Line simulation method, system and electronic equipment for line tact

Abstract

This application relates to the field of production line simulation technology, and discloses a production line simulation method, system, and electronic equipment for production line cycle time. The application obtains the production line cycle time and robot arm path by performing path planning on a target robot arm in a target production line. Then, it divides the robot arm path into regions using preset partitioning factors to obtain multiple path segments. These segments are then smoothed according to path constraints based on different preset partitioning factors to obtain the target path. The production line cycle time is then simulated according to the target path corresponding to the production line cycle time, yielding simulation results. This not only allows for targeted adjustment of the robot arm path and production line cycle time but also makes the simulation of the production line cycle time smoother and more efficient. It achieves preliminary optimization of the production line cycle time before simulation, effectively shortening the subsequent cycle time optimization cycle and significantly improving the overall production efficiency of the production line.

Description

Technical Field

[0001] This invention relates to the field of production line simulation technology, and in particular to a production line simulation method, system, and electronic equipment for production line cycle time. Background Technology

[0002] In modern manufacturing, the stamping production line is a key link in the metal processing field. Its production efficiency and flexibility are directly related to the market competitiveness of enterprises. The production line cycle time, as an important indicator for measuring the number of products processed per unit time, is of great significance for optimizing production processes, increasing capacity and reducing costs.

[0003] Currently, if optimizing the production line cycle time 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 the production line components such as stamping machines, conveyor belts, and robots and their interaction logic, and then the production line cycle time of the stamping production line is evaluated and optimized based on the simulation results.

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

[0005] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

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

[0007] This application provides a production line simulation method for production line cycle time, comprising: obtaining production line model parameters corresponding to a target production line; performing path planning on a target robotic arm based on the production line model parameters to solve for the production line cycle time corresponding to the target production line, and generating a robotic arm path corresponding to the production line cycle time; dividing the robotic arm path into regions according to a preset partitioning factor to obtain multiple path segments, and generating path constraints corresponding to each path segment, so as to smooth the robotic arm path according to the path constraints to obtain a target path, wherein the preset partitioning factor includes at least one of material transport stage, path endpoint, and movement direction; modeling according to the production line model parameters to obtain a production line simulation model, and performing simulation according to the target path using the production line simulation model to obtain the cycle time simulation result corresponding to the production line cycle time.

[0008] In one embodiment of this application, the robotic arm path is divided into regions according to a preset partitioning factor to obtain multiple path segments, including: dividing the robotic arm path into regions according to a preset multiple material transportation stages to obtain stage paths corresponding to each of the material transportation stages, wherein the stage paths include at least a material picking node and a material feeding node; using the material picking node and the material feeding node as path endpoints of the robotic arm path, setting module boundaries according to each path endpoint to divide the robotic arm path into regions according to the module boundaries to obtain multiple module inner segments, wherein the module 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 module inner segment into regions according to the movement direction of the target robotic arm to obtain multiple directional segments corresponding to each module inner segment, wherein the directional segment corresponding to any module inner segment includes at least one of a vertical segment, a transition segment, and a horizontal segment; and using at least a portion of the stage paths, the module inner segments, and the directional segments as path segments.

[0009] In one embodiment of this application, the path constraint conditions for generating the path segment include 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, the preset first threshold being less than or equal to 25%, wherein the first length is the path length of the vertical segment in the material-carrying path mapped to the vertical direction, and the second length is the path length of the material-carrying path mapped to the vertical direction; 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 return inner section, and the fourth length is the path length of the return inner section; 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 the preset second threshold, wherein the fifth length is the path length of the vertical segment in the second feeding segment, and the sixth length is the path length of the feeding inner section, and the second feeding segment is the robotic arm path from the feeding node to the return inner section.

[0010] In one embodiment of this application, the path of the robotic arm is smoothed by at least one of the following methods: adjusting the position of the picking node and / or the feeding node; adjusting the path length of the segment within the module area mapped in the vertical direction; adjusting the movement time of the target robotic arm through the return segment; adjusting the robotic arm parameters corresponding to the target robotic arm, wherein the robotic arm parameters include one or more of the following: robotic arm pause time, robotic arm speed ratio, robotic arm crossbar rotation angle, and feeding waiting time.

[0011] In one embodiment of this application, path planning is performed on the target robotic arm based on the production line model parameters to solve the production line cycle time corresponding to the target production line and generate the robotic arm path corresponding to the production line cycle time. This includes: 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 cycle time; if the production line cycle time does not meet the preset expected cycle time, adjusting the first target parameter until the production line cycle time output by the path planning tool meets the preset expected cycle time, wherein the first target parameter includes the production line model parameters and / or the current production parameters; if the production line cycle time meets the preset expected cycle time, obtaining the robotic arm path corresponding to the production line cycle time through the path planning tool.

[0012] In one embodiment of this application, the production line simulation model is used to simulate the target path to obtain the cycle time simulation result corresponding to the production line cycle time. This includes: 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 the cycle time simulation result.

[0013] In one embodiment of this application, after simulating the production line according to the target path using the production line simulation model to obtain the cycle time simulation result corresponding to the production line cycle time, the method further includes: if the cycle time simulation result does not meet the preset expected simulation result, then determining the interference station from the target production line and adjusting the second target parameter corresponding to the interference station until the cycle time simulation result meets the expected simulation result, wherein the second target parameter includes at least one of the production line model parameters, the current production parameters, the target path, and the production line cycle time; if the cycle time simulation result meets the expected simulation result, then obtaining the current second target parameter and driving the target production line according to the second target parameter.

[0014] In one embodiment of this application, after simulating the production line according to the target path using the production line simulation model to obtain the simulation result corresponding to the production line cycle time, the method further includes: the target production line further includes an upper mold, a lower mold, a slider, and a pressure ring; obtaining threshold data corresponding to the target robotic arm and obtaining simulation data corresponding to the pressure ring, wherein the threshold data includes the robotic arm picking angle and the robotic arm releasing angle, and the simulation data includes the bottom dead center angle corresponding to the slider and the contact angle between the upper mold and the pressure ring; establishing pressure ring constraint conditions corresponding to the pressure ring based on the threshold data, wherein the pressure ring constraint... The control conditions include at least one of a first constraint, a second constraint, and a third constraint. The first constraint includes that the locking angle of the pressure ring is less than the material-picking angle of the robotic arm. The second constraint includes that the initial lifting angle of the pressure ring is less than the material-picking angle of the robotic arm. The third constraint includes that the full lifting angle of the pressure ring is less than the material-releasing angle of the robotic arm. The pressure ring 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 optimized data corresponding to the pressure ring. The optimized data includes the locking height and / or lifting stroke.

[0015] This application provides a production line simulation system for production line cycle time, comprising: an acquisition module for acquiring production line model parameters corresponding to a target production line; a path module for performing path planning for a target robotic arm based on the production line model parameters to solve for the production line cycle time corresponding to the target production line and generate a robotic arm path corresponding to the production line cycle time; a partitioning module for dividing the robotic arm path into regions based on a preset partitioning factor to obtain multiple path segments and generating path constraints corresponding to each path segment, so as to smooth the robotic arm path according to the path constraints to obtain a target path, wherein the preset partitioning factor includes at least one of material transport stage, path endpoint, and movement direction; and a simulation module for modeling based on the production line model parameters to obtain a production line simulation model, and performing simulation according to the target path using the production line simulation model to obtain the cycle time simulation result corresponding to the production line cycle time.

[0016] This application 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 performs the above-described method.

[0017] The beneficial effects of this application are:

[0018] By performing path planning on the target robotic arm in the target production line, the production line cycle time and robotic arm path are obtained. Then, the robotic arm path is divided into regions using preset partitioning factors, resulting in multiple path segments. Smoothing is then applied to different preset partitioning factors according to path constraints to obtain the target path. The production line cycle time is then simulated according to the target path corresponding to the production line cycle time, yielding the cycle time simulation results. In this way, by meticulously dividing the robotic arm path corresponding to the production line cycle time according to material transport stages, path endpoints, and movement directions, and then smoothing it according to different preset partitioning factors and path constraints, not only can the robotic arm path and production line cycle time be adjusted in a targeted manner, but the simulation of the production line cycle time is also made smoother and more efficient. This achieves preliminary optimization of the production line cycle time before simulation, effectively shortening the subsequent cycle time optimization cycle, and thus significantly improving the overall production efficiency of the production line. Attached Figure Description

[0019] Figure 1 This is a flowchart illustrating a production line simulation method for production line cycle time in an embodiment of this application.

[0020] Figure 2 This is a schematic diagram of a stage path in an embodiment of this application;

[0021] Figure 3 This is a schematic diagram of a segment within a module region in an embodiment of this application;

[0022] Figure 4 This is a schematic diagram of a directional segment in an embodiment of this application;

[0023] Figure 5 This is a flowchart illustrating another production line simulation method for production line cycle time in this application embodiment;

[0024] Figure 6 This is a flowchart illustrating a production line simulation system for production line cycle time in an embodiment of this application.

[0025] Figure 7 This is a schematic diagram of the structure of an electronic device in an embodiment of the present invention. Detailed Implementation

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

[0027] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0028] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0029] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

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

[0031] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0032] The term "and / or" describes an association 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 technology involved in this application.

[0034] A stamping production line is an automated production line widely used in modern manufacturing. It is specifically designed to process metal sheets into parts of the required shape and size through stamping processes and is widely used in the automotive, electrical appliance and other manufacturing industries.

[0035] Robotic arms are used to accurately feed materials between the upper and lower dies according to a preset program and path during the stamping process. By automatically gripping, transporting and placing stamped parts, they improve production efficiency and safety, and ensure the continuity and efficiency of the stamping production line.

[0036] An end effector is a precision tooling fixture used to handle stamped parts. It is mounted on a robot (manipulator) in the middle of the press and realizes the transfer of stamped parts between different processes through "pick-up" and "placement" actions. An end effector is usually composed of key components such as a connecting arm, a command system, and a vacuum suction cup.

[0037] The upper die is the upper part of a stamping die, typically containing elements such as punches or punches. It works in conjunction with the lower die during the stamping process to shape the material; under the action of a press, it presses or punches the material into a predetermined shape. Through precise cooperation with the lower die, it achieves processes such as material forming, cutting, or punching.

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

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

[0040] A blank holder is a ring-shaped clamping device installed at the edge between the die and the punch. It is used to clamp the workpiece during the deep drawing process and prevent wrinkling of its 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 for creating UG models.

[0042] Contour interference point: A key parameter affecting 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 the protruding point of the upper mold contour within the length range of the robot arm. Through accurate measurement, it can be ensured that the robot arm and the upper mold have a sufficient safety distance.

[0043] PLS (Press Line Simulation) software is a technology for simulating stamping production lines. It uses digital means to model the production line and simulate various working conditions in the actual production process in order to identify potential problems and make optimizations.

[0044] JSG (Servo Gen-OLP) is an offline motion planning tool for stamping lines. It obtains the cycle time by inputting the measured model values ​​and performing simulation calculations.

[0045] Combination Figure 1 As shown, this disclosure provides a production line simulation method for production line cycle time, including:

[0046] Step S101: Obtain the production line model parameters corresponding to the target production line;

[0047] Step S102: Perform path planning for the target robotic arm based on the production line model parameters to solve the production line cycle time corresponding to the target production line and generate the robotic arm path corresponding to the production line cycle time.

[0048] Step S103: Divide the robotic arm path into regions according to the preset partitioning factor to obtain multiple path segments, and generate path constraints corresponding to each path segment, so as to smooth the robotic arm path according to the path constraints to obtain the target path.

[0049] The preset partitioning factors include at least one of the following: material transportation stage, path endpoint, and direction of movement;

[0050] Step S104: Model the production line according to the production line model parameters to obtain the production line simulation model, and simulate the production line according to the target path to obtain the simulation results of the production line cycle time.

[0051] The production line simulation method for production line cycle time provided in this disclosure involves path planning for a target robotic arm in the target production line to obtain the production line cycle time and robotic arm path. Then, the robotic arm path is divided into regions using preset partitioning factors to obtain multiple path segments. Smoothing is then applied to different preset partitioning factors according to path constraints to obtain the target path. The production line cycle time is then simulated according to the target path corresponding to the production line cycle time, yielding the cycle time simulation results. This method meticulously divides the robotic arm path corresponding to the production line cycle time according to material transport stages, path endpoints, and movement directions to obtain path segments. Smoothing is then applied to different preset partitioning factors according to path constraints. This not only allows for targeted adjustment of the robotic arm path and production line cycle time but also makes the simulation of the production line cycle time smoother and more efficient. It achieves preliminary optimization of the production line cycle time before simulation, effectively shortening the subsequent cycle time optimization cycle and significantly improving the overall production efficiency of the production line.

[0052] Optionally, the robotic arm path is divided into regions according to a preset partitioning factor to obtain multiple path segments, including: dividing the robotic arm path into regions according to preset multiple material transportation stages to obtain stage paths corresponding to each material transportation stage, wherein the stage path includes at least one of material picking nodes, crossbar paths, material conveying paths, material feeding nodes, and return paths; using material picking nodes and material feeding nodes as path endpoints of the robotic arm path, setting module boundaries according to each path endpoint to divide the robotic arm path into regions according to the module boundaries to obtain multiple module inner segments, wherein the module inner segments include at least one of material picking inner segments, material feeding inner segments, material feeding inner segments, and return inner segments; dividing each module inner segment into regions according to the movement direction of the target robotic arm to obtain multiple directional segments corresponding to each module inner segment, wherein the directional segment corresponding to any module inner segment includes at least one of vertical segments, transition segments, and horizontal segments; and using at least a portion of the stage paths, module inner segments, and directional segments as path segments.

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

[0054] Combination Figure 2 As shown in the figure, this disclosure provides a schematic diagram of a one-stage path, including a material picking node, a crossbar path, a material conveying path, a material feeding node, and a return path.

[0055] Combination Figure 3As shown in the figure, this disclosure provides a schematic diagram of a module section, including a material picking section, a material feeding section, a material feeding section, and a return section. The material picking section includes Seg1 and Seg7, the material feeding section includes Seg2, the material feeding section includes Seg3 and Seg4, and the return section includes Seg5 and Seg6.

[0056] Combination Figure 4 As shown in the figure, this disclosure provides a schematic diagram of a directional segment; utilizing the motion characteristics of the robotic arm, the robotic arm path is decomposed and designed to avoid fixed obstacles and identifiable moving obstacles, wherein the fixed obstacles include the lower mold area, and the moving obstacles include the upper mold area that moves with the slider and the robotic arm of the adjacent process; in the vertical segment, the angle between the robotic arm's motion direction and the vertical direction is less than a preset vertical angle, wherein the vertical direction is perpendicular to the horizontal direction; in the horizontal segment, the angle between the robotic arm's motion direction and the horizontal direction is less than a preset horizontal angle; the segment within the mold area outside the vertical segment and the horizontal segment is regarded as a transition segment.

[0057] In some embodiments, vertical segments are associated with production line interference, transition segments are associated with material transport efficiency, and horizontal segments are associated with both production line interference and material transport efficiency.

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

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

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

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

[0062] Optionally, the path constraint conditions corresponding to the generated path segment 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 robotic arm path between the feeding node and the return inner segment.

[0063] In some embodiments, the ratio between the fifth length and the sixth length should be smaller than a preset second threshold, so that the movement time of the robotic arm in the inner section of the feed is shorter, which is beneficial to improving the cycle time.

[0064] Optionally, the robotic arm path can be smoothed by adjusting the positions of the pick-up and / or feed nodes.

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

[0066] In some embodiments, based on the actual position of the material in the picking area, the height of the robotic arm picking node in the Z direction is detected by sensors and automatically adjusted to ensure accurate material grabbing while avoiding collisions with other equipment or obstacles in the picking area; based on the specific layout of each workstation on the production line, the position of the picking and feeding nodes in the Y direction (assuming it is the production line direction) is finely adjusted to ensure the shortest material transmission path and avoid obstacles, achieving a smooth transition of the path.

[0067] Optionally, the robotic arm path can be smoothed by adjusting the path length of the segment within the module area mapped in the vertical direction.

[0068] In some embodiments, the vertical length of the material taking section and / or the material feeding section entering and exiting the mold area boundary is adjusted.

[0069] In some embodiments, when the robotic arm carries material across the boundary of the mold area, the position of the robotic arm in the Z direction is dynamically adjusted according to the height limit or obstacle situation at the boundary to ensure safe passage and reduce vibration; for cases where the material needs to be rotated to adapt to subsequent processes, the rotation angle of the crossbar is precisely controlled at the boundary of the mold area to allow the material to smoothly transition to the next process while reducing vibration caused by rotation.

[0070] Optionally, the robotic arm path can be smoothed by adjusting the travel time of the target robotic arm through the return segment.

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

[0072] In some embodiments, during the return or idle stroke phase after the robotic arm completes a material handling task, reasonable pause points and speed ratios are set 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 robotic arm path can be smoothed by adjusting the robotic arm parameters corresponding to the target robotic arm, wherein the robotic arm parameters include one or more of the following: robotic arm pause duration, robotic arm speed ratio, robotic arm crossbar rotation angle, and material unloading waiting time.

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

[0075] In some embodiments, when the robotic arm performs material picking and feeding actions, a reasonable waiting time is set according to the synchronization requirements of the preceding and following processes to ensure close connection between each process and avoid wasting resources due to excessive waiting time. Simultaneously, the robotic arm's motion trajectory is optimized through algorithms to maintain continuous and smooth movement throughout the entire work process.

[0076] In some embodiments, the robotic arm path is smoothed using a Bezier curve.

[0077] Optionally, path planning is performed on the target robotic arm based on the production line model parameters to solve for the production line cycle time corresponding to the target production line and generate the robotic arm path corresponding to the production line cycle time. This includes: 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 for the production line cycle time; if the production line cycle time does not meet the preset expected cycle time, the first target parameter is adjusted until the production line cycle time output by the path planning tool meets the preset expected cycle time, wherein the first target parameter includes the production line model parameters and / or the current production parameters; if the production line cycle time meets the preset expected cycle time, the robotic arm path corresponding to the production line cycle time 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 mold parameter groups, contour interference point parameter groups, workpiece parameter groups, end effector specification parameter groups, etc.

[0079] In some embodiments, production line model data and current production parameters are input into the JSG tool, wherein the current production parameters include the feeding parameters of the target production line; the JSG tool performs simulation according to the production line model data and current production parameters, and uses the simulation results to plan the path of the target robotic arm; the JSG tool is equipped with a trajectory output button (WritePLS Curves button), which triggers the JSG tool to output a simulation curve trajectory based on the production line cycle time; if the production line cycle time output by the JSG tool cannot meet the expected cycle time, the cycle time is increased by adjusting the first target parameters, wherein the adjusted first target parameters include 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 the cycle time simulation result corresponding to the production line cycle time. This includes: 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 the cycle time simulation result. The cycle time simulation result includes at least one of the phase angle parameter corresponding to the target robotic arm, the safety margin corresponding to the target production line, and the 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 model lightweighting; the UG models corresponding to production line components such as stamping line, mold, workpiece, and end effector are imported into PLS software, and the positions of each production line component are adjusted to obtain the preset simulation model corresponding to the target production line.

[0082] In some embodiments, the phase angle parameters corresponding to the target robotic arm are obtained by simulating the robotic arm path using PLS software.

[0083] Optionally, after simulating the production line according to the target path using a production line simulation model and obtaining the simulation result corresponding to the production line cycle time, the method further includes: if the interference detection result and / or safety margin do not meet the preset expected simulation result, then the interference station is determined from the target production line, and the second target parameter corresponding to the interference station is adjusted until the interference detection result and / or safety margin meet the expected simulation result, wherein the second target parameter includes at least one of the production line model parameters, current production parameters, target path, and production line cycle time; if the interference detection result and / or safety margin meet the expected simulation result, then the current second target parameter is obtained, and the target production line is driven according to the second target parameter.

[0084] In some embodiments, the interference check range can be selected as the entire line or a specific process. Both external and internal collision interference can be selected. Automatic pause can be selected when a collision occurs to facilitate finding the interference location. For the workstation where interference occurs, the parameters are adjusted on the JGS tool. After adjustment, the entire line cycle time solution and interference check are performed again until there is no interference and the safety margin is met.

[0085] Optionally, after simulating the production line according to the target path using a production line simulation model to obtain the simulation results corresponding to the production line cycle time, the method further includes: the target production line also includes an upper die, a lower die, a slider, and a pressure ring; obtaining threshold data corresponding to the target robotic arm and simulation data corresponding to the pressure ring, wherein the threshold data includes the robotic arm's material picking angle and material releasing angle, and the simulation data includes the bottom dead center angle of the slider and the contact angle between the upper die and the pressure ring; establishing pressure ring constraint conditions corresponding to the pressure ring based on the threshold data, wherein the pressure ring constraint conditions include at least one of a first constraint condition, a second constraint condition, and a third constraint condition, wherein the first constraint condition includes that the locking angle of the pressure ring is less than the robotic arm's material picking angle, the second constraint condition includes that the initial lifting angle of the pressure ring is less than the robotic arm's material picking angle, and the third constraint condition includes that the complete lifting angle of the pressure ring is less than the robotic arm's material releasing angle; inputting the pressure ring constraint conditions and simulation data into production simulation software, and using the production simulation software to simulate according to the production line simulation model to obtain optimized data corresponding to the pressure ring, wherein the optimized data includes the locking height and / or 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 pressure ring.

[0087] In some embodiments, the contact angle between the upper die and the pressure ring, and the bottom dead center angle (the bottom dead center is when the upper die is pressed to the bottom); the locking angle of the pressure ring is set to be less than the material taking angle, the initial lifting angle of the pressure ring is set to be greater than the material taking angle, and the complete lifting angle of the pressure ring is set to be less than the material releasing angle; a simulation calculation of the pressure ring and the upper die drive is established, the locking height of the pressure ring and the lifting stroke of the pressure ring are determined, and the values ​​obtained by the calculation are used for replacement.

[0088] Combination Figure 5 As shown, this disclosure provides a production line simulation method for production line cycle time, including:

[0089] Step S501: Obtain production line model data, then proceed to steps S502 and S505;

[0090] Step S502: Import the production line model data into the JSG tool to use the JSG tool to solve the production line cycle time according to the production line model data;

[0091] Step S503: Determine whether the production line cycle time meets the expected cycle time. If yes, proceed to step S504; otherwise, proceed to step S509.

[0092] Step S504: Import the robotic arm path corresponding to the production line cycle time into the PLS software, then proceed to step S506.

[0093] Step S505: Use US software to build a production line simulation model corresponding to the production line model data, then proceed to step S506.

[0094] Step S506: Use PLS software to perform simulation according to the robotic arm path and production line simulation model to obtain the production line simulation results;

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

[0096] Step S507: Determine whether the production line simulation results meet the expected results. If yes, proceed to step S508; otherwise, proceed to step S509.

[0097] Step S508: Drive the target production line based on simulation data.

[0098] Step S509: Adjust the current simulation data, then proceed to step S502.

[0099] Combination Figure 6 As shown, this disclosure provides a production line simulation system for production line cycle time, 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 robotic arm based on the production line model parameters, in order to solve the production line cycle time corresponding to the target production line and generate the robotic arm path corresponding to the production line cycle time.

[0102] The partitioning module 603 is used to divide the robotic arm path into regions according to a preset partitioning factor to obtain multiple path segments, and generate path constraints corresponding to each path segment, so as to smooth the robotic arm path according to the path constraints to obtain the target path. The preset partitioning factor includes at least one of the material transportation stage, path endpoints and movement direction.

[0103] The simulation module 604 is used to model the production line based on the production line model parameters, obtain the production line simulation model, and perform simulation according to the target path through the production line simulation model to obtain the simulation results of the production line cycle time.

[0104] The production line simulation system for production line cycle time provided in this disclosure involves path planning for a target robotic arm in the target production line to obtain the production line cycle time and robotic arm path. Then, the robotic arm path is divided into regions using preset partitioning factors to obtain multiple path segments. Smoothing is then applied to different preset partitioning factors according to path constraints to obtain the target path. The production line cycle time is then simulated according to the target path corresponding to the production line cycle time, yielding the cycle time simulation results. This detailed division of the robotic arm path corresponding to the production line cycle time according to material transport stages, path endpoints, and movement directions, resulting in path segments, and subsequent smoothing based on different preset partitioning factors and path constraints, not only allows for targeted adjustment of the robotic arm path and production line cycle time but also makes the simulation of the production line cycle time smoother and more efficient. This achieves preliminary optimization of the production line cycle time before simulation, effectively shortening the subsequent cycle time optimization cycle and significantly improving the overall production efficiency of the production line.

[0105] This disclosure also 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 performs the above-described method.

[0106] Figure 7 A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 7 The computer system 700 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this 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, such as executing the methods described in the above embodiments, based on programs stored in Read-Only Memory (ROM) 702 or programs loaded from storage portion 708 into Random Access Memory (RAM) 703. The RAM 703 also stores various programs and data required for system operation. The CPU 701, ROM 702, and RAM 703 are interconnected via a bus 704. An 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, mouse, etc.; an output section 707 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, 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, 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 disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 710 as needed so that computer programs read from it can be 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 between them. The memory is used to store computer programs, the communication interface is used to perform communication, and the processor and the transceiver are used to run the computer programs, so that the electronic device performs the various steps of the above method.

[0110] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and subsamples of some embodiments may be included in or replace parts and subsamples of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used in this application means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this application, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated subsamples, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other subsamples, wholes, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes the element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0111] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

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

[0113] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A production line simulation method for a production line tact, characterized by, The method comprises the following steps: acquiring a production line model parameter corresponding to a target production line; path planning for a target robot arm according to the production line model parameter to solve a production line beat corresponding to the target production line and generate a robot arm path corresponding to the production line beat; regionally dividing the robot arm path according to a preset division factor to obtain a plurality of path segments and generate a path restriction condition corresponding to each path segment to smooth the robot arm path according to the path restriction condition to obtain a target path, wherein the preset division factor comprises at least one of a material transportation stage, a path endpoint and a moving direction; regionally dividing the robot arm path according to a preset division factor to obtain a plurality of path segments, comprising regionally dividing the robot arm path according to a plurality of preset material transportation stages to obtain a stage path corresponding to each material transportation stage, wherein the stage path comprises at least a material taking node and a material feeding node; taking the material taking node and the material feeding node as path endpoints of the robot arm path and setting a mold area boundary according to each path endpoint to regionally divide the robot arm path according to the mold area boundary to obtain a plurality of mold area internal segments, wherein the mold area internal segment comprises at least one of a material taking internal segment, a material feeding internal segment, a material feeding internal segment and a return internal segment; regionally dividing each mold area internal segment according to the moving direction of the target robot arm to obtain a plurality of direction segments corresponding to each mold area internal segment, wherein any mold area internal segment corresponding direction segment comprises at least one of a vertical segment, a transition segment and a horizontal segment; taking at least part of the stage path, the mold area internal segment and the direction segment as a path segment; modeling according to the production line model parameter to obtain a production line simulation model, which simulates according to the target path to obtain a beat simulation result corresponding to the production line beat.

2. The method of claim 1, wherein, Generating a path restriction condition corresponding to the path segment comprises 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 being less than or equal to 25%, wherein the first length is the path length of the vertical segment in the material carrying path mapped on the vertical direction, and the second length is the path length of the material carrying path mapped on 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 being less than or equal to 10%, wherein the third length is the path length of the vertical segment in the return internal segment, and the fourth length is the path length of the return internal segment; 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 being 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 material feeding segment, the sixth length is the path length of the material feeding internal segment, and the second material feeding segment is the robot arm path between the material feeding node and the return internal segment.

3. The method of claim 1, wherein, Smooth the robot arm path in the following at least one way: adjust the position of the material taking node and / or the material feeding node; adjusting a path length of the in-segment mapping in a vertical direction; adjusting a moving time length of the target robot arm through the in-segment; adjusting a corresponding robot arm parameter of the target robot arm, wherein the robot arm parameter comprises one or more of a robot arm stop time length, a robot arm speed ratio, a robot arm crossbar rotation angle, and a material feeding waiting time length.

4. The method according to any one of claims 1 to 3, characterized in that, According to the production line model parameter, the target robot arm is path planned to solve the production line beat corresponding to the target production line, and a robot arm path corresponding to the production line beat is generated, comprising: obtaining the current production parameter of the target production line; inputting the production line model parameter and the current production parameter into a preset path planning tool, and using the path planning tool to plan a path according to the production line model parameter and the current production parameter to solve the production line beat; if the production line beat does not meet the preset expected beat, adjusting the first target parameter until the production line beat output by the path planning tool meets the preset expected beat, wherein the first target parameter comprises the production line model parameter and / or the current production parameter; if the production line beat meets the preset expected beat, obtaining the robot arm path corresponding to the production line beat through the path planning tool.

5. The method of claim 4, wherein, According to the target path, the production line simulation model is simulated to obtain a beat simulation result corresponding to the production line beat, comprising: 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.

6. The method of claim 5, wherein, After simulating the production line simulation model according to the target path to obtain the beat simulation result corresponding to the production line beat, the method further comprises: if the beat simulation result does not meet the preset expected simulation result, determining an interference station from the target production line and adjusting a second target parameter corresponding to the interference station until the beat simulation result meets the expected simulation result, wherein the second target parameter comprises 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, obtaining the current second target parameter and driving the target production line according to the second target parameter.

7. The method of claim 5, wherein, After simulating the production line simulation model according to the target path to obtain the beat simulation result corresponding to the production line beat, the method further comprises: The target production line further comprises an upper die, a lower die, a slider, and a blank holder; obtaining threshold data corresponding to the target robot arm and simulation data corresponding to the blank holder, wherein the threshold data comprises a robot arm material taking angle and a robot arm material feeding angle, and the simulation data comprises a bottom dead center angle of the slider and a fitting angle between the upper die and the blank holder; establish a blank holder ring limit condition corresponding to the blank holder ring according to the threshold data, wherein the blank holder ring limit condition comprises at least one of a first limit condition, a second limit condition and a third limit condition, the first limit condition comprises that a locking angle of the blank holder ring is less than a mechanical arm material taking angle, the second limit condition comprises that a starting jacking angle of the blank holder ring is less than the mechanical arm material taking angle, and the third limit condition comprises that a full jacking angle of the blank holder ring is less than a mechanical arm material placing angle; input the blank holder ring limit condition and the simulation data into the production simulation software, and perform simulation according to the production simulation model by using the production simulation software to obtain optimization data corresponding to the blank holder ring, wherein the optimization data comprises a locking height and / or a jacking stroke.

8. A production line simulation system for a production line tact, characterized by, comprise: an acquisition module configured to acquire a production line model parameter corresponding to a target production line; a path module configured to perform path planning on a target mechanical arm according to the production line model parameter, so as to solve a production line beat corresponding to the target production line, and generate a mechanical arm path corresponding to the production line beat; a partition module configured to divide a region of the mechanical arm path according to a preset partition factor to obtain a plurality of path segments, and generate a path limit condition corresponding to each of the path segments, so as to perform smoothing processing on the mechanical arm path according to the path limit condition to obtain a target path, wherein the preset partition factor comprises at least one of a material transportation stage, a path endpoint and a moving direction; the partition module divides the region of the mechanical arm path according to the preset partition factor to obtain the plurality of path segments by the following manner: dividing the region of the mechanical arm path 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 comprises at least a material taking node and a material placing node; taking the material taking node and the material placing node as path endpoints of the mechanical arm path, respectively setting a mold area boundary according to each of the path endpoints, dividing the region of the mechanical arm path according to the mold area boundary to obtain a plurality of mold area internal segments, wherein the mold area internal segment comprises at least one of a material taking internal segment, a material feeding internal segment, a material placing internal segment and a return internal segment; dividing the region of each of the mold area internal segments according to a moving direction of the target mechanical arm to obtain a plurality of direction segments corresponding to each of the mold area internal segments, wherein any direction segment corresponding to a mold area internal segment comprises at least one of a vertical segment, a transition segment and a horizontal segment; and taking at least part of the stage path, the mold area internal segment and the direction segment as a path segment; a simulation module configured to model according to the production line model parameter 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.

9. An electronic device, comprising: comprise: a processor and a memory; the memory is configured to store a computer program, and the processor is configured to execute the computer program stored in the memory, so that the electronic device executes the method in any one of claims 1 to 7.

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