Control method and device for flat plate stacking assembly

Abstract

The present invention relates to the field of flat plate stacking control technology, and in particular to a control method and device for flat plate stacking blank assembly, comprising the following steps: obtaining a structural distribution table and blank assembly conditions for flat plate stacking blank assembly; determining the flat plate stacking blank assembly parameters and blank assembly constraints according to the structural distribution table and the blank assembly conditions; constructing the flat plate stacking blank assembly function according to the structural distribution table and the flat plate stacking blank assembly parameters; constructing the flat plate stacking blank assembly model according to the flat plate stacking blank assembly function and the flat plate stacking blank assembly constraints; and controlling the flat plate stacking blank assembly according to the flat plate stacking blank assembly parameters, the flat plate stacking blank assembly model and the flat plate stacking blank assembly constraints. The present invention considers blank assembly conditions in multiple aspects, can reflect the response of blank assembly conditions through slip parameters and reflection parameters, ensures the certainty of blank assembly results and blank assembly efficiency, and has high versatility and high reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of flat plate stacking control, and in particular to a control method and device for flat plate stacking assembly. Background Art

[0002] Flat-plate stacking and assembly belongs to the category of assembly engineering. Its main goal is to combine multi-layer materials, plates of different sizes and thicknesses into composite plates and merge materials through a certain organizational method, under the premise of ensuring sufficient conditions and necessary boundaries; to make objects of different layers and their stacking and assembly process conform to the constraints of the plan, to minimize the number of transfer mechanisms and maximize the amount of materials, so as to achieve the normalization of the flat-plate stacking and assembly process or maximize the operating efficiency.

[0003] However, most of the existing flat plate stacking solutions have complex models, low compatibility of auxiliary machines, and a small number of operating conditions. Such solutions generally work in adsorption, hoisting or open-loop states, operating one material at a time at the same time. Summary of the invention

[0004] The technical problem to be solved by the present invention is that the existing flat plate stacking assembly scheme model is complex and has poor compatibility.

[0005] To this end, the present invention provides a control method and device for flat plate stacking assembly.

[0006] The technical solution adopted by the present invention to solve its technical problem is:

[0007] A control method for flat plate stacking assembly comprises the following steps:

[0008] Step 1, obtaining a structural distribution table and assembly conditions of a flat plate stacked billet;

[0009] Step 2, determining the flat plate stacking assembly parameters and assembly constraints according to the structure distribution table and the assembly conditions;

[0010] Step 3, forming the flat plate stacking assembly function according to the structure distribution table and the flat plate stacking assembly parameters;

[0011] Step 4, constructing the flat plate stacking assembly model according to the flat plate stacking assembly function and the flat plate stacking assembly constraint;

[0012] Step five: controlling the flat plate stacking assembly according to the flat plate stacking assembly parameters, the flat plate stacking assembly model and the flat plate stacking assembly constraints.

[0013] Furthermore, in step 2, the assembly parameters include a slip parameter, a reflection parameter, an assembly thickness and a comparison parameter, wherein the slip parameter is used to indicate the speed at which the plate moves toward the position to be overlapped along the Z-axis direction when overlapping and sliding between adjacent plates occurs, the reflection parameter is used to define the center point of the plate, the assembly thickness is the thickness of the plate structure, and the comparison parameter is the average time and average thickness of multiple verifications of overlapping operations.

[0014] Furthermore, the reflection parameter is calculated by the following formula: P′=R•P, wherein P′ is the reflection parameter of the i-th flat plate assembly condition, R is the reflection matrix constructed by the normal vector of the equidistant surface, and P is the point to be reflected.

[0015] Furthermore, according to the assembly conditions, the slip and reflection of the flat plate stacking assembly can be controlled separately, and the current assembly process is defined as , considering the previous assembly process , the last assembly process , then the sliding position change along the Z axis is , the direction is the positive direction of the coordinate axis, further considering the initial assembly state and the assembly speed coupled with acceleration , the expression of the flat plate stacking process can be obtained as: ,in, For iterative process, is the initial point of iteration, i, j, n are the number of iteration steps, is the billet assembly speed, is the sub-boundary thickness, is the subboundary duration, and [0,x] is the lower and upper limits of the subboundary.

[0016] Furthermore, the assembly constraints include equidistant surface constraints, assembly rate constraints, assembly efficiency constraints and combined constraints. The equidistant surface constraints are used to constrain the centers of adjacent flat plates to coincide with each other. The assembly rate constraints are used to limit the speed at which a flat plate moves toward the previous flat plate when it is overlapped along the Z-axis direction. The assembly efficiency constraints and combined constraints are used to limit the time efficiency of assembly.

[0017] Furthermore, the expression of the flat plate stacking assembly function is: , where (Min) Ai is the ith flat plate stacking assembly function, is the initial velocity of the ith plate in the assembly process, is the sub-border height, is the sub-boundary duration.

[0018] Furthermore, the expression of the assembly model can be: ,in, The geometric mean of the distribution structure of the flat stack, x i is the thickness of each object in the flat plate stacking assembly, and n is the thickness of the flat plate stacking assembly.

[0019] Furthermore, in step five, the flat plate stacking blank combination and blanking sequence are determined according to the blanking parameters, and then the flat plate stacking blank combination and blanking sequence as well as the blanking constraints and the blanking model can be used to control the flat plate stacking blanking.

[0020] Further, in step five, the overall control team calculation algorithm is used to calculate the feasible solution of the flat plate stacking blank model according to the flat plate stacking blank combination and blanking order and blanking constraints to obtain the flat plate stacking blank result, which specifically includes the following steps:

[0021] S5.1, adopting the overall control team calculation algorithm, by introducing the assembly constraints step by step, iteratively solves the initial feasible solution of the assembly model;

[0022] S5.2 performs assembly calculation according to the equidistant surface constraint, and determines whether the calculation result satisfies the rate constraint. If so, execute step S5.3; if not, correct the parameters, i.e. reduce the slip speed, and then execute step S5.2 again;

[0023] S5.3, perform assembly calculation according to the rate constraint, and determine whether the calculation result meets the efficiency constraint. If yes, execute step S5.4; if not, modify the parameters, i.e., increase the sliding speed to improve the assembly efficiency, and then re-execute step S5.2;

[0024] S5.4, perform assembly calculation according to efficiency constraints, and determine whether the calculation result meets the combination constraints of assembly parameters. If so, output the calculation result; if not, correct the parameters, that is, reduce the combination quantity count by one, and then re-execute step S5.2.

[0025] A control device for flat plate stacking and assembly, characterized by comprising:

[0026] A receiving unit, the receiving unit is used to obtain a structural distribution table and assembly conditions of a flat plate stacking assembly;

[0027] A first pre-processing unit, the first pre-processing unit is connected to the receiving unit, and is used to determine the flat plate stacking blank assembly parameters and blank assembly constraints according to the structure distribution table and the blank assembly conditions;

[0028] A second pre-processing unit, the second pre-processing unit is connected to the receiving unit and is used to form the flat plate stacking assembly function according to the structure distribution table and the flat plate stacking assembly parameters;

[0029] A third preprocessing unit, the third preprocessing unit is connected to the first and second preprocessing units, and is used to form the flat plate stacking assembly model according to the flat plate stacking assembly function and the flat plate stacking assembly constraint;

[0030] A control unit is used to control the flat plate stacking blank according to the flat plate stacking blank parameters, the flat plate stacking blank model and the flat plate stacking blank constraints.

[0031] The beneficial effect of the present invention is that it can take into account multi-faceted assembly conditions, and can reflect the response of the assembly conditions through slip parameters and reflection parameters, align the positions between adjacent flat plates in real time during the assembly process, and control the operating status of each flat plate when overlapping, thereby ensuring the certainty of the assembly results and assembly efficiency, and having high versatility and high reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0033] Figure 1 It is a block diagram of the control device for flat plate stacking and assembly in Example 1 of the present invention.

[0034] Figure 2 This is a flow chart of a control method for flat plate stacking assembly according to Example 2 of the present invention.

[0035] Figure 3 This is a distribution structure diagram of the flat plate stacking assembly in Example 2 of the present invention.

[0036] Figure 4 This is a flow chart of controlling the flat plate stacking assembly according to assembly parameters, assembly model and assembly constraints using the overall control team calculation algorithm in Example 2 of the present invention.

[0037] Figure 5 The present invention is a flowchart of the process of obtaining assembly parameters in the flat plate stacking assembly process using the overall control team calculation algorithm in Example 3 of the present invention.

[0038] Figure 6 This is a flow chart of the blank assembly process in the flat plate stacking blank assembly process using the overall control team calculation algorithm in Example 3 of the present invention.

[0039] In the figure: 10, receiving unit; 20, pre-processing unit No. 1; 30, pre-processing unit No. 2; 40, pre-processing unit No. 3; 50, control unit. DETAILED DESCRIPTION

[0040] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] Example 1

[0044] Reference Figure 1 A control device for flat-plate stacking blank assembly includes a receiving unit 10, a first pretreatment unit 20, a second pretreatment unit 30, a third pretreatment unit 40 and a control unit 50. The receiving unit 10 is used to obtain a structural distribution table and blank assembly conditions for the flat-plate stacking blank assembly; the first pretreatment unit 20 is used to determine the flat-plate stacking blank assembly parameters and blank assembly constraints according to the structural distribution table and the blank assembly conditions; the second pretreatment unit 30 is used to form a flat-plate stacking blank assembly function according to the structural distribution table and the blank assembly parameters; the third pretreatment unit 40 is used to form a flat-plate stacking blank assembly model according to the blank assembly function and the blank assembly constraints; and the control unit 50 is used to control the flat-plate stacking blank assembly according to the blank assembly parameters, the blank assembly model and the blank assembly constraints.

[0045] Example 2

[0046] Reference Figure 2A control method for flat plate stacking blanks comprises the following steps, which are described based on a control device for flat plate stacking blanks described in Example 1:

[0047] In step one, the receiving unit 10 obtains the structural distribution table and assembly conditions of the flat plate stacking blanks, wherein the first pre-processing unit 20 is used to determine the combination of the flat plate stacking blanks according to the structural distribution table and the assembly conditions, and can determine the flat plate stacking blank parameters and assembly constraints according to the combination of the flat plate stacking blanks.

[0048] The structural distribution table of the flat-plate stacking assembly includes: the structural distribution table of the flat-plate stacking assembly can be (2, 3, 4, 7) orders, and the order number is the number of layers of the flat-plate stacking assembly, for example, the layer structure of the material combination of [A, B, B, A, B, B, A], wherein A and B respectively represent flat plates of two different materials, forming a total of 7 symmetrical layer structures, and the assembly conditions may include the assembly order, assembly thickness, assembly type, assembly time, assembly interval and assembly equidistant plane coordinate axis; it should be noted that the assembly conditions are that an isolation layer is provided between flat-plate layers of the same material, and a bonding layer is provided between flat-plate layers of different materials.

[0049] Specifically, the assembly thickness is the thickness of each flat plate layer; the assembly type is the type of each flat plate layer; the assembly interval is the time it takes for the next flat plate to move horizontally to above the overlapping position after the previous flat plate is overlapped; the assembly time is the time it takes for the flat plate to move vertically toward the previous flat plate group that has completed the overlap and fit with it after the flat plate moves to just above the overlap position; the assembly equidistant plane coordinate system is a coordinate system established with the center of the flat plate as the coordinate origin, its long axis direction as the X direction, and its thickness direction as the Z axis direction.

[0050] Step 2: the first pre-processing unit 20 determines the flat plate stacking assembly parameters and assembly constraints according to the structure distribution table and assembly conditions.

[0051] The combination of the flat plate stacking blanks can be determined according to the structure distribution table and the blanking conditions, and the flat plate stacking blanking parameters and blanking constraints can be determined according to the combination of the flat plate stacking blanks. That is, the combination of the flat plate stacking blanks can be extracted from the structure distribution table, such as the layer structure of the material combination [A, B, B, A, B, B, A] according to the blanking conditions, i.e., the blanking order, blanking thickness, blanking type, blanking time, blanking interval and blanking isometric plane coordinate axis, to obtain the required blanking parameters and blanking constraints.

[0052] S2.1 Flat plate stacking parameters

[0053] The operand can be obtained according to the structural distribution table. The operand is determined by the number of layers of the flat plate in the layer structure. The operand indicates how many times the overlapping assembly process needs to be performed. The condition number can be obtained according to the operating conditions. The condition number is the number of conditions that need to be referenced and restricted when overlapping. Then, the possible combinations of all objects in a flat plate stacking assembly operation can be calculated based on the operand and the condition number, among which a certain combination of specific objects corresponds to a certain arrangement, and a certain arrangement corresponds to the dynamic iterative calculation of specific parameters and constraints.

[0054] In one embodiment of the present invention, the flat plate stacking blank assembly parameters may include sliding parameters and reflection parameters. In addition, it should be noted that the flat plate stacking blank assembly parameters are specifically used to indicate the sliding and reflection operations of the flat plate stacking blank, and to record the process and number of sliding and reflection operations. Figure 3 The meanings of the sliding and reflecting operations of the flat plate stacking assembly of the present invention are specifically explained.

[0055] Specifically, Figure 3 As shown, each batch of flat-plate stacking blanks may include m groups, each group containing n objects that need to be stacked. Figure 3 The arrangement of the objects on the transmission line is the form of input and output of the flat-plate stacking assembly operation in the embodiment of the present invention; the No. 1 equidistant surface (XZ plane passing through the center point of the flat plate) is a sliding and reflection equidistant surface; the No. 2 equidistant surface (YZ plane passing through the center point of the flat plate) is a sliding and reflection equidistant surface; the No. 3 equidistant surface (XY plane passing through the center point of the flat plate) is a sliding equidistant surface; the track during the assembly operation is represented by a dotted line, the flat-plate stacking assembly is reflection symmetric about the No. 1 and No. 2 equidistant surfaces, and the flat-plate stacking assembly slides along the No. 3 equidistant surface (along the horizontal direction) to the initial point of the assembly. More specifically, on the transmission line, the position change of object 1 in the flat-plate stacked assembly 1 with respect to the third equidistant surface from input to output can represent the slip of the flat-plate stacked assembly; the position change of object 1 in the flat-plate stacked assembly 1 with respect to the first and second equidistant surfaces from input to output can represent the reflection of the flat-plate stacked assembly; the position change of object n in the flat-plate stacked assembly 1 with respect to object 1 in the flat-plate stacked assembly 1 with respect to the Z-axis direction can represent the symmetrical reflection of the flat-plate stacked assembly structure, that is, the assembly process of a certain object simultaneously satisfies the reflection symmetry about the first and second equidistant surfaces and the slip on the third equidistant surface, and this slip is also symmetrical within the group, for example, the reflection symmetry of objects in the layer structure of the [A, B, B, A, B, B, A] material combination.

[0056] The symmetrical order of any one of the n objects in the flat plate stacking assembly 1 on the track can be expressed as the arrangement of the flat plate stacking assembly objects, and a flat plate stacking assembly process can be expressed as a set of changes in assembly conditions; in addition, the number of changes in the flat plate stacking assembly parameters can be used to represent the assembly thickness in the assembly conditions.

[0057] It should be noted that the control unit 50 can be specifically used to determine the flat plate stacking blank combination and blanking order according to the blanking parameters, and then control the flat plate stacking blanking according to the flat plate stacking blank combination and blanking order as well as the blanking constraints and the blanking model. Among them, the number of blanking conditions can be determined according to the size of the slip parameter and the reflection parameter in the blanking parameters, and the blanking condition order can be determined according to the direction of the slip parameter and the reflection parameter in the blanking parameters.

[0058] S2.1.1 Slip parameter: The slip parameter is used to indicate the speed at which the plates move along the Z axis toward the overlapped position when the adjacent plates overlap and slide. The slip parameter can be calculated by the following formula:

[0059]

[0060] in, is the slip parameter of the ith assembly condition, is the thickness of individual blanks during the flat plate stacking process, It is the individual assembly time during the flat plate stacking assembly;

[0061] S2.1.2 Reflection parameter. The reflection parameter is used to define the center point of the plate. The reflection parameter can be calculated using the following formula:

[0062] P′=R•P

[0063] Among them, P′ is the reflection parameter of the i-th flat plate assembly condition, R is the reflection matrix constructed by the normal vector of the equidistant surface, and P is the point to be reflected.

[0064] Specifically, the slip and reflection of the flat-plate stacking assembly can be controlled separately according to the assembly conditions:

[0065] For the jth reflection of the i-th flat plate stacking assembly (each flat plate has three groups of reflections, the side walls in the two XY planes are one group of reflections, the side walls in the two YZ planes are one group of reflections, and the side walls in the two XZ planes are one group of reflections. The three groups of reflections together define the center point of the flat plate).

[0066] Under polling, the current assembly process is , considering the previous assembly process , the last assembly process , then the sliding position change along the Z axis is , the direction is the positive direction of the coordinate axis, further considering the initial assembly state and the assembly speed coupled with acceleration , the expression of the flat plate stacking process can be obtained as:

[0067]

[0068] in, For iterative process, is the initial point of iteration, i, j, n are the number of iteration steps, is the billet assembly speed, is the sub-boundary thickness, is the subboundary duration, and [0,x] is the lower and upper limits of the subboundary.

[0069] S2.1.3 Blank thickness, blank thickness is the thickness of the flat plate, the blank thickness of the ith blank condition combination is N ii , the specific expression is:

[0070]

[0071] in, is the thickness of the ith batch in the ith batch process during the batch period, k is the batch order, It is the slip parameter or reflection parameter of the flat plate stacking assembly.

[0072] S2.1.4 Comparison parameters: when the assembly conditions of the stacking assembly structure are known, the stacking assembly process is simulated to verify the stacking assembly process. The comparison parameters are the average time and average thickness of multiple verifications of the stacking operation.

[0073] The comparison parameters of the i-th batch include average thickness and average time, and the specific expression is:

[0074]

[0075] in, is the average thickness, is the average time, s is the thickness combination of the billet, t e is the allowable assembly time, and n is the assembly count.

[0076] It should be noted that each assembly involves changes in the quantity of inputs and outputs. The quantity changes include both a reduction in the number of assembly combinations and changes in the arrangement state, so the assembly thickness and comparison parameters are used as the counting basis; in addition, since the original assembly conditions are input and the constraints are calculated, the assembly thickness and comparison parameters can be used as a basis for judging whether the constraints are met.

[0077] S2.2 Assembly constraints

[0078] In one embodiment of the present invention, the assembly constraints may include equidistant surface constraints, rate constraints, efficiency constraints and combination constraints of the flat plate stacking assembly.

[0079] S2.2.1 Equidistant surface constraint. The equidistant surface constraint is used to constrain the centers of adjacent plates to coincide with each other.

[0080] Among them, the equidistant surface constraint is the equidistant surface constraint of the i-th assembly between [1, k], and the specific expression is:

[0081] ax+by+cz+d=0

[0082] Among them, a is the length of the plate, b is the width of the plate, c is the height of the plate, d is the process distance of the lower plane of the plate, x, y, and z are coordinate axes, and k is the order of the plate stacking assembly.

[0083] S2.2.2 Assembly rate constraint: The assembly rate constraint is used to limit the speed at which a flat plate moves toward the previous flat plate when being overlapped along the Z-axis direction, so as to avoid impact between two adjacent flat plates, resulting in misalignment of the overlapped flat plate group and damage to the flat plates.

[0084] The specific expression of the assembly rate constraint is:

[0085]

[0086] Among them, V i is the running speed of the ith flat plate stacking assembly, S is the running thickness of the flat plate stacking assembly, and t is the running time of the flat plate stacking assembly.

[0087] S2.2.3 The specific expression of the efficiency constraint of billet assembly is:

[0088]

[0089] in, is the efficiency of speed expressed with respect to time, is the average speed of the ith flat plate stacking assembly, is the average speed of the i-th flat plate stacking assembly;

[0090] S2.2.4 Combination constraints: The combination constraints of assembly parameters are used to limit the efficiency of interlayer stacking assembly. The specific expression of the combination constraints of assembly parameters is:

[0091]

[0092] in, For maximum time efficiency, is the average time for the flat plate stacking assembly, t i is the time for the flat plate stacking assembly, and k is the order of the flat plate stacking assembly.

[0093] Step 3: The second pre-processing unit 30 forms a flat plate stacking assembly function according to the structure distribution table and assembly parameters.

[0094] In one embodiment of the present invention, an acceleration function of the assembled flat plate can be obtained according to the structure distribution table and the assembly parameters. The acceleration function is used to describe the acceleration of the process of adjacent plates moving close to each other. The acceleration function constitutes a flat plate stacking assembly function, wherein the expression of the assembly function can be:

[0095]

[0096] Among them, (Min)A i is the assembly function of the ith assembly condition, v0 is the initial velocity of the output of the ith assembly condition in the assembly process, is the sub-boundary thickness, is the sub-boundary duration.

[0097] Step 4: construct a flat plate stacking assembly model based on assembly functions and assembly constraints.

[0098] In one embodiment of the present invention, the geometric mean between objects can be obtained according to the assembly function and the assembly constraint to form a flat plate stacking assembly model, wherein the expression of the assembly model can be:

[0099]

[0100] in, The geometric mean of the distribution structure of the flat stack, x i is the thickness of each object in the flat plate stacking assembly, and n is the thickness of the flat plate stacking assembly.

[0101] Step five: the control unit 50 controls the flat plate stacking assembly according to the assembly parameters, assembly constraints and assembly model.

[0102] Specifically, the flat plate stacking blank combination and blanking order can be determined according to the blanking parameters, and then the flat plate stacking blank combination and blanking order as well as the blanking constraints and the blanking model can be used to control the flat plate stacking blanking. Among them, the number of blanking conditions can be determined according to the size of the slip parameter and the reflection parameter in the blanking parameters, and the blanking condition order can be determined according to the direction of the slip parameter and the reflection parameter in the blanking parameters.

[0103] More specifically, the overall control team calculation algorithm can be used to calculate the feasible solution of the flat plate stacking blank model according to the flat plate stacking blank combination and blanking order and blanking constraints to obtain the flat plate stacking blank result.

[0104] For example, Figure 4 As shown, the overall control team calculation algorithm is used to control the flat plate stacking blank according to the blank assembly parameters, blank assembly model and blank assembly constraints, including the following steps:

[0105] S5.1, adopting the overall control team calculation algorithm, by introducing the assembly constraints step by step, that is, introducing the isometric surface constraints, rate constraints, efficiency constraints of the flat plate stacking assembly, and the combined constraints of the assembly parameters step by step, iteratively solves the initial feasible solution of the assembly model;

[0106] S5.2 performs assembly calculation according to the equidistant surface constraint, and determines whether the calculation result satisfies the rate constraint. If so, execute step S5.3; if not, correct the parameters, i.e. reduce the slip speed, and then execute step S5.2 again;

[0107] S5.3, perform assembly calculation according to the rate constraint, and determine whether the calculation result meets the efficiency constraint. If yes, execute step S5.4; if not, modify the parameters, i.e., increase the sliding speed to improve the assembly efficiency, and then re-execute step S5.2;

[0108] S5.4, perform assembly calculation according to efficiency constraints, and determine whether the calculation result meets the combination constraints of assembly parameters. If so, output the calculation result; if not, correct the parameters, that is, reduce the combination quantity count by one, and then re-execute step S5.2.

[0109] It should be noted that the references for the correction parameters in steps S5.2 to S5.4 are: the rate constraint in step S5.2 is the average rate after traversing all objects, that is, the movement rate of each object in the flat-plate stacking assembly is dynamic, and the range of variation is the upper and lower limits of the ratio of the thickness of each object in the flat-plate stacking assembly to the assembly time, which is specifically reflected in the change of the slip parameter; the efficiency constraint in step S5.3 is an overall constraint, and the specific range is greater than or equal to the average value of the overall efficiency; the combination constraint in step S5.4 is the number of combinations of each object in the flat-plate stacking assembly, and the specific range is not greater than .

[0110] Example 3

[0111] The following will be combined Figure 3 and Figure 5 , Figure 6 The calculation process of the control method of the above-mentioned flat plate stacking assembly is specifically described. Figure 5 and Figure 6 The calculation process of the control method for the complete flat plate stacking assembly includes the following steps:

[0112] D01, obtain the assembly conditions {k, n, p, t e , t x , i, j, x, y, z}. Among them, k is the number of assembly steps, n is the thickness of the assembly, p is the type of assembly, t e is the assembly time, t xis the allowable assembly interval, i is the assembly main sequence, j is the assembly subsequence number, x is the coordinate axis of the equidistant surface of assembly No. 1, y is the coordinate axis of the equidistant surface of assembly No. 2, and z is the coordinate axis of the equidistant surface of assembly No. 3.

[0113] D02, determine the distribution structure boundary (a, b) and assembly constraints (r, v, η, c) of the flat plate stacking assembly. Among them, a is the lower boundary, b is the upper boundary (the upper boundary and the lower boundary are distributed along the X-axis direction), r is the equidistant surface constraint, v is the rate constraint, η is the efficiency constraint, and c is the combination constraint.

[0114] D03, calculate the initial feasible solution of the flat plate stacking assembly model, that is, the comparative parameters of the flat plate stacking assembly to be assembled.

[0115] D04, initialize n=0, the arrival time of the 0th flat plate object to be assembled is equal to 0, and the completion time of the 0th flat plate stacking to be assembled is equal to 0. Enter the assembly mode, calculate the flat plate stacking assembly parameters, and then execute step D05.

[0116] D05, start assembling, n=n+1. After this step, execute step D06, and at the same time execute D16 to determine whether the stacking conditions are met or traverse all parameters.

[0117] D06, determine the arrival interval Dx of the flat plate object, that is, the parameter of the flat plate arriving at the corresponding position, specifically the time difference of the flat plate arrival, or the waiting time. The waiting time of the nth flat plate object to be assembled is expressed as Dx n , total assembly time T n =T n-1+ Dx n .

[0118] D07, the arrival time of the nth flat panel object to be assembled is equal to the arrival time of the n-1th flat panel object to be assembled plus Dx n .

[0119] D08, judging whether the arrival time of the nth flat plate object to be assembled is greater than the completion time of the n-1th one. If yes, executing step D09, if no, executing steps D10 to D11 iteratively.

[0120] D09, the nth flat plate to be assembled starts to be assembled, so that the start time of the nth flat plate object is equal to the arrival time of the nth flat plate object.

[0121] D10, the nth flat plate object to be assembled waits for the previous one to complete assembly, so that the start time of the nth flat plate object is equal to the completion time of the n-1th one.

[0122] D11, the nth flat plate object to be assembled waits for the 1+ith flat plate objects to be assembled before it, so that the start time of the nth flat plate object is equal to the completion time of the n-(1+i)th flat plate object. After steps D09 to D11, step D12 is executed.

[0123] D12, making the waiting time of the nth flat plate object to be assembled equal to the starting time of the nth flat plate object minus the arrival time of the nth flat plate object. After step D12, step D13 is executed.

[0124] D13, calculate the generated assembly interval CX, that is, the start and end parameters of the target assembly, specifically the time difference of the target assembly. After step D13, execute step D14.

[0125] D14, calculate the completion time, the completion time of the nth flat object to be assembled is equal to the start time of the nth flat object plus CX. After step D14, execute step D15.

[0126] D15, calculate the online time, the online time of the nth flat plate object to be assembled is equal to the completion time of the nth flat plate object minus the arrival time of the nth flat plate object. Then execute return.

[0127] D16, determine whether the cascading condition is met or traverse all parameters. If yes, execute step D17, if not, execute step D07.

[0128] D17, output the results and execute flat plate stacking assembly.

[0129] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A control method for flat plate stacking assembly, characterized in that: The following steps are included: Step 1, obtaining a structural distribution table and assembly conditions of a flat plate stacked billet; Step 2, determining the flat plate stacking assembly parameters and assembly constraints according to the structure distribution table and the assembly conditions; Step three, constructing the flat plate stacking assembly function according to the structure distribution table and the flat plate stacking assembly parameters, the expression of the flat plate stacking assembly function is: , where (Min) Ai is the ith flat plate stacking assembly function, is the initial velocity of the ith plate in the assembly process, is the sub-boundary thickness, is the duration of the subboundary; Step 4: construct the flat plate stacking assembly model according to the flat plate stacking assembly function and the flat plate stacking assembly constraint. The expression of the assembly model is: ,in, The geometric mean of the distribution structure of the flat stack, x i is the thickness of each object in the flat plate stacking assembly, and n is the thickness of the flat plate stacking assembly; Step five, controlling the flat plate stacking blank assembly according to the flat plate stacking blank assembly parameters, the flat plate stacking blank assembly model and the flat plate stacking blank assembly constraints; in step five, determining the flat plate stacking blank assembly combination and blank assembly order according to the blank assembly parameters, and then controlling the flat plate stacking blank assembly according to the flat plate stacking blank assembly combination and blank assembly order as well as the blank assembly constraints and blank assembly model; In step five, the overall control team calculation algorithm is used to calculate the feasible solution of the flat plate stacking blank model according to the flat plate stacking blank combination and blanking order and blanking constraints to obtain the flat plate stacking blank result, which specifically includes the following steps: S5.1, adopting the overall control team calculation algorithm, by introducing the assembly constraints step by step, iteratively solves the initial feasible solution of the assembly model; S5.2 performs assembly calculation according to the equidistant surface constraint, and determines whether the calculation result satisfies the rate constraint. If so, execute step S5.3; if not, correct the parameters, i.e. reduce the slip speed, and then execute step S5.2 again; S5.3, perform assembly calculation according to the rate constraint, and determine whether the calculation result meets the efficiency constraint. If yes, execute step S5.4; if not, modify the parameters, i.e., increase the sliding speed to improve the assembly efficiency, and then re-execute step S5.2; S5.4, perform assembly calculation according to efficiency constraints, and determine whether the calculation result meets the combination constraints of assembly parameters. If so, output the calculation result; if not, correct the parameters, that is, reduce the combination quantity count by one, and then re-execute step S5.

2.

2. The control method for flat plate stacking and assembly according to claim 1, characterized in that: In step 2, the assembly parameters include slip parameters, reflection parameters, assembly thickness and comparison parameters. The slip parameters are used to indicate the speed at which the plates move toward the position to be overlapped along the Z-axis direction when overlapping and sliding between adjacent plates. The reflection parameters are used to define the center point of the plates. The assembly thickness is the thickness of the plate structure. The comparison parameters include the average time and average thickness of multiple verifications of overlapping operations.

3. The control method for flat plate stacking and assembly according to claim 2, characterized in that: The reflection parameter is calculated by the following formula: P′=R•P, wherein P′ is the reflection parameter of the i-th flat plate assembly condition, R is the reflection matrix constructed by the normal vector of the equidistant surface, and P is the point to be reflected.

4. The control method for flat plate stacking and assembly according to claim 3, characterized in that: According to the assembly conditions, the slip and reflection of the flat plate stacking assembly can be controlled separately, and the current assembly process is defined as , considering the previous assembly process , the last assembly process , then the sliding position change along the Z axis is , the direction is the positive direction of the coordinate axis, further considering the initial assembly state and the assembly speed coupled with acceleration , the expression of the flat plate stacking process is obtained as follows: ,in, For iterative process, is the initial point of iteration, i, j, n are the number of iteration steps, is the billet assembly speed, is the sub-boundary thickness, is the subboundary duration, and [0,x] is the lower and upper limits of the subboundary.

5. The control method for flat plate stacking and assembly according to claim 1, characterized in that: The assembly constraints include equidistant surface constraints, assembly rate constraints, assembly efficiency constraints and combined constraints. The equidistant surface constraints are used to constrain the centers of adjacent flat plates to coincide with each other. The assembly rate constraints are used to limit the speed at which a flat plate moves toward the previous flat plate when overlapping along the Z-axis direction. The assembly efficiency constraints and combined constraints are used to limit the time efficiency of assembly.

6. A control device for flat-plate stacking and assembly, used to implement the control method for flat-plate stacking and assembly as claimed in any one of claims 1 to 5, characterized in that: include: A receiving unit (10), the receiving unit (10) is used to obtain a structural distribution table and assembly conditions of a flat plate stacked assembly; A first pre-processing unit (20), the first pre-processing unit (20) being connected to the receiving unit and used for determining the flat plate stacking assembly parameters and assembly constraints according to the structure distribution table and the assembly conditions; A second pre-processing unit (30), the second pre-processing unit (30) being connected to the receiving unit and used for forming the flat plate stacking assembly function according to the structure distribution table and the flat plate stacking assembly parameters; A third pre-processing unit (40), the third pre-processing unit (40) being connected to the first pre-processing unit (20) and the second pre-processing unit (30), and being used for forming the flat plate stacking assembly model according to the flat plate stacking assembly function and the flat plate stacking assembly constraint; A control unit (50) is used to control the flat plate stacking blank according to the flat plate stacking blank parameters, the flat plate stacking blank model and the flat plate stacking blank constraints.

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