Press-robot synchronous movement coordination method

A technology of synchronous movement and coordination method, applied in the field of automation, can solve the problems affecting the production beat of the whole line and long cycle period, etc.

Inactive Publication Date: 2013-07-24
QILU UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] In the traditional stamping automation production process, the press always adopts the "single" operation mode, and the unloading hand (unloading manipulator / robot) needs to wait until the press completes the entire stamping cycle and the slider returns to the top dead center before starting to move. The loading hand (loading manipulator / robot) needs to wait for the unloading hand to exit the working area of ​​the press to start, and the slider of the press needs to wait for the unloading hand to completely exit the working area of ​​the press before starting to move downward. Each cycle Longer, which directly affects the production beat of the whole line

Method used

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  • Press-robot synchronous movement coordination method

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Embodiment Construction

[0037] The present invention will be further described below in conjunction with the accompanying drawings. figure 1 The principle of the basic logic flow diagram for press-robot synchronization is explained: in the current robotic stamping automation line, the speed of the press usually does not change, the press is too slow to keep up with the speed of the robot, and the flexibility of the robot's movement speed adjustment Very large, so the press line uses synchronous motion control technology to adjust the robot speed to reduce the waiting time.

[0038] In a press cell, with robot R i Arrive at press P i The moment when the part is put down is taken as the starting point, and the press P is calculated i start moment. Robot R i Run until the parts are put down and leave the press, press P i start; calculate P i Run to beta angle clock time T (i.e. allow R i+1 Enter the press P i moment); the simultaneous computation allows the robot R i Ready again for press P i...

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Abstract

The invention relates to a press-robot synchronous movement coordination method. The method comprises the following steps of automatically adjusting a non-load section locus ROM (Read Only Memory) between a point at which a robot Ri lays down parts and then departs from a press Pi and a holding point at which the robot Ri is ready to enter a press Pi-1 to grab the parts; automatically adjusting a load section locus ROM between a point at which the robot Ri grabs the parts and then departs from the press Pi-1 and a holding point at which the Ri is ready to enter the press Pi and lays down the parts; and enabling a blanking robot Ri+1 to enter a mold in advance before a sliding block arrives at 360 degrees, i.e., when the crank angle of the press Pi enters the beta moment, the robot Ri+1 waits beside the mold. According to the method, the non-load stoke section speed of the robot is automatically adjusted according to a synchronous movement control algorithm, so that the press-robot coordination is increased, a press and robot synchronizing function is realized, the overlap ratio between the feeding and blanking movements of the robot and the movement of the press is maximized, and the purpose of improving the production metre and the production efficiency of a positive line through smoothly switching the speed of the robot is achieved.

Description

technical field [0001] The invention belongs to the technical field of automation, and relates to a method for coordinating the synchronous motion of a press robot, which is mainly used in a robotic automatic stamping line for stamping and transporting large automobile covering parts. Background technique [0002] In the traditional stamping automation production process, the press always adopts the "single" operation mode, and the unloading hand (unloading manipulator / robot) needs to wait until the press completes the entire stamping cycle and the slider returns to the top dead center before starting to move. The loading hand (loading manipulator / robot) needs to wait for the unloading hand to exit the working area of ​​the press to start, and the slider of the press needs to wait for the unloading hand to completely exit the working area of ​​the press before starting to move downward. Each cycle Longer, which directly affects the production beat of the whole line. [0003...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B21D43/00B21D43/02
Inventor 单东日张艳艳
Owner QILU UNIV OF TECH
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