Automatic feeding and discharging equipment for vacuum box

Abstract

The present application relates to the technical field of sheet processing, and discloses a kind of automatic feeding and discharging equipment of vacuum box.The present application aims at solving the problems such as the disconnection between single sheet and batch process beat in existing sheet automatic connection, the easy-off plate of edge support transmission, the low efficiency of closed cooperation and data fault, etc.The present application improves the safety and closed stability of sheet circulation by fine scheduling, effectively matches upstream and downstream scheduling, and provides the traceability of single process image.Based on visual perception, the channel width is adjusted and the lifting-off plate is avoided by calculating the speed-up rate;The non-powered narrow wheel and external push rod are used to realize the forbidden-touch edge support transmission and gap transfer, and the difference between single process beat and batch process beat is constructed by two-stage relay synchronization;The slot structure of door body and the side movable rod capture and compact, and the seal is repaired based on the pressure drop slope closed loop adaptive;The first-in first-out logic is realized by controlled vertical addressing of cabin exit, and the digital tag coordinate mapping is realized by full-link synchronous driving.

Description

Technical Field

[0001] This invention relates to the field of thin plate processing technology, and more specifically, to an automatic vacuum box feeding and discharging device. Background Technology

[0002] In modern automated manufacturing systems for thin sheets and high-precision substrates, vacuum chamber processing is a core step in eliminating microscopic pores within the sheet material, enhancing interlayer bonding, and enabling thermosetting and curing. An efficient automated feeding and unloading system is responsible for the flexible buffering, stable transport, and cycle time adjustment of the sheets to be processed during mass production, providing smooth and continuous hardware and process support for the entire system.

[0003] However, traditional material handling systems require manual or robotic loading onto the insert rack and then transferring it to a vacuum machine for vacuuming. This necessitates the coordination of multiple personnel or robotic arms and the turnover of equipment at multiple locations, presenting significant technical limitations in automated production lines. The inherent difference in cycle time between continuous single-piece flow between upstream and downstream processes and the time-consuming batch processing in vacuum chambers necessitates multi-layered buffering for synchronization. However, traditional power transmission wheels, limited by their wheel diameter and drive shaft, severely restrict vertical clearance, resulting in low equipment buffer capacity. For high-standard boards with non-contact surfaces (such as ink-resistant materials), especially PCB boards, only edge bearing is possible. Thin boards are prone to gravitational deflection, and conventional equipment lacks quantitative constraints on dynamic inertial loads during lifting and gap transfer, easily leading to board detachment, falling, or jamming. Furthermore, traditional sealed door closing stations are cumbersome for obstacle avoidance. The mechanical flow and process data are severely disconnected, making it impossible to achieve precise handover of individual board quality profiles to downstream production lines and full-chain traceability. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides an automatic vacuum box feeding and discharging device, which solves the problems existing in the current automated production line for thin plates, such as the disconnect between single-plate and batch process cycles, easy plate detachment during non-touch edge transmission, inefficient closed-loop collaborative control, and data disconnection throughout the entire chain.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: This invention provides an automatic control method for a vacuum chamber feeding and discharging device, which includes the following steps: S1. Responding to the feeding trigger signal, the width of the transmission channel is adjusted based on the specifications of the board, the lifting compensation of the first-level feeding buffer is calculated according to the shape of the board, and a digital label corresponding to the spatial coordinates of the board is established until the first-level feeding buffer reaches the preset full load state. S2. In response to the full load state of the first-level feed buffer, control the first-level feed buffer to address and connect to the second-level feed buffer, call the gap compensation push to transfer the entire batch of boards to the second-level feed buffer, and update the spatial coordinate mapping of the corresponding batch digital label to the second-level feed buffer until the preset total full load threshold is reached. S3. After the feeding secondary buffer reaches the total full load threshold, the entire batch of plates is controlled to be sent into the vacuum chamber, the sealing door is driven to slide and close, and the side movable rod is used to squeeze and seal; then vacuuming and processing are performed. S4. After processing is completed, open the sealed door and transfer the processed board to the secondary output buffer. Update the processing parameters in the digital tag. Control the primary output buffer to connect to the secondary output buffer from bottom to top to take out the board in batches. Output the board and distribute the digital tags carrying the complete process profile to the downstream production line.

[0007] As a preferred embodiment of the automatic control method for the vacuum box feeding and discharging equipment of the present invention, the process of adjusting the width of the transmission channel specifically includes: The edge contour of the material to be processed is extracted by a vision sensor deployed above the feeding station, and the width of the material to be processed is identified. Based on the width, the driven support plates symmetrically arranged in the feeding buffer mechanism, the vacuum box, and the discharging buffer mechanism are driven to slide horizontally, so as to adapt the inner spacing of the whole machine's transmission channel to the material specifications.

[0008] As a preferred embodiment of the automatic control method for the vacuum box feeding and discharging equipment of the present invention, the process of calculating the feed primary buffer rise and fall compensation in step S1 specifically includes: After the board is fed into the first-level feed buffer, the maximum sagging depth of the board center area due to gravity is calculated by extracting the shape of the board in the state of being supported on both sides. Based on the maximum droop depth and the inner distance of the driven support plate, a self-weight deflection curve model of the plate is constructed, and the unfolded arc length of the plate to be processed and the initial support chamfer at the contact position between the plate edge and the driven support plate are calculated. The dynamic inertial load during the vertical lifting process is introduced into the self-weight deflection curve model to establish a mapping relationship between the lifting acceleration and the dynamic sag increment and the lateral shrinkage of the edge of the plate. The upward lifting acceleration acts on the plate to generate a downward inertial force, which is equivalent to the dynamic superposition of the vertical load on the plate. The dynamic superposition will force the center of the plate to sag further and drive the two sides of the plate to slide and shrink laterally towards the center on the driven support plate.

[0009] As a preferred embodiment of the automatic control method for the vacuum box feeding and discharging equipment of the present invention, the process of calculating the feed primary buffer rise and fall compensation in step S1 further includes: Extract the effective overlap width of the plate edge on the driven support plate, and set the anti-detachment plate geometric boundary constraint. The geometric boundary constraint limits that during the transition of the plate from static bending to dynamic bending, the difference between the initial lateral position and the lateral shrinkage must be strictly greater than the minimum safe overlap width threshold required to maintain the support, and the dynamic support chamfer after superposition is smaller than the static friction angle of the contact surface. Combining the mapping relationship and the geometric boundary constraints, and using the critical slip state as the solution boundary, the maximum critical lifting acceleration allowed under the current plate shape is calculated in reverse. Using the maximum critical lifting acceleration as the upper limit of dynamic control, a target smooth lifting rate curve is generated by combining the preset single-layer board spacing height and feeding cycle timing; the feeding first-level buffer is driven to rise upward following the target smooth lifting rate curve, and by controlling the inertial disturbance of the acceleration segment, it is ensured that the dynamic contraction of the board edge is always within the effective bearing surface of the support plate, thus avoiding the bending board from detaching and falling off during the lifting process.

[0010] As a preferred embodiment of the automatic control method for the vacuum chamber feeding and discharging equipment of the present invention, the process of invoking the gap compensation push in step S2 specifically includes: After controlling the addressing of the first-level feed buffer and aligning the idle receiving layer of the second-level feed buffer, the sliding motor is driven to rotate the rotating shaft, causing the levers stationary on both sides of the mechanism to rotate and unfold to the effective toggle positions on both sides of the plate channel. The sliding motor is driven to move horizontally along the conveying direction, which in turn causes the lever to simultaneously abut the tail end of the entire batch of plates for batch pushing. After reaching the conventional conveying boundary, the sliding motor drives the moving rotating shaft to rotate, and translates by a preset compensation stroke to ensure that the tail end of the plate is disengaged from the installation gap and is stably attached to the driven support plate of the secondary feed buffer. After the transfer is completed, the sliding motor is controlled to move in the opposite direction to reset, and the sliding motor drives the rotating shaft to rotate in the opposite direction, so that the lever is retracted in a convergent state against the side wall of the mechanism, releasing the space of the transmission channel and waiting for the next batch of transfer.

[0011] As a preferred embodiment of the automatic control method for the vacuum chamber feeding and discharging equipment of the present invention, the process of driving the sealing door to slide and close and coordinating with the side movable rod to squeeze and seal in step S3 specifically includes: The translation motor that drives the sealing door controls the front and rear sealing doors to slide towards the preset sealing position, and monitors the door position signal at the end of the position in real time. After receiving the trigger signal that the sealing door has slid into place, and the groove on the door body is connected with the corresponding movable rod, the driving power of the translation motor is cut off, and the extrusion motor that drives the movable rods on both sides is output with an inward retraction command. The movable rod is driven to retract inward, and a uniform inward lateral thrust is applied to the slot through the rod body, forcing the door frame to move relative to the box body to gradually compact the sealing ring on the door; During the continuous contraction and compression of the movable rod, the dynamic load current of the compression motor is extracted. After the dynamic load current reaches the preset current threshold, the output torque holding command locks the current output state of the compression motor to maintain the sealing compaction and starts vacuuming.

[0012] In a preferred embodiment of the automatic control method for the vacuum chamber feeding and discharging equipment described in this invention, after vacuuming is initiated, dynamic sealing adjustment is also required, specifically including: During the vacuuming process, a pressure sensor installed inside the vacuum chamber continuously collects the pressure data inside the chamber, and generates an actual pressure drop curve based on time series fitting. The actual air pressure drop curve is compared with the pre-stored standard sealed drop model to calculate the deviation difference between the current actual air pressure drop rate and the standard rate. If the deviation exceeds the allowable threshold range, it is determined that the hatch has micro-leakage characteristics. The required fine-tuning compression increment is calculated based on the deviation. The compression motor is controlled to output compensation torque, driving the movable rod to further fine-tune and shrink inward, and to perform secondary compensation compaction on the sealing ring on the door. After the compensation compaction is completed, the air pressure drop rate is monitored. If the air pressure drop rate returns to the range allowed by the standard sealing drop model, the extrusion motor state is locked again and vacuuming continues. If the cumulative number of compensation compaction triggers reaches the preset upper limit during the vacuuming cycle and the deviation difference continues to exceed the limit, the seal repair is determined to have failed, the vacuuming program is interrupted, and a sealing abnormality signal is output.

[0013] As a preferred embodiment of the automatic control method for the vacuum box feeding and discharging equipment of the present invention, the process of batch removal and output of the board material in step S4 specifically includes: After the entire batch of processed boards is transferred to the discharge secondary buffer, the discharge primary buffer is driven to perform vertical lifting addressing, and the receiving layer is aligned with each bearing layer corresponding to the bottom layer of the discharge secondary buffer from bottom to top. After the layer alignment is completed, the discharge side toggle mechanism is activated to move the plate from the discharge secondary buffer into the discharge primary buffer, and drive the fully loaded discharge primary buffer to move and address, so that the topmost bearing layer is aligned with the height of the discharge conveyor belt at the fixed position. The top ejection mechanism pushes the single sheet of material located at the top of the primary discharge buffer into the discharge conveyor belt; After the single top panel is ejected, the discharge buffer is controlled to raise the height between the panels, so that the current second-to-top panel is sequentially updated to the top support layer and realigned with the discharge conveyor belt. The top unloading and step lifting actions are executed in sequence.

[0014] As a preferred embodiment of the automatic control method for the vacuum box feeding and discharging equipment of the present invention, step S4, which involves updating processing parameters in digital tags and distributing digital tags carrying complete process profiles to downstream production lines, specifically includes: During the vacuuming and processing operation inside the vacuum chamber, the timing process data collected by the sensor arrays configured in each physical support layer inside the cavity is continuously extracted; Based on the physical coordinates of each layer locked by the support frame inside the vacuum chamber when the entire batch of boards is sent in, the digital tags of the corresponding spatial coordinates are located and retrieved. The time-series process data is deeply assimilated and written into the digital tags of the corresponding layer coordinates to construct a complete process profile of a single board. During the process of transferring the processed board material to the secondary buffer of the discharge and taking out the board material in batches from the primary buffer of the discharge, the virtual spatial coordinates of the digital tag are continuously controlled to be updated synchronously with the displacement command of the physical drive mechanism to maintain the anchoring relationship between the data tag and the physical board material. After detecting the unloading action completed by the ejection mechanism, the corresponding target digital tag is locked based on the current output station coordinates; Through a pre-set communication link, the target digital tag and the complete process profile encapsulated therein are pushed to the data management system of the downstream production line, establishing the traceability and handover between the physical outflow of a single solid board and the digital quality control archives throughout the entire life cycle.

[0015] The present invention also provides a vacuum chamber feeding / discharging device for performing the above method, specifically including: A feeding buffer unit that connects to the upstream feeding station via a transmission wheel; a straight-through vacuum box fixedly installed downstream of the feeding buffer unit, and a sealing unit that cooperates with the inlet and outlet channels at both ends of the straight-through vacuum box; and an outlet buffer unit located downstream of the straight-through vacuum box and connected to the downstream outlet conveyor belt. The feeding buffer unit includes a primary feeding buffer driven by a lifting module, which docks layer by layer with the upstream feeding station to receive the processed plates, and a primary feeding buffer that is vertically oriented by lifting and lowering. A secondary feeding buffer is fixedly installed between the primary feeding buffer and the through-type vacuum box. The bottom of the primary feeding buffer is provided with a primary feeding guide rail, and a universal telescopic motor is fixedly installed on the primary feeding guide rail near the upstream feeding station. A primary push rod that slides along the primary feeding guide rail is fixedly installed on the universal telescopic motor. The top of the feeding buffer unit is provided with a secondary feeding guide rail, and a secondary telescopic module is movably installed on the secondary feeding guide rail. A secondary push rod is fixedly installed on the telescopic end of the secondary telescopic module. The sealing unit includes a support frame with a guide rail fixedly mounted, and a door frame that is movably mounted on the guide rail via pulleys and moves in a controlled manner; the sealing door is installed on the inner side enclosed by the door frame, and the sealing door is movably connected to the door frame via a slider set at the bottom of the door frame; the sealing surface of the sealing door is provided with a sealing ring; the door frame has a through clearance hole; the force transmission frame passes through the clearance hole and is fixedly connected to the sealing door; the outside of the straight-through vacuum box is equipped with a movable rod driven by a compression motor that cooperates with the force transmission frame; The discharge buffer unit includes a primary discharge buffer driven by a lifting module, which connects to the discharge production line conveyor belt to output processed sheet metal piece by piece, and a primary discharge buffer that is vertically oriented for lifting and addressing. A secondary discharge buffer is fixedly installed between the through-type vacuum box and the primary discharge buffer. A conveyor belt for outputting processed sheet metal piece by piece is fixedly installed above the primary discharge buffer and at the top of the discharge buffer unit. A lifting platform is provided at the bottom of the discharge buffer unit, passing through the primary discharge buffer and the secondary discharge buffer. The lifting platform is provided with a rotating telescopic rod, and a lever is installed on the end of the rotating telescopic rod near the through-type vacuum box. The lifting platform is used to block and limit the descent of the primary discharge buffer. Both sides of the material transmission channels of the primary feed buffer, the secondary feed buffer, the straight-through vacuum box, the secondary discharge buffer, and the primary discharge buffer are movably provided with perforated support side plates driven by sliding adjustment rods. The perforated support side plates facing the center of the channel are fixedly installed with driven rollers for supporting the translation of the plate edge. A first buffer limiting plate driven by a telescopic rod is movably installed on the outside of the corresponding porous support side plate, located at the discharge end of the feed secondary buffer and the straight-through vacuum box; A second buffer limiting plate is movably installed on the outside of the corresponding porous support side plate at the discharge end of the secondary buffer. A release cylinder is fixedly installed on the lifting platform. The release cylinder moves up and down synchronously with the lifting platform to cooperate with and control the opening and closing of the second buffer limiting plate in stages. A discharge guide rail is provided at the top of the gap between the straight-through vacuum box and the internal porous support side plate. A movable motor is slidably installed on the discharge guide rail. The power output end of the movable motor is connected to a discharge transmission rod, and the end of the discharge transmission rod is connected to a discharge rod.

[0016] The beneficial effects of this invention are as follows: by constructing an adaptive control benchmark that deeply integrates visual perception and underlying dynamics, and by coordinating sliding capture and long-stroke cross-gap transfer hardware components, flexible and lossless transmission of materials in and out of the vacuum box, extremely simple and highly reliable sealing, and accurate traceability of data across the entire chain are achieved.

[0017] Its core lies in constructing dynamic physical boundary constraints based on the self-weight deflection of the plate and the lifting inertial load, calculating the critical lifting rate to avoid the thin plate from falling off during lifting, and integrating air pressure drop slope monitoring to achieve closed-loop adaptive repair of sealing torque.

[0018] The device employs a dual-sided, non-powered narrow wheel system combined with an external power pusher mechanism. This system effectively compresses the single-layer thickness by removing the drive source from the buffer layer, significantly increasing the buffer volume ratio in the vertical direction and meeting the edge support requirements of high-standard non-contact plates. It also utilizes a rotating lever mechanism that extends and shifts beyond the boundary to resolve the equipment gap transition zone. Combined with the door slot structure that does not require disassembly or avoidance and the side movable rod, it achieves smooth capture and compaction.

[0019] Through a refined two-level cache structure, a stepped timing relay of single-chip layered caching and whole-batch lifting and pushing is implemented to synchronize the scheduling rhythm differences between the continuous flow of single chips in the upstream and downstream and the time-consuming batch process of vacuum box; and further, the first-in-first-out material discharge logic is locked by the vertical addressing rhythm of the physical mechanism to synchronously drive the full life cycle coordinate mapping of digital tags.

[0020] Through a refined scheduling design that integrates hardware and software, the physical safety of thin sheet circulation and the airtight stability of the vacuuming process are significantly improved, and the self-consistency of upstream and downstream scheduling on the production line and the data penetration of the quality control profile of a single sheet are greatly enhanced. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of an automatic control method for a vacuum box feeding and discharging device.

[0023] Figure 2 Flowchart for adaptive channel adaptation and elevation compensation.

[0024] Figure 3 This is a flowchart of the control process for a sealed door.

[0025] Figure 4 A flowchart for tracing the entire lifecycle of a label.

[0026] Figure 5 This is an overall diagram of a vacuum box feeding and discharging device.

[0027] Figure 6 This is a diagram of the internal structure of the feed buffer unit.

[0028] Figure 7 This is a diagram of the primary buffer structure for feeding.

[0029] Figure 8 This is a top structural diagram of the feed buffer unit.

[0030] Figure 9 This is a top view of the feed secondary buffer.

[0031] Figure 10 This is an overall diagram of the internal structure of the discharge buffer unit.

[0032] Figure 11 This is an enlarged view of the internal structure of the discharge buffer unit.

[0033] Figure 12 This is an enlarged view of the feed buffer unit's lever structure.

[0034] Figure 13 This is an overall diagram of the internal structure of the sealing unit.

[0035] Figure 14 This is a detailed diagram of the force transmission frame.

[0036] Figure 15 This is a top view of the inside of the vacuum chamber. Detailed Implementation

[0037] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0038] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0039] Secondly, the term "one embodiment" or "example" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the invention. The appearance of an embodiment in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that mutually excludes other embodiments.

[0040] Example 1 Reference Figures 1-4 As one embodiment of the present invention, this embodiment provides an automatic control method for a vacuum chamber feeding and discharging device, comprising the following steps: S1. Respond to the feeding trigger signal, adjust the width of the transmission channel based on the board specifications, calculate the lifting compensation of the first-level feeding buffer according to the board shape, establish a digital label for the board corresponding to the spatial coordinates, until the first-level feeding buffer reaches the preset full load state. The process of adjusting the width of the transmission channel involves using a vision sensor deployed above the feeding station to extract the edge contour of the material to be processed and identify its width. Based on this width, the driven support plates symmetrically arranged in the feeding buffer mechanism, inside the vacuum chamber, and in the discharging buffer mechanism slide horizontally, thus adapting the inner spacing of the entire machine's transmission channel to the specifications of the material. The process of calculating the lifting compensation of the first-level feed buffer involves extracting the shape of the board in a state of support on both sides after the board is pushed into the first-level feed buffer, and calculating the maximum sagging depth of the central area of ​​the board due to gravity. Based on the maximum sag depth and the inner spacing of the driven support plate, a self-weight deflection curve model of the plate is constructed, and the unfolded arc length of the plate to be processed and the initial support chamfer at the contact position between the plate edge and the driven support plate are calculated. The dynamic inertial load during the vertical lifting process is introduced into the self-weight deflection curve model to establish the mapping relationship between the lifting acceleration and the dynamic sag increment and the lateral shrinkage of the edge of the plate. The upward lifting acceleration acts on the plate to generate the downward inertial force, which is equivalent to the dynamic superposition of the vertical load on the plate. The dynamic superposition will force the center of the plate to sag further and drive the two sides of the plate to slide and shrink laterally towards the center on the driven support plate. Extract the effective overlap width of the plate edge on the driven support plate, and set the geometric boundary constraint of the anti-detachment plate. The geometric boundary constraint limits the plate to a minimum safe overlap width threshold required to maintain support during the transition from static bending to dynamic bending. The difference between the initial lateral position and the lateral shrinkage must be strictly greater than the static friction angle of the contact surface. By combining the mapping relationship and geometric boundary constraints, and taking the critical slip state as the solution boundary, the maximum critical lifting acceleration allowed under the current plate shape is derived and calculated in reverse. Using the maximum critical lifting acceleration as the upper limit of dynamic control, and combining the preset single-layer board spacing height and feeding cycle timing, a target smooth lifting rate curve is generated; the feeding first-level buffer is driven to follow the target smooth lifting rate curve and rise upward. By controlling the inertial disturbance of the acceleration section, it is ensured that the dynamic contraction of the board edge is always within the effective bearing surface of the support plate, thus avoiding the bending board from falling off during the lifting process.

[0041] In response to the feeding trigger signal sent from the front end of the production line, adaptive channel adaptation is activated. An industrial vision sensor fixedly deployed above the feeding station is invoked to acquire a top-down digital image of the material to be processed. The acquired digital image is then subjected to grayscale conversion, Gaussian filtering for noise reduction, and edge detection operator analysis to extract the coordinates of the material's edge contours on both sides. Combined with preset camera intrinsic parameters and a spatial calibration matrix, the spacing is precisely mapped to the actual physical width data. After determining the precise width of the material to be processed, the horizontal lateral sliding drive motors configured on both sides of the feeding buffer mechanism, the vacuum chamber's internal channel, and the discharging buffer mechanism operate synchronously, driving the symmetrically installed driven support plates on both sides to slide horizontally at equal intervals around the channel centerline. This ensures that the internal spacing of the entire material flow channel adapts to the actual specifications of the material, guaranteeing sufficient physical support and overlap surface for the material edges during subsequent transport, and reserving reasonable operating gaps to prevent edge squeezing and friction.

[0042] After the channel width adjustment is completed, the feed-side conveyor mechanism unfolds, smoothly pushing the thin sheet material into the driven support plate of the primary feed buffer. Since the thin sheet material is only supported at its two edges, its central area will inevitably sag downwards due to its own weight. The collaborative vision sensor scans the morphological features of the sheet material surface under the support at both sides, extracts the contour curve of the upper surface of the sheet material along the cross-section, and locates the coordinates of the lowest point of the curve, thereby calculating the maximum sag depth of the central area of ​​the sheet material due to its own weight.

[0043] Based on the measured maximum sag depth and the actual inner spacing data of the driven support plates on both sides, a self-weight deflection curve model of the single sheet material is constructed in a virtual computing environment.

[0044] in, The curve representing the deflection of a single sheet of material by its self-weight on the horizontal axis. The vertical drop height at that location; This indicates the measured maximum sagging depth of the board material. This indicates the actual inner distance between the driven support plates on both sides. The initial support chamfer indicates the position where the bottom edge of the plate makes physical contact with the upper surface of the driven support plate; This represents the actual unfolded arc of the material to be processed, calculated backwards from its natural hanging state.

[0045] By reconstructing the true spatial posture of the sheet material under natural hanging conditions using this geometric curve model, the actual unfolded arc length of the sheet material under bending conditions and the initial support chamfer at the physical contact point between the bottom edge of the sheet material and the upper surface of the driven support plate were further calculated. The chamfer data reflects the vector direction of the reaction force exerted by the edge of the support surface on the sheet material and is a core initial parameter for determining the stability of the static support.

[0046] To ensure the stability of the sheet material during the subsequent vertical lifting process, the dynamic inertial load was deeply incorporated into the pre-constructed self-weight deflection curve model. The controller simulated the dynamic evolution of the vertical lifting phase in the background. When the lifting mechanism accelerates upwards to lift the primary feed buffer, the upward acceleration acts on the sheet material, generating a downward inertial force. In the equivalent mapping of the physical model, this downward dynamic inertial load is superimposed on the original self-weight load of the sheet material, effectively increasing its virtual load-bearing capacity. This dynamic superposition of vertical loads further exacerbates the elastic deformation of the sheet material, forcing its central region to bend and elongate further downwards beyond its static sag. With the deepening of the central curvature, the two edges of the sheet material resting on the driven support plate will inevitably slide and contract laterally towards the center, altering the overlap area between the sheet material and the support plate.

[0047] To completely eliminate the risk of slippage caused by dynamic disturbances, the static effective overlap width data of the plate edge on the driven support plate is extracted, and a set of strict anti-slip plate geometric boundary constraints are set in the background algorithm. Throughout the entire process of the plate transitioning from static bending to dynamic bending with superimposed inertial forces, the actual remaining physical overlap length (i.e., the difference between the initial lateral overlap position and the derived lateral shrinkage) must be strictly greater than the minimum safe overlap width threshold required to maintain basic load-bearing capacity, to prevent the edge from being directly suspended due to excessive shrinkage. At the same time, the dynamic support chamfer angle, which increases sharply after superimposed dynamic deformation, must always be smaller than the static friction angle between the plate surface and the support plate contact surface, to ensure that the edge receives sufficient frictional gripping force and will not experience instantaneous instability and slippage.

[0048] Based on the aforementioned mapping relationship and geometric boundary constraints, using the critical slippage state as the limit solution boundary, the maximum critical lifting acceleration that the system can tolerate under the current physical state of the sheet metal is derived and calculated in reverse. This critical acceleration represents the dynamic limit that the current bent thin sheet metal can withstand without compromising static friction and lap constraints.

[0049] in, It represents the maximum dynamic sagging depth after equivalent superposition of vertically downward dynamic inertial loads; This indicates the lifting acceleration of the vertical lifting mechanism as it accelerates upwards. Represents gravitational acceleration; This indicates the amount of lateral sliding shrinkage that occurs from one edge of the board towards the center as it sags and deepens. This indicates the initial static one-sided overlap width of the plate edge on the driven support plate; This represents the minimum safe overlap width threshold required to maintain basic load-bearing capacity. This represents the static friction coefficient between the plate surface and the contact surface of the driven support plate. This represents the upper limit of the maximum critical increase in acceleration dynamics that the solved system can tolerate.

[0050] The derived maximum critical lifting acceleration is established as the upper limit of the dynamics of the lifting motor servo control. Taking into account the rated spacing height of the single-layer board in the primary feed buffer and the overall feeding cycle time of the production line, a smooth transition control algorithm is invoked to plan and generate a target smooth lifting rate curve that strictly suppresses acceleration within the critical upper limit throughout the entire process. The vertical lifting mechanism connected to the primary feed buffer strictly follows this smooth rate curve to execute step-by-step lifting actions. By suppressing the peak inertial disturbance during the acceleration phase, it is ensured that the dynamic inward contraction of the board edge is always safely locked within the effective bearing surface of the support plate, preventing the bent board from detaching and falling during violent lifting starts and stops. After smoothly lifting to the preset layer height, the lifting stops to reserve the feeding channel for the next board. A digital label is instantiated for this single board, binding the current entity layer number coordinates and batch attributes, laying the underlying spatial anchor point for accurate quality profiling and data flow throughout the entire chain. The process of receiving individual pieces, dynamically calculating and lifting, and labeling is closely cyclical until the primary buffer reaches the preset full load state, at which point it is handed over to the next transfer process.

[0051] S2. Respond to the full load status of the primary feed buffer, control the primary feed buffer to address and connect to the secondary feed buffer, call the gap compensation push to transfer the entire batch of boards to the secondary feed buffer, and update the spatial coordinate mapping of the corresponding batch digital label to the secondary feed buffer until the preset total full load threshold is reached. The process of calling the gap compensation push involves controlling the addressing of the first-level feed buffer and aligning the idle receiving layer of the second-level feed buffer, then driving the sliding motor to rotate the rotating shaft, causing the levers placed on both sides of the mechanism to rotate and unfold to the effective toggle positions on both sides of the plate channel. The drive sliding motor moves horizontally along the conveying direction, causing the lever to simultaneously abut the tail end of the entire batch of boards for batch pushing; After the sliding motor reaches the conventional conveying boundary, it drives the rotating shaft to rotate and translate the preset compensation stroke to ensure that the tail end of the plate is disengaged from the installation gap and is firmly attached to the driven support plate of the secondary buffer of the feed. After the transfer is completed, the sliding motor is controlled to move in the reverse direction to reset, and the sliding motor drives the rotating shaft to rotate in the reverse direction, so that the lever is retracted in a convergent state against the side wall of the mechanism, releasing the space of the transmission channel and waiting for the next batch of transfer coordination.

[0052] Once the primary feed buffer reaches its preset full load, a full-load transfer trigger signal is generated, initiating the cross-gap batch transfer to the secondary feed buffer. Since the secondary feed buffer has a fixed vertical height, the vertical lifting mechanism connected to the primary feed buffer is activated, causing the fully loaded primary feed buffer to vertically lift and lower, aligning its load-bearing layers from bottom to top with the bottom empty receiving layers of the secondary feed buffer. After the physical channel's height-level alignment is completed, the sliding motor is driven to rotate, causing the rotating shaft connected to the transmission to rotate. This causes the levers, originally stationary and close to the clearance space on both sides of the mechanism, to rotate and unfold, entering the effective shifting positions on both sides of the board transfer channel. The driving motor moves horizontally along the conveying direction, and through the rotating shaft, the unfolded levers on both sides move forward synchronously, causing the working surfaces of the levers to contact the tail end face of the entire batch of boards within the primary feed buffer. This applies a forward horizontal thrust to the entire batch of stacked boards, causing the entire batch of boards to slide synchronously towards the secondary feed buffer along the symmetrically arranged driven support plates on both sides.

[0053] During the transition of a batch of sheet metal from the primary feed buffer to the fixed secondary feed buffer, thinner sheets are partially suspended without bottom support when crossing this gap due to the installation gap between the two independent buffer mechanisms. This makes them susceptible to vertical mechanical disturbances or tail-end jamming caused by their own weight and changes in frictional resistance. By utilizing the long-stroke thrust provided by the extended forward movement of the sliding motor, the lever is driven forward into the space above the installation gap, allowing the tail end of the entire batch of sheet metal to cross the suspended transition zone. This ensures that the entire batch of sheet metal smoothly overlaps and falls onto the driven support plate of the secondary feed buffer, eliminating the defects of tail-end sagging, jamming, or falling of thin sheets due to power interruption at the transition gap.

[0054] After the entire batch of sheets is transferred to its position, the control sliding motor reverses and horizontally moves to reset. This drives the sliding motor to rotate the shaft in the opposite direction, causing the levers on both sides to quickly disengage from the sheet contact area and retract into a convergent state against the side wall of the mechanism. This releases the internal physical space of the horizontal transmission channel, reserving a non-interference operating path for the lifting and resetting of the primary feeding buffer. Simultaneously, the digital tags corresponding to the batch of sheets within the primary feeding buffer are addressed. The virtual space coordinates bound to these digital tags are synchronously updated and mapped by the primary buffer hierarchy array to the target bearing layer coordinates at the bottom of the secondary feeding buffer, maintaining the binding between the physical position and the digital tags. The layer status of the secondary feeding buffer is continuously accumulated in the background. The primary feeding buffer is then controlled to descend and reset to the assembly line receiving height to continue receiving sheets one by one. This cycle of addressing and docking, gap compensation pushing, and coordinate mapping continues until the internal accumulation of the secondary feeding buffer reaches the preset total full load threshold, triggering the handover to the subsequent vacuum chamber loading process.

[0055] S3. After the secondary buffer reaches the total full load threshold, the entire batch of plates is fed into the vacuum chamber, the sealing door is driven to slide and close, and the side moving rod is used to squeeze and seal; then vacuuming and processing are carried out. The process of driving the sealing door to slide and close, and coordinating with the side movable rod to squeeze and seal, involves the translation motor of the sealing door controlling the front and rear sealing doors to slide towards the preset sealing position, and monitoring the door body positioning signal at the end of the position in real time. After receiving the trigger signal that the sealing door has slid into place, and the groove on the door body is connected with the corresponding movable rod, the driving power of the translation motor is cut off, and the extrusion motor that drives the movable rods on both sides is output to the compression motor to retract inward. The drive rod retracts inward, applying a uniform inward lateral thrust to the slot through the rod body, forcing the door frame to move relative to the box body to gradually compact the sealing ring on the door; During the continuous contraction and compression of the moving rod, the dynamic load current of the compression motor is extracted. After the dynamic load current reaches the preset current threshold, the output torque holding command locks the current output state of the compression motor to maintain the sealing compaction and starts vacuuming. After the vacuuming is started, dynamic sealing control is also required. During the vacuuming process, the pressure sensor configured inside the vacuum chamber continuously collects the pressure data in the chamber and generates the actual pressure drop curve based on time series fitting. The actual pressure drop curve is compared with the pre-stored standard sealed drop model to calculate the deviation difference between the current actual pressure drop rate and the standard rate. If the deviation exceeds the allowable threshold, it is determined that the hatch has micro-leakage characteristics. The required fine-tuning compression increment is calculated based on the deviation, the compression motor outputs compensation torque, and the movable rod is driven to further fine-tune and shrink inward, and the sealing ring on the door is subjected to secondary compensation and compaction. After the compensation compaction is completed, the air pressure drop rate is monitored. If the air pressure drop rate returns to the range allowed by the standard sealing drop model, the extrusion motor state is locked again and vacuuming continues. If the cumulative number of compensation compaction triggers reaches the preset upper limit within the vacuuming cycle and the deviation difference continues to exceed the limit, the seal repair is determined to be a failure, the vacuuming program is interrupted and a sealing abnormality signal is output.

[0056] Once the accumulated load inside the secondary feed buffer reaches the preset total full load threshold, the long-stroke feeding conveyor mechanism is activated. Using a lever located on the outside, the fully loaded batch of materials is pushed into the vacuum chamber in one go, moving the entire batch into the vacuum chamber. The lever then reverses direction and retracts to its original position against the wall. After the entire batch of materials is positioned in the chamber, the spatial coordinates of the batch's digital tag at the bottom layer of the secondary feed buffer are simultaneously updated and mapped to the corresponding physical level of the process virtual matrix inside the vacuum chamber.

[0057] After the sheet metal is placed in the chamber, the sliding motors of the sealing doors, located at the front and rear ends of the vacuum chamber, are activated. These motors drive the sealing door body, equipped with an inner sealing ring, to slide along the transverse slide rail towards the preset sealing channel opening. The system monitors the travel completion signal at the sliding end station in real time. Once the door slot and the movable lever successfully lock together, the driving force of the sliding motors is immediately activated to ensure that the sealing door body is precisely positioned at the channel opening.

[0058] After the door body slides and connects, the compression motors on both sides of the vacuum chamber are given an inward retraction command, causing the two movable rods to retract synchronously towards the center of the channel. Using the limiting blocks on the movable rods, a uniform inward lateral thrust is applied to the sidewalls of the trapezoidal slot. Through the rigid transmission of this trapezoidal structure without bevels, the entire sealing door frame is forced to undergo a relative displacement perpendicular to the sliding direction towards the end face of the chamber, gradually and tightly compressing the sealing ring disposed on the inner side of the door. Throughout the continuous retraction and compression process of the movable rods, the dynamic load current data of the compression motor is extracted in real time at high frequency, serving as an equivalent electrical signal characterizing the pressure reaction resistance of the sealing ring. When the dynamic load current is detected to rise smoothly and reach the preset current threshold characterizing the initial compression rate, it is determined that the initial sealing physical interface of the door has been established. The output torque holding command locks the current drive state of the compression motor, maintaining a constant lateral gripping force to lock the seal.

[0059] The vacuum pump valve assembly is activated to evacuate the cavity under negative pressure. During the vacuum process, a high-precision pressure sensor deployed inside the vacuum chamber is used to continuously collect real-time pressure data according to a preset sampling period. The actual pressure drop curve is then dynamically fitted onto the time series using the least squares method. The slope of the actual pressure drop curve is extracted and compared with a pre-stored standard closed-condition pressure drop mathematical model to calculate the deviation between the actual pressure drop rate and the standard drop rate at the current time point.

[0060] When the calculated deviation is within the preset allowable safety tolerance threshold, the vacuum chamber is determined to be in excellent sealing condition, and the torque lock command of the extrusion motor is maintained until the vacuum level inside the chamber reaches the preset processing target. When the deviation exceeds the allowable tolerance threshold, a micro-leakage characteristic is determined at the sealing interface, and the closed-loop adaptive sealing control and repair mechanism is immediately triggered. Based on the magnitude of the deviation, a preset compensation mapping function is called to calculate the micro-adjustment extrusion torque increment required to eliminate dynamic leakage. A compensation drive command superimposed on this torque increment is output to the extrusion motors on both sides, driving the movable rod to further perform a micro-stroke micro-adjustment contraction, and performing precise secondary compensation compaction on the sealing ring with slight gaps or uneven local deformation.

[0061] After completing the secondary compensation compaction action, the slope of the air pressure drop is continuously monitored. If the actual air pressure drop rate recovers smoothly to the tolerance range allowed by the standard sealed drop model, the output torque of the extrusion motor is locked again and normal vacuuming is maintained. If the cumulative number of cycles of compensation compaction triggered in the same vacuuming stage reaches the upper limit preset by the system, and the monitoring and judgment deviation value continues to exceed the limit, it is determined that the physical seal has failed to be completely repaired. The vacuuming execution program is cut off and a sealing abnormality alarm signal is output to the bus, and subsequent processes are blocked for safe maintenance.

[0062] in, This represents the required extrusion motor compensation torque output value for calculation (i.e., mapping the corresponding fine-tuning extrusion increment). This represents the difference between the current actual rate of pressure decrease and the standard rate of decrease. This represents the rate of change of the deviation difference over time; This represents the proportional gain coefficient for the air pressure deviation. This represents the differential gain coefficient of the leakage rate fluctuation; This indicates the cumulative number of times compensating compaction is triggered within the current vacuuming cycle; This represents the nonlinear compensation coefficient used to counteract the progressive compression hardening effect of the sealing ring.

[0063] S4. After processing is completed, open the sealed door and transfer the processed board to the secondary buffer of the discharge. Update the processing parameters in the digital tag. Control the primary buffer of the discharge to connect with the secondary buffer of the discharge from bottom to top to take out the boards in batches, output the boards and distribute the digital tags carrying the complete process profile to the downstream production line. The process of taking out and outputting boards in batches involves transferring the entire batch of processed boards to the secondary buffer of the output material, driving the primary buffer of the output material to perform vertical lifting and addressing, and aligning the receiving layer with each bearing layer corresponding to the bottom layer of the secondary buffer of the output material from bottom to top. After the hierarchical alignment is completed, the discharge side toggle mechanism is activated to move the sheet material from the discharge secondary buffer into the discharge primary buffer, and drive the fully loaded discharge primary buffer to move and address, so that its topmost bearing layer is aligned with the height of the discharge conveyor belt at the fixed position. The top ejection mechanism pushes the single sheet of material located at the top of the primary discharge buffer into the discharge conveyor belt. After the top sheet is ejected, the first-level buffer is controlled to raise the height between the sheets, so that the current second-to-top sheet is sequentially updated to the top bearing layer and realigned with the discharge conveyor belt. The top unloading and step lifting actions are executed in sequence. The process of updating processing parameters in digital tags and distributing digital tags carrying complete process profiles to downstream production lines involves continuously extracting time-series process data collected by sensor arrays configured in various physical support layers within the vacuum chamber during vacuuming and processing operations. Based on the physical coordinates of each layer locked by the support frame inside the vacuum chamber when the entire batch of boards is sent in, the digital tags of the corresponding spatial coordinates are located and retrieved. The time sequence process data is deeply assimilated and written into the digital tags of the corresponding layer coordinates to construct a complete process profile of a single board. During the overall transfer of the processed board to the secondary buffer of the discharge and the batch removal of the board from the primary buffer of the discharge, the virtual spatial coordinates of the digital tag are continuously controlled to be updated synchronously with the displacement command of the physical drive mechanism to maintain the anchoring relationship between the data tag and the physical board. After detecting the unloading action completed by the ejection mechanism, the corresponding target digital label is locked based on the current output station coordinates; Through a pre-set communication link, the target digital tag and the complete process profile encapsulated within it are pushed to the data management system of the downstream production line, establishing the traceability and handover between the physical outflow of a single physical board and the digital quality control archives throughout the entire life cycle.

[0064] During the vacuuming and processing operation inside the vacuum chamber, time-series process data collected by sensor arrays configured in each physical support layer within the chamber is continuously extracted. The data stream includes temperature distribution fitting curves and vacuum fluctuation time-series curves for each specific layer within the current processing cycle. Based on the physical coordinates of each layer locked by the support frame inside the vacuum chamber where the entire batch of plates was previously fed, the corresponding spatial coordinate digital tags established in the background are located and retrieved. The collected time-series process data is deeply assimilated and written into the digital tag data package of the corresponding layer coordinates, independently constructing a complete process profile for each plate in a sealed processing state. After monitoring that the preset processing cycle has ended and the chamber has been stably repressurized, the output power of the extrusion motors on both sides is cut off to release the lateral extrusion force of the movable rod. The sealing ring on the inner side of the sealing door naturally pushes open the contact gap between the door and the end face of the channel due to its own material elasticity, eliminating the static electricity and physical adhesion of the sealed area. The translation motors driving the front and rear sealing doors operate, causing the doors to slide laterally and move away from the channel. Subsequently, the lever of the discharge-side transfer mechanism is deployed, applying an over-limit compensation thrust to the tail end of the clinker inside the cavity. This propels the entire batch of processed sheets across the physical installation gap and onto the driven support plate of the vertically fixed discharge secondary buffer. The lever then retracts and resets against the wall. The entire batch of sheets is then discharged and stored in its position. Simultaneously, the spatial coordinates of the batch digital tag carrying a complete process profile are updated and mapped from the internal hierarchical matrix of the vacuum cavity to the corresponding target coordinate matrix at the bottom layer of the discharge secondary buffer.

[0065] The vertical lifting mechanism connected to the primary discharge buffer performs vertical addressing, aligning the idle receiving layers of the primary discharge buffer with the corresponding support layers of the secondary discharge buffer from bottom to top. After each layer alignment, the auxiliary tossing mechanism on the discharge side smoothly moves a single layer of material from the secondary discharge buffer into the primary discharge buffer. During the retrieval and transfer process, the virtual spatial coordinates of the digital tags are continuously updated to strictly follow the displacement commands of the physical drive mechanism, maintaining an absolute one-to-one anchoring relationship between the virtual data tags and the physical material. This bottom-up addressing alignment and batch material retrieval action is executed sequentially and cyclically. The fully loaded primary discharge buffer is moved and addressed until its top support layer is perfectly aligned with the height of the external fixed-position discharge conveyor belt. A piece-by-piece unloading command is output, driving the top ejection mechanism to push the single piece of material at the top of the primary discharge buffer into the discharge conveyor belt for output. Each time a single top sheet is ejected, the primary buffer for material discharge is raised by a standard sheet spacing height, seamlessly updating the current second-to-top sheet to become the top support layer and realigning it with the conveyor belt. The top unloading and stepping lifting actions are executed sequentially, completely locking the first-in-first-out (FIFO) physical flow sequence of sheet material, prioritizing bottom-layer extraction and sequential top-layer output. Simultaneously, after the top ejection mechanism completes its single-sheet unloading and reset action, the corresponding target digital tag is immediately locked based on the current output station coordinates. Through a pre-set industrial bus communication link, the target digital tag and its encapsulated complete process profile are pushed to the downstream production line's data management system, establishing a seamless traceability loop between the physical outflow of a single sheet and the full lifecycle digital quality control file.

[0066] Example 2 Reference Figures 5-15 These are two embodiments of the present invention. This embodiment provides a vacuum box feeding and discharging device, which is used to perform the method described in Embodiment 1.

[0067] Specifically, it includes: A feeding buffer unit 100 that connects to the upstream feeding station via a transmission wheel 200; a straight-through vacuum box 201 fixedly installed downstream of the feeding buffer unit 100, and a sealing unit 300 that cooperates with the inlet and outlet chamber channels at both ends of the straight-through vacuum box 201; and an outlet buffer unit 400 located downstream of the straight-through vacuum box 201 and connected to the downstream outlet conveyor belt. The feeding buffer unit 100 includes a primary feeding buffer 102 driven by a lifting module 101, which connects layer by layer with the upstream feeding station to receive the processing plate 202, and a secondary feeding buffer 103 fixedly installed between the primary feeding buffer 102 and the through vacuum box 201; a primary feeding guide rail 104 is provided at the bottom of the primary feeding buffer 102, and a universal telescopic motor 105 is fixedly installed at the end of the primary feeding guide rail 104 near the upstream feeding station, and a primary push rod 106 that slides along the primary feeding guide rail 104 is fixedly installed on the universal telescopic motor 105; a secondary feeding guide rail 107 is provided at the top of the feeding buffer unit 100, and a secondary telescopic module 108 is movably installed on the secondary feeding guide rail 107, and a secondary push rod 109 is fixedly installed at the telescopic end of the secondary telescopic module 108. The sealing unit 300 includes a support frame 302 with a guide rail 301 fixedly mounted, and a door frame 303 that is movably mounted on the guide rail 301 via pulleys 304 and is controlled to move. The sealing door 306 is installed on the inner side enclosed by the door frame 303, and the sealing door 306 is movably connected to the door frame 303 via a slider 305 located at the bottom of the door frame 303. The sealing surface of the sealing door 306 is provided with a sealing ring 307. The door frame 303 has a through clearance hole 308. The force transmission frame 309 passes through the clearance hole 308 and is fixedly connected to the sealing door 306. The outside of the straight-through vacuum box 201 is equipped with a movable rod 311 that cooperates with the force transmission frame 309 and is driven by a compression motor 310. The discharge buffer unit 400 includes a primary discharge buffer 401 driven by a lifting module 101, which is connected to the discharge production line conveyor belt to output the processed boards piece by piece, and a secondary discharge buffer 402 fixedly installed between the through vacuum box 201 and the primary discharge buffer 401. A conveyor belt 403 for outputting the processed boards piece by piece is fixedly installed above the primary discharge buffer 401 and at the top of the discharge buffer unit 400. A lifting platform 404 is provided at the bottom of the discharge buffer unit 400, which runs through the primary discharge buffer 401 and the secondary discharge buffer 402. The lifting platform 404 is provided with a rotating telescopic rod 405. A lever 406 is installed on the end of the rotating telescopic rod 405 near the through vacuum box 201. The lifting platform 404 is used to block and limit the descent of the primary discharge buffer 401. Both sides of the material transmission channels of the primary feed buffer 102, the secondary feed buffer 103, the straight-through vacuum box 201, the secondary discharge buffer 402, and the primary discharge buffer 401 are movably provided with perforated support side plates 211 driven by sliding adjustment rods 210. The perforated support side plates 211 facing the center of the channel are fixedly installed with driven rollers 212 for bearing the translation of the edge of the plate. A first buffer limiting plate 214a driven by a telescopic rod 213 is movably installed on the outside of the corresponding porous support side plate 211, located at the discharge end of the feed secondary buffer 103 and the straight-through vacuum box 201. A second buffer limiting plate 214b is movably installed on the outer side of the corresponding porous support side plate 211 at the discharge end of the discharge secondary buffer 402; a release cylinder 215 is fixedly installed on the lifting platform 404, and the release cylinder 215 moves up and down synchronously with the lifting platform 404 to cooperate with and control the opening and closing of the second buffer limiting plate 214b in stages; A discharge guide rail 312 is provided at the top of the gap between the straight-through vacuum box 201 and the internal porous support side plate 211. A movable motor 313 is slidably installed on the discharge guide rail 312. The power output end of the movable motor 313 is connected to the discharge transmission rod 314, and the end of the discharge transmission rod 314 is connected to the discharge rod 315.

[0068] In the initial feeding stage, the width of each channel of the equipment is adaptively matched. The material transfer channels running through the primary feeding buffer 102, secondary feeding buffer 103, straight-through vacuum box 201, secondary discharge buffer 402, and primary discharge buffer 401 are simultaneously driven by sliding adjustment rods 210 to slide the perforated support side plates 211 towards the center to the appropriate width, utilizing the driven rollers 212 fixedly installed on them to provide low-resistance support for the edges of the sheet metal. When the upstream feeding station conveys a single sheet of material to be processed, the sheet metal slides directly into the primary feeding buffer 102 due to the inertia input by the transfer wheel 200. The secondary telescopic module 108 installed at the top controls the secondary push rod 109 to be in a downward posture, normally occupying the path in front of the sheet metal's trajectory, acting as a physical limiter, stopping the sheet metal that slides in by inertia at a predetermined position. After the sheet metal is positioned, the lifting module 101 drives the primary feeding buffer to rise vertically one level to receive the next sheet metal, repeating this process until fully loaded.

[0069] The first buffer limit plate 214a and the second buffer limit plate 214b occupy the road and block the path by default when not delivering.

[0070] Once the feed is fully loaded, a stepped feeding relay transfer is initiated. First, the transfer between the first and second level buffers is carried out. The second level push rod 109, which was originally blocking the way, is moved away by the second level telescopic module 108 to allow for synchronous avoidance. At this time, the universal telescopic motor 105 at the bottom controls the first level push rod 106 to rotate to a vertical working posture and slide forward along the first level feed guide rail 104, smoothly pushing the entire batch of boards from the first level feed buffer 102 into the fixed second level feed buffer 103. After the feeding is completed, the first level push rod 106 rotates back to a horizontal posture for concealment. Following this, the material is transferred into the chamber. The secondary push rod 109 moves horizontally and lands at the tail end of the material. The telescopic rod 213 on the secondary feed buffer 103 drives the corresponding first buffer limit plate 214a to avoid the material. The secondary telescopic module 108 slides along the top secondary feed guide rail 107, pushing the entire batch of material from the secondary feed buffer 103 into the straight-through vacuum chamber 201. After the material is in place, the secondary push rod resets, and the telescopic rod 213 on the secondary feed buffer 103 drives the corresponding first buffer limit plate 214a to return to its occupied state. Once the material has entered the chamber, the sealing units 300 at both ends begin to operate. The outer door frame 303 is moved along the guide rail on the support frame by pulleys 304 to the docking position of the inlet and outlet passage; the extrusion motor 310 installed on the outer wall of the straight-through vacuum chamber 201 drives the movable rod 311 to engage in the slot of the force transmission frame 309 extending from the door frame clearance hole 308; the extrusion motor 310 continues to drive the movable rod to retract inward to apply lateral pulling force, and uses the structural misalignment effect to force the embedded sealing door 306 to slide vertically and slightly along the bottom slider 305 towards the end face of the vacuum chamber, tightly pressing the sealing ring 307 to establish a sealed environment.

[0071] After the vacuum processing is completed, the sealed door 306 is unscrewed and moved horizontally to open, initiating the out-of-chamber transfer process. The telescopic rod 213 on the vacuum chamber 201 drives the corresponding first buffer limit plate 214a to avoid obstruction, and the movable motor 313, hidden inside the straight-through vacuum chamber, starts, applying torque to drive the discharge transmission rod 314, causing the discharge rod 315 to rotate laterally from its storage position parallel to the discharge guide rail 312 and abut against the tail end of the plate. The movable motor 313 moves outward along the discharge guide rail 312, pushing the processed batch of clinker into the rear discharge secondary buffer 402, and the telescopic rod 213 on the vacuum chamber 201 drives the corresponding first buffer limit plate 214a to return to its obstructed state.

[0072] The discharge lifting module 407 drives the discharge primary buffer 401 to descend. The bottom lifting platform 404, which runs through the discharge primary and secondary buffer areas, acts as a physical barrier, limiting the descent point of the discharge primary buffer 401. After the buffer is positioned, the release cylinder 215 controls the second buffer limit plate 214b to open and close in stages. Subsequently, the rotating telescopic rod 405 installed on the lifting platform controls the lever 406 to rotate from a horizontal avoidance posture to an upright position and perform lateral telescopic pulling, pushing the sheet material from the discharge secondary buffer 402 into the discharge primary buffer 401. Then, the release cylinder 215 controls the second buffer limit plate 214b to return to its occupied state. After the discharge primary buffer 401 is fully loaded, it rises, aligning the layer containing the sheet material with the top. The processed sheet material is then output piece by piece to the outer assembly line via the top conveyor belt 403, completing the fully automatic feeding and discharging closed loop.

[0073] In summary, this invention achieves flexible and lossless material transfer in and out of the vacuum box, extremely simple and highly reliable sealing, and precise traceability of data across the entire chain by constructing an adaptive control benchmark that deeply integrates visual perception and underlying dynamics, and coordinating sliding capture and long-stroke cross-gap transfer hardware components.

[0074] Its core lies in constructing dynamic physical boundary constraints based on the self-weight deflection of the plate and the lifting inertial load, calculating the critical lifting rate to avoid the thin plate from falling off during lifting, and integrating air pressure drop slope monitoring to achieve closed-loop adaptive repair of sealing torque.

[0075] The device employs a dual-sided, non-powered narrow wheel system combined with an external power pusher mechanism. This system effectively compresses the single-layer thickness by removing the drive source from the buffer layer, significantly increasing the buffer volume ratio in the vertical direction and meeting the edge support requirements of high-standard non-contact plates. It also utilizes a rotating lever mechanism that extends and shifts beyond the boundary to resolve the equipment gap transition zone. Combined with the door slot structure that does not require disassembly or avoidance and the side movable rod, it achieves smooth capture and compaction.

[0076] Through a refined two-level cache structure, a stepped timing relay of single-chip layered caching and whole-batch lifting and pushing is implemented to synchronize the scheduling rhythm differences between the continuous flow of single chips in the upstream and downstream and the time-consuming batch process of vacuum box; and further, the first-in-first-out material discharge logic is locked by the vertical addressing rhythm of the physical mechanism to synchronously drive the full life cycle coordinate mapping of digital tags.

[0077] Through a refined scheduling design that integrates hardware and software, the physical safety of thin sheet circulation and the airtight stability of the vacuuming process are significantly improved, and the self-consistency of upstream and downstream scheduling on the production line and the data penetration of the quality control profile of a single sheet are greatly enhanced.

[0078] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An automatic control method for a vacuum box feeding and discharging device, characterized in that, Performed by a computer device, including the following steps: S1. Responding to the feeding trigger signal, the width of the transmission channel is adjusted based on the specifications of the board, the lifting compensation of the first-level feeding buffer is calculated according to the shape of the board, and a digital label corresponding to the spatial coordinates of the board is established until the first-level feeding buffer reaches the preset full load state. S2. In response to the full load state of the first-level feed buffer, control the first-level feed buffer to address and connect to the second-level feed buffer, call the gap compensation push to transfer the entire batch of boards to the second-level feed buffer, and update the spatial coordinate mapping of the corresponding batch digital label to the second-level feed buffer until the preset total full load threshold is reached. S3. After the feeding secondary buffer reaches the total full load threshold, the entire batch of plates is controlled to be sent into the vacuum chamber, the sealing door is driven to slide and close, and the side movable rod is used to squeeze and seal; then vacuuming and processing are performed. S4. After processing is completed, open the sealed door and transfer the processed board to the secondary output buffer. Update the processing parameters in the digital tag. Control the primary output buffer to connect to the secondary output buffer from bottom to top to take out the board in batches. Output the board and distribute the digital tags carrying the complete process profile to the downstream production line.

2. The automatic control method for the vacuum box feeding and discharging equipment according to claim 1, characterized in that, The process of adjusting the transmission channel width in step S1 specifically includes: The edge contour of the material to be processed is extracted by a vision sensor deployed above the feeding station, and the width of the material to be processed is identified. Based on the width, the driven support plates symmetrically arranged in the feeding buffer mechanism, the vacuum box, and the discharging buffer mechanism are driven to slide horizontally, so as to adapt the inner spacing of the whole machine's transmission channel to the material specifications.

3. The automatic control method for the vacuum box feeding and discharging equipment according to claim 1, characterized in that, The process of calculating the feed level 1 buffer rise / fall compensation in step S1 specifically includes: After the board is fed into the first-level feed buffer, the maximum sagging depth of the board center area due to gravity is calculated by extracting the shape of the board in the state of being supported on both sides. Based on the maximum droop depth and the inner distance of the driven support plate, a self-weight deflection curve model of the plate is constructed, and the unfolded arc length of the plate to be processed and the initial support chamfer at the contact position between the plate edge and the driven support plate are calculated. The dynamic inertial load during the vertical lifting process is introduced into the self-weight deflection curve model to establish a mapping relationship between the lifting acceleration and the dynamic sag increment and the lateral shrinkage of the edge of the plate. The upward lifting acceleration acts on the plate to generate a downward inertial force, which is equivalent to the dynamic superposition of the vertical load on the plate. The dynamic superposition will force the center of the plate to sag further and drive the two sides of the plate to slide and shrink laterally towards the center on the driven support plate.

4. The automatic control method for the vacuum box feeding and discharging equipment according to claim 3, characterized in that, The process of calculating the feed level buffer rise / fall compensation in step S1 further includes: Extract the effective overlap width of the plate edge on the driven support plate, and set the anti-detachment plate geometric boundary constraint. The geometric boundary constraint limits that during the transition of the plate from static bending to dynamic bending, the difference between the initial lateral position and the lateral shrinkage must be strictly greater than the minimum safe overlap width threshold required to maintain the support, and the dynamic support chamfer after superposition is smaller than the static friction angle of the contact surface. Combining the mapping relationship and the geometric boundary constraints, and using the critical slip state as the solution boundary, the maximum critical lifting acceleration allowed under the current plate shape is calculated in reverse. Using the maximum critical lifting acceleration as the upper limit of dynamic control, a target smooth lifting rate curve is generated by combining the preset single-layer board spacing height and feeding cycle timing; the feeding first-level buffer is driven to rise upward following the target smooth lifting rate curve, and by controlling the inertial disturbance of the acceleration segment, it is ensured that the dynamic contraction of the board edge is always within the effective bearing surface of the support plate, thus avoiding the bending board from detaching and falling off during the lifting process.

5. The automatic control method for the vacuum box feeding and discharging equipment according to claim 1, characterized in that, The process of invoking the gap compensation push in step S2 specifically includes: After controlling the addressing of the first-level feed buffer and aligning the idle receiving layer of the second-level feed buffer, the sliding motor is driven to rotate the rotating shaft, causing the levers stationary on both sides of the mechanism to rotate and unfold to the effective toggle positions on both sides of the plate channel. The sliding motor is driven to move horizontally along the conveying direction, which in turn causes the lever to simultaneously abut the tail end of the entire batch of plates for batch pushing. After reaching the conventional conveying boundary, the sliding motor drives the moving rotating shaft to rotate, and translates by a preset compensation stroke to ensure that the tail end of the plate is disengaged from the installation gap and is stably attached to the driven support plate of the secondary feed buffer. After the transfer is completed, the sliding motor is controlled to move in the opposite direction to reset, and the sliding motor drives the rotating shaft to rotate in the opposite direction, so that the lever is retracted in a convergent state against the side wall of the mechanism, releasing the space of the transmission channel and waiting for the next batch of transfer.

6. The automatic control method for the vacuum box feeding and discharging equipment according to claim 1, characterized in that, The process of driving the sealing door to slide and close, and coordinating with the side movable rod to compress and seal, in step S3 specifically includes: The translation motor that drives the sealing door controls the front and rear sealing doors to slide towards the preset sealing position, and monitors the door position signal at the end of the position in real time. After receiving the trigger signal that the sealing door has slid into place, and the groove on the door body is connected with the corresponding movable rod, the driving power of the translation motor is cut off, and the extrusion motor that drives the movable rods on both sides is output with an inward retraction command. The movable rod is driven to retract inward, and a uniform inward lateral thrust is applied to the slot through the rod body, forcing the door frame to move relative to the box body to gradually compact the sealing ring on the door; During the continuous contraction and compression of the movable rod, the dynamic load current of the compression motor is extracted. After the dynamic load current reaches the preset current threshold, the output torque holding command locks the current output state of the compression motor to maintain the sealing compaction and starts vacuuming.

7. The automatic control method for the vacuum box feeding and discharging equipment according to claim 6, characterized in that, After initiating vacuuming, dynamic seal control is also required, which includes: During the vacuuming process, a pressure sensor installed inside the vacuum chamber continuously collects the pressure data inside the chamber, and generates an actual pressure drop curve based on time series fitting. The actual air pressure drop curve is compared with the pre-stored standard sealed drop model to calculate the deviation difference between the current actual air pressure drop rate and the standard rate. If the deviation exceeds the allowable threshold range, it is determined that the hatch has micro-leakage characteristics. The required fine-tuning compression increment is calculated based on the deviation. The compression motor is controlled to output compensation torque, driving the movable rod to further fine-tune and shrink inward, and to perform secondary compensation compaction on the sealing ring on the door. After the compensation compaction is completed, the air pressure drop rate is monitored. If the air pressure drop rate returns to the range allowed by the standard sealing drop model, the extrusion motor state is locked again and vacuuming continues. If the cumulative number of compensation compaction triggers reaches the preset upper limit during the vacuuming cycle and the deviation difference continues to exceed the limit, the seal repair is determined to have failed, the vacuuming program is interrupted, and a sealing abnormality signal is output.

8. The automatic control method for the vacuum box feeding and discharging equipment according to claim 1, characterized in that, The process of taking out and outputting the boards in batches in step S4 specifically includes: After the entire batch of processed boards is transferred to the discharge secondary buffer, the discharge primary buffer is driven to perform vertical lifting addressing, and the receiving layer is aligned with each bearing layer corresponding to the bottom layer of the discharge secondary buffer from bottom to top. After the layer alignment is completed, the discharge side toggle mechanism is activated to move the plate from the discharge secondary buffer into the discharge primary buffer, and drive the fully loaded discharge primary buffer to move and address, so that the topmost bearing layer is aligned with the height of the discharge conveyor belt at the fixed position. The top ejection mechanism pushes the single sheet of material located at the top of the primary discharge buffer into the discharge conveyor belt; After the single top panel is ejected, the discharge buffer is controlled to raise the height between the panels, so that the current second-to-top panel is sequentially updated to the top support layer and realigned with the discharge conveyor belt. The top unloading and step lifting actions are executed in sequence.

9. The automatic control method for the vacuum box feeding and discharging equipment according to claim 1, characterized in that, The process of updating the processing parameters in the digital tag and distributing the digital tag carrying the complete process profile to the downstream production line in step S4 specifically includes: During the vacuuming and processing operation inside the vacuum chamber, the timing process data collected by the sensor arrays configured in each physical support layer inside the cavity is continuously extracted; Based on the physical coordinates of each layer locked by the support frame inside the vacuum chamber when the entire batch of boards is sent in, the digital tags of the corresponding spatial coordinates are located and retrieved. The time-series process data is deeply assimilated and written into the digital tags of the corresponding layer coordinates to construct a complete process profile of a single board. During the process of transferring the processed board material to the secondary buffer of the discharge and taking out the board material in batches from the primary buffer of the discharge, the virtual spatial coordinates of the digital tag are continuously controlled to be updated synchronously with the displacement command of the physical drive mechanism to maintain the anchoring relationship between the data tag and the physical board material. After detecting the unloading action completed by the ejection mechanism, the corresponding target digital tag is locked based on the current output station coordinates; Through a pre-set communication link, the target digital tag and the complete process profile encapsulated therein are pushed to the data management system of the downstream production line, establishing the traceability and handover between the physical outflow of a single solid board and the digital quality control archives throughout the entire life cycle.

10. A vacuum chamber feeding and discharging device, characterized in that, The apparatus is used to perform the method according to any one of claims 1 to 9, specifically comprising: A feeding buffer unit (100) that connects to the upstream feeding station via a transfer wheel (200); a straight-through vacuum box (201) fixedly installed downstream of the feeding buffer unit (100), and a sealing unit (300) that cooperates with the inlet and outlet channels at both ends of the straight-through vacuum box (201); and an outlet buffer unit (400) located downstream of the straight-through vacuum box (201) and connected to the downstream outlet conveyor belt. The feeding buffer unit (100) includes a primary feeding buffer (102) driven by a lifting module (101), which docks with the upstream feeding station layer by layer to receive the processing plate (202), and a primary feeding buffer (102) that is vertically oriented and vertically oriented. A secondary feeding buffer (103) is fixedly installed between the primary feeding buffer (102) and the through vacuum box (201). A primary feeding guide rail (104) is provided at the bottom of the primary feeding buffer (102). 4) A universal telescopic motor (105) is fixedly installed near the upstream feeding station. A first-level push rod (106) that slides along the first-level feeding guide rail (104) is fixedly installed on the universal telescopic motor (105). A second-level feeding guide rail (107) is provided on the top of the feeding buffer unit (100). A second-level telescopic module (108) is movably installed on the second-level feeding guide rail (107). A second-level push rod (109) is fixedly installed on the telescopic end of the second-level telescopic module (108). The sealing unit (300) includes a support frame (302) with a guide rail (301) fixedly installed, and a door frame (303) movably installed on the guide rail (301) via pulleys (304) and controlled to move horizontally; a sealing door (306) is installed on the inner side enclosed by the door frame (303), and the sealing door (306) is movably connected to the door frame (303) via a slider (305) provided at the bottom of the door frame (303), the sealing surface of the sealing door (306) is provided with a sealing ring (307), the door frame (303) is provided with a through clearance hole (308), the force transmission frame (309) passes through the clearance hole (308) and is fixedly connected to the sealing door (306), and the outside of the straight-through vacuum box (201) is provided with a movable rod (311) driven by a compression motor (310) that cooperates with the force transmission frame (309). The discharge buffer unit (400) includes a primary discharge buffer (401) driven by a lifting module (101), connected to the discharge production line conveyor belt for outputting processed sheet metal piece by piece, and a secondary discharge buffer (402) fixedly installed between the through-type vacuum box (201) and the primary discharge buffer (401); above the primary discharge buffer (401) and on the top of the discharge buffer unit (400), a sheet-by-sheet output buffer is fixedly installed. The conveyor belt (403) for the processed sheet metal has a lifting platform (404) at the bottom of the discharge buffer unit (400) that runs through the primary discharge buffer (401) and the secondary discharge buffer (402). The lifting platform (404) is equipped with a rotating telescopic rod (405). A paddle (406) is installed on the end of the rotating telescopic rod (405) near the straight-through vacuum box (201). The lifting platform (404) is used to block and limit the descent of the primary discharge buffer (401). Both sides of the material transmission channels of the feeding primary buffer (102), the feeding secondary buffer (103), the straight-through vacuum box (201), the discharging secondary buffer (402), and the discharging primary buffer (401) are movably provided with perforated support side plates (211) driven by sliding adjustment rods (210). The perforated support side plates (211) facing the center of the channel are fixedly installed with driven rollers (212) for supporting the translation of the edge of the plate. Located at the discharge end of the feed secondary buffer (103) and the straight-through vacuum box (201), and on the outside of the corresponding porous support side plate (211), a first buffer limiting plate (214a) driven by a telescopic rod (213) is movably installed. A second buffer limiting plate (214b) is movably installed on the outside of the corresponding porous support side plate (211) at the discharge end of the discharge secondary buffer (402); a release cylinder (215) is fixedly installed on the lifting platform (404), and the release cylinder (215) moves up and down synchronously with the lifting platform (404) to cooperate with and control the opening and closing of the second buffer limiting plate (214b) in stages; A discharge guide rail (312) is provided at the top of the gap between the straight-through vacuum box (201) and the internal porous support side plate (211). A movable motor (313) is slidably installed on the discharge guide rail (312). The power output end of the movable motor (313) is connected to a discharge transmission rod (314), and the end of the discharge transmission rod (314) is connected to a discharge rod (315).

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