A multi-station servo numerically controlled hydraulic press

Abstract

The embodiment of this specification provides a multi-station servo numerically controlled hydraulic press, a servo control component, robotic arms and auxiliary components at multiple stations, and a processing platform. The servo control component generates and executes a robotic arm synchronization strategy to control the robotic arms at multiple stations for time and speed coordination, so as to achieve multi-station processing of production parts. Among them, the servo control component generates and executes the robotic arm synchronization strategy, including constructing a search space, constraining the search process with the processing duration and distance of the robotic arm, performing strategy search with multiple search points in a two-dimensional space to obtain multiple strategy curves, calculating the reward function values respectively with the reward function of each station, screening out one strategy curve with the largest reward function value respectively, determining the speed change function of the strategy curve, and combining the speed change functions of each station to form the robotic arm synchronization strategy, so that the processing process of the coordinated multi-station robotic arms is adaptive.

Description

Technical Field

[0001] This application relates to the field of industrial control, and particularly to a multi-station servo numerically controlled hydraulic press. Background Art

[0002] In the field of industrial control, it is a common production method to use a multi-station hydraulic press robotic arm to sequentially process production parts.

[0003] Currently, the collaboration methods in the industry mostly control the time-consuming of one action cycle of the robotic arm based on the production rhythm (the time-consuming of different production stations in the same production line is the same or close). However, there are slight differences in the processing speed requirements of production parts in different processing stages. Just controlling the time-consuming of one action cycle of the robotic arm cannot meet the processing speed requirements in different processing stages. Therefore, it is necessary to provide a new servo hydraulic press to make the processing process of collaborative multi-station robotic arms adaptive. Summary of the Invention

[0004] The embodiments of this specification provide a multi-station servo numerically controlled hydraulic press to make the processing process of collaborative multi-station robotic arms adaptive.

[0005] The embodiments of this specification provide a multi-station servo numerically controlled hydraulic press, including:

[0006] A servo control component, robotic arms and auxiliary components of multiple stations, and a processing platform;

[0007] The servo control component generates and executes a robotic arm synchronization strategy, controls the robotic arms of the multiple stations for time and speed collaboration, and realizes multi-station processing of production parts;

[0008] Among them, the servo control component generates and executes a robotic arm synchronization strategy, including:

[0009] Construct a search space, where there is a two-dimensional search space of speed and time in the search space, and use the processing duration and distance of the robotic arm to constrain the search process. Conduct strategy search with multiple search points in the two-dimensional space to obtain multiple strategy curves. Construct an environment space: including the physical attributes of the production part, the shape of the production part, and the fitness of the shape and physical attributes of the production part to the processing speed. Construct a reward function for each station respectively, apply the strategy curve to the environment space, calculate the reward function value with the reward function of each station respectively, select a strategy curve with the largest reward function value respectively, determine the speed change function of the strategy curve, and the speed change functions of multiple stations are combined to form a robotic arm synchronization strategy.

[0010] Optionally, the metrics of the reward function include: the impact factor of speed on the processing quality, the reciprocal of the time taken, the impact factor of speed on the physical properties of the auxiliary part, and the impact factor of the physical properties of the auxiliary part on the processing quality in subsequent time periods.

[0011] Optionally, the collaborative control of the robotic arms at multiple workstations for time and speed includes:

[0012] Controlling the pressing-down speeds of the robotic arms at the multiple workstations respectively with their respective adapted speed variation functions.

[0013] Optionally, the relationship between the multiple workstations is that of sequential workstations.

[0014] Optionally, using the processing duration and distance of the robotic arm to constrain the search process and performing policy search with multiple search points in the two-dimensional space includes:

[0015] Taking the vertical axis as the distance and the horizontal axis as the time, setting the end point according to the processing duration and distance of the robotic arm, setting the initial speed and the termination speed to 0, searching for a second-order differentiable curve within the region, calculating the tangent slope of the curve, and recording the sequence of tangent slopes as the speed variation function.

[0016] Optionally, the physical property is ductility.

[0017] Optionally, the fitness of the shape and physical properties of the production part to the processing speed includes: the degree of hysteresis of the shape and physical properties of the production part to the processing speed.

[0018] The various technical solutions provided in the embodiments of this specification are through the servo control component, the robotic arms at multiple workstations, the auxiliary parts, and the processing platform. The servo control component generates and executes the robotic arm synchronization strategy, controls the robotic arms at multiple workstations for time and speed coordination, and realizes multi-station processing of the production part. Among them, the servo control component generates and executes the robotic arm synchronization strategy, including constructing the search space, using the processing duration and distance of the robotic arm to constrain the search process and performing policy search with multiple search points in the two-dimensional space to obtain multiple policy curves, calculating the reward function values respectively with the reward function of each workstation, respectively screening out a policy curve with the largest reward function value, determining the speed variation function of the policy curve, and combining the speed variation functions of each workstation to form the robotic arm synchronization strategy, making the processing process of the coordinated multi-station robotic arms adaptive. Description of the Drawings

[0019] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0020] Figure 1 Schematic structural diagram of a multi-station servo numerically controlled hydraulic press provided by an embodiment of this specification;

[0021] Figure 2 Effect diagram of the structure of a multi-station servo numerically controlled hydraulic press provided by an embodiment of this specification. Specific implementation manners

[0022] Exemplary embodiments of the present invention will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, providing these exemplary embodiments enables the present invention to be more comprehensive and complete, and more conveniently conveys the inventive concept to those skilled in the art. Identical reference numerals in the figures denote identical or similar elements, components, or portions, and thus their repeated description will be omitted.

[0023] On the premise of conforming to the technical concept of the present invention, the features, structures, characteristics, or other details described in a specific embodiment may not be excluded from being combined in a suitable manner in one or more other embodiments.

[0024] In the description of specific embodiments, the features, structures, characteristics, or other details described in the present invention are for those skilled in the art to fully understand the embodiments. However, it does not exclude that those skilled in the art can practice the technical solutions of the present invention without one or more of the specific features, structures, characteristics, or other details.

[0025] The flowcharts shown in the accompanying drawings are only exemplary illustrations, not necessarily including all contents and operations / steps, nor necessarily executed in the described order. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined, so the actual execution order may change according to the actual situation.

[0026] The block diagrams shown in the accompanying drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0027] The term "and / or" or "and / or" includes all combinations of any one or more of the associated listed items.

[0028] Figure 1 Schematic structural diagram of a multi-station servo numerically controlled hydraulic press provided by an embodiment of this specification. The hydraulic press may include:

[0029] The servo control component 101 has a robotic arm 102 with multiple workstations, a suction attachment 103 for sucking the production part 104, and also has an auxiliary part 105 and a processing platform 107. The robotic arm is a hydraulic robotic arm that realizes production actions through hydraulic principles;

[0030] The servo control component has a numerical control unit. The numerical control unit can perform algorithm processing and calculations to generate and execute a robotic arm synchronization strategy, and control the robotic arms at the multiple workstations for time and speed coordination to achieve multi-station processing of the production part.

[0031] The hydraulic principle and the numerical control principle have been publicly disclosed in the prior art and will not be elaborated in detail here.

[0032] Figure 1 The shown hydraulic press is an example. Any hydraulic press with this production mode is within the protection scope of this application.

[0033] To achieve speed coordination control of the robotic arm actions, a search algorithm can be used to obtain the required speed change function.

[0034] Therefore, in the embodiments of this specification, the servo control component generates and executes a robotic arm synchronization strategy, including:

[0035] Construct a search space. The search space has a two-dimensional search space of speed and time. The processing duration and distance of the robotic arm are used to constrain the search process. In the two-dimensional space, multiple search points are used for strategy search to obtain multiple strategy curves. Construct an environment space: including the physical properties of the production part, the shape of the production part, and the fitness of the shape and physical properties of the production part to the processing speed. Construct a reward function for each workstation respectively. Apply the strategy curve to the environment space, calculate the reward function values respectively with the reward functions of each workstation, and respectively select a strategy curve with the largest reward function value, and determine the speed change function of the strategy curve. The speed change functions of multiple workstations are combined to form a robotic arm synchronization strategy.

[0036] In the embodiments of this specification, the indicators of the reward function include: the influence factor of speed on processing quality, the reciprocal of the time consumed, the influence factor of speed on the physical properties of the auxiliary part, and the influence factor of the physical properties of the auxiliary part on the processing quality in the subsequent period.

[0037] The influence factor of speed on processing quality includes surface flatness. The larger the reciprocal of the time consumed, the higher the production efficiency. The influence factor of speed on the physical properties of the auxiliary part can be the magnitude of the influence of the temperature change generated by the speed on the size of the auxiliary part. The influence factor of the physical properties of the auxiliary part on the processing quality in the subsequent period is the influence of the change in the size of the auxiliary part on the flatness of the processing of the next production part.

[0038] The search space is composed of various metrics. Each coordinate point in the search space corresponds to a combination of metrics, and each combination of metrics represents a strategy. Among them, there is a two-dimensional search space with speed and time in the search space. Therefore, each coordinate point represents the instantaneous speed of the robotic arm at that moment.

[0039] Due to the requirements for the production rhythm of the multi-station robotic arm, the processing duration and distance of the robotic arm are needed to constrain the search process.

[0040] In this way, after performing strategy search with multiple search points in the two-dimensional space, multiple strategy curves with the same time and motion distance are obtained.

[0041] In the embodiments of this specification, the whale swarm algorithm can be used for search, and there is no limitation here.

[0042] The environmental space is affected by the previous production action and can affect the quality of the current processing. Therefore, it can be used to evaluate the pros and cons of the strategy in combination with the reward function.

[0043] Among them, the physical properties of the production part can be its ductility, temperature, and smoothness, and the form of the production part can be the thickness of the production part. The fitness of the form and physical properties of the production part to the processing speed includes: the degree of hysteresis of the form and physical properties of the production part to the processing speed.

[0044] The degree of hysteresis of the form and physical properties of the production part to the processing speed can be measured through experiments.

[0045] In the embodiments of this specification, the control of the robotic arms at multiple stations for time and speed coordination includes:

[0046] Controlling the robotic arms at multiple stations to control the downward pressure speed of the robotic arms with their respective adapted speed change functions.

[0047] In the embodiments of this specification, the relationship between the multiple stations is sequential stations.

[0048] As Figure 1 shown, after the production part 104 passes through 105, its shape changes into the production part 106 for further processing.

[0049] To achieve search under constraints, in the embodiments of this specification, the use of the processing duration and distance of the robotic arm to constrain the search process and perform strategy search with multiple search points in the two-dimensional space includes:

[0050] Taking the vertical axis as distance and the horizontal axis as time, set the end point according to the processing duration and distance of the robotic arm, set the initial speed and the final speed to 0, search for a second-order differentiable curve within the said region, calculate the tangent slope of the curve, and record the sequence of tangent slopes as the speed change function.

[0051] Taking the vertical axis as distance and the horizontal axis as time, set the end point according to the processing duration and distance of the robotic arm, set the initial speed and the final speed to 0, search for a second-order differentiable curve within the said region, such that the searched curves all meet the production line beat conditions, and only the optimal curve needs to be selected from them.

[0052] In the embodiments of this specification, the physical property is ductility.

[0053] Figure 2 This is the structural effect diagram of a multi-station servo numerically controlled hydraulic press provided by the embodiments of this specification. In Figure 2 Production part 201 is adsorbed by the robotic arm and its components at the entrance and enters each station, is shaped by auxiliary part 202, and finally a product or part that meets the specifications is obtained. Through the servo control component, the robotic arms, auxiliary parts, and processing platforms at multiple stations, the servo control component generates and executes the robotic arm synchronization strategy, controls the robotic arms at multiple stations for time and speed coordination, and realizes multi-station processing of the production part. Among them, the servo control component generates and executes the robotic arm synchronization strategy, including constructing a search space, constraining the search process with the processing duration and distance of the robotic arm, performing strategy search with multiple search points in a two-dimensional space to obtain multiple strategy curves, calculating the reward function values respectively with the reward function of each station, respectively screening out a strategy curve with the largest reward function value, determining the speed change function of the strategy curve, and combining the speed change functions of each station to form the robotic arm synchronization strategy, making the processing process of the coordinated multi-station robotic arms adaptive.

[0054] The various embodiments in this specification are all described in a progressive manner. The same or similar parts among the various embodiments can be referred to each other, and the differences between each embodiment and other embodiments are emphasized.

[0055] The above are only the embodiments of this application and are not used to limit this application. For those skilled in the art, various changes and modifications can be made to this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the scope of the claims of this application.

Claims

1. A multi-station servo numerically controlled hydraulic press, characterized in that, Including: A servo control component, robotic arms and auxiliary components at multiple workstations, and a processing platform; The servo control component generates and executes a robotic arm synchronization strategy to control the robotic arms at the multiple workstations for time and speed coordination, so as to achieve multi-station processing of production parts; Among them, the servo control component generates and executes a robotic arm synchronization strategy, including: Construct a search space, in which there is a two-dimensional search space of speed and time, and use the processing duration and distance of the robotic arm to constrain the search process. Use multiple search points in the two-dimensional search space to perform strategy search to obtain multiple strategy curves, and construct an environment space: including the physical properties of the production part, the shape of the production part, and the fitness of the shape and physical properties of the production part to the processing speed; construct a reward function for each workstation respectively, apply the strategy curve to the environment space, calculate the reward function value with the reward function of each workstation respectively, select a strategy curve with the largest reward function value respectively, determine the speed change function of the strategy curve, and the speed change functions of multiple workstations are combined to form a robotic arm synchronization strategy; The use of the processing duration and distance of the robotic arm to constrain the search process and perform strategy search with multiple search points in the two-dimensional search space includes: Taking the vertical axis as the distance and the horizontal axis as the time, set the end point according to the processing duration and distance of the robotic arm, set the initial speed and the termination speed to 0, search for a second-order differentiable curve in the two-dimensional search space, calculate the tangent slope of the curve, and record the tangent slope sequence as the speed change function.

2. The hydraulic press according to claim 1, characterized in that, The indicators of the reward function include: the influence factor of speed on processing quality, the reciprocal of the time consumption, the influence factor of speed on the physical properties of the auxiliary component, and the influence factor of the physical properties of the auxiliary component on the processing quality in subsequent periods.

3. The hydraulic press according to claim 2, characterized in that, The control of the robotic arms at the multiple workstations for time and speed coordination includes: Controlling the robotic arms at the multiple workstations to control the downward pressure speed of the robotic arms with their respective adapted speed change functions.

4. The hydraulic press according to claim 1, wherein, The relationship between the multiple workstations is sequential workstations.

5. The hydraulic press according to claim 1, wherein The physical property is ductility.

6. The hydraulic press according to claim 1, characterized in that, The fitness of the shape and physical properties of the production part to the processing speed includes: the degree of hysteresis of the shape and physical properties of the production part to the processing speed.

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