Production line simulation method and system for production line takt, and electronic equipment

Abstract

The invention relates to the technical field of production line simulation, and discloses a production line simulation method and system for production line takt, and electronic equipment. According to the method, path planning is conducted on the target mechanical arm in the target production line, the production line takt and the mechanical arm path are obtained, then region division is conducted on the mechanical arm path through the preset partition factors, multiple path segments are obtained, smoothing processing is conducted according to the path limiting conditions for the different preset partition factors, and the target path is obtained. Therefore, the production line takt is simulated according to the target path corresponding to the production line takt, the takt simulation result is obtained, the mechanical arm path and the production line takt are adjusted in a targeted mode, simulation of the production line takt is smoother and more efficient, preliminary optimization of the production line takt before simulation is achieved, and the production line takt simulation efficiency is improved. And the subsequent rhythm optimization period is effectively shortened, so that the overall production efficiency of the production line is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of production line simulation, and in particular to a production line simulation method, system and electronic equipment for production line beat. Background Art

[0002] In modern manufacturing, stamping production lines are key links in the field of metal processing. Their production efficiency and flexibility are directly related to the market competitiveness of enterprises. Production line beat, as an important indicator to measure the number of products processed per unit time, is of vital importance to optimizing production processes, improving production capacity and reducing costs.

[0003] At present, if the optimization of production line rhythm relies on manual experience or trial and error, the optimization cycle is long and the optimization cost is high. Usually, a production line simulation model is established based on production line components such as stamping machines, conveyor belts, robots and their interaction logic, and then the production line rhythm of the stamping production line is evaluated and optimized based on the simulation results.

[0004] However, each time the production line undergoes adjustment, the production line rhythm needs to be optimized. However, the simulation model is complex to build and contains a large amount of production line data. The parameters related to the production line rhythm include but are not limited to equipment speed, layout design, buffer size, etc. The degree of influence between the parameters is difficult to judge intuitively, making it difficult to determine the parameter range required to optimize the production line rhythm, which greatly prolongs the optimization cycle of the production line rhythm and reduces the production efficiency of the production line. Summary of the invention

[0005] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0006] In view of the above-mentioned shortcomings of the prior art, the present application provides a production line simulation method, system and electronic equipment for production line rhythm, so as to reduce the optimization cycle of the production line rhythm.

[0007] The present application provides a production line simulation method for production line beat, including: obtaining production line model parameters corresponding to a target production line; performing path planning for the target robot arm according to the production line model parameters to solve the production line beat corresponding to the target production line, and generating a robot arm path corresponding to the production line beat; dividing the robot arm path into regions according to preset partitioning factors to obtain multiple path segments, and generating path restriction conditions corresponding to each of the path segments, so as to smooth the robot arm path according to the path restriction conditions to obtain a target path, wherein the preset partitioning factors include at least one of a material transportation stage, a path endpoint and a moving direction; modeling is performed according to the production line model parameters to obtain a production line simulation model, and simulation is performed according to the target path through the production line simulation model to obtain a beat simulation result corresponding to the production line beat.

[0008] In one embodiment of the present application, the robot path is divided into regions according to a preset partitioning factor to obtain a plurality of path segments, including: dividing the robot path into regions according to a plurality of preset material transportation stages to obtain a stage path corresponding to each of the material transportation stages, wherein the stage path includes at least a material picking node and a material feeding node; taking the material picking node and the material feeding node as path endpoints of the robot path, setting a mold area boundary according to each of the path endpoints, so as to divide the robot path into regions according to the mold area boundary to obtain a plurality of mold area inner segments, wherein the mold area inner segments include at least one of a material picking inner segment, a material feeding inner segment, a material feeding inner segment and a return inner segment; dividing each of the mold area inner segments according to the moving direction of the target robot arm to obtain a plurality of direction segments corresponding to each of the mold area inner segments, wherein the direction segment corresponding to any mold area inner segment includes at least one of a vertical segment, a transition segment and a horizontal segment; taking at least a part of the stage path, the mold area inner segment and the direction segment as a path segment.

[0009] In one embodiment of the present application, the path restriction conditions corresponding to the path segment are generated, including at least one of the following: controlling the ratio between the first length and the second length to be less than a preset first threshold value, the preset first threshold value is less than or equal to 25%, wherein the first length is the path length of the vertical segment in the material path mapped in the vertical direction, and the second length is the path length of the material path mapped in the vertical direction; controlling the ratio between the third length and the fourth length to be less than a preset second threshold value, the preset second threshold value is less than or equal to 10%, wherein the third length is the path length of the vertical segment in the inner section of the return trip, and the fourth length is the path length of the inner section of the return trip; controlling the ratio between the fifth length and the sixth length to be less than a preset third threshold value, the preset third threshold value is less than or equal to the preset second threshold value, wherein the fifth length is the path length of the vertical segment in the second feeding segment, the sixth length is the path length of the feeding inner segment, and the second feeding segment is the robot arm path between the feeding node and the inner section of the return trip.

[0010] In one embodiment of the present application, the robot arm path is smoothed by at least one of the following methods: adjusting the position of the material picking node and / or the material feeding node; adjusting the path length mapped in the vertical direction of the inner section of the mold area; adjusting the movement time of the target robot arm through the return inner section; adjusting the robot arm parameters corresponding to the target robot arm, wherein the robot arm parameters include one or more of the robot arm pause time, the robot arm speed ratio, the robot arm cross bar rotation angle and the material discharge waiting time.

[0011] In one embodiment of the present application, path planning is performed on the target robot arm according to the production line model parameters to solve the production line rhythm corresponding to the target production line, and a robot arm path corresponding to the production line rhythm is generated, including: obtaining the current production parameters of the target production line; inputting the production line model parameters and the current production parameters into a preset path planning tool, and using the path planning tool to perform path planning according to the production line model parameters and the current production parameters to solve the production line rhythm; if the production line rhythm does not meet the preset expected rhythm, adjusting the first target parameter until the production line rhythm output by the path planning tool meets the preset expected rhythm, wherein the first target parameter includes the production line model parameter and / or the current production parameter; if the production line rhythm meets the preset expected rhythm, the robot arm path corresponding to the production line rhythm is obtained through the path planning tool.

[0012] In one embodiment of the present application, the production line simulation model is simulated according to the target path to obtain a beat simulation result corresponding to the production line beat, including: inputting the production line simulation model and the target path into a preset production simulation software, and using the production simulation software to perform production simulation on the target production line to obtain a beat simulation result.

[0013] In one embodiment of the present application, after simulating according to the target path through the production line simulation model to obtain the beat simulation result corresponding to the production line beat, the method also includes: if the beat simulation result does not meet the preset expected simulation result, determining the interfering workstation from the target production line, and adjusting the second target parameters corresponding to the interfering workstation until the beat simulation result meets the expected simulation result, wherein the second target parameters include at least one of the production line model parameters, the current production parameters, the target path and the production line beat; if the beat simulation result meets the expected simulation result, obtaining the current second target parameters, and driving the target production line according to the second target parameters.

[0014] In one embodiment of the present application, after simulating according to the target path through the production line simulation model and obtaining the beat simulation result corresponding to the production line beat, the method also includes: the target production line also includes an upper die, a lower die, a slider and a blank holder; obtaining threshold data corresponding to the target robotic arm, and obtaining simulation data corresponding to the blank holder, wherein the threshold data includes a robotic arm material picking angle and a robotic arm material discharge angle, and the simulation data includes a lower dead point angle corresponding to the slider and a fitting angle between the upper die and the blank holder; establishing a blank holder restriction condition corresponding to the blank holder according to the threshold data, wherein the blank holder restriction The constraint conditions include at least one of the first constraint condition, the second constraint condition and the third constraint condition, the first constraint condition includes that the locking angle of the blank holder is smaller than the material picking angle of the robot arm, the second constraint condition includes that the starting lifting angle of the blank holder is smaller than the material picking angle of the robot arm, and the third constraint condition includes that the full lifting angle of the blank holder is smaller than the material discharge angle of the robot arm; the blank holder constraint conditions and the simulation data are input into the production simulation software, and the production simulation software is used to perform simulation according to the production line simulation model to obtain the optimization data corresponding to the blank holder, wherein the optimization data includes the locking height and / or the lifting stroke.

[0015] The present application provides a production line simulation system for production line rhythm, including: an acquisition module, used to acquire production line model parameters corresponding to a target production line; a path module, used to perform path planning for the target robot arm according to the production line model parameters, so as to solve the production line rhythm corresponding to the target production line, and generate a robot arm path corresponding to the production line rhythm; a partitioning module, used to divide the robot arm path into regions according to a preset partitioning factor to obtain a plurality of path segments, and generate path restriction conditions corresponding to each of the path segments, so as to smooth the robot arm path according to the path restriction conditions to obtain a target path, wherein the preset partitioning factor includes at least one of a material transportation stage, a path endpoint and a moving direction; a simulation module, used to perform modeling according to the production line model parameters to obtain a production line simulation model, and perform simulation according to the target path through the production line simulation model to obtain a rhythm simulation result corresponding to the production line rhythm.

[0016] The present application provides an electronic device, comprising: a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device executes the above method.

[0017] Beneficial effects of this application:

[0018] By planning the path of the target robot in the target production line, the production line beat and the robot path are obtained, and then the robot path is divided into regions by the preset partitioning factors to obtain multiple path segments, and smoothing is performed according to the path restriction conditions for different preset partitioning factors to obtain the target path, so as to simulate the production line beat according to the target path corresponding to the production line beat to obtain the beat simulation result. In this way, the robot path corresponding to the production line beat is divided in detail according to the material transportation stage, path endpoint and moving direction to obtain the path segments, and then smoothing is performed according to the path restriction conditions for different preset partitioning factors, which not only adjusts the robot path and production line beat in a targeted manner, but also makes the simulation of the production line beat smoother and more efficient, realizes the preliminary optimization of the production line beat before simulation, effectively shortens the subsequent beat optimization cycle, and thus significantly improves the overall production efficiency of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a flowchart of a production line simulation method for production line beat in an embodiment of the present application;

[0020] Figure 2 It is a schematic diagram of a stage path in an embodiment of the present application;

[0021] Figure 3 is a schematic diagram of a section within a mold area in an embodiment of the present application;

[0022] Figure 4 is a schematic diagram of a directional fragment in an embodiment of the present application;

[0023] Figure 5 It is a flowchart of another production line simulation method for production line beat in an embodiment of the present application;

[0024] Figure 6 It is a flow chart of a production line simulation system for production line beat in an embodiment of the present application;

[0025] Figure 7 It is a schematic diagram of the structure of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and sub-samples in the embodiments can be combined with each other without conflict.

[0027] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0028] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0029] The terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0030] Unless otherwise stated, the term "plurality" means two or more.

[0031] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B indicates: A or B.

[0032] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B.

[0033] The following is an introduction and explanation of the technical terms and background technologies involved in this application.

[0034] The stamping production line is an automated production line widely used in modern manufacturing. It is specially used to process metal sheets into parts of required shapes and sizes through stamping technology. It is widely used in manufacturing industries such as automobiles and electrical appliances.

[0035] The robotic arm is used to accurately feed the material between the upper and lower dies according to the preset procedures and paths during the stamping process. By automatically grabbing, transporting and placing stamping parts, it improves production efficiency and safety, ensuring the continuity and efficiency of the stamping production line.

[0036] The end picker is a precision fixture used to carry stamping parts. It is installed on the robot (manipulator) in the middle of the press, and realizes the transmission of stamping parts between different processes through "picking" and "placing" actions; the end picker is usually composed of key components such as connecting arms, command systems and vacuum suction cups.

[0037] The upper die is the upper part of the stamping die, usually including components such as a punch or a punch, which is used to cooperate with the lower die during the stamping process to shape the material; under the action of the press, the material is pressed into or punched out of a predetermined shape. It realizes processes such as forming, cutting or punching of the material through precise cooperation with the lower die.

[0038] The lower die is the lower part of the stamping die, which usually includes components such as a die or cavity. It is used to support the material during the stamping process and accept the stamping action of the upper die. The main function of the lower die is to support the material and cause the material to undergo plastic deformation under the action of the upper die to obtain the desired shape. At the same time, the lower die also plays the role of positioning, guiding and unloading.

[0039] The slider is used to stamp the material between the upper die and the lower die through up and down reciprocating motion. Its motion trajectory and speed directly affect the quality and production efficiency of the stamped parts.

[0040] The blank holder is a ring-shaped clamping device set at the edge between the die and the punch. It is used to clamp the workpiece during the drawing process to prevent wrinkling at the edge.

[0041] UG (Uni-Graphics) software is an advanced 3D CAD / CAM / CAE software platform widely used in product design, engineering analysis and manufacturing processes to create UG models.

[0042] Contour interference point: A key parameter that affects the safety distance. It is divided into upstream interference point (upstream on the feeding side) and downstream interference point (downstream on the picking side). It is a protruding point of the upper die contour within the length range of the robot. Through accurate measurement, it can ensure that the robot arm and the upper die have sufficient safety distance.

[0043] PLS (Press Line Simulation) software is a technology for simulating stamping production lines. It models the production line through digital means and simulates various working conditions in the actual production process to discover potential problems and optimize them.

[0044] The JSG (Servo Gen-OLP) tool is an offline motion planning tool for stamping lines. By inputting the measured model values, the beat is obtained after simulation calculation.

[0045] Combination Figure 1 As shown, the embodiment of the present disclosure provides a production line simulation method for production line beat, including:

[0046] Step S101, obtaining production line model parameters corresponding to the target production line;

[0047] Step S102, performing path planning for the target robot arm according to the production line model parameters to solve the production line beat corresponding to the target production line, and generating a robot arm path corresponding to the production line beat;

[0048] Step S103, dividing the robot path into regions according to a preset partitioning factor to obtain a plurality of path segments, and generating path restriction conditions corresponding to each path segment, so as to smooth the robot path according to the path restriction conditions to obtain a target path;

[0049] Wherein, the preset partitioning factor includes at least one of a material transportation stage, a path endpoint, and a moving direction;

[0050] Step S104, modeling is performed according to the production line model parameters to obtain a production line simulation model, and simulation is performed according to the target path through the production line simulation model to obtain a beat simulation result corresponding to the production line beat.

[0051] The production line simulation method for the production line beat provided by the embodiment of the present disclosure is adopted. By planning the path of the target robot in the target production line, the production line beat and the robot path are obtained. Then, the robot path is divided into regions by preset partitioning factors to obtain multiple path segments. The path restriction conditions are smoothed for different preset partitioning factors to obtain the target path, and the production line beat is simulated according to the target path corresponding to the production line beat to obtain the beat simulation result. In this way, the robot path corresponding to the production line beat is divided into detailed sections according to the material transportation stage, the path endpoint and the moving direction to obtain the path segments. The path restriction conditions are smoothed for different preset partitioning factors to obtain the path segments. This not only adjusts the robot path and the production line beat in a targeted manner, but also makes the simulation of the production line beat smoother and more efficient, realizes the preliminary optimization of the production line beat before simulation, effectively shortens the subsequent beat optimization cycle, and thus significantly improves the overall production efficiency of the production line.

[0052] Optionally, the robot path is divided into regions according to a preset partitioning factor to obtain a plurality of path segments, including: dividing the robot path into regions according to a plurality of preset material transport stages to obtain a stage path corresponding to each material transport stage, wherein the stage path includes at least one of a material picking node, a crossbar path, a material belt path, a material feeding node and a return path; taking the material picking node and the material feeding node as the path endpoints of the robot path, setting the mold area boundaries according to each path endpoint, so as to divide the robot path into regions according to the mold area boundaries to obtain a plurality of mold area inner segments, wherein the mold area inner segments include at least one of a material picking inner segment, a material feeding inner segment, a material feeding inner segment and a return inner segment; dividing each mold area inner segment into regions according to the moving direction of the target robot arm to obtain a plurality of directional segments corresponding to each mold area inner segment, wherein the directional segment corresponding to any mold area inner segment includes at least one of a vertical segment, a transition segment and a horizontal segment; taking at least a part of the stage path, the mold area inner segment and the directional segment as a path segment.

[0053] In some embodiments, the robot arm path reflects the actual motion trajectory of the robot arm, so that the target robot arm can perform periodic material handling along the robot arm path, wherein the press movement direction or vertical direction is taken as the Z direction, and the direction from the material picking node to the material feeding node or the horizontal direction is taken as the Y direction.

[0054] Combination Figure 2 As shown, an embodiment of the present disclosure provides a schematic diagram of a one-stage path, including a material picking node, a crossbar path, a material belt path, a material feeding node and a return path.

[0055] Combination Figure 3As shown, an embodiment of the present disclosure provides a schematic diagram of an inner section of a mold area, including a material taking inner section, a material feeding inner section, a material charging inner section and a return inner section, wherein the material taking inner section includes Seg1 and Seg7, the material feeding inner section includes Seg2, the material charging inner section includes Seg3 and Seg4, and the return inner section includes Seg5 and Seg6.

[0056] Combination Figure 4 As shown, an embodiment of the present disclosure provides a schematic diagram of a directional segment; the movement characteristics of the robot arm are used to decompose and design the robot arm path to avoid fixed obstacles and identifiable movement obstacles, wherein the fixed obstacles include the lower mold area, and the movement obstacles include the upper mold area that moves with the slider and the robot arm of the adjacent process; in the vertical segment, the angle between the movement direction of the robot arm and the vertical direction is less than the preset vertical angle, wherein the vertical direction is perpendicular to the horizontal direction; in the horizontal segment, the angle between the movement direction of the robot arm and the horizontal direction is less than the preset horizontal angle; the inner section of the mold area outside the vertical segment and the horizontal segment is used as a transition segment.

[0057] In some embodiments, there is a correlation between the vertical segment and the production line interference, there is a correlation between the transition segment and the material transportation efficiency, and there is a correlation between the horizontal segment and the production line interference and the material transportation efficiency.

[0058] Optionally, path constraint conditions corresponding to generated path segments include: controlling the ratio between the first length and the second length to be less than a preset first threshold, the preset first threshold being less than or equal to 25%, wherein the first length is the path length in the vertical direction mapped to the plumb segment in the material path, and the second length is the path length in the vertical direction mapped to the material path.

[0059] In some embodiments, the preset first threshold is between 20% and 25%.

[0060] Optionally, path constraint conditions corresponding to the generated path segments include: controlling the ratio between the third length and the fourth length to be less than a preset second threshold, the preset second threshold being less than or equal to 10%, wherein the third length is the path length of the vertical segment in the inner segment of the return trip, and the fourth length is the path length of the inner segment of the return trip.

[0061] In some embodiments, the ratio between the third length and the fourth length is less than 10%.

[0062] Optionally, path constraint conditions corresponding to the generated path segments include: controlling the ratio between the fifth length and the sixth length to be less than a preset third threshold, the preset third threshold being less than or equal to a preset second threshold, wherein the fifth length is the path length of the vertical segment in the second feeding segment, the sixth length is the path length of the inner feeding segment, and the second feeding segment is the robot arm path between the feeding node and the inner return segment.

[0063] In some embodiments, the ratio between the fifth length and the sixth length should be smaller than the preset second threshold value, so that the movement time of the robot arm in the inner feeding section is shorter, which is conducive to improving the beat.

[0064] Optionally, the robot arm path is smoothed by adjusting the position of the material picking node and / or the material feeding node.

[0065] In some embodiments, adjusting the position of the material taking node and / or the material feeding node includes at least one of the following: adjusting the coordinates of the material taking node in the Z direction; adjusting the coordinates of the material taking node in the Y direction; adjusting the coordinates of the material feeding node in the Y direction.

[0066] In some embodiments, according to the actual position of the material in the picking area, the height of the robotic arm's picking node in the Z direction is detected and automatically adjusted through sensors to ensure accurate grabbing of the material while avoiding collision with other equipment or obstacles in the picking area; according to the specific layout of each workstation on the production line, the position of the picking and feeding nodes in the Y direction (assuming the direction of the production line) is fine-tuned to ensure that the material transfer path is shortest and avoids obstacles, thereby achieving a smooth transition of the path.

[0067] Optionally, the robot arm path is smoothed in the following manner: adjusting the path length of the segment in the mold area mapped in the vertical direction.

[0068] In some embodiments, the vertical length of the boundary between the inlet and outlet mold areas of the material taking inner section and / or the material feeding inner section is adjusted.

[0069] In some embodiments, when the robot carries materials across the boundary of the mold area, the position of the robot in the Z direction is dynamically adjusted according to the height limit or obstacles at the boundary to ensure safe passage and reduce vibration; for situations where the material needs to be rotated to adapt to subsequent processes, the rotation angle of the cross bar is precisely controlled at the boundary of the mold area to ensure a smooth transition of the material to the next process while reducing vibration caused by rotation.

[0070] Optionally, the robot arm path is smoothed by adjusting the movement time of the target robot arm through the inner segment of the return journey.

[0071] In some embodiments, a waiting time for picking and placing materials is set to coordinate the synchronous movement between the robotic arms to make the movement trajectory smoother.

[0072] In some embodiments, during the return or idle stroke phase after the robot arm completes a material picking and placing task, a reasonable stop point is set and the speed ratio is adjusted according to the actual operation of the production line to reduce unnecessary acceleration and deceleration processes, thereby shortening non-production time and improving overall efficiency.

[0073] Optionally, the robot path is smoothed by adjusting the robot parameters corresponding to the target robot, wherein the robot parameters include one or more of the robot pause time, the robot speed ratio, the robot crossbar rotation angle and the material discharge waiting time.

[0074] In some embodiments, the crossbar path and the material path are changed by adjusting parameters such as the crossbar rotation angle of the target robot arm.

[0075] In some embodiments, when the robot performs the material picking and feeding actions, a reasonable waiting time is set according to the synchronization requirements of the previous and next processes to ensure close connection between the processes and avoid the robot wasting resources due to long waiting time. At the same time, the robot's motion trajectory is optimized through algorithms to keep it in a continuous and smooth motion state throughout the working process.

[0076] In some embodiments, the robot path is smoothed by Bezier curves.

[0077] Optionally, path planning is performed on the target robot arm according to the production line model parameters to solve the production line rhythm corresponding to the target production line, and a robot arm path corresponding to the production line rhythm is generated, including: obtaining the current production parameters of the target production line; inputting the production line model parameters and the current production parameters into a preset path planning tool, and using the path planning tool to perform path planning according to the production line model parameters and the current production parameters to solve the production line rhythm; if the production line rhythm does not meet the preset expected rhythm, adjusting the first target parameter until the production line rhythm output by the path planning tool meets the preset expected rhythm, wherein the first target parameter includes the production line model parameter and / or the current production parameter; if the production line rhythm meets the preset expected rhythm, the robot arm path corresponding to the production line rhythm is obtained through the path planning tool.

[0078] In some embodiments, production line model data is obtained by measuring the target production line, wherein the production line model data includes a mold parameter group, a contour interference point parameter group, a workpiece parameter group, an end pick-up specification parameter group, and the like.

[0079] In some embodiments, the production line model data and the current production parameters are input into the JSG tool, wherein the current production parameters carry the feeding parameters of the target production line; the JSG tool is used to perform simulation according to the production line model data and the current production parameters, and the simulation results are used to perform path planning for the target robotic arm; the JSG tool is provided with a trajectory output button (WritePLS Curves button), and through the trajectory output button, the JSG tool is triggered to output a simulation curve trajectory generated based on the production line rhythm; if the production line rhythm output by the JSG tool cannot meet the expected rhythm, the rhythm is improved by adjusting the first target parameter, wherein the adjusted first target parameter includes the vertical distance of the inner feeding section, etc.

[0080] Optionally, the production line simulation model is used to simulate the target path to obtain a beat simulation result corresponding to the production line beat, including: inputting the production line simulation model and the target path into a preset production simulation software, and using the production simulation software to perform production simulation on the target production line to obtain a beat simulation result, wherein the beat simulation result includes at least one of a phase angle parameter corresponding to the target robot arm, a safety margin corresponding to the target production line, and an interference detection result corresponding to the target production line.

[0081] In some embodiments, UG software is used to export the UG model corresponding to the target production line based on the production line model data to achieve lightweight model; the UG models corresponding to the production line components such as the stamping line body, molds, workpieces, and end pickers are imported into the PLS software, and the positions of the production line components are adjusted to obtain a preset simulation model corresponding to the target production line.

[0082] In some embodiments, the PLS software is used to simulate the path of the robot arm to obtain the phase angle parameters corresponding to the target robot arm.

[0083] Optionally, after simulating according to the target path through the production line simulation model and obtaining the beat simulation result corresponding to the production line beat, the method also includes: if the interference detection result and / or the safety margin do not meet the preset expected simulation result, determining the interference station from the target production line, and adjusting the second target parameters corresponding to the interference station until the interference detection result and / or the safety margin meet the expected simulation result, wherein the second target parameters include at least one of the production line model parameters, current production parameters, target path and production line beat; if the interference detection result and / or the safety margin meet the expected simulation result, obtaining the current second target parameters, and driving the target production line according to the second target parameters.

[0084] In some embodiments, the interference check range is selected as the entire line or a certain process, and both external collision interference and internal collision interference must be selected. You can choose to automatically pause when a collision occurs to facilitate finding the interference position; for the workstations where interference occurs, adjust their parameters on the JGS tool, and after the adjustment, re-solve the entire line rhythm and perform interference checks until there is no interference and the safety margin is met.

[0085] Optionally, after simulating according to the target path through the production line simulation model and obtaining the beat simulation result corresponding to the production line beat, the method also includes: the target production line also includes an upper die, a lower die, a slider and a blank holder; obtaining threshold data corresponding to the target robotic arm, and obtaining simulation data corresponding to the blank holder, wherein the threshold data includes the robotic arm material picking angle and the robotic arm material discharge angle, and the simulation data includes the lower dead point angle corresponding to the slider, and the fitting angle between the upper die and the blank holder; establishing a blank holder restriction condition corresponding to the blank holder according to the threshold data, wherein the blank holder restriction condition includes at least one of the first restriction condition, the second restriction condition and the third restriction condition, the first restriction condition includes that the locking angle of the blank holder is less than the robotic arm material picking angle, the second restriction condition includes that the starting lifting angle of the blank holder is less than the robotic arm material picking angle, and the third restriction condition includes that the full lifting angle of the blank holder is less than the robotic arm material discharge angle; inputting the blank holder restriction condition and the simulation data into the production simulation software, and using the production simulation software to perform simulation according to the production line simulation model to obtain the optimization data corresponding to the blank holder, wherein the optimization data includes the locking height and / or the lifting stroke.

[0086] In some embodiments, if the target production line is a stamping production line, the target production line further includes an upper die, a lower die, a slider and a blank holder.

[0087] In some embodiments, the fitting angle between the upper die and the blank holder and the bottom dead point angle (the bottom dead point is when the upper die is pressed to the bottom) are recorded; the locking angle of the blank holder is set to be smaller than the material picking angle, the starting lifting angle of the blank holder is set to be larger than the material picking angle, and the full lifting angle of the blank holder is set to be smaller than the material discharge angle; a simulation operation of the blank holder and the upper die drive is established, the locking height of the blank holder and the lifting stroke of the blank holder are planned, and the values ​​obtained through the operation are replaced.

[0088] Combination Figure 5 As shown, the embodiment of the present disclosure provides a production line simulation method for production line beat, including:

[0089] Step S501, obtain production line model data, and jump to step S502 and step S505;

[0090] Step S502, importing the production line model data into the JSG tool, so as to use the JSG tool to solve the production line beat according to the production line model data;

[0091] Step S503, determine whether the production line beat meets the expected beat, if yes, jump to step S504, if not, jump to step S509;

[0092] Step S504, import the robot arm path corresponding to the production line rhythm into the PLS software, and jump to step S506.

[0093] Step S505, using US software to establish a production line simulation model corresponding to the production line model data, and then jump to step S506;

[0094] Step S506, using PLS software to perform simulation according to the robot arm path and the production line simulation model to obtain a production line simulation result;

[0095] The production line simulation results include interference detection results and / or safety margins;

[0096] Step S507, determine whether the production line simulation result meets the expected result, if yes, jump to step S508, if no, jump to step S509;

[0097] Step S508, driving the target production line according to the simulation data.

[0098] Step S509, adjust the current simulation data and jump to step S502.

[0099] Combination Figure 6 As shown, the embodiment of the present disclosure provides a production line simulation system for production line beat, including:

[0100] The acquisition module 601 is used to acquire the production line model parameters corresponding to the target production line.

[0101] The path module 602 is used to perform path planning for the target robot arm according to the production line model parameters, so as to solve the production line rhythm corresponding to the target production line and generate a robot arm path corresponding to the production line rhythm.

[0102] The partitioning module 603 is used to divide the robot arm path into regions according to preset partitioning factors to obtain multiple path segments, and generate path restriction conditions corresponding to each path segment, so as to smooth the robot arm path according to the path restriction conditions to obtain the target path, wherein the preset partitioning factors include at least one of the material transportation stage, the path endpoint and the moving direction.

[0103] The simulation module 604 is used to perform modeling according to the production line model parameters to obtain a production line simulation model, and perform simulation according to the target path through the production line simulation model to obtain a beat simulation result corresponding to the production line beat.

[0104] The production line simulation system for the production line beat provided by the embodiment of the present disclosure is adopted. By planning the path of the target robot in the target production line, the production line beat and the robot path are obtained. Then, the robot path is divided into regions by preset partitioning factors to obtain multiple path segments. The path restriction conditions are smoothed for different preset partitioning factors to obtain the target path, and the production line beat is simulated according to the target path corresponding to the production line beat to obtain the beat simulation result. In this way, the robot path corresponding to the production line beat is divided in detail according to the material transportation stage, the path endpoint and the moving direction to obtain the path segments. The path restriction conditions are smoothed for different preset partitioning factors to obtain the path segments. This not only adjusts the robot path and the production line beat in a targeted manner, but also makes the simulation of the production line beat smoother and more efficient, realizes the preliminary optimization of the production line beat before simulation, effectively shortens the subsequent beat optimization cycle, and thus significantly improves the overall production efficiency of the production line.

[0105] An embodiment of the present disclosure further provides an electronic device, including: a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device executes the above method.

[0106] Figure 7 The structure diagram of the computer system suitable for implementing the electronic device of the embodiment of the present application is shown. It should be noted that: Figure 7 The computer system 700 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0107] like Figure 7 As shown, the computer system 700 includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 702 or the program loaded from the storage part 708 to the random access memory (RAM) 703, such as executing the method in the above embodiment. In the RAM 703, various programs and data required for system operation are also stored. The CPU 701, the ROM 702 and the RAM 703 are connected to each other through the bus 704. The input / output (I / O) interface 705 is also connected to the bus 704.

[0108] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed so that a computer program read therefrom is installed into the storage section 708 as needed.

[0109] The electronic device disclosed in this embodiment includes a processor, a memory, a transceiver and a communication interface. The memory and the communication interface are connected to the processor and the transceiver and complete communication with each other. The memory is used to store computer programs, the communication interface is used to communicate, and the processor and the transceiver are used to run the computer program so that the electronic device executes each step of the above method.

[0110] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent possible changes only. Unless explicitly required, separate components and functions are optional, and the order of operation can be changed. Parts and sub-samples of some embodiments may be included in or replace parts and sub-samples of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and the claims, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of listings containing one or more associated ones. In addition, when used in the present application, the term "comprise" and its variants "comprises" and / or comprising refer to the presence of a stated sub-sample, whole, step, operation, element, and / or component, but do not exclude the presence or addition of one or more other sub-samples, wholes, steps, operations, elements, components and / or groups of these. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the presence of other identical elements in the process, method or device comprising the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.

[0111] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. Technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. Technicians can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0112] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units can be only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some sub-samples can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to implement this embodiment. In addition, each functional unit in the embodiment of the present disclosure may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit.

[0113] The flowchart and block diagram in the accompanying drawings show the possible architecture, functions and operations of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a part of the module, program segment or code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A production line simulation method for production line beat, characterized in that: include: Obtain the production line model parameters corresponding to the target production line; Performing path planning for the target robot arm according to the production line model parameters to solve the production line beat corresponding to the target production line and generate a robot arm path corresponding to the production line beat; The robot path is divided into regions according to a preset partitioning factor to obtain a plurality of path segments, and path restriction conditions corresponding to each of the path segments are generated, so as to smooth the robot path according to the path restriction conditions to obtain a target path, wherein the preset partitioning factor includes at least one of a material transportation stage, a path endpoint, and a moving direction; Modeling is performed according to the production line model parameters to obtain a production line simulation model, and the production line simulation model is simulated according to the target path to obtain a beat simulation result corresponding to the production line beat.

2. The method according to claim 1, characterized in that The robot path is divided into regions according to a preset partition factor to obtain a plurality of path segments, including: The robot arm path is divided into regions according to a plurality of preset material transport stages to obtain stage paths corresponding to the material transport stages, wherein the stage paths at least include a material fetching node and a material feeding node; The material taking node and the material feeding node are used as path endpoints of the robot arm path, and mold area boundaries are set according to each of the path endpoints, so as to divide the robot arm path into regions according to the mold area boundaries to obtain a plurality of mold area inner segments, wherein the mold area inner segments include at least one of a material taking inner segment, a material feeding inner segment, a material feeding inner segment, and a return inner segment; Dividing each of the mold area inner segments according to the moving direction of the target robot arm to obtain a plurality of direction segments corresponding to each of the mold area inner segments, wherein the direction segment corresponding to any mold area inner segment includes at least one of a vertical segment, a transition segment and a horizontal segment; At least a portion of the phase path, the in-module segment, and the direction segment is used as a path segment.

3. The method according to claim 2, characterized in that Generate a path restriction condition corresponding to the path segment, including at least one of the following: Controlling the ratio between the first length and the second length to be less than a preset first threshold value, wherein the preset first threshold value is less than or equal to 25%, wherein the first length is the path length of the vertical segment in the material path mapped in the vertical direction, and the second length is the path length of the material path mapped in the vertical direction; Controlling the ratio between the third length and the fourth length to be less than a preset second threshold value, wherein the preset second threshold value is less than or equal to 10%, wherein the third length is the path length of the vertical segment in the inner section of the return trip, and the fourth length is the path length of the inner section of the return trip; Control the ratio between the fifth length and the sixth length to be less than a preset third threshold, and the preset third threshold is less than or equal to the preset second threshold, wherein the fifth length is the path length of the vertical segment in the second feeding segment, the sixth length is the path length of the feeding inner segment, and the second feeding segment is the robot arm path between the feeding node and the return inner segment.

4. The method according to claim 2, characterized in that: Smooth the robot path in at least one of the following ways: Adjust the position of the material taking node and / or the material feeding node; Adjusting the path length of the segment in the mold area mapped in the vertical direction; Adjusting the moving time of the target robot arm through the inner section of the return trip; Adjust the robot arm parameters corresponding to the target robot arm, wherein the robot arm parameters include one or more of the robot arm pause time, the robot arm speed ratio, the robot arm crossbar rotation angle and the material discharge waiting time.

5. The method according to any one of claims 1 to 4, characterized in that: Performing path planning for the target robot arm according to the production line model parameters to solve the production line beat corresponding to the target production line and generating a robot arm path corresponding to the production line beat, including: Acquire current production parameters of the target production line; Inputting the production line model parameters and the current production parameters into a preset path planning tool, and using the path planning tool to perform path planning according to the production line model parameters and the current production parameters to solve the production line beat; If the production line rhythm does not meet the preset expected rhythm, the first target parameter is adjusted until the production line rhythm output by the path planning tool meets the preset expected rhythm, wherein the first target parameter includes the production line model parameter and / or the current production parameter; If the production line rhythm meets the preset expected rhythm, the robot arm path corresponding to the production line rhythm is obtained through the path planning tool.

6. The method according to claim 5, characterized in that The production line simulation model is used to simulate the target path to obtain a beat simulation result corresponding to the production line beat, including: The production line simulation model and the target path are input into a preset production simulation software, and the production simulation software is used to perform production simulation on the target production line to obtain a beat simulation result.

7. The method according to claim 6, characterized in that After simulating according to the target path through the production line simulation model to obtain a beat simulation result corresponding to the production line beat, the method further includes: If the beat simulation result does not meet the preset expected simulation result, an interfering workstation is determined from the target production line, and a second target parameter corresponding to the interfering workstation is adjusted until the beat simulation result meets the expected simulation result, wherein the second target parameter includes at least one of the production line model parameter, the current production parameter, the target path and the production line beat; If the beat simulation result meets the expected simulation result, the current second target parameter is obtained, and the target production line is driven according to the second target parameter.

8. The method according to claim 6, characterized in that After simulating according to the target path through the production line simulation model to obtain a beat simulation result corresponding to the production line beat, the method further includes: The target production line also includes an upper die, a lower die, a slider and a blank holder; Acquire threshold data corresponding to the target robotic arm, and acquire simulation data corresponding to the blank holder, wherein the threshold data includes a material picking angle and a material unloading angle of the robotic arm, and the simulation data includes a bottom dead point angle corresponding to the slider and a fitting angle between the upper die and the blank holder; Establishing a blank holder restriction condition corresponding to the blank holder according to the threshold data, wherein the blank holder restriction condition includes at least one of a first restriction condition, a second restriction condition and a third restriction condition, the first restriction condition includes that a locking angle of the blank holder is smaller than a material picking angle of a robot arm, the second restriction condition includes that a starting lifting angle of the blank holder is smaller than a material picking angle of a robot arm, and the third restriction condition includes that a full lifting angle of the blank holder is smaller than a material releasing angle of a robot arm; The blank holder restriction conditions and the simulation data are input into the production simulation software, and the production simulation software is used to perform simulation according to the production line simulation model to obtain the optimization data corresponding to the blank holder, wherein the optimization data includes the locking height and / or the lifting stroke.

9. A production line simulation system for production line beat, characterized in that: include: An acquisition module is used to obtain production line model parameters corresponding to the target production line; A path module, used to perform path planning for a target robot arm according to the production line model parameters, so as to solve the production line beat corresponding to the target production line, and generate a robot arm path corresponding to the production line beat; A partitioning module, used for dividing the robot path into regions according to a preset partitioning factor to obtain a plurality of path segments, and generating path restriction conditions corresponding to each of the path segments, so as to smooth the robot path according to the path restriction conditions to obtain a target path, wherein the preset partitioning factor includes at least one of a material transportation stage, a path endpoint, and a moving direction; The simulation module is used to perform modeling according to the production line model parameters to obtain a production line simulation model, and to perform simulation according to the target path through the production line simulation model to obtain a beat simulation result corresponding to the production line beat.

10. An electronic device, characterized in that: include: Processor and memory; The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device executes the method according to any one of claims 1 to 8.

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