Automatic control system for blanking manipulator of stamping line

Abstract

The invention provides an automatic control system of a stamping line blanking manipulator, and relates to the technical field of stamping control, and the automatic control system comprises the following steps: determining a driving coordinate system of stamping line blanking equipment; taking the driving coordinate system as a reference, introducing a D-H principle, carrying out stamping line blanking simulation and interference avoidance analysis, and determining stamping line control logic which comprises automation logic and fine tuning logic; based on the press line control logic, logic program conversion is carried out, and the programmable controller is initialized; and the equipment end is connected with the programmable controller and cooperates with the split-screen operation panel to carry out automatic control and feedback regulation management on the blanking equipment of the press line. According to the method and the device, the technical problem that detailed connecting rod parameters cannot be determined for the manipulator and the tooling due to incomplete control logic of a control system in the prior art can be solved, and the technical target of accurate connecting rod parameter configuration is achieved; the technical effects of improving the movement precision of the manipulator, ensuring the operation stability and improving the production efficiency are achieved.

Description

Technical Field

[0001] The present application relates to the field of stamping control technology, and in particular to an automated control system for a punching line feeder robot. Background Art

[0002] In the current stamping line production process, the degree of automation of the material unloading process directly affects the production efficiency and quality. Although the existing stamping line unloading manipulator has achieved automation to a certain extent, its control system still has many defects.

[0003] At present, the control logic of the control system in the prior art is imperfect, and the detailed DH parameters of the connecting rod cannot be determined for the manipulator and the end picker, resulting in inaccurate calculation of the kinematic forward and inverse solutions, which in turn affects the motion accuracy of the manipulator. When determining the DH parameters of the connecting rod, the prior art fails to fully consider the geometric relationship and relative position of the connecting rod, resulting in insufficient precision in the parameter setting.

[0004] In summary, the prior art has a technical problem that due to the imperfect control logic of the control system, the detailed connecting rod DH parameters for the manipulator and the end picker cannot be determined, resulting in inaccurate calculation of the kinematic forward and inverse solutions, which further affects the motion accuracy and operating efficiency of the manipulator. Summary of the invention

[0005] The purpose of this application is to provide an automated control system for a punch line feeding robot, in order to solve the technical problem in the prior art that due to the imperfect control logic of the control system, detailed connecting rod parameters cannot be determined for the robot and the end picker, resulting in inaccurate calculation of kinematic forward and inverse solutions, further affecting the movement accuracy and operating efficiency of the robot.

[0006] In view of the above problems, the present application provides an automated control system for a press line feeding robot, including: a drive coordinate system determination module, the drive coordinate system determination module is used to determine the drive coordinate system of the press line feeding equipment, wherein the drive coordinate system includes a main coordinate system based on the drive body and a connecting rod coordinate system based on the feeding structure, the drive body is a gantry structure, and the feeding structure includes a robot and an end picker; a press line control logic determination module, the stamping line control logic determination module is used to use the drive coordinate system as a reference, introduce the DH principle, perform press line feeding simulation and interference avoidance analysis, and determine the stamping line control logic, the control logic includes automation logic and fine-tuning logic; a programmable controller initialization module, the programmable controller initialization module is used to perform logic program conversion and initialize the programmable controller based on the stamping line control logic; an automation control module, the automation control module is used to connect the programmable controller at the device end, and cooperate with the split-screen operation panel to perform automated control and feedback adjustment management of the press line feeding equipment.

[0007] One or more technical solutions provided in this application have at least the following technical effects or advantages: By determining the driving coordinate system of the punching line feeding equipment, wherein the driving coordinate system includes a main coordinate system based on the driving body and a connecting rod coordinate system based on the feeding structure, the driving body is a gantry structure, and the feeding structure includes a manipulator and an end pick-up; taking the driving coordinate system as a reference, the DH principle is introduced to perform punching line feeding simulation and interference avoidance analysis, and determine the punching line control logic, wherein the control logic includes automation logic and fine-tuning logic; based on the punching line control logic, logic program conversion is performed and the programmable controller is initialized; the device end is connected to the programmable controller, and the split-screen operation panel is coordinated to perform automated control and feedback adjustment management of the punching line feeding equipment. That is to say, by achieving the technical goals of precise connecting rod parameter configuration and motion control logic optimization, the technical effects of improving the motion accuracy of the manipulator, ensuring operational stability and improving production efficiency are achieved.

[0008] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented according to the contents of the specification, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are specifically cited below. It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easy to understand through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0010] Figure 1 This is a schematic diagram of the structure of the automated control system of the punch line feeder robot of this application; Figure 2 A schematic diagram of the flow of interference avoidance analysis in the automated control system of the punch line feeder robot in this application.

[0011] Description of reference numerals: 11 driving coordinate system determination module, 12 stamping line control logic determination module, 13 programmable controller initialization module, 14 automation control module. DETAILED DESCRIPTION

[0012] This application provides an automated control system for a press line feeder robot, solving the technical problem in the prior art that due to the imperfect control logic of the control system, detailed connecting rod parameters cannot be determined for the robot and the end picker, resulting in inaccurate calculation of kinematic forward and inverse solutions, which further affects the motion accuracy and operating efficiency of the robot. The technical goal of achieving accurate connecting rod parameter configuration and motion control logic optimization is achieved, achieving the technical effect of improving the motion accuracy of the robot, ensuring operational stability, and improving production efficiency.

[0013] Below, the technical solutions in the present application will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments of the present application. It should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application. It should also be noted that, for the convenience of description, only the parts related to the present application are shown in the accompanying drawings, rather than all of them.

[0014] Please see attached Figure 1 , the present application provides an automated control system for a punch line feeder robot, specifically comprising: A driving coordinate system determination module 11 is used to determine the driving coordinate system of the stamping line unloading equipment, wherein the driving coordinate system includes a main body coordinate system based on the driving body and a connecting rod coordinate system based on the unloading structure, the driving body is a gantry structure, and the unloading structure includes a manipulator and an end pick-up.

[0015] Specifically, when determining the driving coordinate system of the punch line feeding equipment, the structure of the driving coordinate system must be clarified first. The driving coordinate system includes a main coordinate system based on the driving body and a connecting rod coordinate system based on the feeding structure. The main coordinate system is a coordinate system established relative to the driving body, and the driving body is a gantry structure. The gantry structure is a frame structure used to support and guide the movement of the equipment. It covers the processing area and can move along the track. The connecting rod coordinate system is established based on the feeding structure, and the feeding structure mainly includes a manipulator and an end picker. The manipulator is a device used to move the material to the position of the punch press. The end picker is connected to the end of the manipulator for grabbing the material. The end picker fixes the material through a suction cup or a clamp to ensure that the material does not fall during the movement.

[0016] The stamping line control logic determination module 12 is used to use the driving coordinate system as a reference, introduce the DH principle, perform stamping line material unloading simulation and interference avoidance analysis, and determine the stamping line control logic, wherein the control logic includes automation logic and fine-tuning logic.

[0017] Specifically, the DH principle is a robot kinematic analysis method. By defining parameters such as connecting rod length, connecting rod offset, joint angle and joint torsion angle, a mathematical model of the robot arm is established, making it more accurate when calculating the relative position and posture of the connecting rod. Based on the driving coordinate system, the DH principle is introduced to simulate the unloading process of the press line and the interference avoidance analysis, that is, the DH principle is used to establish the connecting rod coordinate system of the loading and unloading manipulator and the end picker, and the kinematic forward and inverse solutions are calculated, and then the Jacobian matrix and the logical steps of the forward solution of the manipulator speed and acceleration are obtained, the control logic is determined, and the driving main control logic under the main gantry is coordinated, and then the unloading process of the press line is simulated, including the path of the material moving from one position to another, to ensure that the manipulator does not collide with the equipment when moving. The control logic includes automation logic and fine-tuning logic. The automation logic refers to the instruction flow of the press line to automatically complete the unloading process under standard operation. The fine-tuning logic is the adjustment principle for control errors and deviations that may exist in automation control.

[0018] The programmable controller initialization module 13 is used to perform logic program conversion and initialize the programmable controller based on the stamping line control logic.

[0019] Specifically, according to the control logic of the stamping line, the logic program is converted, and the original control logic is rewritten and configured to adapt to the format of the programmable controller. Control logic refers to the rules and instructions used to manage and guide the operation of equipment during the stamping production process. For example, the stamping machine is set to stay for 2 seconds after each stamping to ensure the cooling of the mold. Through logic program conversion, the logic program is converted into instructions that the programmable controller can recognize and execute, such as using ladder diagrams or function block diagrams to describe the operating status and process of the equipment. Next, initializing the programmable controller means loading the converted program into the programmable controller and setting it up so that it has the ability to execute specific control logic. In this process, initialization may involve setting input and output parameters, such as setting the input port of the programmable controller to receive signals from the sensor, and the output port to control the operating status of the servo motor, ensuring that the stamping line can be accurately operated according to the set control logic in actual operation, thereby improving production efficiency and product quality.

[0020] The automation control module 14 is used to connect the programmable controller at the equipment end and cooperate with the split-screen operation panel to perform automation control and feedback adjustment management of the stamping line unloading equipment.

[0021] Specifically, in the automated control of the stamping line, the equipment side receives instructions and feedback information by connecting to a programmable controller to achieve automated operation. The programmable controller executes the preset control logic, such as controlling the robot to move to the next position and prepare for unloading after completing the stamping operation. The split-screen operation panel is a multi-screen display system used to monitor different equipment states and parameters in real time, such as displaying information such as stamping pressure, temperature, and position feedback. By combining the programmable controller and the split-screen operation panel, the operator can view real-time feedback information and monitor the equipment status. For example, when the position of the robot deviates by more than 1 mm, the split-screen panel will trigger an alarm and display the position deviation data, and then automatically adjust the equipment parameters to restore to the preset state, thereby ensuring the stable operation of the entire stamping line unloading equipment.

[0022] The automated control system of the press line unloading robot can achieve the technical goals of accurate connecting rod parameter configuration and motion control logic optimization, and achieve the technical effects of improving the robot's motion accuracy, ensuring operational stability and improving production efficiency.

[0023] Furthermore, the present application also includes: For the manipulator and the end picker, the connecting rod DH parameters are determined, wherein each connecting rod corresponds to a set of DH parameters, and the DH parameters include connecting rod length, connecting rod torsion angle, connecting rod distance and connecting rod angle; based on the connecting rod DH parameters, kinematic forward and inverse solution calculations are performed in combination with simulation data to define a Jacobian matrix, wherein the Jacobian matrix describes the relationship between the joint motion vector and the end picker motion vector; the Jacobian matrix is ​​used to determine the first automation logic in the connecting rod coordinate system.

[0024] Specifically, for the design of manipulators and end pickers, it is first necessary to determine the DH parameters of each link. DH parameters refer to a set of parameters that describe the position and posture of the robot arm's links, where each link corresponds to a set of DH parameters. Among them, DH parameters include link length, link torsion angle, link distance, and link angle. The link length represents the straight-line distance between the two links; the link torsion angle represents the rotation angle between adjacent links; the link distance is the axial distance from one joint to the next joint; and the link angle describes the deflection angle between the links. DH parameters help determine the geometric position and spatial posture of the robot.

[0025] Next, after obtaining the DH parameters, the kinematic forward and inverse solutions of the manipulator are calculated, and the motion of the manipulator is further analyzed in combination with the simulation data. The kinematic forward solution refers to calculating the position of the end pick when each joint angle is known, for example, the end pick reaches a specific position when the joint angles are 30 degrees, 45 degrees, and 60 degrees. The inverse kinematic solution is to calculate the required joint angles after the end pick position is known, such as inferring the joint angles when the end pick reaches a certain position. Through the kinematic forward and inverse solution calculations, the Jacobian matrix can be defined. The Jacobian matrix describes the relationship between the joint motion vector and the end pick motion vector, which facilitates the calculation of the conversion relationship between force and speed.

[0026] Finally, the calculation results of the Jacobian matrix can be used to determine the first automation logic in the link coordinate system, thus realizing the automated operation of the manipulator in the standard path.

[0027] Through the DH parameter analysis, kinematic calculation and Jacobian matrix definition of the robot, precise control from the robot joint angle to the end pick-up movement can be formed, which ultimately provides a basis for the automation logic in the connecting rod coordinate system of the stamping line, making the entire blanking process more efficient and accurate.

[0028] Furthermore, the present application also includes: Based on the manipulator and the end picker, N connecting rods are determined; base coordinate systems are respectively constructed for the N connecting rods, and connecting rod DH parameters are determined, wherein the connecting rod DH parameters are determined based on the geometric relationship and relative position of the connecting rods.

[0029] Specifically, according to the structural characteristics of the manipulator and the end picker, the number of connecting rods is determined to form the entire mechanical system, and N connecting rods are obtained. The number of connecting rods determines the degree of freedom of the manipulator, that is, the number of independent motion directions it can achieve in space. For example, a manipulator with 6 connecting rods has 6 degrees of freedom and can achieve complex positioning and posture adjustment in the X-axis, Y-axis, and Z-axis directions.

[0030] Next, the base coordinate system is a coordinate system used to define the position of each link and is used as a reference point to establish the relationship between adjacent links. A base coordinate system is established for each of the N links to accurately describe the position and orientation of each link. For example, if the base coordinate system of the first link is referenced to the origin, the base coordinate system of the second link is located at the end of the first link and is positioned relative to it according to a specific angle and distance.

[0031] Then, the DH parameters of each link are determined in the base coordinate system, and the DH parameters are determined based on the geometric structure and relative position of the link. The DH parameters mainly include the length, torsion angle, angle and distance of the link, which are defined according to the physical relationship between the links, and then clarify the connection mode and motion characteristics between the various parts of the manipulator.

[0032] By determining the number of N links, constructing the base coordinate system of each link and determining the corresponding DH parameters, the structure and relative position of the manipulator can be accurately described, providing a basis for subsequent kinematic calculations and control logic.

[0033] Furthermore, the present application also includes: From the first joint to the end effector, the joint motion vector is used as the independent variable, the end effector motion vector is used as the dependent variable, and kinematic analysis is performed in combination with the simulation data, wherein the first joint is a connecting rod connection joint far away from the end effector; wherein the first joint is used as the head end and the end effector is used as the tail end for the kinematic forward direction; wherein the end effector is used as the head end and the first joint is used as the tail end for the kinematic reverse direction, and the conversion of the connecting rod coordinate system is used as the calculation principle.

[0034] Specifically, the first joint is a connecting rod joint far away from the end picker, that is, the first joint and the end picker are the connecting rod joints at the ends of the manipulator. In the movement from the first joint of the manipulator to the end picker, the motion vector of the joint is used as the independent variable, and the motion vector of the end picker is used as the dependent variable. The joint motion vector represents the rotation or translation amplitude of each joint, while the motion vector of the end picker represents the change in the final position of the end picker in space. Combined with the simulation data, the variables of each joint (such as angle or displacement) can be calculated, and the position and posture of the end effector (such as the end picker) can be calculated.

[0035] Next, define the kinematics forward and reverse directions to clarify the calculation order of the robot arm movement. When the first joint is used as the starting point and the end effector is used as the end point, it is called the kinematics forward direction, that is, the position of the end effector is calculated step by step from the direction away from the end effector to the end effector. The reverse direction is an analysis method with the end effector as the starting point and the first joint as the end point, which is used to calculate the joint angle required to reach the specified position.

[0036] The kinematic calculation is based on the transformation of the link coordinate system, that is, the overall displacement from the first joint to the end effector is calculated by the coordinate transformation of each link. The link coordinate system is established based on the reference point of each link. As the manipulator moves, the relative position of each link changes. The final position of the end effector or the required joint angle can be gradually obtained through coordinate transformation.

[0037] Forward and inverse kinematics analysis is established through the relationship between the joint motion vector and the end pick motion vector. Combined with the transformation of the connecting rod coordinate system, the precise position calculation of the manipulator is realized, thus providing data support for path planning and motion control in complex operations.

[0038] Furthermore, the present application also includes: The main body coordinate system includes an X1 axis, an X2 axis, a Y axis and a Z axis; based on the main body coordinate system and in combination with simulation data, the second automation logic of the driving body is determined, wherein the second automation logic is used to control the coordinated movement of the gantry structure and the manipulator; based on the operation standard of unloading of the stamping line, the first automation logic and the second automation logic are integrated to determine the automation logic.

[0039] Specifically, the main coordinate system consists of the X1 axis, X2 axis, Y axis and Z axis, and each axis is used to describe the position and direction of the driving body in three-dimensional space. Among them, the X1 axis and X2 axis represent the feed axis, and the feed axis adjustment amount is simulated by the opening and closing device, such as a range greater than ±200 mm; the Y axis represents the lateral movement axis, and the lateral movement range on both sides is 0 to 350 mm; the Z axis represents the lifting axis, which is used to simulate the end picker construction scene at different heights. The axis position takes the workbench table as the origin, and the adjustment range is 600 to 1500 mm. When simulating the end picker, the end pickers are installed on both sides of the simulated main rod, and the lateral movement function of the end pickers on both sides is realized through the X1 axis and X2 axis, the forward and backward movement of the end picker is realized through the Y axis, and the lifting and lowering of the end picker is realized through the Z axis.

[0040] Based on the main body coordinate system as the control basis, the simulation of the simulation data is performed to determine the second automation logic of the driving body. The second automation logic is mainly used to control the movement of the gantry structure to coordinate with the movement of the manipulator to ensure that each step of the operation is completed according to the predetermined path.

[0041] Next, based on the standard operating procedures for unloading materials from the press line, the first automation logic and the second automation logic are integrated to form an overall automation logic. The automation logic coordinates the movements of the manipulator and the gantry structure to ensure a stable and efficient unloading process. For example, the first automation logic of the manipulator can be activated after detecting that the material is in place, while the second automation logic of the gantry structure is responsible for ensuring that there is no interference during the movement of the manipulator, ultimately achieving automated control of the entire press line unloading process.

[0042] By establishing the main body coordinate system and combining the simulation data analysis to drive the main body's automation logic, the logic of the robot and the driving body are finally integrated into one, forming an automation system that ensures the efficient operation of the stamping line unloading process.

[0043] Furthermore, the present application also includes: A limit control logic is set and added to the automation logic, wherein the limit control logic performs limit constraints on the driving body to prevent deviation; when the driving body reaches the first target position, an in-position locking control is performed, wherein the motor brake and the pneumatic positioning locking mechanism are used as the locking methods, and the in-position locking control is performed by triggering any locking method.

[0044] Specifically, limit control logic is added to the automation logic to ensure that the movement of the driving body does not exceed the specified range. The function of the limit control logic is to prevent the driving body from running off the track and keep it within the set running path to prevent it from deviating from the safe range.

[0045] Then, when the driving body reaches the first target position, the in-position locking control is performed to ensure that the driving body remains stable in a specific position and is not moved by external forces. In the locking control, a motor brake or a pneumatic positioning locking mechanism is used as the locking method. The motor brake stops the movement and locks it through the braking function of the motor, while the pneumatic positioning locking mechanism locks the mechanical position through a cylinder or a pneumatic device. For example, when the driving body reaches the target position, the pneumatic locking mechanism can apply a force of 10 Newtons within 1 second to lock the position to ensure that it will not move due to vibration or interference after it is in place. Select any locking method from the motor brake and the pneumatic positioning locking mechanism as needed. If one of them is triggered successfully, the in-position locking control can be completed.

[0046] By limiting the range of motion of the driving body, it is prevented from deviating from the set path, and the in-position locking control locks the driving body after it reaches the target position, thereby ensuring the accuracy and stability of the driving body at the key position and constituting the safety guarantee of the automation control system.

[0047] Further, if Figure 2 As shown, this application also includes: In combination with simulation data, an assembly compatibility analysis is performed on the end picker to determine a first adjustment strategy, wherein the first adjustment strategy is used to correct the design or motion parameters of the end picker; an interference avoidance analysis is performed on the end picker to determine a second adjustment strategy, wherein the interference avoidance analysis includes the influence of motion interference under all operating actions, and the second adjustment strategy is used to avoid interference situations; the first adjustment strategy and the second adjustment strategy are fitted to determine the configuration strategy of the end picker.

[0048] Specifically, by combining simulation data, the end picker is subjected to assembly compatibility analysis to ensure that the end picker can match the manipulator and other equipment. The purpose of assembly compatibility analysis is to check whether the end picker is suitable for the range of motion and position requirements of the manipulator under different working conditions. For example, when the length of the end picker is 20 cm, assembly compatibility analysis can help determine whether it can move freely without affecting other components, thereby deriving the first adjustment strategy for correcting the design or motion parameters of the end picker.

[0049] Then, the end effector is subjected to interference avoidance analysis to determine how to avoid conflicts between the end effector and surrounding equipment in actual operation. Interference avoidance analysis evaluates whether the end effector may hit other structural components when completing the full operation action, especially when the end effector moves or rotates in multiple directions. For example, if the end effector may contact adjacent mechanical components when rotating to a certain angle, the interference avoidance analysis will provide a second adjustment strategy to avoid interference.

[0050] Next, the first adjustment strategy is fitted with the second adjustment strategy to comprehensively form the final configuration strategy of the end effector. Through fitting, an optimization solution that ensures assembly compatibility and effectively avoids interference can be obtained. For example, under the premise of ensuring that the end effector can reach all target positions, the configuration strategy can limit the movement of the end effector at certain angles to avoid collision.

[0051] The first adjustment strategy of the end effector is provided through assembly compatibility analysis, the second adjustment strategy is provided by interference avoidance analysis, and finally the configuration strategy of the end effector is determined, so as to realize safe and effective work in actual operation.

[0052] Furthermore, the present application also includes: With respect to the monitoring dimensions based on the split-screen operation panel, key operation nodes are determined, monitoring data with the same timestamp are combined, and a real-time monitoring interface is determined; based on the assembly accuracy standard, the accuracy decoupling and allocation in the entire operation cycle is determined, and the node deviation constraints of each operation node are determined; based on the node deviation constraints, feedback adjustment management of the stamping line unloading equipment is carried out in coordination with the system automation feedback loop and manual supervision.

[0053] Specifically, for the multiple monitoring dimensions involved in the split-screen operation panel, determine the key operation nodes that need to be focused on so that a combined analysis of real-time data can be performed on the key operation nodes. At each key operation node, by synchronizing the monitoring data of each dimension, that is, combining multiple monitoring item data at the same timestamp, the real-time monitoring interface can fully display the equipment operation status. For example, if the operation nodes of the stamping equipment are pressure monitoring and temperature monitoring, the data of both are displayed at the same time when the timestamp is 1 second for comprehensive monitoring.

[0054] Next, based on the assembly accuracy standard, the operating accuracy of the equipment in the entire cycle is analyzed, the accuracy requirements are decoupled and distributed to each operation node, and the allowable error range and deviation constraints of each node are obtained. The assembly accuracy standard refers to the overall accuracy requirements of the equipment when completing the entire stamping cycle, and the accuracy decoupling and distribution is to decompose the overall accuracy to each operation node. For example, if the assembly accuracy is 0.5 mm, the deviation constraint of each node can be set to 0.1 mm to ensure that the cumulative error does not exceed the requirements.

[0055] Finally, according to the deviation from the constraint conditions, the system uses a combination of automated feedback loops and manual supervision to manage the feed-back adjustment of the punching line feed equipment. The automated feedback loop can monitor the equipment's deviation from the constraint in real time and automatically make fine adjustments, while manual supervision intervenes in the operation when abnormal conditions occur, such as triggering a manual inspection when the deviation from the constraint exceeds 0.2 mm.

[0056] By synchronously monitoring data at key nodes, decoupling and allocating precision to determine the deviation constraints of each node, and combining automated and manual feedback adjustments, precise monitoring and management of press line unloading equipment is achieved, ensuring that the equipment operates efficiently and meets precision requirements.

[0057] In summary, the automated control system of the press line feeding robot provided in this application has the following technical effects: By determining the driving coordinate system of the punching line feeding equipment, wherein the driving coordinate system includes a main coordinate system based on the driving body and a connecting rod coordinate system based on the feeding structure, the driving body is a gantry structure, and the feeding structure includes a manipulator and an end pick-up; taking the driving coordinate system as a reference, the DH principle is introduced to perform punching line feeding simulation and interference avoidance analysis, and determine the punching line control logic, wherein the control logic includes automation logic and fine-tuning logic; based on the punching line control logic, logic program conversion is performed and the programmable controller is initialized; the device end is connected to the programmable controller, and the split-screen operation panel is coordinated to perform automated control and feedback adjustment management of the punching line feeding equipment. That is to say, by achieving the technical goals of precise connecting rod parameter configuration and motion control logic optimization, the technical effects of improving the motion accuracy of the manipulator, ensuring operational stability and improving production efficiency are achieved.

[0058] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0059] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the present application and its equivalent technology, the present application is also intended to include these modifications and variations.

Claims

1. The automatic control system of the punching line feeding robot is characterized by: include: A driving coordinate system determination module, the driving coordinate system determination module is used to determine the driving coordinate system of the punch line feeding device, wherein the driving coordinate system includes a main body coordinate system based on the driving body and a connecting rod coordinate system based on the feeding structure, the driving body is a gantry structure, and the feeding structure includes a manipulator and an end picker; A stamping line control logic determination module, which is used to use the driving coordinate system as a reference, introduce the DH principle, perform stamping line feed simulation and interference avoidance analysis, and determine the stamping line control logic, wherein the control logic includes automation logic and fine-tuning logic; A programmable controller initialization module, the programmable controller initialization module is used to perform logic program conversion and initialize the programmable controller based on the stamping line control logic; The automation control module is used to connect the programmable controller at the equipment end and cooperate with the split-screen operation panel to perform automation control and feedback adjustment management of the stamping line unloading equipment.

2. The automatic control system of the punching line unloading robot according to claim 1, characterized in that: The control logic includes automation logic, including: Determine the connecting rod DH parameters for the manipulator and the end picker, wherein each connecting rod corresponds to a set of DH parameters, and the DH parameters include connecting rod length, connecting rod torsion angle, connecting rod distance and connecting rod angle; Based on the connecting rod DH parameters, kinematic forward and inverse solutions are calculated in combination with simulation data to define a Jacobian matrix, wherein the Jacobian matrix describes the relationship between the joint motion vector and the end picker motion vector; The Jacobian matrix is ​​used to determine the first automation logic in the link coordinate system.

3. The automatic control system of the punching line unloading robot according to claim 2, characterized in that: Determining the connecting rod DH parameters includes: Based on the manipulator and the end tool, determining N connecting rods; A base coordinate system is constructed for each of the N connecting rods, and connecting rod DH parameters are determined, wherein the connecting rod DH parameters are determined based on the geometric relationship and relative position of the connecting rods.

4. The automatic control system of the punching line unloading robot according to claim 2, characterized in that: Combine simulation data to perform kinematic forward and inverse solution calculations, including: From the first joint to the end effector, a kinematic analysis is performed in combination with the simulation data, using the joint motion vector as an independent variable and the end effector motion vector as a dependent variable, wherein the first joint is a connecting rod joint far away from the end effector; Among them, the kinematic forward direction is taking the first joint as the head end and the end effector as the tail end; the kinematic reverse direction is taking the end effector as the head end and the first joint as the tail end, and the conversion of the connecting rod coordinate system is used as the calculation principle.

5. The automatic control system of the punching line unloading robot according to claim 2, characterized in that: The control logic includes automation logic, including: The main body coordinate system includes an X1 axis, an X2 axis, a Y axis and a Z axis; Based on the main body coordinate system and in combination with the simulation data, determining the second automation logic of the driving body, wherein the second automation logic is used to control the coordinated movement of the gantry structure and the manipulator; The automation logic is determined by integrating the first automation logic and the second automation logic based on the operation standard of unloading material on the stamping line.

6. The automatic control system of the punching line unloading robot according to claim 1, characterized in that: The control logic includes automation logic, including: Setting a limit control logic and adding it into the automation logic, wherein the limit control logic performs a limit constraint on the driving body to prevent deviation; When the driving body reaches the first target position, in-position locking control is performed, wherein the motor brake and the pneumatic positioning locking mechanism are used as locking methods, and the in-position locking control is performed by triggering any locking method.

7. The automatic control system of the punching line unloading robot according to claim 1, characterized in that: Conduct interference avoidance analysis, including: In combination with the simulation data, an assembly compatibility analysis is performed on the end effector to determine a first adjustment strategy, wherein the first adjustment strategy is used to correct the design or motion parameters of the end effector; Performing interference avoidance analysis on the end picker to determine a second adjustment strategy, wherein the interference avoidance analysis includes the influence of motion interference under the full operation motion, and the second adjustment strategy is used to avoid the interference situation; The first adjustment strategy and the second adjustment strategy are fitted to determine the configuration strategy of the end effector.

8. The automatic control system of the punching line unloading robot according to claim 1, characterized in that: Conduct feedback adjustment management of press line feeder equipment, including: Based on the monitoring dimensions of the split-screen operation panel, key operation nodes are determined, monitoring data with the same timestamp are combined, and a real-time monitoring interface is determined; Based on the assembly accuracy standard, determine the accuracy decoupling and allocation in the entire operation cycle, and determine the node deviation constraint conditions of each operation node; Based on the node deviation constraint conditions, feedback adjustment management of the stamping line unloading equipment is carried out in coordination with the system automated feedback loop and manual supervision.

Images