SMT material frame adaptive width adjusting system adaptive to multi-size circuit boards

Abstract

The present application relates to the field of circuit board production automation equipment and intelligent control, specifically to an SMT material frame self-adaptive width adjusting system suitable for multi-size circuit boards, comprising a left width adjusting mechanism, a right width adjusting mechanism, left and right drive motors, a width detection module, a storage module, a data acquisition module, a state quantization module, a prediction decision module and a self-adaptive execution module; by collecting left and right motor operating current and torque feedback, calculating operating characteristic difference data and asynchronous fatigue entropy data, and combining circuit board size information and current material frame width to determine the target width adjusting direction; when the asynchronous fatigue entropy is lower than the danger threshold, normal width adjusting action is executed, and when the asynchronous fatigue entropy is higher than or equal to the danger threshold, anti-stuck degradation action is executed, so as to realize the collaborative control of throughput target and mechanical survival state.

Description

Technical Field

[0001] This invention relates to the field of automated equipment and intelligent control for circuit board production, specifically to an SMT material frame adaptive width adjustment system that adapts to circuit boards of various sizes. Background Technology

[0002] With the increasing demand for multi-size circuit board production in unmanned continuous manufacturing lines, the material frame width adjustment mechanism needs to quickly widen or narrow during the switching of different board types to ensure continuous connection between board loading, buffering, and mounting processes. Existing STM material frame width adjustment methods typically determine the target material frame width based on the circuit board size information, and then the left and right drive mechanisms synchronously execute the width adjustment action. To improve line change efficiency, the control system often uses the difference between the current position and the target width as the main control basis, and completes the material frame channel width adjustment through transmission components such as motors, guide rails, and chains. However, in unattended continuous operation environments, the transmission mechanisms on both sides of the material frame are easily affected by changes in plate weight, guide rail wear, chain tension differences, and thermal shock from adjacent high-temperature equipment, causing the frictional resistance and stress state on both sides to gradually deviate. Existing width adjustment control usually focuses more on whether the target width has been reached, but lacks cumulative analysis of left and right drive current, torque feedback, and historical load differences, making it difficult to identify fatigue deviations and early signs of jamming caused by uneven stress on both sides in a timely manner. When the system still performs high-speed width adjustment at a fixed pace, it may continue to amplify chain wear and thermal stress differences before obvious positional abnormalities occur, eventually causing guide rail jamming or transmission lock-up. In addition, even if some equipment is equipped with overload protection, it often judges based on instantaneous current or a single threshold, failing to incorporate the current width target, historical fatigue state, thermal disturbance abrupt changes, and degradation action effects into a unified decision-making chain, making it difficult to balance width adjustment efficiency and mechanical safety. Summary of the Invention

[0003] The purpose of this invention is to provide an adaptive width adjustment system for SMT material frames that can adapt to multiple sizes of circuit boards, and to solve the following technical problems: It avoids the transmission chain from jamming or locking up during high-load adjustments due to uneven heating, and enables coordinated control of throughput targets and mechanical survival status when dealing with continuous line changes of multi-size circuit boards.

[0004] The objective of this invention can be achieved through the following technical solutions: An adaptive width adjustment system for SMT material frames to accommodate multiple circuit board sizes includes: The left and right width adjustment mechanisms work together to support the circuit board and adjust the width of the material frame. A left-side drive motor is connected to the left-side width adjustment mechanism; a right-side drive motor is connected to the right-side width adjustment mechanism. Width detection module, used to obtain the current width of the material frame; Storage module, used to store historical data; The data acquisition module is used to acquire the left operating current data and left torque feedback data of the left drive motor according to a preset sampling period, and to acquire the right operating current data and right torque feedback data of the right drive motor. The state quantization module is used to calculate operating characteristic difference data based on the left-side operating current data, the left-side torque feedback data, the right-side operating current data, and the right-side torque feedback data; and to generate asynchronous fatigue entropy data by cumulatively calculating the operating characteristic difference data and combining it with historical operating characteristic difference data extracted within a preset time window. The prediction and decision module is used to acquire the size information of the circuit board, determine a preset target width adjustment based on the size information, compare the preset target width adjustment with the current frame width, and if the two are not equal, determine the preset target width adjustment direction; if the two are equal, maintain the current position state; compare the asynchronous fatigue entropy data with a preset danger threshold; if the asynchronous fatigue entropy data is lower than the preset danger threshold, generate an optimal throughput command; if the asynchronous fatigue entropy data is higher than or equal to the preset danger threshold, generate a stress release command. An adaptive execution module is used to control the left drive motor and the right drive motor to perform normal width adjustment actions in response to the optimal throughput command; and to control the left drive motor and the right drive motor to perform anti-jamming degradation actions in response to the stress relief command.

[0005] Preferably, the state quantization module includes: A current comparison unit is used to calculate the absolute difference between the left-side operating current data and the right-side operating current data, and generate current difference characteristics. A torque comparison unit is used to calculate the absolute difference between the left torque feedback data and the right torque feedback data, and generate torque difference characteristics. The feature fusion unit is used to perform weighted summation of the current difference feature and the torque difference feature according to preset current weight coefficient and torque weight coefficient to generate the operating feature difference data.

[0006] Preferably, the state quantization module further includes: The history acquisition unit is used to extract historical operational feature difference data within a preset time window from the storage module; The entropy calculation unit is used to perform time integration on the historical operating characteristic difference data and the operating characteristic difference data within the preset time window to generate a cumulative fatigue deviation value; input the cumulative fatigue deviation value into a preset physical damage polynomial function, and output the asynchronous fatigue entropy data; wherein, the preset physical damage polynomial function is configured with confidence weights corresponding to normal width adjustment action and anti-jamming degradation action as polynomial coefficients respectively.

[0007] Preferably, the predictive decision module is also used for: Obtain a preset limit physical jamming threshold, wherein the preset limit physical jamming threshold is higher than the preset danger threshold; Calculate the difference between the preset limit physical stagnation threshold and the asynchronous fatigue entropy data to generate a residual safety margin; If the asynchronous fatigue entropy data is lower than the preset limit physical jamming threshold, the residual safety margin is divided by the preset fixed decay rate coefficient to calculate the remaining anti-jamming life; if the asynchronous fatigue entropy data is higher than or equal to the preset limit physical jamming threshold, the remaining anti-jamming life is recorded as zero. The remaining lifespan of the anti-jamming system is output to the monitoring terminal connected to the communication link.

[0008] Preferably, the anti-jamming degradation action includes a reverse fine-tuning reset action and a deceleration thermal equalization action; the adaptive execution module includes: A state determination unit is used to compare the asynchronous fatigue entropy data with a preset critical deadlock threshold; wherein the preset critical deadlock threshold is higher than the preset danger threshold. The first execution unit is used to control the left drive motor and the right drive motor to perform the reverse fine-tuning reset action if the asynchronous fatigue entropy data is lower than the preset critical lock-up threshold. The second execution unit is used to control the left drive motor and the right drive motor to perform the deceleration thermal equalization action if the asynchronous fatigue entropy data is higher than or equal to the preset critical lock-up threshold.

[0009] Preferably, the reverse fine-tuning reset action includes: generating a reverse torque command; controlling the left drive motor and the right drive motor to reverse by a preset step length away from the preset target width adjustment direction according to the reverse torque command, and controlling the left drive motor and the right drive motor to resume movement towards the preset target width adjustment direction; The speed reduction and thermal equalization action includes: generating a speed reduction control command; reducing the operating speed of the left drive motor and the right drive motor to a preset safe speed according to the speed reduction control command, and continuing for a preset equalization time.

[0010] Preferably, it also includes a thermal shock interference monitoring module, used for: Calculate the rate of change between the operational feature difference data within the current sampling period and the historical operational feature difference data within the previous sampling period obtained from the storage module in the preset sampling period; Compare the rate of change with a preset mutation threshold; If the rate of change is higher than or equal to the preset mutation threshold, a thermal shock alarm signal is generated, and the preset danger threshold is lowered to a preset conservative threshold, wherein the preset conservative threshold is less than the preset danger threshold. If the rate of change is lower than the preset mutation threshold, the preset danger threshold is maintained unchanged.

[0011] Preferably, it also includes a closed-loop evaluation module for: After the adaptive execution module performs the anti-jamming degradation action, the data acquisition module is triggered to acquire the left-side operating current data, the left-side torque feedback data, the right-side operating current data, and the right-side torque feedback data. Based on the left-side remining operating current data, the left-side remining torque feedback data, the right-side remining operating current data, and the right-side remining torque feedback data, calculate the remining operation characteristic difference data; Compare the re-mining operation characteristic difference data with the operation characteristic difference data; If the resampling operation characteristic difference data is lower than the operation characteristic difference data, increase the confidence weight of the corresponding anti-jamming degradation action in the preset physical damage polynomial function; If the resampling operation characteristic difference data is higher than or equal to the operation characteristic difference data, the confidence weight of the corresponding anti-jamming degradation action in the preset physical damage polynomial function is reduced.

[0012] Preferably, the system is applied to unmanned continuous manufacturing production lines; The left-side width adjustment mechanism includes a left-side mechanical transmission chain and a left-side width adjustment guide rail, and the left-side drive motor is connected to the left-side width adjustment guide rail through the left-side mechanical transmission chain; The right-side width adjustment mechanism includes a right-side mechanical transmission chain and a right-side width adjustment guide rail, and the right-side drive motor is connected to the right-side width adjustment guide rail through the right-side mechanical transmission chain; The asynchronous fatigue entropy data characterizes the difference in physical wear and thermal stress accumulated between the left and right mechanical transmission chains due to uneven force distribution.

[0013] Preferred, normal width adjustment actions include: Calculate the width difference between the preset target width adjustment and the current frame width; Substitute the width difference into the preset trapezoidal acceleration / deceleration curve formula, and generate a feedforward speed control sequence through time integration. Based on the feedforward speed control sequence, the left drive motor and the right drive motor are synchronously driven to reach the preset target width adjustment.

[0014] The beneficial effects of this invention are: 1. This invention obtains real-time feedback on the operating current and torque of the drive motors on both sides, calculates the characteristic differences and extracts asynchronous fatigue entropy data, breaking through the limitations of traditional instantaneous single threshold protection. This mechanism can accurately quantify and track the fatigue deviation and jamming precursors accumulated by uneven force on both sides of the mechanism, realize the forward identification of mechanical locking trend, and effectively avoid guide rail jamming and transmission chain lock-up caused by the structure operating in a state of fatigue damage. 2. This invention incorporates target width control and asynchronous fatigue state into a unified decision-making chain. Under low risk, it performs normal and stable width adjustment to ensure optimal throughput. Under high risk, it generates stress release commands to trigger graded anti-jamming degradation actions such as reverse fine-tuning reset or deceleration thermal equalization. This mechanism breaks the traditional single threshold-triggered shutdown protection and realizes dynamic coordination between line changeover efficiency and mechanical safety in unmanned production lines. 3. This invention constructs a thermal shock interference monitoring mechanism. By calculating the rate of change of the difference data of operating characteristics in adjacent sampling periods, when faced with sudden deviation of stress caused by adjacent high-temperature equipment, it can detect the deterioration trend in real time and adaptively lower the danger threshold. This enables the system to switch to the stress release mode in advance in the early stage of rapid amplification of mechanical thermal stress, effectively resisting the damage of sudden changes in the external thermal environment to the transmission mechanism. Attached Figure Description

[0015] The invention will now be further described with reference to the accompanying drawings.

[0016] Figure 1 This is a schematic diagram of the module of the SMT material frame adaptive width adjustment system for adapting to multi-size circuit boards provided in the embodiments of this application. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figure 1An adaptive width adjustment system for SMT material frames that can accommodate circuit boards of various sizes includes: a left-side width adjustment mechanism and a right-side width adjustment mechanism, which together support the circuit board and adjust the width of the material frame; a left-side drive motor connected to the left-side width adjustment mechanism; and a right-side drive motor connected to the right-side width adjustment mechanism. Width detection module, used to obtain the current width of the material frame; The storage module is used to store historical data; the data acquisition module is used to acquire the left running current data and left torque feedback data of the left drive motor and the right running current data and right torque feedback data of the right drive motor according to a preset sampling period. The state quantization module is used to calculate the operating characteristic difference data based on the left-side operating current data, left-side torque feedback data, right-side operating current data, and right-side torque feedback data; based on the operating characteristic difference data, it performs cumulative calculations by combining historical operating characteristic difference data extracted within a preset time window to generate asynchronous fatigue entropy data. The prediction and decision-making module is used to acquire the size information of the circuit board, determine the preset target width adjustment based on the size information, compare the preset target width adjustment with the current frame width, if the two are not equal, determine the preset target width adjustment direction; if the two are equal, maintain the current position state; compare the asynchronous fatigue entropy data with the preset danger threshold; if the asynchronous fatigue entropy data is lower than the preset danger threshold, generate the optimal throughput command; if the asynchronous fatigue entropy data is higher than or equal to the preset danger threshold, generate the stress release command. The adaptive execution module is used to control the left and right drive motors to perform normal width adjustment actions in response to the optimal throughput command; and to control the left and right drive motors to perform anti-jamming degradation actions in response to the stress relief command.

[0019] This embodiment provides an adaptive width adjustment mechanism for STM material frames that can adapt to circuit boards of multiple sizes. Specifically, the mechanism is deployed at the board changing station of an unmanned continuous manufacturing line. The material frame is located between the mounting section and the buffer transport section. The left and right width adjustment mechanisms respectively support the two sides of the circuit board and synchronously adjust the channel width. The production line operates continuously for 24 hours a day. The adjacent reflow soldering equipment periodically releases heat, causing uneven heating of the left and right drive chains of the material frame, resulting in dynamic deviation of the frictional resistance on both sides during the same line changeover task. In this scenario, the system does not simply execute target width control, but first quantifies the difference in the operating states of both sides, and then decides whether to continue high-speed width adjustment or switch to anti-gag mode. Specifically, the width detection module can use a linear displacement ruler, encoder conversion value, or guide rail current position mapping value to obtain the current material frame width; the data acquisition module continuously acquires the operating current and torque feedback of the drive motors on the left and right sides at a preset sampling period; When acquiring the above operating current data and torque feedback data, the data acquisition module includes filtering by default, such as low-pass filtering or moving average filtering, to remove high-frequency electromagnetic interference noise in the industrial field and ensure the authenticity and smoothness of the data used for subsequent feature quantization. The sampling period can be set to 20ms, 50ms or 100ms. In this embodiment, 50ms is used as an example. If the current incoming width of a certain circuit board corresponds to the target material frame width of 320mm, and the width detection module measures the current material frame width as 280mm, then the prediction decision module first determines that the preset target width adjustment direction of this task is to widen. The state quantization module generates operating characteristic difference data based on the left-side operating current data, left-side torque feedback data, right-side operating current data, and right-side torque feedback data within the same sampling period; For ease of understanding, assuming that the current on the left is 2.8A and the current on the right is 2.1A in a certain sampling period, and the torque feedback on the left is 1.6Nm and the torque feedback on the right is 1.0Nm, then the system can first identify that there is a higher current on one side and a higher torque on the other side. This usually means that although the two-sided mechanism performs the same widening action, the mechanical resistance is not symmetrical. Furthermore, the state quantification module combines the current difference with the difference trajectory within the historical window to obtain asynchronous fatigue entropy data; here, asynchronous fatigue entropy is used to characterize the cumulative wear deviation and thermal stress deviation caused by the asynchronous force on the left and right mechanisms, rather than a single instantaneous overload. After obtaining the current circuit board size information, the prediction and decision-making module incorporates the target width adjustment, the current material frame width, and the asynchronous fatigue entropy data into the decision. If the asynchronous fatigue entropy data is lower than the preset danger threshold, for example, the current value is 0.42 and the danger threshold is 0.60, then the optimal throughput instruction is generated, and the adaptive execution module controls the dual motors to complete the widening according to the normal width adjustment cycle. The preset danger threshold is determined by the mechanical fatigue limit test data during the equipment's factory calibration stage, or by statistical analysis of the critical state characteristic data of slight jamming during long-term operation of the same model production line. If the asynchronous fatigue entropy data is higher than or equal to the danger threshold, for example, the current value is 0.67, then even if the line switching sequence requires the current switching task to be completed immediately, the system will not continue to execute high throughput pulse width modulation, but will generate stress release instructions, and the adaptive execution module will switch to anti-jamming degradation action to suppress the continued increase of asymmetric stress. As a protection mechanism, if the size information is missing, the prediction and decision module will not directly issue motion commands, but will maintain the current width and request the upper-level scheduling system to resend the current plate type parameters. Among them, the upper-level scheduling system and the monitoring terminal mentioned in subsequent embodiments are all external production line management devices that are independent of this adaptive width adjustment system. This system realizes data interaction of status and instructions with them through industrial communication bus or network interface. If the width detection value exceeds the upper or lower limit of the physical travel of the material frame, the current task will be marked as an illegal width task and execution will be prohibited; if the current or torque feedback on one side is missing for multiple consecutive sampling cycles, the most recent valid value will be used for one-time replacement, and the fault count will be recorded at the same time. If the missing data continues for more than the preset tolerance time, the widening will be stopped and a device alarm will be output to prevent incorrect widening or narrowing actions based on distorted data. During a nighttime continuous line changeover in an unattended production workshop, the previous batch of thick plate products required a material frame width of 340mm, while the subsequent batch of thin plate products required a material frame width of 300mm. The system detected that the current width was 340mm, and the target direction was narrowing. After the line changeover began, the ventilation conditions of the adjacent reflow oven changed, causing significant heating of the guide rail on the right side of the material frame. The data acquisition module detected that the current and torque on the right side were consistently higher than those on the left side within five consecutive sampling cycles. Based on this, the state quantization module calculated that the asynchronous fatigue entropy increased from 0.48 to 0.63. At this time, the prediction and decision module no longer pursued the fastest narrowing cycle, but instead output a stress release command. The adaptive execution module changed to anti-jamming degradation action, thereby avoiding the right transmission chain from locking up during the high-load narrowing process. The purpose of this step is to unify target width control and asynchronous mechanical fatigue management into the same decision-making chain, thereby achieving coordinated control of throughput targets and mechanical survivability when facing continuous line changes of multi-size circuit boards.

[0020] In a preferred embodiment of the present invention, the state quantization module includes: a current comparison unit, used to calculate the absolute difference between the left-side operating current data and the right-side operating current data, and generate current difference features; a torque comparison unit, used to calculate the absolute difference between the left-side torque feedback data and the right-side torque feedback data, and generate torque difference features; and a feature fusion unit, used to perform weighted summation of the current difference features and the torque difference features according to preset current weight coefficients and torque weight coefficients, and generate operating feature difference data.

[0021] This embodiment provides a quantification mechanism for operational characteristic difference data; specifically, in the previous embodiment, although the system can judge the existence of asymmetric risk based on the overall changes fed back by the left and right motors, if the original current and torque values ​​are directly mixed, it is easy to be affected by the difference in dimensions of different motor models, the switching of board weight, and the natural fluctuations during acceleration and deceleration, making it difficult to distinguish between normal heavy load and the beginning of asymmetric jamming. Therefore, this embodiment further breaks down state quantization into three consecutive steps: current comparison, torque comparison, and feature fusion, in order to obtain more stable operational feature difference data. Specifically, the current comparison unit calculates the absolute difference between the left and right operating currents within the same sampling period to obtain the current difference characteristics; the torque comparison unit calculates the absolute difference between the left and right torque feedbacks to obtain the torque difference characteristics; the feature fusion unit then performs a weighted summation based on preset current weighting coefficients and torque weighting coefficients to output the operating feature difference data. For ease of explanation, here is a set of example data: In a certain sampling period, the operating current on the left is 2.8A and the operating current on the right is 2.1A, so the current difference characteristic is 0.7; the torque feedback on the left is 1.6Nm and the torque feedback on the right is 1.0Nm, so the torque difference characteristic is 0.6. If the current weighting coefficient is 0.4 and the torque weighting coefficient is 0.6, then the operating characteristic difference data are as follows: The larger this value, the greater the degree of load inconsistency between the left and right sides when undertaking the same bandwidth adjustment task. Furthermore, the weighting coefficients can be set based on the mechanism design experience, or obtained through regression analysis of prototype wear data during the equipment commissioning phase; for example, when the chain, guide rail, and reduction mechanism are more sensitive to torque changes, the torque weight can be increased. When power supply fluctuations are small and current changes reflect the initial characteristics of jamming earlier, the current weight can be increased. In practical applications, the two weighting coefficients can satisfy the constraint that the sum is 1 so that comparisons can be made between different batches, but this is not the only restriction. As a protection mechanism, if the current value on either side exceeds the preset reference range within a certain sampling period, such as being less than 0 or higher than the hardware rated upper limit, then that period is marked as an invalid period and will not be directly involved in the fusion calculation. If the current difference characteristic is normal but the rate of change of the torque difference characteristic exceeds the preset upper limit threshold, the system will prioritize retaining the torque side abnormality and label it as mechanical blockage suspected; otherwise, if the torque feedback interface jitters briefly and the current difference characteristic remains stable, the previous effective torque difference characteristic can be used for smooth compensation to avoid misjudgment. On the same unmanned production line, the material frame is being widened from 300mm to 360mm to accommodate a narrow plate. In the initial stage, the operating currents on the left and right sides are 2.4A and 2.5A, respectively, and the torque feedbacks are 1.2Nm and 1.3Nm, respectively. The calculated differences in operating characteristics are low, indicating that the overall synchronization of the mechanism meets the preset requirements. A few seconds later, due to the thermal expansion on the right side, the operating current on the right side rises to 3.1A while that on the left side remains at 2.5A. The torque feedback on the right side rises to 1.9Nm while that on the left side is only 1.3Nm. The fusion result exceeds the preset threshold. At this time, the system can identify from the feedback of the two motors themselves that the loads on both sides are deviating from the symmetrical state without relying on additional high-precision external sensors. The purpose of this mechanism is to compress the inconsistency of the two-sided drive into a continuously comparable scalar representation, thereby achieving a unified input for subsequent fatigue accumulation analysis and width adjustment strategy switching.

[0022] In a preferred embodiment of the present invention, the state quantization module further includes: a history acquisition unit, used to extract historical operating characteristic difference data within a preset time window from the storage module; and an entropy calculation unit, used to perform time integration calculation on the historical operating characteristic difference data and the operating characteristic difference data within the preset time window to generate a cumulative fatigue deviation value. The cumulative fatigue deviation value is input into a preset physical damage polynomial function, and asynchronous fatigue entropy data is output. The preset physical damage polynomial function is configured with confidence weights corresponding to normal width adjustment action and anti-jamming degradation action as polynomial coefficients.

[0023] This embodiment provides an asynchronous fatigue entropy calculation mechanism for historical cumulative effects. Specifically, in the previous embodiment, the difference data of running characteristics can effectively reflect the deviation of the forces on both sides at a certain moment. However, if the risk judgment is made based only on the single-cycle difference, it is easy to miss the dangerous state that has been in a moderately asymmetrical state for a long time but has not yet crossed the threshold instantaneously. Structural lock-up in continuous manufacturing is often not caused by a single peak impact, but rather by the gradual superposition of accumulated wear, thermal stress, and local primary plastic deformation over multiple widening cycles. Therefore, this embodiment introduces a preset time window, time integration calculation, and physical damage polynomial function to transform instantaneous deviations into asynchronous fatigue entropy data that can express the cumulative damage trend. Specifically, the historical acquisition unit extracts historical operational feature difference data within a preset time window from the storage module; the time window can be set according to the number of sampling points or according to the natural duration, such as the most recent 60 seconds, the most recent 300 sampling points, etc.; the entropy calculation unit performs time integration calculation on the historical operational feature difference data and the current operational feature difference data together to obtain the cumulative fatigue deviation value; For ease of understanding, let's assume that the differences in operational characteristics over the last four sampling periods within the time window are 0.30, 0.35, 0.45, and 0.50, respectively, and the current sampling period is 0.64. Since the sampling period is one unit of time, the cumulative fatigue deviation value can be simplified as 0.30 + 0.35 + 0.45 + 0.50 + 0.64 = 2.24. If we further consider that the closer to the current time, the higher the weight, we can also use time coefficients of 0.1, 0.15, 0.2, 0.25, and 0.3 to obtain another cumulative value. The core of the above approach is not to limit a certain form of integration, but to retain the physical meaning that the greater the recent continuous deviation, the more severe the cumulative fatigue. The entropy calculation unit inputs the cumulative fatigue deviation value into a preset physical damage polynomial function; for example, the cumulative fatigue deviation value can be used. The independent variable is configured with polynomial coefficients. , , quadratic polynomial function The polynomial coefficients here are not fixed, but contain confidence weights corresponding to normal width adjustment actions and anti-jamming degradation actions, respectively. For example, when historical data of the equipment shows that degradation actions are highly effective in mitigating the risk of jamming, the confidence weight associated with the degradation action can be increased, so that the same cumulative fatigue deviation value will result in a lower asynchronous fatigue entropy output in a scenario where degradation protection has been implemented; conversely, if the degradation action fails to significantly improve the load deviation, its corresponding confidence weight can be reduced, so that the system enters risk warning earlier in the future. To illustrate more intuitively, assuming a cumulative fatigue deviation of 2.24, under the current equipment parameters, the polynomial function can be simplified to: If the current round mainly operates according to the normal bandwidth adjustment strategy, the corresponding confidence weight will keep the coefficients highly sensitive, and the asynchronous fatigue entropy will be approximately 0.72. If the equipment has just performed an effective degradation release action, and the historical reliability of the degradation strategy is high, the coefficients can be adjusted to 0.06, 0.10, and 0.05, and the asynchronous fatigue entropy will be approximately 0.57. The former indicates that the structure is close to the danger zone, while the latter indicates that although there is still fatigue deviation, some throughput operation can be restored in a short time. As a protection mechanism, if there are insufficient valid sampling points in the historical window, such as when the system has just been powered on or the cached data has been cleared, the minimum start-up window can be used to calculate the current value and the few most recent valid historical values, and a low-confidence historical marker can be added to the output. If the cumulative fatigue deviation value is abnormally large and exceeds the upper limit of the function calibration interval, it will not be extrapolated to infinity, but will be directly truncated to the preset maximum risk value; if the polynomial function coefficient update fails, it will fall back to the equipment's factory default coefficient group to ensure that a conservative risk judgment can still be given. During the continuous line changeover during the night shift, the production line processed three types of heavy-duty boards with width spans exceeding the preset tolerance. After the first two widening tasks were completed, although the instantaneous operational feature difference data did not exceed 0.65 each time, multiple medium and high differences continued to accumulate in the last 90-second window. The entropy calculation unit calculated that the cumulative fatigue deviation value continued to increase. After polynomial function mapping, the asynchronous fatigue entropy increased from 0.41 to 0.69. At this time, even if the next plate only requires a moderate narrowing, the system will recognize that the mechanism is no longer at a healthy starting point, but is performing actions in an unhealthy continuous operation state. The purpose of this mechanism is to transform the instantaneous phenomenon of left and right load deviation into a cumulative state quantity that can predict the mechanical locking trend, thereby achieving forward-looking management of long-term structural survival risks.

[0024] In a preferred embodiment of the present invention, the prediction decision module is further configured to: obtain a preset limit physical jamming threshold, wherein the preset limit physical jamming threshold is higher than a preset danger threshold; calculate the difference between the preset limit physical jamming threshold and the asynchronous fatigue entropy data to generate a residual safety margin; if the asynchronous fatigue entropy data is lower than the preset limit physical jamming threshold, divide the residual safety margin by a preset fixed attenuation rate coefficient to calculate the remaining anti-jamming life; if the asynchronous fatigue entropy data is higher than or equal to the preset limit physical jamming threshold, record the remaining anti-jamming life as zero; and output the remaining anti-jamming life to the monitoring terminal connected in communication.

[0025] This embodiment provides a mechanism for predicting the remaining lifespan of equipment to prevent jamming. Specifically, in the aforementioned scheme, the system is already able to identify whether it should switch to stress release mode. However, in an unmanned production line, simply obtaining a single threshold out-of-bounds state cannot meet the system's scheduling requirements. The scheduling system needs to further determine: the remaining safe number of line changes for the equipment, the remaining fault-free operating time, and the dynamic adjustment strategy for subsequent plate type scheduling, and whether subsequent plate type scheduling should be adjusted in advance. If the remaining life indicator is missing, the equipment may frequently switch back and forth around the threshold, making it impossible to form a stable production organization; therefore, in addition to the dangerous threshold, this embodiment defines a higher-level extreme physical jamming threshold, and estimates the residual safety margin and anti-jamming remaining life based on it. Specifically, the prediction and decision-making module pre-stores the ultimate physical stagnation threshold, which is higher than the danger threshold; for example, the danger threshold is set to 0.60, and the ultimate physical stagnation threshold is set to 0.90; if the current asynchronous fatigue entropy data is 0.72, then the residual safety margin is... ; The remaining safety margin is then divided by the preset fixed attenuation rate coefficient to obtain the remaining anti-jamming lifespan. The fixed attenuation rate coefficient here refers to a preset constant used in one lifespan calculation cycle, which does not change point by point with the instantaneous sampling points in this division operation. Its value can be pre-written during equipment debugging, maintenance calibration or process formula switching, for example, set to 0.03 per minute based on typical board weight, width adjustment frequency and production line thermal environment level; thus, the remaining lifespan is about 6 minutes; if the scheduling system knows that the average line change time per board is 2 minutes, it can be inferred that the current equipment has only about 3 safe line change opportunities under the current preset attenuation conditions. Furthermore, after receiving the remaining lifespan, the monitoring terminal can perform various production-level actions; for example, when the remaining lifespan is below the first alarm threshold, it only prompts the maintenance plan; when it is below the second alarm threshold, it suggests that the scheduling system transfer the subsequent wide-width heavy boards to other lines; when it is below the third alarm threshold, it allows the current task to be completed and automatically enter the protection standby; this processing is not a manual maintenance action itself, but allows the production line scheduling to avoid the equipment being dragged into the critical dead zone in advance; It should be noted that the fixed attenuation rate coefficient does not mean that the device can only use a single, unchanging value throughout its entire life cycle. Rather, it means that when the predictive decision module performs an anti-jamming remaining life calculation, this coefficient is used as a predetermined preset parameter in the calculation to avoid directly amplifying instantaneous noise into lifespan fluctuations. If subsequent maintenance calibration, process line change, or thermal environment level reconfirmation necessitates the use of a new attenuation rate coefficient, the system will first update the parameters and generate a new preset value before proceeding to the next round of lifetime calculation; the remaining lifetime already output in the previous round will not be repeatedly recalculated within the same calculation cycle. As a protection mechanism, if the fixed attenuation rate coefficient is 0 or lower than the preset lower limit, no division calculation is performed. Instead, the remaining lifespan is marked as unsolvable and the current residual safety margin is output for the monitoring terminal to refer to. If the asynchronous fatigue entropy data is higher than the ultimate physical jamming threshold, the residual safety margin is recorded as 0, the remaining lifespan is directly output as 0, and the highest level of shutdown protection recommendation is triggered. If the thermal disturbance suddenly subsides and the asynchronous fatigue entropy decreases continuously, the current fixed decay rate coefficient will still be used for the life calculation in this round. After the system completes the confirmation of the new thermal environment level or maintenance calibration, the updated fixed decay rate coefficient will be used for the next round of remaining life calculation to avoid life result jumps due to short-term decline in the same operating segment. On the same unmanned production line, the monitoring terminal displays in real time that the danger threshold of material frame A is 0.60 and the extreme physical jamming threshold is 0.90. After a certain continuous line change, the asynchronous fatigue entropy rises to 0.78. The current preset fixed decay rate coefficient of the system is 0.04 / minute, so the remaining lifespan is about 3 minutes. Based on this, the upper manufacturing execution system determines that it will no longer dispatch the next batch of large-width differential heavy plates to this station, but instead dispatch them to another set of material frame equipment with a lower temperature rise, thereby avoiding the entire line shutdown failure during unattended periods. The purpose of this mechanism is to further transform abstract risk values ​​into time-based indicators that can be directly utilized by the scheduling layer, thereby achieving coordinated protection between equipment control and production scheduling.

[0026] In a preferred embodiment of the present invention, the anti-jamming degradation action includes a reverse fine-tuning reset action and a deceleration thermal equalization action; the adaptive execution module includes: a state determination unit, used to compare asynchronous fatigue entropy data with a preset critical lock-up threshold; wherein the preset critical lock-up threshold is higher than a preset danger threshold. The first execution unit is used to control the left drive motor and the right drive motor to perform reverse fine-tuning reset actions if the asynchronous fatigue entropy data is lower than the preset critical lock-up threshold. The second execution unit is used to control the left and right drive motors to perform a deceleration thermal equalization action if the asynchronous fatigue entropy data is higher than or equal to the preset critical lock-up threshold.

[0027] This embodiment provides a graded anti-jamming and degradation execution mechanism; specifically, in the aforementioned scheme, when the asynchronous fatigue entropy reaches the danger threshold, the system will uniformly enter the stress release instruction path, but in actual production, there are still hierarchical differences within the danger state; If the same degradation strategy is used for all dangerous situations, two types of problems may occur: First, over-conservatism for mild risks may cause an unnecessary decrease in throughput; second, insufficient handling of severe risks that are close to lockup may still trigger mechanical lockup during the easing process. Therefore, this embodiment introduces a critical lockup threshold that is higher than the danger threshold and selects different anti-jamming actions according to the range of asynchronous fatigue entropy. Specifically, the state determination unit compares the asynchronous fatigue entropy data with the preset critical lock-up threshold. It should be noted that the state determination unit in this embodiment is a secondary determination step activated after the prediction decision module has generated the stress release instruction. Therefore, its processing object has by default met the precondition that the asynchronous fatigue entropy data is higher than or equal to the preset danger threshold. In other words, the asynchronous fatigue entropy data of the first execution unit is lower than the preset critical lock-up threshold. On the execution chain, this corresponds to a medium-risk range where the asynchronous fatigue entropy data has reached the danger threshold but has not yet reached the critical lock-up threshold, thus excluding normal operating conditions below the danger threshold. If the asynchronous fatigue entropy is higher than or equal to the danger threshold but still lower than the critical lock-up threshold, it indicates that the forces on both sides are obviously uneven, but have not yet entered the near-irreversible structural lock-up edge. At this time, the first execution unit controls the motors on both sides to perform reverse fine-tuning and reset actions, and prioritizes releasing the friction lock-up state in reverse by following the preset step size. If the asynchronous fatigue entropy is higher than or equal to the critical lock-up threshold, the second execution unit will no longer attempt to recover by short-term fine-tuning, but will instead perform a deceleration thermal equalization action, allowing the two-sided mechanism to redistribute the thermal load and mechanical stress within a preset deceleration speed and duration. For ease of understanding, the danger threshold can be set to 0.60 and the critical lock-up threshold to 0.80. If the current asynchronous fatigue entropy is 0.68, it enters the reverse fine-tuning reset path because it has exceeded the danger threshold but has not yet reached the critical lock-up threshold. If the current asynchronous fatigue entropy is 0.84, it enters the deceleration thermal equilibrium path. If the current asynchronous fatigue entropy is only 0.45, then the anti-jamming grading determination in this embodiment will not be entered. Instead, the normal pulse width adjustment action will be executed according to the aforementioned optimal throughput instruction. This two-level switching makes the system no longer control it using the normal / abnormal dichotomy method, but will gradually degrade according to the degree of approaching the lock-up boundary. As a protection mechanism, if the asynchronous fatigue entropy is exactly equal to the critical lock-up threshold, then the deceleration thermal equilibrium action is directly initiated according to a more conservative rule. If, after performing reverse fine-tuning, the new state variable still rises rapidly and crosses the critical lockout threshold, the subsequent normal wide-range adjustment is immediately stopped, and the path of slowing down and thermal equalization is switched to. If the asynchronous fatigue entropy cannot be reduced after multiple consecutive slowing down and thermal equalizations, a higher level of protection logic can be triggered, such as pausing the acceptance of new wide-range switching tasks or entering a manual maintenance waiting state. During the continuous switching of multiple specifications and small batches, the system needs to process three circuit boards with completely different widths. The first two line changes caused the material frame to accumulate a high fatigue state, but it has not yet reached the edge of locking. The asynchronous fatigue entropy was measured to be 0.71. Therefore, the system executed a reverse fine-tuning reset action and continued to narrow the frame. The third heavy plate arrived at the station, and the heat wave on the reflow soldering side intensified. The asynchronous fatigue entropy had already risen to 0.82 before it narrowed. At this point, the system no longer attempted to make rapid corrections, but instead directly executed a deceleration thermal equalization action to reduce local thermal stress concentration by extending the duration of low-speed synchronous motion. The purpose of this mechanism is to subdivide a single stress relief mode into multi-level protection actions that match the risk level, thereby achieving a more balanced adjustment between throughput and anti-lockdown capability.

[0028] In a preferred embodiment of the present invention, the reverse fine-tuning reset action includes: generating a reverse torque command; controlling the left drive motor and the right drive motor to reverse a preset step length away from the preset target width adjustment direction according to the reverse torque command, and controlling the left drive motor and the right drive motor to resume movement towards the preset target width adjustment direction; the deceleration thermal equalization action includes: generating a deceleration control command; Based on the speed reduction control command, the operating speed of the left and right drive motors is reduced to the preset safe speed, and the preset equalization time is maintained.

[0029] This embodiment provides specific execution details of the anti-jamming action; specifically, the previous embodiment has given the switching principle of the two-level degradation action, but if the action content is not further limited, the device may still have problems such as scattered control methods and unstable stress release effect when it is implemented. Therefore, this embodiment provides a detailed description of the execution process of the reverse fine-tuning reset action and the deceleration thermal equalization action, so that it can be directly implemented in engineering. It should be noted that the controller mentioned in this embodiment is a functional description. In its implementation, it can be specifically controlled by the adaptive execution module, or the control parameters can be output by the predictive decision module and then issued by the adaptive execution module. It does not constitute a new hardware name that is different from the recorded module. Specifically, the reverse fine-tuning reset action is generated by the adaptive execution module to generate a reverse torque command; here, "reverse" is relative to the current target width adjustment direction; if the current task target is to widen, the dual-side drive motors first reverse in the narrowing direction by a preset step; if the current task target is to narrow, they first reverse in the widening direction by a preset step. The preset step size can be represented by displacement step size, number of encoded pulses, or motor rotation angle; for example, if the current goal is to widen from 300 to 340, when the asynchronous fatigue entropy reaches 0.68, the system will not directly continue to widen, but will first instruct the two motors on both sides to reverse 2 step size units in the narrowing direction, and then restore the widening direction. The physical significance of this action is to cause a small-scale stress rebound in the chain, guide rail and contact surface that have already formed bias friction, thereby breaking the local seizing caused by continuous unidirectional loading; The speed reduction and thermal equalization action generates a speed reduction control command to reduce the running speed of both motors to a preset safe speed and maintain the equalization for a preset duration. For ease of understanding, if the normal speed adjustment is 100 units, the safe speed can be set to 40 units, and the equalization duration can be set to a range of 3 to 10 seconds. During this period, the system allows both sides of the mechanism to operate at a lower speed and lower acceleration, giving the side with higher heat a chance to reduce the local friction peak through metal heat transfer and structural diffusion; if the asynchronous fatigue entropy is still high after the equalization period ends, the equalization period can be extended again or a higher level of protection can be switched. Furthermore, both the reverse torque command and the deceleration control command are generated with reference to the currently determined preset target width adjustment direction. That is, in the same width adjustment task, the reverse fine-tuning reset action is only temporarily deviating from the preset target width adjustment direction to perform stress release. After the release is completed, it will return to the preset target width adjustment direction to continue to complete the original target width adjustment, without changing the definition of the target width adjustment width and the target width adjustment direction of this task. As a protective mechanism, if the width of the material frame is detected to be close to the lower or upper limit of the machine during the reverse fine-tuning process, the reverse step size will be automatically reduced to prevent exceeding the limit; if there is still no room to execute after the reverse step size is reduced, the reverse fine-tuning will be skipped and the process will directly enter the deceleration heat equalization. If the current on one side suddenly rises to the hardware protection value during the deceleration and thermal equilibrium period, the output on that side will be immediately cut off and the other side will be stopped simultaneously to avoid asymmetrical force deformation on the mechanism from both sides. The production line is switching from a 295 width adapted to a narrow-size control board to a 355 width adapted to a wide-size motherboard. When the first degradation occurred, the system measured an asynchronous fatigue entropy of 0.69 and performed a reverse fine-tuning reset: first retreating 1.5 steps in the narrowing direction, and then advancing again in the widening direction. After this action, the peak torque on the right side decreased, indicating that the local engagement was temporarily released. Subsequently, due to the increased external thermal shock, the asynchronous fatigue entropy rose to 0.83, and the system changed to reduce the speed on both sides from the normal value to the safe value and maintain it for 5 seconds. During these 5 seconds, the current fluctuation amplitude on the right side converged significantly, and the system continued to complete the remaining widening task at a low speed. The purpose of this step is to translate stress release from an abstract strategy into concrete control actions, thereby enabling targeted intervention for micro-friction lock-up and thermal load imbalance.

[0030] In a preferred embodiment of the present invention, a thermal shock interference monitoring module is further included, which is used to: calculate the rate of change between the operational characteristic difference data in the current sampling period and the historical operational characteristic difference data in the previous sampling period obtained from the storage module; and compare the rate of change with a preset mutation threshold. If the rate of change is higher than or equal to the preset mutation threshold, a thermal shock alarm signal is generated, and the preset danger threshold is lowered to the preset conservative threshold, where the preset conservative threshold is less than the preset danger threshold; if the rate of change is lower than the preset mutation threshold, the preset danger threshold is kept unchanged.

[0031] This embodiment provides an adaptive tightening mechanism for thermal shock interference. Specifically, the aforementioned scheme can identify structural risks through operational characteristic difference data and asynchronous fatigue entropy. However, when there are significant periodic disturbances in adjacent high-temperature equipment, the risk increase often occurs suddenly. If the system still responds according to a fixed danger threshold, there may be a response lag, making it impossible to tighten control in advance at a stage where the risk has not yet accumulated significantly but has already begun to deteriorate rapidly. Therefore, this embodiment further introduces a thermal shock interference monitoring module, which identifies sudden thermal shocks by monitoring the rate of change of operational characteristic difference data between two adjacent sampling cycles, and dynamically lowers the danger threshold; maintaining the preset danger threshold unchanged here means that the danger threshold that has already taken effect in the current calculation cycle will not be adjusted further. If the downgrade has not been triggered before, the original danger threshold will be maintained. If the downgrade has been triggered due to thermal shock, the currently effective conservative threshold will be maintained until the recovery conditions are met and then the original danger threshold will be restored. Accordingly, when comparing asynchronous fatigue entropy data, the prediction and decision module reads the currently effective danger threshold, thereby ensuring that the thermal shock interference monitoring module and the prediction and decision module work under the same threshold caliber. Specifically, the thermal shock interference monitoring module reads the operational characteristic difference data of the current sampling period and the historical operational characteristic difference data of the previous sampling period, and calculates the rate of change; simplified, if the difference data of the previous period is 0.40 and the current period is 0.60, then the rate of change can be expressed as... That is, a growth of 50%; If the preset mutation threshold is 40%, the current rate of change is higher than the mutation threshold, and the system determines that there is external thermal shock or other strong disturbance factors. At this time, the module generates a thermal shock alarm signal and lowers the danger threshold from the original 0.60 to a conservative threshold, such as 0.50. As a result, the state that can continue to be adjusted at high speed under normal conditions will trigger the stress release path earlier in the thermal shock environment. Conversely, if the current difference data only increases from 0.40 to 0.43, with a change rate of 7.5%, which is below the mutation threshold, the system maintains the danger threshold unchanged and does not frequently enter the conservative mode due to small fluctuations; in this way, the system is more sensitive to mutations that worsen than to gradual increases. As a protection mechanism, if the historical operating characteristic difference data of the previous sampling period is 0, in order to avoid the denominator being 0, the absolute increment can be directly compared with the preset absolute mutation threshold. If both the current and previous cycles are extremely low values, then it is not considered a thermal shock. If a thermal shock alarm exists for several consecutive cycles, the danger threshold can be kept at a conservative threshold until the rate of change is continuously lower than the recovery threshold for several cycles before rising back to the original value, in order to prevent the threshold from fluctuating frequently near the boundary. To avoid confusion of terminology, the aforementioned original danger threshold, conservative threshold, and currently effective danger threshold after reduction can be recorded as independent parameters when stored and retrieved. The currently effective danger threshold is the comparison parameter actually used by the prediction and decision-making module. During continuous operation in the same unmanned workshop, after the reflow soldering process of the adjacent line was switched, the exhaust and heating cycles changed; continuous sampling of the material frame system revealed that the difference in operating characteristics suddenly jumped from 0.32 and 0.35 to 0.55; although the asynchronous fatigue entropy had not yet completely exceeded the original danger threshold of 0.60, the thermal shock interference monitoring module had already identified the sudden change mode, so it immediately lowered the danger threshold to 0.50 and issued a thermal shock alarm. The subsequent prediction and decision-making module switches to stress release mode earlier based on the new threshold, thereby avoiding the exacerbation of bilateral stress differentiation by continuing to use a high throughput rate in the early stage of sudden thermal expansion. The purpose of this mechanism is to enable the system not only to sense existing dangers but also to identify disturbances that are rapidly becoming dangerous, thereby enabling an early response to external thermal shocks.

[0032] In a preferred embodiment of the present invention, a closed-loop evaluation module is further included, which is used to: trigger the data acquisition module to acquire the left-side operating current data, the left-side torque feedback data, the right-side operating current data, and the right-side torque feedback data after the adaptive execution module performs the anti-jamming degradation action; Based on the operating current data of the left side of the remining, the torque feedback data of the left side of the remining, the operating current data of the right side of the remining, and the torque feedback data of the right side of the remining, calculate the difference data of the remining operation characteristics; compare the difference data of the remining operation characteristics with the difference data of the operation characteristics. If the resampled operational characteristic difference data is lower than the operational characteristic difference data, increase the confidence weight of the corresponding anti-jamming degradation action in the preset physical damage polynomial function; if the resampled operational characteristic difference data is higher than or equal to the operational characteristic difference data, decrease the confidence weight of the corresponding anti-jamming degradation action in the preset physical damage polynomial function.

[0033] This embodiment provides a closed-loop evaluation mechanism for measuring the effect of degraded actions. Specifically, in the aforementioned scheme, the different action confidence weights in the physical damage polynomial function can affect the solution of asynchronous fatigue entropy. However, if these weights are fixed for a long time, a defect will occur: the actual effectiveness of the same anti-jamming action is not the same under different equipment, different seasonal temperature rise conditions, and different guide rail wear stages. For example, the reverse fine-tuning effect is obvious on one piece of equipment, but may not reach the preset stress release index on another piece of equipment; if the weights are not dynamically adjusted according to the execution results, the risk assessment benchmark will gradually deviate from the actual mechanical state; therefore, this embodiment introduces a resampling and closed-loop evaluation process after each execution of the anti-jamming degradation action. Specifically, after the adaptive execution module completes the reverse fine-tuning reset action or the deceleration thermal equalization action, the closed-loop evaluation module immediately triggers the data acquisition module to re-acquire the operating current and torque feedback on the left and right sides; based on the re-acquired data, the system calculates the re-acquired operating characteristic difference data and compares it with the operating characteristic difference data before the action was executed. To illustrate the logic, assuming the difference in operational characteristics before the action was executed was 0.64, and after reverse fine-tuning and resampling, it was 0.46, then it shows that the action did indeed reduce the degree of inconsistency between the two sides of the load. Based on this, the closed-loop evaluation module increases the confidence weight in the physical damage polynomial function corresponding to this type of degradation action. The original corresponding coefficient correction weight was 0.50, which can be increased to 0.58; if it was 0.64 before the action was executed and still 0.66 after the resampling, it means that the action did not effectively release stress, and the confidence weight should be reduced, for example to 0.42. Furthermore, the increase or decrease can be made in fixed steps or linked to the improvement; if the re-sampling operation characteristic difference data is lower than the operation characteristic difference data and the decrease is greater than the first preset proportion, then the confidence weight is increased by the first step. If the value is lower than the difference in operating characteristics and the decrease is less than or equal to the first preset ratio, the confidence weight is increased by the second step size. Through this closed loop, the confidence weight of asynchronous fatigue entropy will gradually converge to a more effective degradation action under the current equipment and current thermal environment, thereby providing a more realistic measurement result in subsequent risk calculations. As a protection mechanism, if the data fluctuates too much during the short-term steady-state transition period after the anti-blocking degradation action is performed, the data can be resampled after a preset delay, or multiple points can be continuously sampled and the average value taken. If the resampling fails, the original confidence weight remains unchanged to avoid the evaluation benchmark being mistakenly changed due to invalid data. If a certain type of downgrade action is repeatedly measured as invalid, its high weight limit can be temporarily frozen, and another type of action can be recommended first. On the same production line, material frame equipment A is often affected by the heat wave on the right side during the summer night shift; the system performed reverse fine-tuning three times in the medium-risk range. The difference decreased from 0.61 to 0.50 in the first re-sampling, from 0.66 to 0.54 in the second, and only from 0.63 to 0.62 in the third. The closed-loop assessment module first increases, then slightly increases, and then decreases the confidence weight of the action, reflecting that as the heat accumulation of the guide rail increases, the effectiveness of simple reverse fine-tuning is decreasing; the subsequent risk assessment logic tends to switch to the deceleration and thermal equilibration action earlier due to the weight change. The purpose of this mechanism is to ensure that risk assessment benchmarks are not set only once, but can be continuously self-corrected based on actual performance, thereby achieving anti-jamming control that is more tailored to the individual condition of the equipment.

[0034] In a preferred embodiment of the present invention, the system is applied to an unmanned continuous manufacturing production line; the left-side width adjustment mechanism includes a left-side mechanical transmission chain and a left-side width adjustment guide rail, and the left-side drive motor is connected to the left-side width adjustment guide rail through the left-side mechanical transmission chain; The right-side width adjustment mechanism includes a right-side mechanical transmission chain and a right-side width adjustment guide rail. The right-side drive motor is connected to the right-side width adjustment guide rail via the right-side mechanical transmission chain. Asynchronous fatigue entropy data characterizes the difference in physical wear and thermal stress accumulated between the left and right mechanical transmission chains due to uneven force distribution.

[0035] This embodiment provides a scenario-based deployment method for actual mechanical structures; specifically, the aforementioned scheme has clarified the generation and use process of asynchronous fatigue entropy from the perspective of control logic, but if it is not combined with specific mechanical objects, it is easy to be understood as only abstractly modeling the load fluctuation on the motor side; To clarify its engineering meaning, this embodiment illustrates that the system is applied to an unmanned continuous manufacturing production line, and the left and right width adjustment mechanisms respectively include mechanical transmission chains and width adjustment guide rails. Asynchronous fatigue entropy describes the difference in physical wear and thermal stress formed by the two-sided chains and guide rails under long-term uneven force. Specifically, the left drive motor drives the left width-adjusting guide rail to move via the left mechanical transmission chain, and the right drive motor drives the right width-adjusting guide rail to move via the right mechanical transmission chain; the circuit board is supported by both left and right guide rails in the material frame, and the two guide rails need to move inward or outward synchronously when changing lines; Ideally, the chain tension, guide rail friction, and thermal expansion on both sides are basically the same, so the same control command will produce a near-synchronous displacement response. However, during long-term unmanned operation, one side may experience a greater temperature rise due to its proximity to high-temperature equipment, leading to deterioration of lubrication, local expansion of the guide rail, or deformation of the chain pitch. In this case, the same motor output will correspond to higher resistance and greater chain tension, resulting in a continuous deviation in the operating current and torque feedback between the two sides. Asynchronous fatigue entropy is a comprehensive characterization of the difference in physical wear and thermal stress accumulated between the left and right mechanical transmission chains due to uneven force. This parameter essentially constitutes an internal health status parameter that reflects the degree of physical deviation between the two sides of the mechanism; if the left and right chains are in a balanced state, the asynchronous fatigue entropy is low. If the right chain experiences higher resistance due to proximity to a heat source, resulting in increased torque and current during the movement of the right guide rail, the asynchronous fatigue entropy will gradually increase. Although this value is calculated from feedback from the motor side, it corresponds to the physical state differences of the mechanical chain, guide rail, and contact surface, rather than simply the differences in control signals. As a protection mechanism, if the equipment uses a timing belt, lead screw, or rack and pinion instead of a chain, the principle can still be deduced from the uneven wear and thermal stress difference of the left and right transmission paths. It is only necessary to replace the chain with the corresponding transmission component when implementing the structure. If there are maintenance and replacement records on one side of the guide rail, the storage module can mark it as a state of inconsistent structural age so as to give a more conservative risk interpretation in the initial stage. On an unmanned server motherboard production line, the right side of the material frame is adjacent to the reflow soldering board return channel. During the high load of the night shift, this side is exposed to a high ambient temperature for a long time. After thousands of width changes, the wear of the mechanical transmission chain on the right side exceeds the preset deviation value compared to the left side, and the sliding resistance of the guide rail is also greater. Although the control system does not have chain wear sensors directly installed, it can calculate the continuous increase of asynchronous fatigue entropy by continuously collecting the left and right current and torque deviations, and switch the protection strategy in advance before mechanical lock-up occurs. The purpose of this step is to clarify that the risk quantification object corresponds to the physical imbalance state of the actual transmission chain and guide rail, thereby achieving a one-to-one mapping between control logic and mechanical entity.

[0036] In a preferred embodiment of the present invention, the normal width adjustment action includes: calculating the width difference between the preset target width adjustment width and the current frame width; substituting the width difference into a preset trapezoidal acceleration and deceleration curve formula, and generating a feedforward speed control sequence through time integration; and synchronously driving the left drive motor and the right drive motor to reach the preset target width adjustment width according to the feedforward speed control sequence.

[0037] This embodiment provides a feedforward control mechanism for normal width adjustment actions; specifically, in the aforementioned scheme, the system has distinguished between normal width adjustment actions and anti-jamming degradation actions; In order to fully disclose the execution method under normal conditions, this embodiment describes how the system generates a bilateral synchronous drive sequence based on the target width difference when the asynchronous fatigue entropy is lower than the danger threshold. The reason for using a trapezoidal acceleration and deceleration curve is that if the machine starts and stops abruptly at a fixed speed, although the control logic is simple, it will amplify the peak value of chain impact and guide rail friction under the heavy circuit board load, which is not conducive to long-term continuous operation. It should be noted that the controller mentioned in this embodiment is also a functional term, which corresponds to the collaborative control logic of the predictive decision module and the adaptive execution module. The predictive decision module is responsible for generating control parameters based on the target width, and the adaptive execution module is responsible for issuing execution to the left drive motor and the right drive motor. Therefore, the controller is not a newly added independent module. Specifically, the system first calculates the width difference between the preset target width and the current frame width; assuming the current width is 300 and the target width is 340, the width difference is 40, and the width adjustment direction is widening. The controller substitutes the width difference into the preset trapezoidal acceleration and deceleration curve formula to generate a feedforward speed control sequence that includes acceleration, constant speed and deceleration segments. For example, in a set of sample data, the total width adjustment process can be divided into 10 control time slots. The speed gradually increases from 0 to 4 in the first 2 time slots, the speed is maintained at 4 in the middle 6 time slots, and then decreases from 4 to 0 in the 2 time slots. By integrating the speed of each time slot over time, the corresponding cumulative displacement can be obtained until both guide rails reach the target width synchronously. The time integration here can be understood as the speed of each time slot being multiplied by the duration and then gradually accumulated, without requiring a specific analytical expression. Furthermore, the target objects of the feedforward speed control sequence are the left drive motor and the right drive motor. They call the same target width difference and the same target width adjustment direction. Only the difference in drive implementation is allowed in the underlying servo compensation parameters, without changing their common control target of reaching the preset target width adjustment, so as to ensure that the synchronous drive has the same meaning in the whole text as cooperative motion towards the same target width. During synchronous drive, the left and right drive motors jointly execute the same feedforward speed control sequence, thereby achieving smooth widening or narrowing under normal operating conditions; if the system continuously samples the difference data of the operating characteristics of the two sides during the execution process and it remains at a low level, then the widening task is completed normally. If the asynchronous fatigue entropy suddenly rises above the danger threshold during the process, the current normal widening path will be interrupted and the aforementioned anti-stuck degradation logic will be switched to. As a protection mechanism, if the width difference is 0, the controller will not generate a motion sequence, but will only output that it is in the target width state; if the width difference is too small, less than the minimum effective width adjustment, a short-range low-speed sequence can be used directly without entering the complete trapezoidal speed segment; if the width difference is too large, causing the mechanical travel limit to be reached according to the current setting, the target value will be cut according to the travel boundary first, and then the corresponding control sequence will be generated. During the night shift batch switching, the production line switched from a batch of industrial control boards with a width of 310 to a batch of communication motherboards with a width of 350. The system detected that the current asynchronous fatigue entropy was only 0.38, which was lower than the danger threshold. Therefore, a normal width adjustment action was generated: first, the double-sided guide rails were smoothly widened by 40 width units according to the trapezoidal acceleration and deceleration curve. Since the thermal shock has not yet intensified at this time, the current and torque feedback on both sides remain close, and the system successfully completes the line change. If thermal interference causes the synchronization to deteriorate in the future, the same control link can seamlessly switch to degraded action without redefining the underlying motor interface. The purpose of this step is to complete the target bandwidth switch in a smooth and predictable manner under low-risk conditions, thereby achieving a unified connection between normal throughput operation and subsequent abnormal switchover mechanisms.

[0038] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. An SMT material frame adaptive width adjustment system adaptable to multi-size circuit boards, characterized in that, include: The left and right width adjustment mechanisms work together to support the circuit board and adjust the width of the material frame. The left-side drive motor is connected to the left-side width adjustment mechanism; The right-side drive motor is connected to the right-side width adjustment mechanism; Width detection module, used to obtain the current width of the material frame; Storage module, used to store historical data; The data acquisition module is used to acquire the left operating current data and left torque feedback data of the left drive motor according to a preset sampling period, and to acquire the right operating current data and right torque feedback data of the right drive motor. The state quantization module is used to calculate the operating characteristic difference data based on the left-side operating current data, the left-side torque feedback data, the right-side operating current data, and the right-side torque feedback data; Based on the aforementioned operational feature difference data, and combined with the extracted historical operational feature difference data within a preset time window, cumulative calculations are performed to generate asynchronous fatigue entropy data. The prediction and decision module is used to obtain the size information of the circuit board, determine the preset target width adjustment based on the size information, compare the preset target width adjustment with the current material frame width, and if the two are not equal, determine the preset target width adjustment direction. If the two are equal, then maintain the current position state; Compare the asynchronous fatigue entropy data with a preset danger threshold; If the asynchronous fatigue entropy data is lower than the preset danger threshold, an optimal throughput instruction is generated; if the asynchronous fatigue entropy data is higher than or equal to the preset danger threshold, a stress release instruction is generated. An adaptive execution module is used to control the left drive motor and the right drive motor to perform normal width adjustment actions in response to the optimal throughput command; and to control the left drive motor and the right drive motor to perform anti-jamming degradation actions in response to the stress relief command.

2. The SMT material frame adaptive width adjustment system for adapting to multi-size circuit boards according to claim 1, characterized in that, The state quantization module includes: The current comparison unit is used to calculate the absolute difference between the left-side operating current data and the right-side operating current data, and generate current difference characteristics. A torque comparison unit is used to calculate the absolute difference between the left torque feedback data and the right torque feedback data, and generate torque difference characteristics. The feature fusion unit is used to perform weighted summation of the current difference feature and the torque difference feature according to preset current weight coefficient and torque weight coefficient to generate the operating feature difference data.

3. The SMT material frame adaptive width adjustment system for adapting to multi-size circuit boards according to claim 2, characterized in that, The state quantization module further includes: The history acquisition unit is used to extract historical operational feature difference data within a preset time window from the storage module; The entropy calculation unit is used to perform time integration on the historical operating characteristic difference data and the operating characteristic difference data within the preset time window to generate a cumulative fatigue deviation value; input the cumulative fatigue deviation value into a preset physical damage polynomial function, and output the asynchronous fatigue entropy data; wherein, the preset physical damage polynomial function is configured with confidence weights corresponding to normal width adjustment action and anti-jamming degradation action as polynomial coefficients respectively.

4. The SMT material frame adaptive width adjustment system for adapting to multi-size circuit boards according to claim 1, characterized in that, The prediction and decision module is also used for: Obtain a preset limit physical jamming threshold, wherein the preset limit physical jamming threshold is higher than the preset danger threshold; Calculate the difference between the preset limit physical stagnation threshold and the asynchronous fatigue entropy data to generate a residual safety margin; If the asynchronous fatigue entropy data is lower than the preset limit physical jamming threshold, the residual safety margin is divided by the preset fixed decay rate coefficient to calculate the remaining anti-jamming life; if the asynchronous fatigue entropy data is higher than or equal to the preset limit physical jamming threshold, the remaining anti-jamming life is recorded as zero. The remaining lifespan of the anti-jamming system is output to the monitoring terminal connected to the communication link.

5. The SMT material frame adaptive width adjustment system for adapting to multi-size circuit boards according to claim 1, characterized in that, The anti-jamming degradation action includes a reverse fine-tuning reset action and a deceleration thermal equalization action; The adaptive execution module includes: A state determination unit is used to compare the asynchronous fatigue entropy data with a preset critical deadlock threshold; wherein the preset critical deadlock threshold is higher than the preset danger threshold. The first execution unit is used to control the left drive motor and the right drive motor to perform the reverse fine-tuning reset action if the asynchronous fatigue entropy data is lower than the preset critical lock-up threshold. The second execution unit is used to control the left drive motor and the right drive motor to perform the deceleration thermal equalization action if the asynchronous fatigue entropy data is higher than or equal to the preset critical lock-up threshold.

6. The SMT material frame adaptive width adjustment system for adapting to multi-size circuit boards according to claim 5, characterized in that, The reverse fine-tuning reset action includes: generating a reverse torque command; controlling the left drive motor and the right drive motor to reverse by a preset step length away from the preset target width adjustment direction according to the reverse torque command, and controlling the left drive motor and the right drive motor to resume movement towards the preset target width adjustment direction; The speed reduction and thermal equalization action includes: generating a speed reduction control command; reducing the operating speed of the left drive motor and the right drive motor to a preset safe speed according to the speed reduction control command, and continuing for a preset equalization time.

7. The SMT material frame adaptive width adjustment system for adapting to multi-size circuit boards according to claim 1, characterized in that, It also includes a thermal shock interference monitoring module, used for: Calculate the rate of change between the operational feature difference data within the current sampling period and the historical operational feature difference data within the previous sampling period obtained from the storage module in the preset sampling period; Compare the rate of change with a preset mutation threshold; If the rate of change is higher than or equal to the preset mutation threshold, a thermal shock alarm signal is generated, and the preset danger threshold is lowered to a preset conservative threshold, wherein the preset conservative threshold is less than the preset danger threshold. If the rate of change is lower than the preset mutation threshold, the preset danger threshold is maintained unchanged.

8. The SMT material frame adaptive width adjustment system for adapting to multi-size circuit boards according to claim 3, characterized in that, It also includes a closed-loop evaluation module for: After the adaptive execution module performs the anti-jamming degradation action, the data acquisition module is triggered to acquire the left-side operating current data, the left-side torque feedback data, the right-side operating current data, and the right-side torque feedback data. Based on the left-side remining operating current data, the left-side remining torque feedback data, the right-side remining operating current data, and the right-side remining torque feedback data, calculate the remining operation characteristic difference data; Compare the re-mining operation characteristic difference data with the operation characteristic difference data; If the resampling operation characteristic difference data is lower than the operation characteristic difference data, increase the confidence weight of the corresponding anti-jamming degradation action in the preset physical damage polynomial function; If the resampling operation characteristic difference data is higher than or equal to the operation characteristic difference data, the confidence weight of the corresponding anti-jamming degradation action in the preset physical damage polynomial function is reduced.

9. The SMT material frame adaptive width adjustment system for adapting to multi-size circuit boards according to claim 1, characterized in that, The system is applied to unmanned continuous manufacturing production lines; The left-side width adjustment mechanism includes a left-side mechanical transmission chain and a left-side width adjustment guide rail, and the left-side drive motor is connected to the left-side width adjustment guide rail through the left-side mechanical transmission chain; The right-side width adjustment mechanism includes a right-side mechanical transmission chain and a right-side width adjustment guide rail, and the right-side drive motor is connected to the right-side width adjustment guide rail through the right-side mechanical transmission chain; The asynchronous fatigue entropy data characterizes the difference in physical wear and thermal stress accumulated between the left and right mechanical transmission chains due to uneven force distribution.

10. The SMT material frame adaptive width adjustment system for adapting to multi-size circuit boards according to claim 1, characterized in that, The normal width adjustment action includes: Calculate the width difference between the preset target width adjustment and the current frame width; Substitute the width difference into the preset trapezoidal acceleration / deceleration curve formula, and generate a feedforward speed control sequence through time integration. Based on the feedforward speed control sequence, the left drive motor and the right drive motor are synchronously driven to reach the preset target width adjustment.

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