An automatic stamping production line synchronization control system and control method

Abstract

The present invention discloses a synchronous control system and a control method for an automated stamping production line. The synchronous control system includes a synchronous controller, a stamping equipment controller, a speed encoder, a position encoder, and a main drive frequency converter. The numbers of the stamping equipment controller, the speed encoder, the position encoder, and the main drive frequency converter correspond one by one to the number of stamping equipment. The speed encoder is used to collect the real-time rotational speed of the main drive motor; the position encoder is used to collect the real-time angular signal of the stamping equipment; the stamping equipment controller is used to control the operation of the stamping equipment; the synchronous controller controls the stamping equipment controller to start and continuously adjusts the speed set value of the main drive frequency converter according to the initial angle at the start of the stamping equipment and the real-time angle when the clutch is engaged and stabilized. The main drive frequency converter controls the rotational speed of the main drive motor of the stamping equipment according to the speed set value. The present invention can achieve stable, safe and continuous operation of the stamping equipment, greatly improve production efficiency and reduce production costs.

Description

Technical Field

[0001] The present invention relates to the technical field of stamping equipment control, and particularly relates to a synchronous control system and control method for an automated stamping production line. Background Art

[0002] At present, in a common automated stamping production line, the stamping equipment operates in a single-shot mode. That is, after the stamping equipment receives a start signal, it runs one stroke, stays at the top dead center, waits for the blanking robot to unload, and after the loading robot finishes loading, another start signal is given to the stamping equipment, and the stamping equipment runs one stroke, and so on. As described above, the beat of the common automated stamping production line is relatively slow, and the clutch-brake of the stamping equipment needs to act in each stroke, resulting in a large consumption of friction plates. In the face of increasingly severe market competition, an efficient control method for an automated stamping production line is needed, in which the stamping equipment in the automated stamping production line operates continuously and does not stop at the top dead center, that is, synchronous control.

[0003] Patent 201410820666.1 (application date: December 25, 2014, publication number: CN104467556A, publication date: March 25, 2015) discloses a synchronous control system and control method for a stamping equipment in an automated stamping production line, realizing a continuous operation mode of the stamping equipment. However, its control method does not consider the change in the rotational speed of the main drive motor caused by the clutch of the stamping equipment sucking in and stabilizing, and directly adjusts the speed set value of the main drive frequency converter, which will cause serious oscillation in the entire control system and cannot achieve the expected control purpose. At the same time, this patent takes the first stamping equipment as the main spindle stamping equipment, and the subsequent stamping equipment adjusts its speed based on the running track of the first stamping equipment, that is, if the first stamping equipment does not adjust its speed, the speed of the subsequent stamping equipment cannot be adjusted either. Therefore, the beat of the automated stamping production line is limited by the first stamping equipment and cannot be effectively improved. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides a synchronous control system and control method for an automated stamping production line to adjust the speed set value of the main drive frequency converter in real time, thereby controlling the rotational speed of the main drive motor, ensuring a constant phase difference between two adjacent stamping equipments in the automated stamping production line, and realizing the synchronous operation of the stamping equipment in the automated stamping production line.

[0005] The object of the present invention is achieved as follows: An automatic stamping production line synchronization control system includes a synchronization controller, a stamping equipment controller, a speed encoder, a position encoder, and a main drive frequency converter. The number of stamping equipment controllers, speed encoders, position encoders, and main drive frequency converters corresponds one-to-one with the number of stamping equipment. The speed encoder is arranged on the main drive motor of the stamping equipment and is used to collect the real-time speed of the main drive motor; the position encoder is installed on the main shaft of the stamping equipment and is used to collect the real-time angle signal of the stamping equipment; the stamping equipment controller is used to control the operation of the stamping equipment; the synchronization controller controls the stamping equipment controller to start and continuously adjusts the speed set value of the main drive frequency converter according to the initial angle when the stamping equipment starts and the real-time angle when the clutch engages and stabilizes, and the main drive frequency converter controls the speed of the main drive motor of the stamping equipment according to the speed set value.

[0006] The automatic stamping production line synchronization control system of the present invention collects various signals through the synchronization controller, continuously adjusts the speed of the main drive motors of each stamping equipment, and fully considers the change in the speed of the main drive motor caused by the process from the start of the clutch engagement of the stamping equipment to stabilization, avoiding the oscillation of the control system during the speed regulation process, achieving a constant phase difference of the stamping equipment in the automatic stamping production line, enabling the stamping equipment in the stamping production line to operate continuously, and effectively improving the production efficiency of the whole line.

[0007] As a further improvement of the present invention, the synchronization controller controls the start of the first stamping equipment according to the speed set value of the automatic stamping production line; and controls the start of the subsequent stamping equipment, sets the speed set value of the subsequent stamping equipment, and adjusts the speed set values of all stamping equipment according to the initial angle when the corresponding stamping equipment starts, the real-time angle of the position encoder when the clutch engages and stabilizes, and the phase difference between two adjacent stamping equipment. That is, the whole process of starting and speed regulation of each stamping equipment is avoided during the clutch engagement process, thereby avoiding the oscillation of the control system and the damage of the main drive motor, ensuring the realization of a constant angle difference control for each stamping equipment, and improving the production efficiency and system stability.

[0008] As a further improvement of the present invention, the phase difference between two adjacent stamping equipment is constant to facilitate the simplification of the control process.

[0009] As a further improvement of the present invention, the number of stamping equipment is at least 2, and all stamping equipment are slave shaft stamping equipment, that is, the speed of all stamping equipment can be continuously adjusted according to the real-time angle when the clutch engages and stabilizes, so as to improve the production efficiency of the whole line and avoid the rhythm of the automatic stamping production line being limited by the first stamping equipment.

[0010] The present invention also provides a synchronous control method for an automated stamping production line, which uses the above-mentioned synchronous control system for the automated stamping production line to synchronously control the stamping equipment. The synchronous control method includes the following steps:

[0011] (1) Set the speed set value of the automated stamping production line;

[0012] (2) The synchronous controller sends a start command to the stamping equipment controller of the first stamping equipment, and at the same time monitors the rotational speed of the main drive motor collected by the speed encoder of the first stamping equipment;

[0013] (3) When the rotational speed collected by the speed encoder of the first stamping equipment returns to a stable state, the synchronous controller communicates with the stamping equipment controller and the position encoder of the first stamping equipment respectively to collect the real-time speed of the automated stamping production line and the real-time angle signal of the first stamping equipment, and calculates the real-time angle of the virtual main shaft based on the above information;

[0014] (4) The synchronous controller analyzes and calculates the speed set values of the subsequent stamping equipment based on the angle difference between the real-time angle collected by the corresponding position encoder and the real-time angle of the virtual main shaft, and the speed set value of the automated stamping production line, and sends the speed set value to the corresponding main drive frequency converter;

[0015] (5) The synchronous controller calculates the virtual main shaft angle value corresponding to the start of the subsequent stamping equipment based on the phase difference between two adjacent stamping equipment and the angle passed from the start to the stability of the clutch engagement of the subsequent stamping equipment. When the angle of the virtual main shaft reaches the virtual main shaft angle value, the synchronous controller sends a start instruction to the stamping equipment controller, and the main drive frequency converter controls the rotational speed of the main drive motor of the stamping equipment according to the speed set value in step (4);

[0016] (6) The synchronous controller monitors the speed encoders of all stamping equipment. After detecting that the rotational speed of the corresponding main drive motor has returned to stability, it reads the real-time angle of the stamping equipment through the corresponding position encoder, continuously adjusts the speed set value of the corresponding main drive frequency converter, and the main drive frequency converter adjusts the rotational speed of the main drive motor of the stamping equipment according to the speed set value, so as to keep the phase difference between adjacent stamping equipment in the automated stamping production line constant.

[0017] The synchronous control method for an automated stamping production line of the present invention calculates a virtual main shaft on the condition that the operation of the first stamping device is stable after the clutch is engaged, ensuring that the angular data of the virtual main shaft is not affected by external factors, accurate and effective. It fully considers the clutch engagement characteristics of the stamping device, comprehensively sets the phase difference between two adjacent stamping devices in the automated stamping production line and the clutch engagement characteristics, calculates the corresponding virtual main shaft angular values when each stamping device starts. When the virtual main shaft angle reaches the above-mentioned angle, the synchronous controller sends a start command to the stamping device controller. At the same time, after the synchronous controller detects that the rotational speed of the main drive motor has stabilized by using a speed encoder, it reads the real-time angles of each stamping device through a position encoder, continuously adjusts the speed set value of the main drive frequency converter, and then controls the rotational speed of the main drive motor to achieve closed-loop control. The present invention uniformly coordinates the operating speeds of each stamping device in the automated stamping production line, ensures that the phase difference between two adjacent stamping devices is constant, thereby realizing the stable and safe continuous operation of the stamping devices, greatly improving the production efficiency and reducing the cost.

[0018] Among them, the real-time angle θ of the virtual main shaft s is:

[0019]

[0020] Among them, θ 0 is the angle when the first stamping device starts, V sv is the speed set value of the automated stamping production line, and T is the operating time of the automated stamping production line, with the unit of minute.

[0021] The angle difference θ between the stamping device and the virtual main shaft di is:

[0022] θ dn = θ s -(n - 1)×θ pdi -θ pn

[0023] Among them, θ dn is the calculated angle difference between the stamping device and the virtual main shaft, θ s is the real-time angle of the virtual main shaft, n is the sequence number of the stamping device in the automated stamping production line, θ pdi is the phase difference between two adjacent stamping devices set in the automated stamping production line, and θ pn is the real-time angle of the stamping device.

[0024] Considering that situations may occur where the virtual main shaft angle is 2° and the stamping device angle is 357°, or the virtual main shaft angle is 357° and the stamping device angle is 2°, etc., therefore:

[0025] If θ dn<-180°, θ di = θ dn + 360

[0026] If θ dn > 180°, θ di = θ dn - 360

[0027] If -180° < θ dn < 180°, θ di = θ dn .

[0028] The speed set value V gvi is:

[0029] V gvi = V SV + K × θ di

[0030] wherein, V gvi is the speed set value of the stamping equipment, V sv is the speed setting value of the automatic stamping production line, K is an empirical value, K = 5, θ di is the angle difference between the stamping equipment and the virtual main shaft.

[0031] The angle θ passed from the start of the clutch engagement of the stamping equipment to stabilization ci is:

[0032] θ i = θ ti - θ si

[0033] wherein, θ i is the difference between the real-time angle value of the position encoder read by the synchronous controller when the clutch of the stamping equipment is engaged to stabilization and the initial angle read at startup, θ ti is the real-time angle value of the position encoder read by the synchronous controller when the clutch of the stamping equipment is engaged to stabilization, θ si is the initial angle of the position encoder read by the synchronous controller when the stamping equipment starts up.

[0034] Considering that there may be situations such as the initial angle of the position encoder read by the synchronous controller before the stamping equipment starts is 358°, and the real-time angle value of the position encoder read by the synchronous controller after the clutch of the stamping equipment is engaged and stabilized is 4°, etc., therefore, the angle passed from the start of the clutch engagement of the stamping equipment to stabilization is:

[0035] If θ i < 0, θ ci = 360 + θ i

[0036] If θi > 0, θ ci = θ i

[0037] The angular value θ of the virtual spindle corresponding to the start of each subsequent stamping equipment msi is:

[0038] θ msi = (n - 1) × θ pdi - θ ci

[0039] where n is the serial number of the stamping equipment in the automated stamping production line, and θ pdi is the phase difference between two adjacent stamping equipments in the set automated stamping production line, and θ ci is the angle passed from the start of the clutch engagement of the stamping equipment to the stable state.

[0040] The beneficial effects of the present invention are as follows: taking the stable operation after the clutch engagement of the first stamping equipment as the condition, the virtual spindle is calculated, which ensures that the spindle angle data is not affected by the external environment, accurate and effective. Fully considering the clutch engagement characteristics of the stamping equipment, and comprehensively setting the phase difference between two adjacent stamping equipments in the automated stamping production line and the clutch engagement characteristics, the angular value of the virtual spindle corresponding to the start of each stamping equipment is calculated. When the angular value of the virtual spindle reaches the above angular value, the synchronization controller sends a start command to the stamping equipment controller. At the same time, after the synchronization controller detects that the rotational speed of the main drive motor has returned to stability by using the speed encoder, it reads the real-time angle of each stamping equipment through the position encoder, and continuously adjusts the speed set value of the main drive frequency converter, thereby controlling the rotational speed of the main drive motor to achieve closed-loop control.

[0041] In summary, the present invention uniformly coordinates the operating speeds of each stamping equipment in the automated stamping production line, ensures that the phase difference between two adjacent stamping equipments is constant, thereby realizing the stable and safe continuous operation of the stamping equipment, greatly improving the production efficiency and reducing the cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is the system principle block diagram of the present invention.

[0043] Figure 2 is the system control block diagram of the present invention.

[0044] Among them, 1 is the synchronization controller, 2 is the first main drive frequency converter, 3 is the first speed encoder, 4 is the first position encoder, 5 is the first stamping equipment controller, 6 is the second main drive frequency converter, 7 is the second speed encoder, 8 is the second position encoder, 9 is the second stamping equipment controller, 10 is the third main drive frequency converter, 11 is the third speed encoder, 12 is the third position encoder, 13 is the third stamping equipment controller, 14 is the fourth main drive frequency converter, 15 is the fourth speed encoder, 16 is the fourth position encoder, 17 is the fourth stamping equipment controller, 18 is the fifth main drive frequency converter, 19 is the fifth speed encoder, 20 is the fifth position encoder, and 21 is the fifth stamping equipment controller. Detailed implementation manner

[0045] As Figure 1-2 shown, the synchronization control system of the automated stamping production line of the present invention includes a synchronization controller, a stamping equipment controller, a speed encoder, a position encoder, and a main drive frequency converter.

[0046] The number of stamping equipment controllers, speed encoders, position encoders, and main drive frequency converters corresponds one-to-one with the number of stamping equipment. Among them, the speed encoder is arranged on the main drive motor of the stamping equipment and is used to collect the real-time rotation speed of the main drive motor. The position encoder is installed on the main shaft of the stamping equipment and is used to collect the real-time angle signal of the stamping equipment. The stamping equipment controller (PLC) is used to control the operation of the stamping equipment. The synchronization controller communicates with the stamping equipment controller, speed encoder, position encoder, and main drive frequency converter to collect various signals, continuously adjusts the speed of the main drive motor of each stamping equipment, and realizes the constant phase difference of the stamping equipment in the automated stamping production line, so that the stamping equipment in the stamping production line can operate continuously.

[0047] Specifically, the synchronization controller collects the initial angle of each stamping equipment before startup through the position encoder, and at the same time sends a command to start the stamping equipment to the stamping equipment controller. The stamping equipment controller controls the clutch of the stamping equipment to engage. At this time, the rotation speed of the main drive motor will decrease. When the clutch engagement is stable, the rotation speed of the main drive motor will return to the stable state. When the synchronization controller monitors that the rotation speeds of each speed encoder have returned to stability, it reads the real-time angles of each position encoder at this time, and calculates the angles passed from the start to the stability of the clutch engagement of each stamping equipment by combining the initial angle before the startup of the stamping equipment and the real-time angles of the above-mentioned position encoders.

[0048] The synchronization controller sends a synchronization start command to the control of the first stamping equipment, and at the same time monitors the rotational speed of the speed encoder of the first stamping equipment. When the rotational speed of the speed encoder returns to a stable state, the synchronization controller communicates with the stamping equipment controller and the position encoder respectively to collect the current speed of the automated stamping production line and the current angle signal of the first stamping equipment among them, and calculates a virtual main shaft based on the above information. At the same time, according to the set phase difference and the angle passed by each stamping equipment's clutch when it is engaged and stabilized, the virtual main shaft angle value corresponding to the start of each stamping equipment is calculated. When the virtual main shaft angle reaches the above angle value, the synchronization controller sends a start instruction to the stamping equipment controller. At the same time, after the synchronization controller uses the speed encoder to detect that the rotational speed of the main drive motor has returned to stability, it reads the real-time angles of each stamping equipment through the position encoder, and continuously adjusts the speed given value of the main drive frequency converter. The main drive frequency converter controls the rotational speed of the main drive motor of the stamping equipment according to the speed given value.

[0049] In this embodiment, the number of stamping equipment (presses) is 5, and all stamping equipment are slave-axis stamping equipment, that is, the speed of all stamping equipment can be continuously adjusted according to the real-time angle when the clutch is engaged and stabilized, so as to improve the production efficiency of the whole line and avoid the production rhythm of the automated stamping production line being restricted by the first stamping equipment. To simplify the control, the phase difference between two adjacent stamping equipment in the stamping production line is constant, and is set to 60° in this embodiment, that is, the phase difference between the first stamping equipment and the virtual main shaft is 0°, the phase difference between the second stamping equipment and the virtual main shaft is 60°, the phase difference between the third stamping equipment and the virtual main shaft is 120°, the phase difference between the fourth stamping equipment and the virtual main shaft is 180°, and the phase difference between the fifth stamping equipment and the virtual main shaft is 240°.

[0050] The synchronization control system of the automated stamping production line in this embodiment, and the synchronization control method includes the following steps:

[0051] (1) Set the speed set value of the automated stamping production line, such as 12 strokes per minute, that is, the speed set value of all stamping equipment in the automated stamping production line is 12 strokes per minute.

[0052] (2) The synchronization controller sends a start command to the stamping equipment controller of the first stamping equipment, and at the same time monitors the rotational speed of the main drive motor collected by the speed encoder of the first stamping equipment;

[0053] (3) When the rotational speed collected by the speed encoder of the first stamping equipment returns to a stable state (i.e., the clutch engages and stabilizes), the synchronization controller communicates with the stamping equipment controller and the position encoder of the first stamping equipment respectively to collect the real-time speed of the automated stamping production line (i.e., the real-time speed of the first stamping equipment) and the real-time angle signal of the first stamping equipment, and calculates the real-time angle of the virtual spindle based on the above information;

[0054] Specifically, the real-time angle θ of the virtual spindle s is:

[0055]

[0056] where θ 0 is the angle when the first stamping equipment starts, V sv is the speed set value of the automated stamping production line, and T is the running time of the automated stamping production line, with the unit of minute.

[0057] (4) The synchronization controller analyzes and calculates the speed set value of each subsequent stamping equipment based on the angle difference between the real-time angle collected by the corresponding position encoder and the real-time angle of the virtual spindle, and the speed set value of the automated stamping production line, and sends the speed set value to the corresponding main drive frequency converter;

[0058] The speed set value V gvi is:

[0059] V gvi = V SV + K × θ di

[0060] where V gvi is the speed set value of the stamping equipment, V sv is the speed set value of the automated stamping production line, K is an empirical value, K = 5, and θ di is the angle difference between the stamping equipment and the virtual spindle.

[0061] The angle difference θ between the stamping equipment and the virtual spindle di is:

[0062] θ dn = θ s - (n - 1) × θ pdi - θ pn

[0063] where θ dn is the calculated angle difference between the stamping equipment and the virtual spindle, θ s is the real-time angle of the virtual spindle, n is the serial number of the stamping equipment in the automated stamping production line, and θ pdi is the set phase difference between two adjacent stamping equipment in the automated stamping production line, θpn is the real-time angle of the stamping equipment.

[0064] Considering that there may be situations where the virtual spindle angle is 2° and the stamping equipment angle is 357°, or the virtual spindle angle is 357° and the stamping equipment angle is 2°, etc., therefore:

[0065] If θ dn <-180°, θ di = θ dn + 360

[0066] If θ dn > 180°, θ di = θ dn - 360

[0067] If -180° < θ dn < 180°, θ di = θ dn .

[0068] (5) The synchronization controller calculates the corresponding virtual spindle angle value when the subsequent stamping equipment starts according to the phase difference between two adjacent stamping equipment and the angle passed from the start to the stabilization of the clutch engagement of each subsequent stamping equipment. When the angle of the virtual spindle reaches the virtual spindle angle value, the synchronization controller sends a start command to the stamping equipment controller, and the main drive frequency converter controls the rotational speed of the main drive motor of the stamping equipment according to the speed setting value in step (4);

[0069] The angle θ passed from the start to the stabilization of the clutch engagement of the stamping equipment ci is:

[0070] θ i = θ ti - θ si

[0071] where θ i is the difference between the real-time angle value of the position encoder read by the synchronization controller when the clutch of the stamping equipment engages to stabilization and the initial angle read at startup, θ ti is the real-time angle value of the position encoder read by the synchronization controller when the clutch of the stamping equipment engages to stabilization, and θ si is the initial angle of the position encoder read by the synchronization controller when the stamping equipment starts.

[0072] Considering that there may be situations where the initial angle of the position encoder read by the synchronization controller before the stamping equipment starts is 358° and the real-time angle value of the position encoder read by the synchronization controller after the clutch of the stamping equipment engages and stabilizes is 4°, etc., therefore, the angle passed from the start to the stabilization of the clutch engagement of the stamping equipment is:

[0073] If θi <0, θ ci = 360 + θ i

[0074] If θ i > 0, θ ci = θ i .

[0075] The angular value θ of the virtual spindle corresponding to each subsequent stamping equipment when starting up is: msi is:

[0076] θ msi = (n - 1) × θ pdi - θ ci

[0077] where n is the sequence number of the stamping equipment in the automated stamping production line, θ pdi is the phase difference between two adjacent stamping equipments in the set automated stamping production line, θ ci is the angle passed from the start of the clutch engagement of the stamping equipment to the stable state.

[0078] It should be noted that when the subsequent equipment starts up for the first time, the angle θ passed from the start of the clutch engagement to the stable state used ci is measured in advance and stored in the synchronization controller. Due to the certain stability of the stamping equipment during operation, the angle passed from the start of the clutch engagement to the stable state of each subsequent stamping equipment is basically fixed, so it is completely feasible to measure and obtain it separately in advance.

[0079] (6) The synchronization controller monitors the speed encoders of all stamping equipments. After detecting that the rotational speed of the corresponding main drive motor has returned to stability, it reads the real-time angle of the stamping equipment through the corresponding position encoder, and continuously adjusts the speed set value of the corresponding main drive frequency converter (including the main drive frequency converter of the first stamping equipment) (the calculation method and steps of the speed set value are the same as those in step 4). The main drive frequency converter adjusts the rotational speed of the main drive motor of the stamping equipment according to the speed set value, so as to achieve a constant phase difference between adjacent stamping equipments in the automated stamping production line.

[0080] It should be noted that before the clutch of the stamping equipment in the automated stamping production line engages, the speed set value of the main drive frequency converter is the speed set value of the automated stamping production line, and the clutch does not engage, so the speed set value of the main drive frequency converter is not adjusted. Because during the period from the start of the clutch engagement of the stamping equipment to the stable state of the engagement, the rotational speed of the main drive motor is in an unstable state. If speed regulation is carried out, the entire control system will oscillate and it is difficult to return to the stable state, and the constant angle difference control of each stamping equipment cannot be achieved, and the main drive motor may be damaged.

[0081] After the clutch of the stamping equipment in the automated stamping production line is stably engaged, the synchronization controller monitors the angular difference between each piece of equipment and the virtual main shaft. When the angular difference of any one of them exceeds the set range, which is ±5° in this embodiment, the synchronization controller alarms and the entire automated stamping production line stops.

[0082] When the automated stamping production line stops cyclically, the virtual main shaft stops calculating, and the speed set values of the main drive frequency converters of each stamping equipment are no longer adjusted.

[0083] When the first stamping equipment is not operating, the second stamping equipment immediately following it is regarded as the first stamping equipment, and so on. The number of operating stamping equipment in the synchronization control system must be greater than or equal to 2, otherwise synchronization control is meaningless.

[0084] In this embodiment, with the condition that the clutch of the first stamping equipment is stably engaged and operating, the virtual main shaft is calculated, ensuring that the spindle angle data is not affected by the outside, accurate and effective. Fully considering the clutch engagement characteristics of the stamping equipment, and comprehensively setting the phase difference between two adjacent stamping equipment in the automated stamping production line and the clutch engagement characteristics, the corresponding virtual main shaft angle values at the start of each stamping equipment are calculated. When the virtual main shaft angle reaches the above angle values, the synchronization controller sends a start command to the stamping equipment controller. At the same time, after the synchronization controller uses the speed encoder to detect that the rotational speed of the main drive motor has stabilized, it reads the real-time angles of each stamping equipment through the position encoder, continuously adjusts the speed set value of the main drive frequency converter, and then controls the rotational speed of the main drive motor to achieve closed-loop control. This embodiment uniformly coordinates the operating speeds of each stamping equipment in the automated stamping production line, ensures that the phase difference between two adjacent stamping equipment is constant, thereby realizing the stable and safe continuous operation of the stamping equipment, greatly improving production efficiency and reducing costs.

[0085] The present invention is not limited to the above embodiments. Based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and deformations to some technical features without creative labor according to the disclosed technical content, and these substitutions and deformations are all within the protection scope of the present invention.

Claims

1. An automatic stamping production line synchronous control method, characterized in that, it uses an automatic stamping production line synchronous control system to synchronously control stamping equipment. The automatic stamping production line synchronous control system includes a synchronous controller, a stamping equipment controller, a speed encoder, a position encoder, and a main drive frequency converter. The number of the stamping equipment controller, the speed encoder, the position encoder, and the main drive frequency converter corresponds one-to-one with the number of stamping equipment. The speed encoder is arranged on the main drive motor of the stamping equipment and is used to collect the real-time rotational speed of the main drive motor; the position encoder is installed on the main shaft of the stamping equipment and is used to collect the real-time angle signal of the stamping equipment; the stamping equipment controller is used to control the operation of the stamping equipment; the synchronous controller controls the stamping equipment controller to start and continuously adjusts the speed set value of the main drive frequency converter according to the initial angle when the stamping equipment starts and the real-time angle when the clutch engages and stabilizes. The main drive frequency converter controls the rotational speed of the main drive motor of the stamping equipment according to the speed set value. The synchronous control method includes the following steps: (1) Set the speed set value of the automatic stamping production line; (2) The synchronous controller sends a start command to the stamping equipment controller of the first stamping equipment, and at the same time monitors the rotational speed of the main drive motor collected by the speed encoder of the first stamping equipment; (3) When the rotational speed collected by the speed encoder of the first stamping equipment returns to a stable state, the synchronous controller communicates with the stamping equipment controller and the position encoder of the first stamping equipment respectively to collect the real-time speed of the automatic stamping production line and the real-time angle signal of the first stamping equipment, and calculates the real-time angle of the virtual main shaft based on the above information; (4) The synchronous controller analyzes and calculates the speed set values of the subsequent stamping equipment according to the angle difference between the real-time angle collected by the corresponding position encoder and the real-time angle of the virtual main shaft, and the speed set value of the automatic stamping production line, and sends the speed set value to the corresponding main drive frequency converter; (5) The synchronous controller calculates the virtual main shaft angle value corresponding to the start of the subsequent stamping equipment according to the phase difference between two adjacent stamping equipment and the angle passed from the start to the stabilization of the clutch engagement of the subsequent stamping equipment. When the angle of the virtual main shaft reaches the virtual main shaft angle value, the synchronous controller sends a start instruction to the stamping equipment controller, and the main drive frequency converter controls the rotational speed of the main drive motor of the stamping equipment according to the speed set value in step (4); (6) The synchronous controller monitors the speed encoders of all stamping equipment. After detecting that the rotational speed of the corresponding main drive motor has returned to stability, it reads the real-time angle of the stamping equipment through the corresponding position encoder, and continuously adjusts the speed set value of the corresponding main drive frequency converter. The main drive frequency converter adjusts the rotational speed of the main drive motor of the corresponding stamping equipment according to the speed set value.

2. The automatic stamping production line synchronous control method according to claim 1, characterized in that, The real-time angle θ of the virtual spindle s is as follows: Among them, θ 0 is the angle when the first stamping equipment starts, V sv is the speed setting value of the automated stamping production line, and T is the operating time of the automated stamping production line.

3. The automatic stamping production line synchronous control method according to claim 2, characterized in that, The angular difference θ between the stamping equipment and the virtual spindle di is as follows: θ dn = θ s -(n - 1)×θ pdi -θ pn If θ dn <-180°, θ di = θ dn + 360 If θ dn > 180°, θ di = θ dn - 360 If -180° < θ dn < 180°, θ di = θ dn Among them, θ dn is the calculated angular difference between the stamping equipment and the virtual main shaft, θ s is the real-time angle of the virtual main shaft, n is the serial number of the stamping equipment in the automated stamping production line, θ pdi is the phase difference between two adjacent stamping equipment in the set automated stamping production line, θ pn is the real-time angle of the stamping equipment.

4. The automatic stamping production line synchronous control method according to claim 3, characterized in that, The speed set value V gvi is as follows: V gvi = V SV + K × θ di Among them, V gvi is the speed set value of the stamping equipment, V sv is the speed setting value of the automated stamping production line, K is an empirical value, K = 5, and θ di is the angular difference between the stamping equipment and the virtual spindle.

5. The synchronous control method for an automated stamping production line according to claim 1, characterized in that, The angle θ passed from the start to the stabilization of the clutch engagement of the stamping equipment ci is as follows: θ i = θ ti - θ si If θ i < 0, θ ci = 360 + θ i If θ i > 0, θ ci = θ i Among them, θ i is the difference between the real-time angular value of the position encoder read by the synchronization controller when the clutch of the stamping equipment is sucked in and stabilized and the initial angle read at startup, θ ti is the real-time angular value of the position encoder read by the synchronization controller when the clutch of the stamping equipment is sucked in and stabilized, θ si is the initial angle of the position encoder read by the synchronization controller when the stamping equipment starts up.

6. The synchronous control method for an automated stamping production line according to claim 5, characterized in that, The angular value θ of the virtual spindle corresponding to the subsequent startup of each stamping device msi is as follows: θ msi =(n - 1)×θ pdi -θ ci where n is the serial number of the stamping equipment in the automated stamping production line, and θ pdi is the phase difference between two adjacent stamping equipments in the set automated stamping production line, and θ ci is the angle passed from the start to the stabilization of the clutch engagement of the stamping equipment.

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