Automatic pull-riveting production scheduling method based on multi-station cooperative production
By designing an automated riveting production scheduling method for multi-station collaborative production, the problem that traditional riveting equipment cannot achieve multi-station collaborative production is solved. The method optimizes the allocation of workload at each station and the positioning of riveting points, thereby improving production efficiency and path planning.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
- Filing Date
- 2022-08-30
- Publication Date
- 2026-05-19
AI Technical Summary
Traditional riveting equipment cannot achieve multi-station collaborative production, resulting in low efficiency of single-item work and wasted time in the processing route.
Design an automated riveting production scheduling method based on multi-station collaborative production, including a CAD recognition and extraction module, a round hole screening module, an interference calculation module, an automatic scheduling module, and a riveting path planning module. By automatically identifying process holes and optimizing movement trajectories and paths, it solves the problems of workstation workload allocation, riveting point positioning, and production sequence.
It optimizes multi-station collaborative production, improves production efficiency, automatically identifies process holes and optimizes movement trajectories, finds the optimal path with the shortest time, and adjusts the capacity of each station.
Smart Images
Figure CN117666473B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of automatic control technology, specifically an automatic riveting production scheduling method based on multi-station collaborative production. Background Technology
[0002] Traditional riveting equipment processes only one product at a time, with all products manufactured on the same equipment. As production cycle time demands increase, multi-station collaborative production offers significant advantages over single-station production. However, multi-station collaborative production requires a method to address the allocation of workload across stations, riveting point positioning, and production sequence, ensuring similar production capacities across stations and minimizing the production time for a single product.
[0003] As production cycle time demands increase, multi-station collaborative production models offer significant advantages over single-station models. Traditional riveting equipment processes only one product at a time, with all products completed on the same machine, making multi-station collaborative production impossible and reducing efficiency per item. Furthermore, processing sheet metal with multiple process holes typically follows a linear ascending / descending sequence along a single axis, resulting in significant time wasted during the riveting movement process. Summary of the Invention
[0004] To address the aforementioned problems, the present invention aims to design an automated riveting production scheduling method based on multi-station collaborative production, in order to solve the problems of workload allocation, intelligent riveting point positioning, and riveting machine path optimization in multi-station collaborative mode, and to resolve interference problems caused by production tool limitations.
[0005] The technical solution adopted by the present invention to achieve the above objectives is as follows:
[0006] An automated riveting scheduling system based on multi-station collaborative production includes:
[0007] The CAD recognition and extraction module is used to extract the center coordinates of the object to be riveted from the CAD drawing and form a set of center coordinates.
[0008] The circular hole screening module is used to remove the center coordinates of non-riveted circular holes from the circular center coordinates according to the set process parameters, so as to obtain a set of circular hole coordinates with a fixed diameter.
[0009] The interference calculation module is used to determine the interference coordinate range based on the shape of the fixture used during riveting, and to mark the interference station number of the circular holes in the circular hole coordinate set that are within the interference coordinate range as interference circular holes, and the rest as non-interference circular holes;
[0010] The automatic scheduling module is used to schedule the production of interference-prone and non-interference-prone circular holes to obtain the quantity information for each workstation.
[0011] The riveting path planning module is used to sort the set of circular hole coordinates of each station during the production scheduling process to obtain the riveting path, which serves as the offset information for each station.
[0012] The result output module is used to write the offset and quantity information of each station into the PLC data block.
[0013] The automatic production scheduling module uses an automatic production scheduling algorithm for production scheduling, specifically:
[0014] 1) Determine whether the circular hole interferes with the coordinates of a certain circular hole in the set of circular hole coordinates. If there is interference, proceed to step 2); otherwise, proceed to step 3).
[0015] 2) Determine the interference station number of the interfering circular hole. If all stations are interference stations, the circular hole cannot be automatically riveted. If there is a non-interfering station for the circular hole, add the circular hole to the nearest station set and proceed to step 3).
[0016] 3) Determine whether the station where the circular hole is located has reached the maximum capacity N. If not, add the circular hole to the station set; otherwise, proceed to 4).
[0017] 4) Add the hole to the set of stations closest to the original station;
[0018] 5) Repeat steps 1) to 4) until all the coordinates of the circular holes in the circular hole coordinate set are assigned to the workstation set.
[0019] The riveting path planning module uses a riveting path planning algorithm for riveting, specifically:
[0020] 1) Determine the number of riveting holes M in a single workstation, and use L to represent the distance between two holes. CiCi+1 This indicates that the loss function L for a single workstation is... i Represented as:
[0021]
[0022] Where v represents the moving speed and t represents the riveting time;
[0023] 2) Calculate the loss function for each workstation. The final loss function L is expressed as:
[0024] L = MAX(L) i );
[0025] 3) Traverse M, recalculate the automatic production scheduling algorithm, and take the calculation result with the minimum loss function as the final riveting path.
[0026] An automated riveting scheduling method based on multi-station collaborative production includes the following steps:
[0027] The CAD recognition and extraction module extracts the center coordinates of the object to be riveted from the CAD drawing, forming a set of center coordinates.
[0028] The circular hole screening module removes the center coordinates of non-riveted circular holes from the center coordinates according to the set process parameters, thus obtaining a set of circular hole coordinates with a fixed diameter.
[0029] The interference calculation module determines the interference coordinate range based on the shape of the fixture used during riveting, and marks the circular holes in the circular hole coordinate set that are within the interference coordinate range with interference station numbers, which are regarded as interference circular holes, while the rest are regarded as non-interference circular holes.
[0030] The automatic scheduling module uses an automatic scheduling algorithm to schedule the sets of interfering and non-interfering circular holes to obtain the quantity information for each workstation;
[0031] During the production scheduling process, the riveting path planning module uses a riveting path planning algorithm to sort the set of circular hole coordinates for each workstation to obtain the riveting path, which serves as the offset information for each workstation.
[0032] The output module writes the offset and quantity information of each workstation into the PLC data block.
[0033] The automatic scheduling algorithm includes the following steps:
[0034] 1) Determine whether the circular hole interferes with the coordinates of a certain circular hole in the set of circular hole coordinates. If there is interference, proceed to step 2); otherwise, proceed to step 3).
[0035] 2) Determine the interference station number of the interfering circular hole. If all stations are interference stations, the circular hole cannot be automatically riveted. If there is a non-interfering station for the circular hole, add the circular hole to the nearest station set and proceed to step 3).
[0036] 3) Determine whether the station where the circular hole is located has reached the maximum capacity N. If not, add the circular hole to the station set; otherwise, proceed to 4).
[0037] 4) Add the hole to the set of stations closest to the original station;
[0038] 5) Repeat steps 1) to 4) until all the coordinates of the circular holes in the circular hole coordinate set are assigned to the workstation set.
[0039] The riveting path planning algorithm includes the following steps:
[0040] 1) Determine the number of riveting holes M in a single workstation, and use L to represent the distance between two holes.CiCi+1 This indicates that the loss function L for a single workstation is... i Represented as:
[0041]
[0042] Where v represents the moving speed and t represents the riveting time;
[0043] 2) Calculate the loss function for each workstation. The final loss function L is expressed as:
[0044] L = MAX(L) i );
[0045] 3) Traverse M, recalculate the automatic production scheduling algorithm, and take the calculation result with the minimum loss function as the final riveting path.
[0046] The present invention has the following beneficial effects and advantages:
[0047] The automatic riveting scheduling method proposed in this invention, based on multi-station collaborative production, optimizes the multi-station collaborative production mode. It enables automatic drawing recognition, automatic extraction of process holes for riveting, optimization of the automatic riveting trajectory, and finding the optimal path with the shortest processing time. The scheduling algorithm can solve for the optimal production plan, adjust the capacity of each station, and greatly improve production efficiency. Attached Figure Description
[0048] Figure 1 This is a flowchart of the automatic riveting production scheduling method provided in an embodiment of the present invention;
[0049] Figure 2 This is a flowchart of the automatic riveting and production scheduling algorithm provided in an embodiment of the present invention;
[0050] Figure 3 The fixture model provided in the embodiments of the present invention. Detailed Implementation
[0051] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.
[0052] To make the design scheme and technical advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and specific examples, in which preferred embodiments of the present invention are shown. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, the purpose of providing embodiments is to enable a more thorough and complete understanding of the disclosure of the present invention.
[0053] This invention discloses an automatic riveting production scheduling algorithm based on multi-station collaborative production, including: a CAD recognition and extraction module, a round hole screening module, an interference calculation module, an automatic scheduling module, a riveting path planning module, and a result output module.
[0054] Please refer to Figure 1 As shown, Figure 1 The flowchart illustrates the automatic riveting and production scheduling method provided in this embodiment of the invention.
[0055] S1: Input the CAD drawing of the board to be processed into the CAD recognition and extraction module;
[0056] S2: The CAD recognition and extraction module has the function of extracting circular hole objects of fixed diameter from drawings and can obtain the center coordinates of the circle.
[0057] S3: The CAD recognition and extraction module has the function of extracting circular hole objects of fixed diameter from the block objects (BLOCK) of the drawing and obtaining the center coordinates of the circle;
[0058] S4: Input the set of coordinates of circular holes with fixed diameters into the circular hole screening module. The circular hole screening module pre-stores process information parameters and removes the set of circular holes that are not riveted from the set.
[0059] S5: The circular hole screening module can be connected to the production scheduling system database and can obtain the product's process parameters from the production scheduling system.
[0060] S6: Input the set of coordinates of the circular holes with a fixed diameter into the interference calculation module. The interference calculation module determines the range of interference coordinates based on the shape of the fixture used and marks the circular holes that need to be processed.
[0061] S7: As Figure 3 As shown, the clamp is shaped like a comb, and its plan view is a combination of a beam and multiple rectangles. There are large gaps between the rectangles, which are riveting areas. The rectangular areas are gripping and supporting areas and cannot be riveted.
[0062] S7: The interference calculation module can set interference regions for multiple stations, and the marking results include interference station labels;
[0063] S8: The automatic scheduling module schedules the production of non-interference circular holes and interference circular holes, and uses an automatic scheduling algorithm to divide the circular holes into multiple sets with the same number of workstations;
[0064] S9: As Figure 2 As shown, the automatic scheduling algorithm includes:
[0065] (1) Input the set of coordinates for the circular hole;
[0066] (2) Determine whether the circular hole interferes. If it interferes, proceed to step (3); if it does not interfere, proceed to step (4).
[0067] (3) Determine the interference station number of the interfering circular hole. If all stations are interference stations, then the circular hole cannot be automatically riveted; if there is a non-interfering station for the circular hole, then add the circular hole to the nearest station set.
[0068] (4) Determine whether the station of the round hole set has reached the maximum capacity N. If not, add the round hole to the station set. If the capacity has been reached, proceed with (5).
[0069] (5) Add the hole to the set of stations closest to the original station, and execute (4) again;
[0070] S10: The riveting path planning module sorts the set of circular hole coordinates for each station, plans the riveting sequence of the automatic riveting machine, and adopts the riveting path planning algorithm.
[0071] S11: The automatic riveting algorithm described above is based on the principle of minimizing the time loss function, calculating the path movement loss time and the riveting loss time. The specific algorithm includes:
[0072] (1) Determine the number of riveting holes M in a single workstation, and use L to represent the distance between two holes. CiCi+1 Therefore, the loss function for a single workstation can be expressed as:
[0073]
[0074] In the formula, v represents the moving speed and t represents the riveting time.
[0075] (2) Calculate the loss function for each workstation. The final loss function is expressed as:
[0076] L = MAX(L) i )
[0077] (3) Traverse N, recalculate the automatic production scheduling algorithm in step S9, and take the calculation result with the minimum loss function as the final riveting path.
[0078] S12: The result output module writes the offset and quantity information of each station into the PLC data block, and the PLC controls the equipment to rivet in sequence.
[0079] The dynamic riveting production scheduling algorithm of this invention is based on a multi-station collaborative mode. It proposes a method to solve the problems of workstation workload allocation, riveting point positioning, and production sequence, achieving similar production capacity across multiple workstations and minimizing the production time for a single product. Furthermore, since the fixtures used to transfer the riveted products are comb-shaped, interference areas may exist at certain workstations for a given product. This invention also designs an algorithm to solve the interference avoidance problem. This invention can effectively optimize production cycle time and coordinate multi-station collaborative production.
Claims
1. An automated riveting production scheduling system based on multi-station collaborative production, characterized in that, include: The CAD recognition and extraction module is used to extract the center coordinates of the object to be riveted from the CAD drawing and form a set of center coordinates. The circular hole screening module is used to remove the center coordinates of non-riveted circular holes from the circular center coordinates according to the set process parameters, so as to obtain a set of circular hole coordinates with a fixed diameter. The interference calculation module is used to determine the interference coordinate range based on the shape of the fixture used during riveting, and to mark the interference station number of the circular holes in the circular hole coordinate set that are within the interference coordinate range as interference circular holes, and the rest as non-interference circular holes; The automatic scheduling module is used to schedule the production of interference-prone and non-interference-prone circular holes to obtain the quantity information for each workstation. The riveting path planning module is used to sort the set of circular hole coordinates of each station during the production scheduling process to obtain the riveting path, which serves as the offset information for each station. The result output module is used to write the offset and quantity information of each station into the PLC data block.
2. The automated riveting production scheduling system based on multi-station collaborative production according to claim 1, characterized in that, The automatic production scheduling module uses an automatic production scheduling algorithm for production scheduling, specifically: 1) Determine whether the circular holes interfere with each other based on the coordinates of a specific circular hole in the set of circular hole coordinates. If interference occurs, proceed to step 2); otherwise, proceed to step 3). 2) Determine the interference station number of the interfering circular hole. If all stations are interference stations, the circular hole cannot be automatically riveted; if there is a non-interfering station for the circular hole, add the circular hole to the nearest station set and proceed to step 3). 3) Determine if the station containing the circular hole has reached the maximum capacity N. If not, add the circular hole to the station set; otherwise, proceed to step 4). 4) Add the circular hole to the set of the workstations closest to the original workstation; 5) Repeat steps 1) to 4) until all the coordinates of the circular holes in the circular hole coordinate set are assigned to the workstation set.
3. The automated riveting production scheduling system based on multi-station collaborative production according to claim 1, characterized in that, The riveting path planning module uses a riveting path planning algorithm for riveting, specifically: 1) Determine the number M of riveting holes in a single workstation, and the distance between two holes is... This indicates that the loss function for a single workstation is... Represented as: Where v represents the moving speed and t represents the riveting time; 2) Calculate the loss function for each workstation, and the final loss function. Represented as: ； 3) Traverse M, recalculate the automatic scheduling algorithm, and take the calculation result with the minimum loss function as the final riveting path.
4. An automated riveting production scheduling method based on multi-station collaborative production, characterized in that, Includes the following steps: The CAD recognition and extraction module extracts the center coordinates of the object to be riveted from the CAD drawing, forming a set of center coordinates. The circular hole screening module removes the center coordinates of non-riveted circular holes from the center coordinates according to the set process parameters, thus obtaining a set of circular hole coordinates with a fixed diameter. The interference calculation module determines the interference coordinate range based on the shape of the fixture used during riveting, and marks the circular holes in the circular hole coordinate set that are within the interference coordinate range with interference station numbers, which are regarded as interference circular holes, while the rest are regarded as non-interference circular holes. The automatic scheduling module uses an automatic scheduling algorithm to schedule the sets of interfering and non-interfering circular holes to obtain the quantity information for each workstation; During the production scheduling process, the riveting path planning module uses a riveting path planning algorithm to sort the set of circular hole coordinates for each workstation to obtain the riveting path, which serves as the offset information for each workstation. The output module writes the offset and quantity information of each workstation into the PLC data block.
5. The automated riveting production scheduling method based on multi-station collaborative production according to claim 4, characterized in that, The automatic scheduling algorithm includes the following steps: 1) Determine whether the circular holes interfere with each other based on the coordinates of a specific circular hole in the set of circular hole coordinates. If interference occurs, proceed to step 2); otherwise, proceed to step 3). 2) Determine the interference station number of the interfering circular hole. If all stations are interference stations, the circular hole cannot be automatically riveted; if there is a non-interfering station for the circular hole, add the circular hole to the nearest station set and proceed to step 3). 3) Determine if the station containing the circular hole has reached the maximum capacity N. If not, add the circular hole to the station set; otherwise, proceed to step 4). 4) Add the circular hole to the set of the workstations closest to the original workstation; 5) Repeat steps 1) to 4) until all the coordinates of the circular holes in the circular hole coordinate set are assigned to the workstation set.
6. The automated riveting production scheduling method based on multi-station collaborative production according to claim 4, characterized in that, The riveting path planning algorithm includes the following steps: 1) Determine the number M of riveting holes in a single workstation, and the distance between two holes is... This indicates that the loss function for a single workstation is... Represented as: Where v represents the moving speed and t represents the riveting time; 2) Calculate the loss function for each workstation, and the final loss function. Represented as: ； 3) Traverse M, recalculate the automatic scheduling algorithm, and take the calculation result with the minimum loss function as the final riveting path.