodiment 1 above, this application provides a multi-station parallel operation system for a die-cutting machine, the system comprising: The processing module setting module 1 is used to set at least two functionally independent processing modules in parallel along the material conveying path, wherein each processing module is used to perform different processing procedures on the material.

[0076] Synchronous collaboration mechanism construction module 2 is used to configure the synchronous collaboration mechanism between the processing modules according to the workstation spatiotemporal relationship of the processing modules. The synchronous collaboration mechanism is used to control the material transmission position and control the processing parameters of each processing module.

[0077] The workstation parallel control instruction acquisition module 3 is used to generate workstation parallel control instructions according to the synchronous coordination mechanism, control the material transfer system to position the material below a processing module, synchronously trigger the current processing module to perform processing actions, and control the material transfer system to step-transfer the material to the next processing module after the processing action of the current processing module is completed, and cycle the module workflow process to complete the continuous integrated operation of multiple processes in a single material travel.

[0078] Furthermore, the synchronization and coordination mechanism construction module 2 is used to perform the following steps: The initial processing state and target processing state of the processing module are analyzed; the process response time constraint analysis and processing alignment space constraint analysis are performed on the initial processing state and target processing state to determine the spatiotemporal constraint relationship; using the spatiotemporal constraint relationship, the spatial position synchronization relationship and process time response window relationship between each processing module are configured; and the synchronization and coordination mechanism is configured according to the spatial position synchronization relationship and process time response window relationship.

[0079] Furthermore, the synchronization and coordination mechanism construction module 2 is used to perform the following steps: Based on the virtual spindle, a unified motion beat signal is generated, and the execution units and material transfer systems of each processing module are synchronized with the virtual spindle as electronic slave axes. According to the unified motion beat signal, the synchronization and coordination mechanism is synchronously controlled and mapped to establish the temporal logic relationship between each processing module.

[0080] Furthermore, the synchronization and coordination mechanism construction module 2 is used to perform the following steps: The synchronous coordination mechanism is analyzed, and the processing action trigger events of each processing module and the stepping movement events of the material conveying system are mapped to specific phase angles under the virtual spindle clock signal. Based on the position adjustment relationship between each movement event planned by the phase angle, the control cycle signal is unified, and the timing control logic relationship between each processing module is established.

[0081] Furthermore, the workstation parallel control command acquisition module 3 is used to perform the following steps: The actual position information of the material after transmission is obtained through a visual perception module; the actual position information is compared with the theoretical target position corresponding to the process to obtain the position deviation; the processing coordinates or processing path of the current target processing module are dynamically adjusted according to the position deviation.

[0082] Furthermore, the workstation parallel control command acquisition module 3 is used to perform the following steps: The working status of each processing module is monitored in real time, including pressure, temperature, displacement and fault signals. When any processing module reports an abnormal status, the synchronization and coordination mechanism is triggered to enter the safety interlock mode. The safety interlock mode includes: immediately interrupting the operation of the current processing module, preventing the material from being transferred to the abnormal workstation, and pausing the entire cycle process after the current cycle is completed.

[0083] Furthermore, the workstation parallel control command acquisition module 3 is used to perform the following steps: A processing environment requirement analysis is performed on each processing module to determine the movement state, processing parameters, and processing duration during the processing process. Based on the overall target production cycle time, the maximum allowable time for material transfer between adjacent workstations is analyzed to determine the transfer efficiency range. The workstation switching constraint time is analyzed using the processing parameters and processing duration to obtain the switching constraint time window, which represents the minimum workstation switching time window between the end of processing at one workstation and the start of processing at the next workstation. Using the switching constraint time window as a constraint, an acceleration S-curve is fitted based on the transfer efficiency range and the movement state during the processing process. The fitted acceleration S-curve is then fused with the synchronous coordination mechanism to generate workstation parallel control commands.

[0084] Furthermore, the workstation parallel control command acquisition module 3 is used to perform the following steps: Monitor the quality of processed products downstream of the final workstation. When there is an abnormality in the quality of processed products, locate the abnormal parameters and feed them back to the control center. Based on the abnormal parameters, trace back and adjust the processing parameters of one or more related processing modules upstream.

[0085] Furthermore, the workstation parallel control command acquisition module 3 is used to perform the following steps: Based on the type of die-cut target product and processing target, a production formula is pre-configured for each type of product. The production formula includes the processing parameter set of each processing module, the phase relationship of the synchronization and coordination mechanism, and the material transfer parameters. When the processing target product is switched, the production formula corresponding to the die-cut target product is called, all parameters are automatically loaded, and the reference position calibration of each actuator is completed.

[0086] The multi-station parallel operation system for a die-cutting machine provided in this embodiment of the invention can execute the multi-station parallel operation method for a die-cutting machine provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0087] Although this application makes various references to certain modules in the system according to the embodiments of this application, any number of different modules can be used and run on user terminals and / or servers. The various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy distinction between each other and are not used to limit the scope of protection of this invention.

[0088] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application. In some cases, the actions or steps described in this application can be performed in a different order than that shown in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. A method for multi-station parallel operation of a die-cutting machine, characterized in that, include: At least two functionally independent processing modules are arranged side by side along the material conveying path, each processing module being used to perform different processing procedures on the material; According to the workstation spatiotemporal relationship of the processing modules, a synchronization and coordination mechanism is configured between the processing modules. The synchronization and coordination mechanism is used to control the material transfer position and control the processing parameters of each processing module. According to the synchronous collaboration mechanism, the workstation parallel control command is generated, and the material transfer system is controlled to position the material below a processing module. The current processing module is synchronously triggered to perform processing actions. After the processing action of the current processing module is completed, the material transfer system is controlled to step-transfer the material to the next processing module and cycle through the module workflow process. In a single material travel, multiple processes are completed in a continuous integrated operation.

2. The multi-station parallel operation method for die-cutting machines according to claim 1, characterized in that, Based on the spatiotemporal relationship of the processing modules, configure a synchronization and coordination mechanism between the processing modules, including: Analyze the initial processing state and target processing state of the processing module; The initial processing state and the target processing state are subjected to process response time constraint analysis and processing alignment space constraint analysis to determine the spatiotemporal constraint relationship. Using the aforementioned spatiotemporal constraints, the spatial position synchronization relationship between each processing module and the process time response window relationship are configured. Configure the synchronization and coordination mechanism based on the spatial location synchronization relationship and the process time response window relationship.

3. The multi-station parallel operation method for die-cutting machines according to claim 2, characterized in that, Also includes: Based on the virtual spindle, a unified motion timing signal is generated, and the execution units and material transfer systems of each processing module are synchronized with the virtual spindle as electronic slave axes. Based on the unified motion rhythm signal, the synchronous coordination mechanism is synchronously controlled and mapped to establish the temporal logic relationship between each processing module.

4. The multi-station parallel operation method for die-cutting machines according to claim 3, characterized in that, Based on the unified motion beat signal, the synchronous coordination mechanism is synchronously controlled and mapped to establish the temporal logic relationship between each processing module, including: The synchronization and coordination mechanism is analyzed, and the processing action trigger events of each processing module and the stepping movement events of the material transfer system are mapped to specific phase angles under the virtual spindle clock signal. Based on the phase angle planning and the position adjustment relationship between each movement event, the control cycle signal is unified, and the timing control logic relationship between each processing module is established.

5. The multi-station parallel operation method for die-cutting machines according to claim 1, characterized in that, Before generating workstation parallel control instructions according to the aforementioned synchronous coordination mechanism, the following steps are included: The actual location information of the material after transmission is obtained through a visual perception module; The actual location information is compared with the theoretical target location corresponding to the process to obtain the location deviation; The machining coordinates or machining path of the current target machining module are dynamically adjusted based on the positional deviation.

6. The multi-station parallel operation method for die-cutting machines according to claim 1, characterized in that, Also includes: Real-time monitoring of the working status of each processing module, including pressure, temperature, displacement and fault signals; When any processing module reports an abnormal status, the synchronization and coordination mechanism is triggered to enter the safety interlock mode. The safety interlock mode includes: immediately interrupting the operation of the current processing module, preventing the material from being transferred to the abnormal workstation, and pausing the entire cycle process after the current cycle is completed.

7. The multi-station parallel operation method for die-cutting machines according to claim 1, characterized in that, The process of generating workstation parallel control instructions according to the aforementioned synchronous coordination mechanism also includes: A processing environment requirement analysis was conducted for each processing module to determine the movement status, processing parameters, and processing duration during the processing process. Based on the overall target production cycle time, analyze the maximum allowable time for material transfer between adjacent workstations and determine the transfer efficiency range; The processing parameters and processing duration are used to analyze the station switching constraint time to obtain the switching constraint time window, which represents the minimum station switching time window between the end of processing at one station and the start of processing at the next station. Using the switching constraint time window as a constraint, an acceleration S-curve is fitted based on the transmission efficiency range and the movement state during the processing. The fitted acceleration S-curve is then fused with the synchronous coordination mechanism to generate workstation parallel control commands.

8. The multi-station parallel operation method for die-cutting machines according to claim 1, characterized in that, After generating the workstation parallel control command according to the aforementioned synchronous coordination mechanism, it also includes: Monitor the quality of processed products downstream of the final workstation. When there is an abnormality in the quality of processed products, locate the abnormal parameters and feed them back to the control center. Based on the abnormal parameters, trace back and adjust the processing parameters of one or more related processing modules upstream.

9. The multi-station parallel operation method for a die-cutting machine according to claim 1, characterized in that, Also includes: Based on the type of die-cut target product and processing objectives, production formulas are pre-configured for each type of product. The production formulas include the processing parameter set of each processing module, the phase relationship of the synchronization and coordination mechanism, and the material transfer parameters. When the target product is switched, the production formula corresponding to the die-cutting target product is called, all parameters are automatically loaded, and the reference position calibration of each actuator is completed.

10. A multi-station parallel operation system for a die-cutting machine, characterized in that, For implementing the multi-station parallel operation method of a die-cutting machine according to any one of claims 1-9, the system comprises: The processing module setting module is used to set up at least two functionally independent processing modules in parallel along the material conveying path, wherein each processing module is used to perform different processing procedures on the material; The synchronization and coordination mechanism construction module is used to configure the synchronization and coordination mechanism between the processing modules according to the workstation spatiotemporal relationship of the processing modules. The synchronization and coordination mechanism is used to control the material transmission position and control the processing parameters of each processing module. The workstation parallel control instruction acquisition module is used to generate workstation parallel control instructions according to the synchronous coordination mechanism, control the material transfer system to position the material below a processing module, synchronously trigger the current processing module to perform processing actions, and control the material transfer system to step-transfer the material to the next processing module after the processing action of the current processing module is completed, and cycle the module workflow process to complete the continuous integrated operation of multiple processes in a single material travel.

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