A PCB automation integrated control method, device and medium

Abstract

The application provides a PCB automatic integrated control method, which comprises the following steps: collecting state data of film pasting, turning and back adhesive pasting procedures in real time; determining whether each procedure enters a parallel state based on the data; pre-storing coupling constraint rules between procedures; inputting the state data and the coupling rules into a procedure interference constraint model to dynamically determine whether at least two procedures are allowed to be partially overlapped in time; if yes, generating a parallel control instruction to schedule parallel execution; if not, canceling the instruction and switching the corresponding procedure to a safe execution mode. Through state sensing and model decision, dynamic and safe scheduling of parallel execution between procedures is realized, which significantly improves production efficiency, effectively avoids equipment interference risks, and guarantees production safety and process reliability in abnormal situations.

Description

Technical Field

[0001] This application relates to the field of PCB automation, and in particular to a control method, device and medium for integrated PCB automation. Background Technology

[0002] In modern electronics manufacturing, integrating multiple independent processes such as film application, flipping, and adhesive application into a compact, continuous production line has become a mainstream trend to increase production capacity and reduce production costs. Achieving efficient, seamless connection and parallel operation between these processes is essential to overcoming production cycle time bottlenecks and maximizing equipment utilization. However, achieving tight coupling and parallel operation of multiple processes faces significant technical challenges. Existing technologies mainly employ sequential control based on fixed time delays or simple electrical interlocks. To ensure absolute safety, these solutions typically set excessively long, conservative safety intervals between processes. While avoiding equipment interference risks, this severely sacrifices overall production efficiency, failing to realize the potential for parallel operation.

[0003] Therefore, there is a need to provide a control method, device and medium for PCB board automation integration to solve the technical problem of maximizing parallel operation between processes in a tightly coupled automated production line without sacrificing equipment safety and process quality reliability, thereby improving overall production efficiency. Summary of the Invention

[0004] In view of this, it is necessary to provide a control method, device and medium for PCB board automation that maximizes parallel operation between processes and improves overall production efficiency in a tightly coupled automated production line without sacrificing equipment safety and process quality reliability, so as to solve the above problems.

[0005] Embodiments of this application provide an integrated automation control method for PCB boards, the method comprising: Real-time acquisition of process status data during the operation of the film application mechanism, flipping mechanism, and adhesive application mechanism; Based on the process status data, it is determined whether each process has entered a parallelizable state; Pre-store coupling constraint rules between each process; The process status data and the coupling constraint rules are input into the process interference constraint model. Based on the model, it is determined whether at least two of the following processes—the film application process, the flipping process, and the adhesive application process—are allowed to partially overlap in time. When the process interference constraint model determines that parallel execution is allowed, a parallel execution control instruction is generated to schedule the parallel execution of at least two processes; When it is detected that any process does not meet the parallel execution state, the control command is revoked and the corresponding process is switched to safe execution mode.

[0006] In at least one embodiment of this application, the process status data includes: actuator position, speed data, processing object identity, position data, operating mode, fault status data, and quality judgment data.

[0007] In at least one embodiment of this application, the specific steps for determining whether each process has entered a parallelizable state include: Based on the position and speed data of the actuators, it is determined whether the actuators of each process are in a preset safe position that allows other processes to start. Based on the identity and location data of the processing object, determine whether the object to be processed corresponding to each process has been in place and whether the current processing object has left the work area of ​​this process. Based on the quality assessment data, it is determined whether the processed objects flowing into each process meet the quality requirements. If so, the process is determined to have entered a parallelizable state.

[0008] In at least one embodiment of this application, the coupling constraint rules include: spatial interference rules, temporal coupling rules, and object uniqueness rules; Among them, the spatial interference rule is to calculate the risk of overlap of the motion envelope on the time axis based on the real-time position and planned trajectory of each actuator; The timing coupling rule is defined as follows: after applying the film, it must be left to stand for a first period of time before it can be flipped; after flipping, it must be left to stand for a second period of time before the adhesive backing can be applied. The object uniqueness rule ensures that the same board is occupied by only one process at any given time by using object identity data.

[0009] In at least one embodiment of this application, the process interference constraint model is a time Petri net model; The determination step is specifically as follows: Use the current process status data as the initial identifier of the Petri net, and use planned parallel events as transition inputs; Calculate the enable and trigger times of all transitions based on the coupling constraint rules; If the system reaches the safety threshold and there are no constraint conflicts after the simulation runs, then parallelism is allowed.

[0010] In at least one embodiment of this application, the generation of parallel execution control instructions specifically includes the following steps: An instruction set with absolute timestamps is generated based on the model and synchronously distributed to the corresponding process controller via a real-time industrial network.

[0011] In at least one embodiment of this application, the step of switching the corresponding process to a safe execution mode is a serial sequential execution mode; The switching steps include: All parallel instructions are aborted, and a new serial process instruction sequence without time overlap is generated based on the current position of each processing object.

[0012] This application provides a control device for integrated automation of PCB boards, applicable to any of the aforementioned integrated automation control methods for PCB boards.

[0013] In at least one embodiment of this application, the control device includes at least a film applicator, a flipping mechanism, and an adhesive applicator.

[0014] This application provides a control medium for PCB board automation integration, applicable to any of the aforementioned PCB board automation integration control methods.

[0015] The aforementioned PCB board automation integrated control method collects real-time status data from each process to determine whether each process meets the conditions for parallel execution. When the conditions are met, multiple processes are scheduled to execute in parallel, thereby improving the overall efficiency of the production line. Simultaneously, a process interference constraint model ensures safe connection between processes, avoiding the equipment interference risks that may occur in traditional solutions. When the parallel execution conditions cannot be met, the system automatically switches to a safe execution mode, guaranteeing safety and process quality reliability during production. Attached Figure Description

[0016] Figure 1 This is a flowchart of a PCB board automation integrated control method according to an embodiment of this application. Detailed Implementation

[0017] The embodiments of this application will now be described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0018] It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or may also have an intervening component. When a component is considered to be "placed" on another component, it can be directly placed on the other component or may also have an intervening component. The terms "top," "bottom," "upper," "lower," "left," "right," "front," "back," and similar expressions used in this article are for illustrative purposes only.

[0019] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0020] Example 1 according to Figure 1This application provides a PCB board automation integrated control method, the method comprising: S10. Real-time acquisition of process status data during the operation of the film application mechanism, flipping mechanism and adhesive application mechanism; S20. Based on the process status data, determine whether each process has entered a parallelizable state; S30, Pre-store coupling constraint rules between each process; S40. Input the process status data and the coupling constraint rules into the process interference constraint model, and determine whether at least two of the following processes, namely the film application process, the flipping process and the adhesive application process, are allowed to partially overlap in time. S50. When the process interference constraint model determines that parallel execution is allowed, a parallel execution control instruction is generated to schedule the parallel execution of at least two processes. S60. When it is detected that any process does not meet the parallel execution state, the control command is revoked and the corresponding process is switched to safe execution mode.

[0021] Specifically, in this embodiment, the system collects real-time status data for each process through sensors, PLCs, or other monitoring devices, including the working status information of the film-applying mechanism, the flipping mechanism, and the adhesive-applying mechanism. This data includes the work progress, equipment status, and current working parameters of each process, reflecting the real-time status of each process in the production line.

[0022] Based on real-time collected process status data, the system determines whether each process meets the conditions for parallel execution. The system considers the coupling relationship between the processes in the film application mechanism, flipping mechanism, and adhesive application mechanism, as well as the equipment operating status and process requirements to determine whether certain processes should be executed in parallel. Through this judgment, the system can avoid conflicts or interference between processes, ensuring the smooth operation of the production line.

[0023] The system pre-sets coupling constraint rules between processes based on production technology and equipment limitations. These rules include time interval requirements between processes, coordination requirements during equipment operation, and potential interference and conflict issues. Through these rules, the system can clearly identify the interdependencies between different processes, ensuring that these constraints are followed in actual operation.

[0024] After obtaining the status data of each process and inputting the pre-stored coupling constraint rules, the system inputs this information into the process interference constraint model. This model analyzes the interference and cooperation relationships between processes to determine whether at least two processes are allowed to partially overlap in time. Based on process requirements and equipment capabilities, the model ensures that the flipping and laminating processes can be executed in parallel without affecting quality, or determines whether it is necessary to adjust the execution order and timing of the processes.

[0025] When the process interference constraint model determines that parallel execution is permissible, the system generates parallel execution control instructions and schedules at least two processes to execute in parallel. At this time, the production line control system will automatically initiate the parallel operation of multiple processes according to the predetermined plan and control strategy, thereby improving production efficiency and shortening the production cycle.

[0026] Safety switching mechanism when parallel execution conditions are not met: During actual operation, if any process is detected as not meeting the conditions for parallel execution, the system will immediately cancel the control command for parallel execution and switch the process to safe execution mode. In this safe mode, the processes will be executed in the traditional order to ensure the safety of the production process and the reliability of the process quality.

[0027] The technical solution implemented in this embodiment dynamically determines whether a process is suitable for parallel execution by collecting real-time status data of each process, and schedules processes for parallel operation based on the determination result. This solution, by introducing a process interference constraint model, avoids the production efficiency loss caused by excessively long safety intervals in traditional methods, thus maximizing equipment utilization.

[0028] In summary, the system can determine the conditions for parallel execution based on real-time process status and coupling constraint rules, ensuring that processes run in parallel without interfering with each other. By generating parallel execution control instructions, the production line can effectively improve capacity and reduce production cycle. The safe switching mechanism ensures that no equipment conflicts or quality problems occur in the production process when parallel conditions cannot be met, thereby guaranteeing the safety and reliability of process quality in the production process.

[0029] In one specific embodiment, the process status data includes: actuator position, speed data, processing object identity, position data, operating mode, fault status data, and quality judgment data.

[0030] Specifically, for the lamination process, the process status data includes: the position coordinates and speed data of the end effector of the lamination robot arm in three-dimensional space; the current operating mode fed back by the robot arm controller, indicating whether the robot arm is in automatic operation, manual adjustment, or emergency stop mode; fault status data monitored and reported by the encoder installed on the feeding reel, which is used to determine whether there are film breakage, jamming, or material exhaustion faults; and quality judgment data generated by collecting pressure curves during the lamination process through a high-precision pressure sensor and analyzing them through a processor, which directly determines whether the current lamination process is of good or bad quality. Simultaneously, RFID information on the carrier carrying the lamination board is obtained through a barcode reader, and the identity of the current processing object and its position data on the production line are deciphered.

[0031] For the flipping process, the specific process status data includes: the position and rotational angular velocity data of the actuator fed back by the angle encoder of the flipping spindle; the suction force status reflected by the pressure sensor of the vacuum suction cup, which is classified as a key comprehensive judgment basis for quality and fault. Insufficient suction force triggers fault status data, while stable suction force generates quality judgment data indicating reliable clamping; similarly, the operating mode reported by the control system, as well as the position data of the sheet to be flipped confirmed by the sensors and the identity of the processing object determined by the RFID information of the associated carrier.

[0032] For the adhesive backing process, the process status data includes: the position and application speed data of the adhesive backing application head actuator; the operating mode of its control unit; fault status data such as tape breakage and skewness provided by the adhesive tape tension sensor and vision inspection system, as well as quality judgment data such as adhesive application position accuracy and presence of air bubbles; and verification information on the identity and location data of the board material arriving at the workstation.

[0033] In this embodiment, the input to the process interference constraint model comes from structured real-time status data streams of three processes. When determining whether to allow the film application finishing and flipping start to proceed in parallel, the model comprehensively calculates: whether the real-time position and planned path of the film application robot arm are far from the expected movement area of ​​the flipping arm; whether the board position data and identity reported by the flipping process are consistent with the board material flowing out of the film application process to ensure the continuity of material tracking; whether both are in an automatic ready state; and whether the fault status data and quality judgment data of both are within the "normal" and "qualified" ranges. Only when all data dimensions meet the preset safety thresholds and logical conditions in the coupling constraint rule base will the model generate control instructions that allow parallel operation.

[0034] In one specific embodiment, the specific steps for determining whether each process has entered a parallelizable state include: Based on the position and speed data of the actuators, it is determined whether the actuators of each process are in a preset safe position that allows other processes to start. Based on the identity and location data of the processing object, determine whether the object to be processed corresponding to each process has been in place and whether the current processing object has left the work area of ​​this process. Based on the quality assessment data, it is determined whether the processed objects flowing into each process meet the quality requirements. If so, the process is determined to have entered a parallelizable state.

[0035] Specifically, for the film application process, to determine whether it can enter a parallel processing state, the following checks must be passed sequentially: First, based on the real-time collected position and speed data of the actuator, the system determines whether its film-applying head or robotic arm has completely moved out of the interference area where it may collide with the adjacent flipping process equipment, and is stably in a preset "high-level safe standby point" with its instantaneous speed being zero.

[0036] Secondly, based on the identity and location data of the processed object, the system uses RFID and station sensors on the carrier to confirm that the carrier of the PCB board that has been filmed in this process has been triggered by the conveyor mechanism and has begun to move towards the flipping station. Its location data indicates that it is leaving or has completely left the filming work area. It also needs to confirm that the identity of the new board material to be processed has been identified and has reached the preparation position upstream of this process. The location data shows that it is ready and waiting.

[0037] Finally, based on the quality assessment data, the system checked the pressure curve, adhesion visual inspection results, and other data of this film application process, and confirmed that it was marked as "qualified".

[0038] Only when all three of the above judgments are "yes" will the system finally determine that the film application process has entered the "parallel processing state", which means that its own work area has been cleared, is safe and the process is qualified, allowing downstream processes to intervene or upstream processes to proceed.

[0039] For the flipping process, to determine whether it can enter a parallelizable state, the following checks must be performed sequentially: Based on the position and speed data of its actuator, it is determined whether the tilting arm is in a preset safe position, either vertical or horizontal, and is not performing a rotational action.

[0040] Based on the identity and location data of the processing object, it is determined whether the carrier of the sheet to be flipped has accurately arrived in the positioning device of the flipping station. At the same time, it is determined whether the previous sheet that has been flipped has been taken away and transported out of this work area.

[0041] Based on quality assessment data, the assessment here is correlated: the system needs to confirm that the quality assessment data of the current processed object flowing in from the film application process is "qualified". This is a crucial checkpoint to prevent unqualified products from continuing to circulate.

[0042] Only when all three criteria are met is the flipping process marked as "parallelizable," allowing it to initiate the flipping action and overlap with the finishing steps of the film application process or the preparatory steps of the adhesive application process in time.

[0043] For the adhesive application process, to determine whether it can be performed in parallel, the following checks must be passed sequentially: The actuator is in the safe position, the board to be adhesive-backed is in place and the previous board has left, and the quality of the incoming board is qualified.

[0044] By incorporating the identity, location data, and quality judgment data of the processed objects into parallel state criteria, it is ensured that the production flow is not only the movement of physical materials, but also the flow of data objects with complete quality information. Quality inspection nodes are dynamically and seamlessly embedded into the production cycle and parallel scheduling logic, achieving deep integration of quality access control and the production process. This constructs a preventative quality control closed loop, cutting off the parallel diffusion path of defective products at the source.

[0045] In one specific embodiment, the coupling constraint rules include: spatial interference rules, temporal coupling rules, and object uniqueness rules; Among them, the spatial interference rule is to calculate the risk of overlap of the motion envelope on the time axis based on the real-time position and planned trajectory of each actuator; The timing coupling rule is defined as follows: after applying the film, it must be left to stand for a first period of time before it can be flipped; after flipping, it must be left to stand for a second period of time before the adhesive backing can be applied. The object uniqueness rule ensures that the same board is occupied by only one process at any given time by using object identity data.

[0046] Specifically, the core of the spatial interference rule is dynamic collision avoidance. This rule is activated when the system determines whether the robotic arm in the film-applying process and the flipping arm in the flipping process can move in parallel. The model not only reads the real-time positions of the actuators of both, but also predicts their planned trajectories based on their control commands. For example, the planned path for the film-applying arm is to lift from the working point and retreat along the X-axis to the safe position; the planned path for the flipping arm is to rotate 90 degrees from the standby point and extend along the Y-axis to pick up the material. The spatial interference rule calculates the motion envelopes of these two moving parts and projects these two three-dimensional spatial envelopes onto the time axis to calculate the overlap risk. If the calculation results show that the spatial projections of the two motion envelopes intersect at any point in time, an overlap risk is determined, and the parallel request will be immediately rejected by the model.

[0047] The core of the temporal coupling rule is to ensure process reliability. The temporal coupling rule defines the process waiting times that must be followed between processes in the form of a knowledge base. After film application, a first waiting time T1 is required before flipping can begin, ensuring the adhesive on the newly applied film has initially cured and preventing displacement or air bubbles due to stress during flipping. After flipping, a second waiting time T2 is required before applying the backing adhesive; note that T1 > T2. This allows the board material to release stress and reach a stable posture after flipping and positioning, ensuring the accuracy of subsequent adhesive application. When the process interference constraint model receives a parallel request, it checks whether the time difference since the completion of the film application process has been greater than or equal to T1. If not, even if there is no spatial risk, the model will prohibit parallelism based on this temporal rule, forcing a wait until the waiting time is met.

[0048] The core of the object uniqueness rule is to prevent resource conflicts and logical confusion. This is achieved by globally tracking the identity data of each processed object. The system maintains a global sheet metal status mapping table. At any given physical moment, the status of any sheet metal is handled by one process or transferred between processes, but cannot be handled by two processes simultaneously.

[0049] In this embodiment, when a sheet material (ID: 001) has just finished being laminated, its status changes from "Laying film" to "Laying film complete, awaiting flipping." At this point, it is legal for the flipping process to request to perform an operation on it. However, if simultaneously, the laminating process erroneously relists the sheet material with ID: 001 as a target to be processed due to an abnormal reset, or the adhesive application process misreads the ID and initiates a request, the object uniqueness rule will be triggered immediately. The model compares the requesting process, the target sheet material ID, and the current state of that ID in the global mapping table to detect conflicts, thereby rejecting illegal parallel or sequential operation requests and ensuring the logical correctness of the production flow.

[0050] By simultaneously introducing three types of rules—space, temporal, and object uniqueness—the decision-making of the process interference constraint model is three-dimensional and complete, enabling it to avoid three types of risks: mechanical damage, process defects, and logical errors. This lays a solid rule foundation for achieving efficient and highly reliable parallel production.

[0051] In one specific embodiment, this embodiment uses a time-based Petri net as the implementation model, which has the advantage of being able to formally describe the concurrent, synchronous, asynchronous, and time-series constraint behaviors of discrete event systems.

[0052] Based on the real-time collected data, the current actual state of each process is determined, and the current actual state of each process is used to form the current initial identifier M0 of the Petri net.

[0053] The controller uses planned parallel events as input models for transitions to be triggered.

[0054] The model calculates the enable and trigger times of all transitions based on the aforementioned coupling constraint rules, specifically as follows: Logical enable judgment is performed based on spatial interference rules and object uniqueness rules: it checks whether all input libraries of T_flip_start meet the logical conditions, and checks for space conflicts or object occupancy conflicts based on the rules. If there are no conflicts, the transition is marked as "enabled".

[0055] The time enable judgment is based on the timing coupling rule: it checks whether the time delay T1 associated with the path from the film application completion location to the T_flip_start transition has been satisfied. The system calculates the elapsed time since the film application completion state and compares it with T1.

[0056] Then, the model undergoes a rapid simulation: while maintaining the current real-world time reference, the model virtually advances the timeline, simulating the state evolution of the entire Petri net after the T_flip_start transition is triggered. The simulation will examine whether there are specific warning locations on the virtual timeline that represent spatial interference or object conflict due to transition triggering, and whether all states can evolve to the expected stable and safe markers.

[0057] Ultimately, if the system reaches the safety threshold and there are no constraint conflicts after the simulation, the model determines that parallelism is allowed, and the conflict-free transition triggering timing scheme obtained from the simulation can be used as the basis for generating specific parallel execution control instructions. Conversely, if constraint conflicts occur prematurely in the simulation or the safety threshold cannot be reached, the parallel plan is deemed not allowed.

[0058] By abstracting the control logic into a temporal Petri net model, the complex, state-dependent parallel scheduling problem is transformed into a dynamic simulation and reachability analysis problem based on a formal model. Through a single simulation run, the cascading effects of planned parallel events on the overall system state in terms of space occupancy, timing, and resource allocation can be proactively assessed on a virtual timeline. This achieves integrated, one-time verification of all types of constraint conflicts. This avoids coordination problems that may arise from step-by-step, rule-based verification, ensuring the completeness of safety decisions.

[0059] In one specific embodiment, the generation of parallel execution control instructions specifically includes the following steps: An instruction set with absolute timestamps is generated based on the model and synchronously distributed to the corresponding process controller via a real-time industrial network.

[0060] In this embodiment, it should be noted that the step of generating parallel execution control instructions is a crucial step in transforming the simulation decision results of the process interference constraint model into physical actions that can be executed by the field equipment. It ensures that the intent of parallel control can be accurately and synchronously transmitted and executed.

[0061] Once the process interference constraint model has been simulated and determined that the finishing stage of the film application process and the starting stage of the flipping process are allowed to run in parallel, and a conflict-free transition triggering sequence is calculated, the system enters the instruction generation stage.

[0062] A specific and quantified scheduling scheme is derived from simulation based on the process interference constraint model. The model output includes not only results that allow parallelism, but also a detailed sequence of action events with future time points.

[0063] The instruction set is a structured list of commands. Each instruction targets a specific process controller and includes a timestamp as the trigger time for its execution. The instruction content is the specific action, such as "MOVETO_POSITION (X,Y, Z, velocity curve ID)", "ACTUATE_VACUUM (ON)", and "START_ROTATION (angle, angular velocity)". The timestamps of all instructions collectively define the precise overlap of parallel actions on the time axis.

[0064] The instruction set is synchronously distributed to the corresponding process controller via a real-time industrial network. In this embodiment, the network is an industrial Ethernet protocol with deterministic and high synchronization accuracy. Through this network, the instruction set containing future execution times is pre-loaded into the buffer of each process controller. The network protocol itself ensures that all slave stations receive their respective instruction sets almost simultaneously within a very short control cycle. The local clock built into each slave controller is strictly synchronized with the system master clock, and they continuously compare the current time with the absolute timestamp in the instruction locally. When the clock reaches the preset precise time point, each controller independently and synchronously triggers the corresponding action, thereby realizing actions such as the retraction of the film-applying robotic arm and the rotation of the flipping arm, achieving parallel execution with partial temporal overlap at the microsecond to millisecond level accuracy.

[0065] In one specific embodiment, the step of switching the corresponding process to a safe execution mode is a serial sequential execution mode; The switching steps include: All parallel instructions are aborted, and a new serial process instruction sequence without time overlap is generated based on the current position of each processing object.

[0066] Specifically, after the switch is triggered, the system first executes an emergency stop command to halt all parallel instructions. This causes the central controller to send an emergency stop command to all process controllers that are executing or about to execute parallel actions via the real-time industrial network. This command has the highest priority and will immediately override any previously issued timestamped parallel instructions.

[0067] In the process of regenerating a non-overlapping serial process instruction sequence based on the current position of each processing object, the controller will take an instantaneous state snapshot of all in-process boards on the production line based on the latest processing object position data collected in real time.

[0068] Based on this snapshot, the system planner will regenerate a completely new, conservative sequence of process instructions. The key feature of this sequence is the absence of time overlap; that is, it strictly follows the order of film application, settling, flipping, settling, and adhesive application, with each step only starting after the previous step has completely finished and the necessary settling time has elapsed. Sufficient safety intervals are inserted between all instructions to ensure no risk of temporal or spatial interference.

[0069] Implementation 2 In this embodiment, it should be noted that the PCB board automation integrated control device provided in this embodiment is used to execute the method of any of the foregoing embodiments. The control device includes at least a film application mechanism, a flipping mechanism, and an adhesive application mechanism.

[0070] Specifically, the PCB board automation integrated control device is a hardware and software integrated system that integrates mechanical execution unit, sensing and detection unit, control and computing unit and communication network unit. Its core objective is to coordinate the control of the film application mechanism, flipping mechanism and adhesive application mechanism to complete the automated production of PCB boards safely, efficiently and with high quality.

[0071] A film application mechanism typically includes a robotic arm, an end-effector application head, and a film feeding and cutting system. The position and speed data of its actuators are collected in real time by encoders installed at each joint of the robotic arm; its quality assessment data can be obtained through pressure sensors and vision inspection units integrated into the application head; and its operating mode and fault status data are reported by the servo drives and controllers of the mechanism itself.

[0072] The flipping mechanism typically includes a rotatable flipping arm, a vacuum suction cup, or a mechanical gripper. Its actuator position is provided by a rotary encoder; its adsorption or clamping status constitutes a key source of quality assessment and fault status data; it also has an independent controller for reporting operating modes.

[0073] The adhesive tape application mechanism includes a gantry-type or robotic arm application head, an adhesive tape feeding and winding system, and a precision positioning platform. Real-time position and speed data, adhesive tension monitoring, and post-application visual inspection results together constitute the complete status information for this process.

[0074] In addition to the three core actuators mentioned above, the control device also includes: A sensor network consisting of photoelectric sensors, position sensors, RFID readers, and other sensors distributed throughout each workstation is used to collect real-time data on the identity and location of the processed objects and to monitor the safe position of the mechanism.

[0075] The central control unit, serving as the core computing brain of the device, pre-stores the coupling constraint rule base and runs the process interference constraint model. It connects to various mechanism controllers and sensor networks via a real-time industrial network, and is responsible for executing all logical steps of the PCB board automation integrated control method.

[0076] The real-time industrial network acts as the central nervous system of the device, ensuring high-precision and deterministic synchronous transmission of all control commands and status data between the central control unit and various mechanism controllers and sensors.

[0077] Example 3: This embodiment provides a control medium for integrated automation of a PCB board, applicable to any of the aforementioned integrated automation control methods for PCB boards. The medium can be a memory card, USB flash drive, external hard drive, optical disc, ROM, RAM, or a downloadable program package. The medium stores a computer program, which, when executed by a processor, implements the steps of any of the aforementioned integrated automation control methods for PCB boards. Further details will not be elaborated upon here.

[0078] Therefore, the aforementioned PCB board automation integrated control method improves the overall efficiency of the production line by collecting real-time status data of each process, determining whether each process meets the conditions for parallel execution, and scheduling multiple processes to execute in parallel when the conditions are met. Simultaneously, a process interference constraint model ensures safe connection between processes, avoiding the equipment interference risks that may occur in traditional solutions. When the parallel execution conditions cannot be met, the system automatically switches to a safe execution mode, guaranteeing safety and process quality reliability during production.

[0079] The above description is merely an embodiment of this application. It should be noted that those skilled in the art can make improvements without departing from the inventive concept of this application, but these improvements all fall within the protection scope of this application.

Claims

1. A PCB board automation integrated control method, characterized in that, The method includes: Real-time acquisition of process status data during the operation of the film application mechanism, flipping mechanism, and adhesive application mechanism; Based on the process status data, it is determined whether each process has entered a parallelizable state; Pre-store coupling constraint rules between each process; The process status data and the coupling constraint rules are input into the process interference constraint model. Based on the model, it is determined whether at least two of the following processes—the film application process, the flipping process, and the adhesive application process—are allowed to partially overlap in time. When the process interference constraint model determines that parallel execution is allowed, a parallel execution control instruction is generated to schedule the parallel execution of at least two processes; When it is detected that any process does not meet the parallel execution state, the control command is revoked and the corresponding process is switched to safe execution mode.

2. The PCB board automation integrated control method according to claim 1, characterized in that, The process status data includes: actuator position, speed data, processing object identity, position data, operating mode, fault status data, and quality judgment data.

3. The PCB board automation integrated control method according to claim 2, characterized in that, The specific steps for determining whether each process can be parallelized include: Based on the position and speed data of the actuators, it is determined whether the actuators of each process are in a preset safe position that allows other processes to start. Based on the identity and location data of the processing object, determine whether the object to be processed corresponding to each process has been in place and whether the current processing object has left the work area of ​​this process. Based on the quality assessment data, it is determined whether the processed objects flowing into each process meet the quality requirements. If so, the process is determined to have entered a parallelizable state.

4. The PCB board automation integrated control method according to claim 1, characterized in that, The coupling constraint rules include: spatial interference rules, temporal coupling rules, and object uniqueness rules; Among them, the spatial interference rule is to calculate the risk of overlap of the motion envelope on the time axis based on the real-time position and planned trajectory of each actuator; The timing coupling rule is defined as follows: after applying the film, it must be left to stand for a first period of time before it can be flipped; after flipping, it must be left to stand for a second period of time before the adhesive backing can be applied. The object uniqueness rule ensures that the same board is occupied by only one process at any given time by using object identity data.

5. The PCB board automation integrated control method according to claim 1, characterized in that, The process interference constraint model is a time-based Petri net model; The determination step is specifically as follows: Use the current process status data as the initial identifier of the Petri net, and use planned parallel events as transition inputs; Calculate the enable and trigger times of all transitions based on the coupling constraint rules; If the system reaches the safety threshold and there are no constraint conflicts after the simulation runs, then parallelism is allowed.

6. The PCB board automation integrated control method according to claim 5, characterized in that, The specific steps for generating parallel execution control instructions are as follows: An instruction set with absolute timestamps is generated based on the model and synchronously distributed to the corresponding process controller via a real-time industrial network.

7. The PCB board automation integrated control method according to claim 1, characterized in that, In the step of switching the corresponding process to a safe execution mode, the safe execution mode is a serial sequential execution mode. The switching steps include: All parallel instructions are aborted, and a new serial process instruction sequence without time overlap is generated based on the current position of each processing object.

8. A PCB board automation integrated control device, characterized in that, The control method for PCB board automation integration as described in any one of claims 1-7.

9. The PCB board automation integrated control device according to claim 8, characterized in that, The control device includes at least a film application mechanism, a flipping mechanism, and an adhesive application mechanism.

10. A control medium for integrated automation of a PCB board, characterized in that, The control method for PCB board automation integration as described in any one of claims 1-7.

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