Multi-axis linkage high-speed blanking system

Abstract

The invention discloses a multi-axis linkage high-speed blanking system, and relates to the technical field of multi-axis linkage blanking. Comprising a motion control unit which is used for receiving a blanking operation instruction and coordinating motion shafts driven by a plurality of servo motors to perform synchronous motion so as to realize preset punching track and blanking operation; and the dynamic synchronous deviation detection module is connected with the motion control unit and is used for monitoring the actual motion state of the motion shafts driven by the plurality of servo motors in real time and determining the instantaneous synchronous deviation between the actual motion state and a preset synchronous motion track. Multi-axis position, speed and acceleration data are collected in real time through the dynamic synchronous deviation detection module and compared with a preset track, and multi-axis dynamic coupling deviation is accurately captured; and then a lateral perturbation force suppression module is combined with blanking parameters to establish a model, and the asymmetric lateral perturbation force when the punch cuts into the material is predicted.

Description

Technical Field

[0001] This invention relates to the field of multi-axis linkage punching technology, specifically to a multi-axis linkage high-speed punching system. Background Technology

[0002] In a multi-axis linkage high-speed stamping system, multiple servo motor-driven motion axes move synchronously under the coordination of the control system, thereby achieving complex trajectories and high-frequency stamping operations. This type of system is widely used in high-speed stamping and cutting of thin materials in fields such as precision electronics, micro-connectors, and micro-motors. Its core objective is to significantly improve stamping efficiency while ensuring accuracy, adapting to the high-cycle, high-consistency production requirements of modern intelligent manufacturing.

[0003] However, in high-speed continuous punching, especially when machining complex curves or small features, the microsecond-level differences in the dynamic response characteristics of multiple axes make it difficult for each axis to achieve complete synchronous movement during high-speed reversal or acceleration / deceleration. This asynchrony within a very short time causes the punch to be subjected to asymmetrical lateral micro-perturbation forces at the moment of material entry, resulting in localized stress concentration and micro-wear on the cutting edge, which in turn leads to a decrease in the quality of the punched section, increased burrs, or even notches. This problem does not stem from insufficient precision or structural rigidity of the servo system, but rather from the inherent dynamic coupling deviation of high-speed multi-axis linkage. Traditional error compensation strategies are insufficient to effectively suppress such instantaneous, follow-up micro-amplitude disturbances, severely affecting the consistency of ultra-high precision punching and tool life. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a high-speed punching system with multi-axis linkage, which solves the problem that, compared with existing technologies, high-speed multi-axis linkage causes dynamic coupling deviation due to differences in dynamic response, resulting in asymmetric lateral micro-perturbation forces on the punch cutting material, which in turn leads to a decrease in the quality of the punching section, an increase in burrs, and rapid tool wear.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a multi-axis linkage high-speed punching system, comprising: The motion control unit receives blanking operation instructions and coordinates the synchronous movement of multiple servo motor-driven motion axes to realize the preset stamping trajectory and blanking operation. The dynamic synchronization deviation detection module is connected to the motion control unit to monitor the actual motion state of multiple servo motor driven motion axes in real time and determine the instantaneous synchronization deviation between the actual motion state and the preset synchronous motion trajectory. The lateral perturbation force suppression module is connected to the dynamic synchronization deviation detection module. It is used to establish a lateral perturbation force model of the punch based on the instantaneous synchronization deviation and predict the asymmetric lateral perturbation force that the punch may experience at the moment of cutting into the material. The dynamic compensation command generation module, which is connected to the lateral perturbation suppression module and the motion control unit, is used to calculate and generate dynamic compensation commands for adjusting the motion of multiple motion axes based on the predicted asymmetric lateral perturbation force, so as to counteract the asymmetric lateral perturbation force. The motion control unit corrects the motion trajectories of multiple motion axes in real time according to dynamic compensation commands.

[0006] Furthermore, the dynamic synchronization deviation detection module includes: The data acquisition submodule is used to acquire position sensor data, speed sensor data, and acceleration sensor data of multiple servo motor driven motion axes in real time; The trajectory comparison submodule, which is connected to the data acquisition submodule and the motion control unit, is used to compare the real-time acquired motion axis data with the preset synchronization motion commands output by the motion control unit to determine the relative position, speed or acceleration differences between each motion axis as instantaneous synchronization deviation. Among them, the preset synchronous motion command is the motion trajectory of each motion axis generated based on the blanking operation command.

[0007] Furthermore, the lateral perturbation suppression module establishes a lateral perturbation model for the punch, including: The analysis module is used to analyze the influence of instantaneous synchronization deviation on the asymmetric lateral force generated by the punch when it enters the material, based on the amplitude, direction, and rate of change of instantaneous synchronization deviation, as well as the punching speed, elastic modulus, thickness characteristics, and punch cutting edge geometry of the material to be punched. The model building module is used to construct a nonlinear mapping model between instantaneous synchronization deviation and asymmetric lateral micro-perturbation force. The mapping model is generated and verified through finite element simulation, experimental data regression analysis, or lookup tables.

[0008] Furthermore, the dynamic compensation instruction generation module calculates and generates dynamic compensation instructions, including: The calculation module is used to calculate, in reverse, the amount of compensating motion or compensating torque that needs to be applied to dynamically counteract the lateral perturbation, based on the predicted magnitude, direction and duration of the asymmetric lateral perturbation. The instruction conversion module is used to convert the compensation motion amount or compensation torque into independent or coordinated motion control instructions for real-time correction of multiple motion axes. The motion control instructions include position correction instructions, velocity correction instructions and acceleration correction instructions.

[0009] Furthermore, the motion control unit performs real-time corrections on the motion trajectories of multiple motion axes, including: Pre-compensation before punching: Within a preset time before the punch contacts the material, the relative position, speed or synchronization phase of multiple motion axes are adjusted according to dynamic compensation instructions to eliminate the expected instantaneous synchronization deviation in advance. Dynamic correction during punching involves fine-tuning the movement of multiple motion axes according to dynamic compensation commands at the instant the punch enters the material, so as to instantly counteract or weaken asymmetric lateral micro-disturbance forces.

[0010] Furthermore, the data acquisition submodule acquires motion axis data, including: A high-resolution absolute encoder is used to acquire the absolute position data of each motion axis; Digital speed sensors are used to collect real-time speed data for each motion axis; A high-bandwidth accelerometer is used to collect real-time acceleration data for each motion axis.

[0011] Furthermore, the mapping relationship model constructed by the model building module is an adaptive model. The model building module includes: The feedback correction module is connected to the blanking quality inspection system to receive feedback data on blanking cross-section quality, burr amount, tool wear status and blanking force sensor data. The model optimization module, which is connected to the feedback correction module, is used to optimize or adjust the parameters of the mapping relationship model based on feedback data, using machine learning algorithms or adaptive control theory.

[0012] Furthermore, the motion control unit includes: The main controller is used to execute blanking operation instructions, manage system status, and coordinate the work of various functional modules; A high-speed fieldbus interface is used for high-speed data exchange and command transmission with the dynamic synchronization deviation detection module, the lateral micro-disturbance force suppression module, and the dynamic compensation command generation module; The servo driver interface is used to send position, speed, or torque control signals to multiple servo motors and receive their feedback signals.

[0013] Furthermore, the motion axes driven by the plurality of servo motors include: At least one Z-axis that drives the punch to perform vertical reciprocating stamping motion; At least two X-axis and Y-axis axes drive the planar movement of the material to be punched; Among them, the dynamic compensation command adjusts the precise position of the material relative to the punch by finely adjusting the instantaneous speed or position of the X and Y axes within a preset microsecond time before the Z-axis punch contacts the material to be punched.

[0014] Furthermore, the dynamic compensation command, when correcting the motion trajectories of multiple motion axes in real time, includes: Precisely adjust the relative cutting angle between the punch and the material to be punched to ensure that the punch cutting edge is subjected to uniform force at the moment of contact with the material; Fine-tune the instantaneous synchronous position or speed of each motion axis to maintain the geometric accuracy of the preset punching trajectory.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention uses a dynamic synchronization deviation detection module to collect multi-axis position, velocity, and acceleration data in real time and compare them with preset trajectories to accurately capture multi-axis dynamic coupling deviations. Then, a lateral micro-disturbance suppression module combines punching parameters to establish a model and predict the asymmetric lateral micro-disturbance force when the punch cuts into the material. Subsequently, a dynamic compensation command generation module calculates the compensation amount in reverse and converts it into control commands. The motion control unit then pre-adjusts the multi-axis parameters before punching to eliminate the expected deviation and makes real-time fine adjustments during punching to offset the micro-disturbance force. This effectively solves the problem of lateral micro-disturbance force caused by differences in dynamic response in high-speed multi-axis linkage, reduces stress concentration and micro-wear on the punch cutting edge, improves the quality of the punched section, reduces burrs, extends tool life, ensures the consistency of ultra-high precision punching, and meets the needs of high-cycle intelligent manufacturing. Attached Figure Description

[0016] Figure 1 This is a system structure diagram of the present invention. Detailed Implementation

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

[0018] Please see Figure 1 This invention provides a high-speed punching system with multi-axis linkage, comprising: The motion control unit receives blanking operation instructions and coordinates the synchronous movement of multiple servo motor-driven motion axes to realize the preset stamping trajectory and blanking operation. The dynamic synchronization deviation detection module is connected to the motion control unit to monitor the actual motion state of multiple servo motor driven motion axes in real time and determine the instantaneous synchronization deviation between the actual motion state and the preset synchronous motion trajectory. The lateral perturbation force suppression module is connected to the dynamic synchronization deviation detection module. It is used to establish a lateral perturbation force model of the punch based on the instantaneous synchronization deviation and predict the asymmetric lateral perturbation force that the punch may experience at the moment of cutting into the material. The dynamic compensation command generation module, which is connected to the lateral perturbation suppression module and the motion control unit, is used to calculate and generate dynamic compensation commands for adjusting the motion of multiple motion axes based on the predicted asymmetric lateral perturbation force, so as to counteract the asymmetric lateral perturbation force. The motion control unit corrects the motion trajectories of multiple motion axes in real time according to dynamic compensation commands.

[0019] Specifically, the motion control unit pre-stores a parameter library for different punching operations. Upon receiving a punching operation command, it calls the corresponding parameters to generate a preset synchronous motion trajectory for each motion axis. Simultaneously, it sends initial drive signals to multiple servo motors to coordinate the synchronous motion of each axis. The dynamic synchronization deviation detection module maintains real-time data interaction with the motion control unit, continuously collecting the actual motion parameters of each axis during its movement. It compares these parameters in real-time with the preset synchronous motion trajectory output by the motion control unit, and calculates the instantaneous synchronization deviation by using a formula to determine the difference between the actual trajectory and the preset trajectory at the same time point. The formula is as follows: ;in Let be the instantaneous synchronization deviation at time t. Let be the difference between the actual position and the preset position at time t. This represents the maximum travel of the motion axis. Let be the difference between the actual speed and the preset speed at time t. The maximum speed of the motion axis, Let be the difference between the actual acceleration and the preset acceleration at time t. The maximum acceleration of the axis of motion, , , These are the weighting coefficients for position, velocity, and acceleration deviations, respectively. Normalization ensures consistent dimensions for all parameters. Upon receiving an instantaneous synchronization deviation, the lateral micro-perturbation force suppression module constructs a lateral micro-perturbation force model of the punch by combining the current punching speed, the elastic modulus of the material to be punched, and the geometric parameters of the punch cutting edge. This model simulates the force state of the punch at the moment of material entry, predicting the magnitude and direction of the asymmetric lateral micro-perturbation force. The dynamic compensation command generation module calculates the compensation amount to offset the micro-perturbation force based on the prediction results, converts the compensation amount into dynamic compensation commands for each motion axis, and transmits them to the motion control unit. Upon receiving the compensation commands, the motion control unit immediately corrects the motion trajectory of each motion axis in real time and adjusts the drive parameters of the servo motors. This implementation effectively solves the lateral micro-perturbation force problem caused by dynamic coupling deviation in high-speed multi-axis linkage, reduces stress concentration and micro-wear on the punch cutting edge, improves the quality of the punched section, and extends tool life. In this embodiment, the dynamic synchronization deviation detection module includes: The data acquisition submodule is used to acquire position sensor data, speed sensor data, and acceleration sensor data of multiple servo motor driven motion axes in real time; The trajectory comparison submodule, which is connected to the data acquisition submodule and the motion control unit, is used to compare the real-time acquired motion axis data with the preset synchronization motion commands output by the motion control unit to determine the relative position, speed or acceleration differences between each motion axis as instantaneous synchronization deviation. Among them, the preset synchronous motion command is the motion trajectory of each motion axis generated based on the blanking operation command.

[0020] Specifically, the data acquisition submodule in the dynamic synchronization deviation detection module performs full parameter acquisition on multiple servo motor-driven motion axes during system operation. Specifically, it acquires position sensor data, velocity sensor data, and acceleration sensor data for each axis. The acquisition process maintains real-time synchronization with the motion axes' movement, ensuring the data reflects the instantaneous motion state of each axis. The trajectory comparison submodule connects to the data acquisition submodule on one end to receive the real-time acquired motion axis data, and to the motion control unit on the other end to obtain preset synchronous motion commands generated by the motion control unit based on the punching operation instructions. These preset synchronous motion commands include the target position, target velocity, and target acceleration of each motion axis at different time points. The trajectory comparison submodule compares the acquired actual motion data with the preset synchronous motion commands point by point, using the aforementioned instantaneous synchronization deviation calculation formula to calculate the difference between the actual parameters and target parameters of each motion axis at the same moment. This determines the relative position difference, relative velocity difference, or relative acceleration difference between the motion axes; these differences constitute the instantaneous synchronization deviation. This method accurately captures subtle asynchrony in the motion of each axis, providing an accurate data foundation for subsequent lateral micro-disturbance force prediction and compensation, improving the reliability of deviation detection, and ensuring the targeted nature of subsequent compensation measures.

[0021] In this embodiment, the lateral perturbation suppression module establishes a lateral perturbation model for the punch, including: The analysis module is used to analyze the influence of instantaneous synchronization deviation on the asymmetric lateral force generated by the punch when it enters the material, based on the amplitude, direction, and rate of change of instantaneous synchronization deviation, as well as the punching speed, elastic modulus, thickness characteristics, and punch cutting edge geometry of the material to be punched. The model building module is used to construct a nonlinear mapping model between instantaneous synchronization deviation and asymmetric lateral micro-perturbation force. The mapping model is generated and verified through finite element simulation, experimental data regression analysis, or lookup tables.

[0022] Specifically, the analysis module of the lateral perturbation force suppression module first integrates the instantaneous synchronization deviation information output by the dynamic synchronization deviation detection module, including the amplitude, direction, and rate of change of the instantaneous synchronization deviation. Simultaneously, it retrieves relevant parameters of the current punching process, such as punching speed, the elastic modulus and thickness characteristics of the material to be punched, and the geometric parameters of the punch cutting edge. The analysis module analyzes the correlation between these parameters to determine the impact of the instantaneous synchronization deviation on the asymmetric lateral force at the moment the punch enters the material. For example, it examines the trend of asymmetric lateral force change as the deviation amplitude increases, and the differences in the direction of lateral force action corresponding to different deviation directions. Based on the analysis results of the analysis module, the model building module constructs a nonlinear mapping model between the instantaneous synchronization deviation and the asymmetric lateral perturbation force, using a simplified formula: ; in It is an asymmetric lateral perturbation force. , , These are model coefficients, in units of N. Let be the instantaneous synchronization deviation at time t. This is the normalized elastic modulus of the material. , The elastic modulus of the material to be punched is For the reference material's elastic modulus, The normalized punching speed, , This is the actual punching speed. To ensure consistent dimensions of all parameters, normalization is employed to reference the punching speed. During model construction, lateral perturbation force variations under different deviation conditions can be simulated using finite element analysis, or corresponding data on deviation and perturbation force can be collected through multiple punching experiments. Regression analysis can then be used to fit the mapping relationship. Alternatively, a lookup table containing multiple sets of deviation-perturbation force data can be established. After completion, the model is validated through actual punching tests to ensure it accurately reflects the relationship between the two forces. This method enables the model to accurately predict lateral perturbation forces, providing a reliable basis for subsequent dynamic compensation and reducing compensation failures caused by inaccurate perturbation force predictions.

[0023] In this embodiment, the dynamic compensation instruction generation module calculates and generates dynamic compensation instructions, including: The calculation module is used to calculate, in reverse, the amount of compensating motion or compensating torque that needs to be applied to dynamically counteract the lateral perturbation, based on the predicted magnitude, direction and duration of the asymmetric lateral perturbation. The instruction conversion module is used to convert the compensation motion amount or compensation torque into independent or coordinated motion control instructions for real-time correction of multiple motion axes. The motion control instructions include position correction instructions, velocity correction instructions and acceleration correction instructions.

[0024] Specifically, after receiving the asymmetric lateral perturbation predicted by the lateral perturbation suppression module, the calculation module of the dynamic compensation command generation module first analyzes the key parameters of the perturbation, including its magnitude, direction, and duration. Based on the structural characteristics of the punching system and the dynamic parameters of the motion axis, the calculation module uses a reverse dynamics method to derive the compensation torque required to dynamically counteract the lateral perturbation through reverse formula derivation. The formula is: ; in For the required compensation torque, For the predicted asymmetric lateral perturbation force, This is the lever arm length from the point of force application on the punch to the drive end of the servo motor. The system stiffness coefficient is used, and all parameters have consistent dimensions. After calculating the compensation torque, it is further converted into compensation motion quantities, such as angular displacement or linear displacement. The instruction conversion module receives the compensation motion quantities or compensation torque output by the calculation module and, combined with the motion characteristics and control requirements of each motion axis, converts them into motion control commands for multiple motion axes. These control commands include position correction commands, velocity correction commands, and acceleration correction commands. The position correction commands are used to adjust the instantaneous position of each axis, the velocity correction commands are used to adjust the motion velocity of each axis, and the acceleration correction commands are used to adjust the acceleration and deceleration rates of each axis. Some commands can achieve multi-axis coordinated correction, while others are for independent correction of a single axis. The dynamic compensation commands generated in this way can be directly used for trajectory correction of the motion axes, ensuring that the compensation measures are accurate and effective, quickly offsetting asymmetric lateral micro-disturbance forces, and ensuring the stability of the punching process.

[0025] In this embodiment, the motion control unit performs real-time correction of the motion trajectories of multiple motion axes, including: Pre-compensation before punching: Within a preset time before the punch contacts the material, the relative position, speed or synchronization phase of multiple motion axes are adjusted according to dynamic compensation instructions to eliminate the expected instantaneous synchronization deviation in advance. Dynamic correction during punching involves fine-tuning the movement of multiple motion axes according to dynamic compensation commands at the instant the punch enters the material, so as to instantly counteract or weaken asymmetric lateral micro-disturbance forces.

[0026] Specifically, the motion control unit employs a phased correction strategy when real-time correcting the motion trajectories of multiple motion axes. First, pre-compensation is performed before punching. Within a preset time before the punch contacts the material, the motion control unit adjusts the relative positions, speeds, or synchronization phases of multiple motion axes according to dynamic compensation commands. The preset time is determined based on the punching speed and system response speed, ensuring that the pre-compensation action is completed before the punch contacts the material. This pre-compensation eliminates the instantaneous synchronization deviation expected to occur at the moment of punching, calculated using the aforementioned instantaneous synchronization deviation calculation formula, thus reducing the possibility of asymmetric lateral micro-perturbation forces at the source. At the instant the punch cuts into the material, the motion control unit initiates dynamic correction during punching, fine-tuning the motion of multiple motion axes in real-time according to dynamic compensation commands. This fine-tuning action targets the actual motion state and micro-perturbation force changes at the moment of punching. The micro-perturbation force is calculated using the aforementioned asymmetric lateral micro-perturbation force calculation formula, instantly offsetting or weakening the generated asymmetric lateral micro-perturbation forces to prevent them from affecting the punch cutting edge and the punching section. The phased correction strategy combines proactive prevention with real-time response, further improving the synchronization accuracy of the motion axis, reducing stress concentration and cross-sectional defects during the blanking process, and ensuring the consistency of blanking quality.

[0027] In this embodiment, the data acquisition submodule acquires motion axis data, including: A high-resolution absolute encoder is used to acquire the absolute position data of each motion axis; Digital speed sensors are used to collect real-time speed data for each motion axis; A high-bandwidth accelerometer is used to collect real-time acceleration data for each motion axis.

[0028] Specifically, the data acquisition submodule employs dedicated high-precision sensors for different types of motion parameters when collecting motion axis data. For the absolute position data of each motion axis, a high-resolution absolute encoder is used. This encoder directly outputs the absolute position information of each axis without the need for cumulative counting, avoiding accumulated errors and ensuring the accuracy and real-time performance of the position data. For the real-time speed data of each motion axis, a digital speed sensor is used. This sensor detects changes in the rotational speed of the motion axis and outputs a digital speed signal in real time. The signal has strong anti-interference capabilities and can accurately reflect the instantaneous speed changes of the axis. For the real-time acceleration data of each motion axis, a high-bandwidth accelerometer is used. The bandwidth of this sensor matches the dynamic response of the system motion, capturing subtle acceleration changes during high-speed acceleration and deceleration, ensuring that the acceleration data reflects the dynamic motion characteristics of the axis. Using dedicated sensors to collect different types of data improves the accuracy and reliability of data acquisition, providing high-quality data support for subsequent calculations of instantaneous synchronization deviations and reducing inaccurate deviation detection problems caused by data errors.

[0029] In this embodiment, the mapping relationship model constructed by the model building module is an adaptive model. The model building module includes: The feedback correction module is connected to the blanking quality inspection system to receive feedback data on blanking cross-section quality, burr amount, tool wear status and blanking force sensor data. The model optimization module, which is connected to the feedback correction module, is used to optimize or adjust the parameters of the mapping relationship model based on feedback data, using machine learning algorithms or adaptive control theory.

[0030] Specifically, the model building module constructs an adaptive mapping model with continuous optimization capabilities. The feedback correction module establishes a data connection with the blanking quality inspection system. This system collects real-time data on the blanking process and results, including blanking cross-section quality, burr amount, tool wear status, and blanking force sensor data. This data is transmitted to the feedback correction module in real time. The feedback correction module processes and analyzes the data to determine if there is a deviation between the lateral perturbation force predicted by the current mapping model and the actual perturbation force generated during the blanking process. If a deviation exists, the module determines the degree and cause of the deviation. The model optimization module connects to the feedback correction module. After receiving the deviation analysis results output by the feedback correction module, it uses machine learning algorithms such as gradient descent or adaptive control theory to optimize or adjust the parameters of the mapping model. For example, machine learning algorithms can be used to train a large amount of feedback data to update the coefficients in the model. , , Alternatively, adaptive control theory can be used to adjust model parameters in real time, enabling the model to adapt to the micro-perturbation force prediction requirements under different punching conditions and material properties. The adaptive model can be continuously optimized as the system operates, ensuring that the prediction accuracy does not decrease during long-term use and improving the system's adaptability to changes in punching conditions.

[0031] In this embodiment, the motion control unit includes: The main controller is used to execute blanking operation instructions, manage system status, and coordinate the work of various functional modules; A high-speed fieldbus interface is used for high-speed data exchange and command transmission with the dynamic synchronization deviation detection module, the lateral micro-disturbance force suppression module, and the dynamic compensation command generation module; The servo driver interface is used to send position, speed, or torque control signals to multiple servo motors and receive their feedback signals.

[0032] Specifically, the main controller of the motion control unit, as the core control component, is responsible for executing punching operation instructions. Upon receiving the instruction, the main controller parses the instruction content, calls the parameters and programs stored in the system, and manages the overall operating status of the system, monitoring the working status of each functional module in real time. When a module malfunctions, the main controller promptly issues adjustment instructions to coordinate the various functional modules to maintain collaborative operation. A high-speed fieldbus interface is used to achieve high-speed data exchange and instruction transmission between the motion control unit and the dynamic synchronization deviation detection module, the lateral micro-disturbance force suppression module, and the dynamic compensation instruction generation module. The transmission rate of this interface matches the dynamic response requirements of the system, enabling microsecond-level data transmission and avoiding untimely compensation problems caused by data and instruction transmission delays. The servo driver interface directly connects to multiple servo motors. On one hand, it sends position control signals, speed control signals, or torque control signals to the servo motors, driving them to move along a preset trajectory. On the other hand, it receives operating status signals from the servo motors, such as actual position and actual speed, and transmits these feedback signals to the main controller, forming a closed-loop control. Through the coordinated work of its components, the motion control unit can achieve precise control and real-time adjustment of each motion axis, ensuring the overall operating efficiency and stability of the system.

[0033] In this embodiment, the motion axes driven by multiple servo motors include: At least one Z-axis that drives the punch to perform vertical reciprocating stamping motion; At least two X-axis and Y-axis axes drive the planar movement of the material to be punched; Among them, the dynamic compensation command adjusts the precise position of the material relative to the punch by finely adjusting the instantaneous speed or position of the X and Y axes within a preset microsecond time before the Z-axis punch contacts the material to be punched.

[0034] Specifically, the motion axes driven by multiple servo motors include at least one Z-axis, at least one X-axis, and at least one Y-axis. The main function of the Z-axis is to drive the punch in a vertical reciprocating punching motion. During the punching process, the Z-axis drives the punch downward to cut into the material, and returns to its original position after punching. The X-axis and Y-axis are used to drive the material to be punched to move in a plane. Through the coordinated movement of the X-axis and Y-axis, the material is moved along a preset trajectory, allowing different positions of the material to enter the punching area sequentially, achieving continuous punching. During dynamic compensation, the dynamic compensation command takes effect within a preset microsecond time before the Z-axis drives the punch to contact the material to be punched. This preset time is determined based on the movement speed of the Z-axis and the thickness of the material, ensuring that the compensation action is completed before the punch contacts the material. The dynamic compensation command adjusts the position of the material in the plane by fine-tuning the instantaneous speed or instantaneous position of the X-axis and Y-axis. The fine-tuning amount is determined based on the compensation motion amount derived from the aforementioned compensation torque calculation formula, so that the position of the material relative to the punch reaches the optimal state, avoiding asymmetric lateral micro-disturbance forces caused by the relative position deviation between the material and the punch. By fine-tuning the X and Y axes, the relative positional accuracy between the punch and the material can be further improved, stress concentration during the punching process can be reduced, and the punching quality can be guaranteed.

[0035] In this embodiment, the dynamic compensation command, when correcting the motion trajectories of multiple motion axes in real time, includes: Precisely adjust the relative cutting angle between the punch and the material to be punched to ensure that the punch cutting edge is subjected to uniform force at the moment of contact with the material; Fine-tune the instantaneous synchronous position or speed of each motion axis to maintain the geometric accuracy of the preset punching trajectory.

[0036] Specifically, the dynamic compensation command achieves its compensation effect in real time by correcting the motion trajectories of multiple motion axes through two main aspects. Firstly, by adjusting the motion parameters of each motion axis, the dynamic compensation command precisely adjusts the relative cutting angle between the punch and the material to be punched. The adjustment amount is determined based on the compensation motion amount derived from the aforementioned compensation torque calculation formula. For example, by fine-tuning the speeds of the X and Y axes to change the material's movement direction, or by fine-tuning the motion angle of the Z axis, the punch cuts into the material at a preset angle. This ensures that all parts of the punch cutting edge contact the material simultaneously at the moment of contact, avoiding uneven force distribution caused by localized initial contact and thus ensuring uniform force distribution on the punch cutting edge. Secondly, the dynamic compensation command fine-tunes the instantaneous synchronous position or instantaneous synchronous speed of each motion axis. The fine-tuning is based on the calculation results of the aforementioned instantaneous synchronous deviation calculation formula. During the punching process, it corrects the positional or speed deviations caused by dynamic coupling deviations of each axis in real time, ensuring that each axis always moves along the preset punching trajectory. This prevents the punching trajectory from deviating from the preset path due to axis motion deviations, thereby maintaining the geometric accuracy of the preset punching trajectory. By making these two corrections, the influence of asymmetric lateral micro-perturbation forces on the blanking process can be effectively reduced, thereby improving the blanking cross-section quality and blanking trajectory accuracy.

[0037] In summary, this invention uses a dynamic synchronization deviation detection module to collect multi-axis position, velocity, and acceleration data in real time and compare them with preset trajectories to accurately capture multi-axis dynamic coupling deviations. Then, a lateral micro-disturbance suppression module, combined with punching parameters, establishes a model to predict the asymmetric lateral micro-disturbance force when the punch cuts into the material. Subsequently, a dynamic compensation command generation module calculates the compensation amount in reverse and converts it into control commands. The motion control unit then pre-adjusts multi-axis parameters before punching to eliminate predicted deviations and performs real-time fine-tuning during punching to counteract micro-disturbance forces. This effectively solves the problem of lateral micro-disturbance forces caused by differences in dynamic response during high-speed multi-axis linkage, reduces stress concentration and micro-wear on the punch cutting edge, improves the quality of the punched section, reduces burrs, extends tool life, ensures the consistency of ultra-high precision punching, and meets the needs of high-cycle intelligent manufacturing.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0039] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-speed punching system with multi-axis linkage, characterized in that, include: The motion control unit receives blanking operation instructions and coordinates the synchronous movement of multiple servo motor-driven motion axes to realize the preset stamping trajectory and blanking operation. The dynamic synchronization deviation detection module is connected to the motion control unit to monitor the actual motion state of multiple servo motor driven motion axes in real time and determine the instantaneous synchronization deviation between the actual motion state and the preset synchronous motion trajectory. The lateral perturbation force suppression module is connected to the dynamic synchronization deviation detection module. It is used to establish a lateral perturbation force model of the punch based on the instantaneous synchronization deviation and predict the asymmetric lateral perturbation force that the punch may experience at the moment of cutting into the material. The dynamic compensation command generation module, which is connected to the lateral perturbation suppression module and the motion control unit, is used to calculate and generate dynamic compensation commands for adjusting the motion of multiple motion axes based on the predicted asymmetric lateral perturbation force, so as to counteract the asymmetric lateral perturbation force. The motion control unit corrects the motion trajectories of multiple motion axes in real time according to dynamic compensation commands.

2. The high-speed punching system with multi-axis linkage according to claim 1, characterized in that, The dynamic synchronization deviation detection module includes: The data acquisition submodule is used to acquire position sensor data, speed sensor data, and acceleration sensor data of multiple servo motor driven motion axes in real time; The trajectory comparison submodule, which is connected to the data acquisition submodule and the motion control unit, is used to compare the real-time acquired motion axis data with the preset synchronization motion commands output by the motion control unit to determine the relative position, speed or acceleration differences between each motion axis as instantaneous synchronization deviation. Among them, the preset synchronous motion command is the motion trajectory of each motion axis generated based on the blanking operation command.

3. The high-speed punching system with multi-axis linkage according to claim 1, characterized in that, The lateral perturbation suppression module establishes a lateral perturbation model for the punch, including: The analysis module is used to analyze the influence of instantaneous synchronization deviation on the asymmetric lateral force generated by the punch when it enters the material, based on the amplitude, direction, and rate of change of instantaneous synchronization deviation, as well as the punching speed, elastic modulus, thickness characteristics, and punch cutting edge geometry of the material to be punched. The model building module is used to construct a nonlinear mapping model between instantaneous synchronization deviation and asymmetric lateral micro-perturbation force. The mapping model is generated and verified through finite element simulation, experimental data regression analysis, or lookup tables.

4. The high-speed punching system with multi-axis linkage according to claim 1, characterized in that, The dynamic compensation instruction generation module calculates and generates dynamic compensation instructions, including: The calculation module is used to calculate, in reverse, the amount of compensating motion or compensating torque that needs to be applied to dynamically counteract the lateral perturbation, based on the predicted magnitude, direction and duration of the asymmetric lateral perturbation. The instruction conversion module is used to convert the compensation motion amount or compensation torque into independent or coordinated motion control instructions for real-time correction of multiple motion axes. The motion control instructions include position correction instructions, velocity correction instructions and acceleration correction instructions.

5. The multi-axis linkage high-speed punching system according to claim 1, characterized in that, The motion control unit performs real-time corrections on the motion trajectories of multiple motion axes, including: Pre-compensation before punching: Within a preset time before the punch contacts the material, the relative position, speed or synchronization phase of multiple motion axes are adjusted according to dynamic compensation instructions to eliminate the expected instantaneous synchronization deviation in advance. Dynamic correction during punching involves fine-tuning the movement of multiple motion axes according to dynamic compensation commands at the instant the punch enters the material, so as to instantly counteract or weaken asymmetric lateral micro-disturbance forces.

6. The high-speed punching system with multi-axis linkage according to claim 2, characterized in that, The data acquisition submodule collects motion axis data, including: A high-resolution absolute encoder is used to acquire the absolute position data of each motion axis; Digital speed sensors are used to collect real-time speed data for each motion axis; A high-bandwidth accelerometer is used to collect real-time acceleration data for each motion axis.

7. The multi-axis linkage high-speed punching system according to claim 3, characterized in that, The mapping model built by the model building module is an adaptive model. The model building module includes: The feedback correction module is connected to the blanking quality inspection system to receive feedback data on blanking cross-section quality, burr amount, tool wear status and blanking force sensor data. The model optimization module, which is connected to the feedback correction module, is used to optimize or adjust the parameters of the mapping relationship model based on feedback data, using machine learning algorithms or adaptive control theory.

8. The high-speed punching system with multi-axis linkage according to claim 1, characterized in that, The motion control unit includes: The main controller is used to execute blanking operation instructions, manage system status, and coordinate the work of various functional modules; A high-speed fieldbus interface is used for high-speed data exchange and command transmission with the dynamic synchronization deviation detection module, the lateral micro-disturbance force suppression module, and the dynamic compensation command generation module; The servo driver interface is used to send position, speed, or torque control signals to multiple servo motors and receive their feedback signals.

9. The high-speed punching system with multi-axis linkage according to claim 1, characterized in that, The multiple servo motor-driven motion axes include: At least one Z-axis that drives the punch to perform vertical reciprocating stamping motion; At least two X-axis and Y-axis axes drive the planar movement of the material to be punched; Among them, the dynamic compensation command adjusts the precise position of the material relative to the punch by finely adjusting the instantaneous speed or position of the X and Y axes within a preset microsecond time before the Z-axis punch contacts the material to be punched.

10. The high-speed punching system with multi-axis linkage according to claim 4, characterized in that, Dynamic compensation commands, when correcting the motion trajectories of multiple motion axes in real time, include: Precisely adjust the relative cutting angle between the punch and the material to be punched to ensure that the punch cutting edge is subjected to uniform force at the moment of contact with the material; Fine-tune the instantaneous synchronous position or speed of each motion axis to maintain the geometric accuracy of the preset punching trajectory.

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