CN-121995850-A - Control method and device for stamping automation line, electronic equipment and storage medium

CN121995850ACN 121995850 ACN121995850 ACN 121995850ACN-121995850-A

Abstract

The invention provides a control method, a device, electronic equipment and a storage medium of a stamping automation line, which belong to the technical field of industrial control and comprise the steps of obtaining a track fusion point of cooperative motion of each moving shaft of a manipulator, calculating reverse time based on the track fusion point, generating a motion track of the manipulator based on target transition time and speed curves of all moving shafts, matching an execution period of the motion track with an operation period of the stamping equipment to obtain a cooperative phase of the manipulator and the stamping equipment, and controlling the stamping equipment and the manipulator to perform cooperative operation based on an interference interval and the cooperative phase. According to the invention, reverse time calculation is performed through the track fusion points of the moving shafts of the manipulator, a smooth motion track is generated, and through phase matching between the manipulator and the stamping equipment, the stop waiting after single stamping is eliminated, so that continuous cooperative operation of stamping can be realized, the impact of intermittent operation on a die is avoided, the forming quality is improved, and the equipment failure rate is reduced.

Inventors

WANG WEILE
MAO WEI
CHEN XIN
CHEN QIANG
YIN DEBIN
LI BIN
MA LIN
YU HONGTAO
LI GUOLIN
LI JIANPING

Assignees

广东美的制冷设备有限公司

Dates

Publication Date: 20260508
Application Date: 20260408

Claims (13)

1. A method for controlling a press line, comprising: Acquiring a track fusion point of the cooperative motion of each moving shaft of the manipulator, and calculating reverse time based on the track fusion point to obtain target transition time of each moving shaft; generating a motion track of the manipulator based on the target transition time and the speed curves of all the moving shafts; acquiring an operation period of stamping equipment and an interference interval between the stamping equipment and the manipulator; performing phase matching on the execution period of the motion trail and the operation period of the stamping equipment to obtain a cooperative phase of the manipulator and the stamping equipment; and controlling the stamping equipment to perform cooperative operation with the manipulator based on the interference interval and the cooperative phase.
2. The method according to claim 1, wherein the calculating the target transition time of each movement axis based on the reverse time calculation of the trajectory fusion point comprises: acquiring target displacement data of each moving shaft at the track fusion point; based on the dynamic parameters of the moving axes and the target displacement data, performing inverse kinematics calculation to obtain independent transition time of the moving axes at the track fusion point; Acquiring performance constraint parameters of the stamping process on the moving axes at the track fusion point, and determining weight coefficients corresponding to the moving axes based on the performance constraint parameters; The independent transition time of each movable shaft and the weight coefficient corresponding to each movable shaft are subjected to weighted fusion to obtain the weighted transition time of each movable shaft; comparing the weighted transition time of each moving axis, and determining the maximum time value in all the weighted transition time as a reference transition time; Synchronously mapping the reference transition time to each moving axis, and determining the reference transition time as the target transition time of each moving axis.
3. The method according to claim 2, wherein the performance constraint parameters include a carrying state parameter and an interference attribute parameter, and wherein the determining the weight coefficient corresponding to each movement axis based on the performance constraint parameters includes: determining a load weight coefficient of each movable shaft based on the carrying state parameters; Determining the precision weight coefficient of each moving shaft based on the interference attribute parameters; And combining the load weight coefficient and the precision weight coefficient to obtain weight coefficients corresponding to the moving axes.
4. The method according to claim 1, wherein the generating the motion trajectory of the robot based on the target transition time and the speed profiles of all the moving axes, comprises: acquiring a speed curve of each movable shaft, wherein the speed curve is a segmented S-shaped speed curve constructed based on the kinematic parameters of the manipulator; calculating a proportionality coefficient of the target transition time and the original planning time of each moving shaft in the segmented S-shaped speed curve; based on the proportionality coefficient, performing preliminary linear scaling on time nodes in the segmented S-shaped speed curves of the moving shafts to obtain candidate speed curves; If the candidate speed curve passes the dynamic boundary constraint verification, the candidate speed curve is determined to be a target speed curve, and if the candidate speed curve does not pass the dynamic boundary constraint verification, the local parameter adjustment is carried out on the segmented S-shaped speed curve to obtain the target speed curve; And generating a motion trail of each moving shaft based on the target speed curve.
5. The control method of a press automation line according to claim 1, wherein an interference interval between the press apparatus and the robot arm is obtained based on: Acquiring a die structure parameter of the stamping equipment and an actuator size parameter of the manipulator; Determining a first interference height of the manipulator into the punching equipment operation area and a second interference height of the manipulator out of the punching equipment operation area based on the die structure parameters and the actuator size parameters; Acquiring real-time state data of the stamping automation line in the running process, and determining a dynamic compensation amount based on the real-time state data; Correcting the first interference height and the second interference height by using the dynamic compensation quantity to obtain a first target height and a second target height; And determining a movement overlapping region of the manipulator and the punching equipment in a space position based on the first target height and the second target height, and determining the movement overlapping region as the interference interval.
6. The method for controlling a press line according to claim 1, wherein the phase matching the execution cycle of the motion trajectory with the operation cycle of the press apparatus to obtain the cooperative phase of the robot and the press apparatus includes: adjusting the operation period of the stamping equipment based on the execution period of the motion trail to obtain a synchronous operation period; Acquiring a corresponding relation between a crank angle and displacement of the stamping equipment in the synchronous operation period; Discretizing and mapping the corresponding relation between the motion trail and the crank angle and displacement to obtain a phase mapping relation; And determining a target starting angle of the manipulator entering the interference interval and a target exiting angle of the manipulator exiting the interference interval based on the phase mapping relation, and determining the target starting angle and the target exiting angle as the cooperative phase.
7. The method according to claim 6, wherein the adjusting the operation cycle of the press apparatus based on the execution cycle of the motion trajectory to obtain the synchronous operation cycle comprises: acquiring a first period of executing the motion trail by the manipulator and a second period of executing single stamping by the stamping equipment; Determining the maximum value of the first period and the second period as an initial whole line period; If the initial whole line period does not meet the stamping process conditions, iteratively executing a period extension step until the updated whole line period meets the stamping process conditions, and determining the whole line period meeting the stamping process conditions as the synchronous operation period; the cycle extension step includes: and adding a preset time step to the current whole line period to obtain the updated whole line period.
8. The method of controlling a press line according to claim 6, wherein the controlling the press device to perform a cooperative operation with the robot based on the interference section and the cooperative phase includes: Acquiring a real-time position of the stamping equipment, and controlling the manipulator to enter the interference zone to take or discharge after the stamping equipment moves to the target exit angle in the cooperative phase and leaves the interference zone; And after the manipulator is monitored to leave the interference interval, controlling the stamping equipment to operate to the target starting angle in the cooperative phase and enter the interference interval for stamping.
9. A control device for a press line, comprising: the manipulator is used for carrying materials in an operation area and comprises a first encoder, a second encoder and a first control unit, wherein the first encoder is used for acquiring first position data of each moving shaft of the manipulator; the stamping equipment is used for stamping the materials; a controller, respectively connected to the manipulator and the punching device, for implementing the control method of the punching automation line according to any one of claims 1 to 8.
10. The control device of a press line according to claim 9, comprising: a second encoder is arranged on the transverse moving shaft of the manipulator and used for acquiring second position data of the transverse moving shaft; the controller is further configured to: acquiring the first position data and the second position data corresponding to the transverse moving shaft; calculating a difference between the first position data and the second position data; and if the difference exceeds a preset threshold, controlling the punching equipment and the manipulator to stop running.
11. An electronic device comprising a memory, a processor and a computer program stored on the memory and running on the processor, characterized in that the processor implements the control method of the stamping automation line according to any one of claims 1 to 8 when executing the computer program.
12. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the control method of a stamping automation line according to any one of claims 1 to 8.
13. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements a method for controlling a stamping automation line according to any one of claims 1 to 8.

Description

Control method and device for stamping automation line, electronic equipment and storage medium Technical Field The present invention relates to the field of industrial control technologies, and in particular, to a method and apparatus for controlling a stamping automation line, an electronic device, and a storage medium. Background The stamping automation line is an automatic production system which consists of stamping equipment and a manipulator responsible for material handling, and the operation control mode of the stamping automation line is directly related to the operation efficiency, the product forming quality and the service life of the equipment of the whole production line. At present, a single working mode is generally adopted to control the operation of the stamping automation line, namely, the stamping automation line is stopped at the top dead center after one stroke is completed each time, and the next stroke can be started after the manipulator finishes the operations of taking and placing the workpiece. However, the stamping equipment in the working mode needs to operate at a frequency which is at least twice that of the whole line stamping beat, and the intermittent high-speed operation mode of the stamping machine can cause great impact on the die, affect the stretch forming quality of the part and also cause the equipment failure rate to be increased. Disclosure of Invention The invention provides a control method, a device, electronic equipment and a storage medium of a stamping automation line, which are used for solving the defects that in the prior art, an intermittent high-speed operation mode of a stamping machine can cause larger impact on a die, affect the stretch forming quality of parts and cause the increase of equipment failure rate, realizing continuous collaborative operation of the stamping automation line, improving the forming quality of products and prolonging the service life of equipment. The invention provides a control method of a stamping automation line, which comprises the following steps: Acquiring a track fusion point of the cooperative motion of each moving shaft of the manipulator, and calculating reverse time based on the track fusion point to obtain target transition time of each moving shaft; generating a motion track of the manipulator based on the target transition time and the speed curves of all the moving shafts; The method comprises the steps of obtaining the running period of stamping equipment and an interference interval between the stamping equipment and a manipulator, carrying out phase matching on the execution period of the motion trail and the running period of the stamping equipment to obtain a cooperative phase of the manipulator and the stamping equipment; and controlling the stamping equipment to perform cooperative operation with the manipulator based on the interference interval and the cooperative phase. According to the control method of the stamping automation line provided by the invention, the reverse time calculation is performed based on the track fusion point to obtain the target transition time of each moving shaft, and the control method comprises the following steps: acquiring target displacement data of each moving shaft at the track fusion point; based on the dynamic parameters of the moving axes and the target displacement data, performing inverse kinematics calculation to obtain independent transition time of the moving axes at the track fusion point; Acquiring performance constraint parameters of the stamping process on the moving axes at the track fusion point, and determining weight coefficients corresponding to the moving axes based on the performance constraint parameters; The independent transition time of each movable shaft and the weight coefficient corresponding to each movable shaft are subjected to weighted fusion to obtain the weighted transition time of each movable shaft; comparing the weighted transition time of each moving axis, and determining the maximum time value in all the weighted transition time as a reference transition time; Synchronously mapping the reference transition time to each moving axis, and determining the reference transition time as the target transition time of each moving axis. According to the control method of the stamping automation line, the performance constraint parameters comprise a material carrying state parameter and an interference attribute parameter, the weight coefficient corresponding to each moving axis is determined based on the performance constraint parameters, and the control method comprises the following steps: determining a load weight coefficient of each movable shaft based on the carrying state parameters; Determining the precision weight coefficient of each moving shaft based on the interference attribute parameters; And combining the load weight coefficient and the precision weight coefficient to obtain weight coefficients corresponding to the moving axe