A press hybrid mode cycle control method and system in a continuous press production line

Abstract

The application provides a press hybrid mode beat control method and system in a continuous stamping production line, relates to the technical field of industrial automation control, and determines a cooperative control standard, an operation safety boundary and a control technical index by acquiring relevant data of the continuous stamping production line. Based on this, the initial phase interval of the slider of the target press switched to the intermittent mode is adjusted to obtain a target phase interval, and a data transmission channel between each press, a mechanical hand and a robot in the continuous stamping production line is established. The first operation state data of each press, the mechanical hand and the robot are collected through the channel, and the actual operation beat of the press hybrid mode in the continuous stamping production line is adjusted according to the first operation state data, so that the adjusted beat is obtained. After any press is switched to the intermittent mode, the continuous stamping production line can operate in the continuous mode, and the adaptive cooperation of the whole line beat in the press hybrid mode is realized.

Description

Technical Field

[0001] This application relates to the field of industrial automation control technology, and in particular to a method and system for controlling the cycle time of a press in a continuous stamping production line in a mixed mode. Background Technology

[0002] In continuous stamping production, to balance high efficiency and flexible manufacturing requirements, production lines often need to dynamically switch between continuous and intermittent modes. Especially when a press temporarily switches to intermittent operation due to process adjustments or maintenance, the remaining equipment must maintain overall rhythm coordination to ensure production continuity and safety. This places high demands on the control system for precise synchronization, real-time response, and multi-equipment collaboration, necessitating a technology capable of dynamically adapting to different operating modes and maintaining overall rhythm stability.

[0003] In existing technologies, a centralized controller is used to uniformly schedule the action sequence of each press and conveying unit, coordinating equipment start-up and shutdown through a preset cycle time model and fixed phase offset. This method sets the slider's starting position based on historical data during mode switching and relies on the master control unit to issue synchronization commands to each slave device to maintain production line rhythm consistency. However, when faced with complex operating conditions or variable cycle time requirements, this solution lacks dynamic perception and feedback of the actual operating status, making it difficult to flexibly adjust the action coordination between devices. This can easily lead to waiting or interference between upstream and downstream devices, thereby disrupting overall cycle time stability and affecting production efficiency and safety. Summary of the Invention

[0004] The purpose of this application is to provide a method and system for controlling the cycle time of the press in a mixed mode in a continuous stamping production line, so as to solve the problem of equipment mismatch and cycle time instability caused by the lack of dynamic perception and feedback in the prior art.

[0005] To solve the above-mentioned technical problems, in a first aspect, this application provides a method for controlling the cycle time of a press in a continuous stamping production line in a mixed mode, comprising:

[0006] Acquire relevant data for the continuous stamping production line, including production line configuration data, slide stroke data, operating requirements data, and operating data of the robotic arm and robot;

[0007] Based on the relevant data, the collaborative control standards, the operational safety boundaries of the continuous stamping production line, and the control technical indicators are determined.

[0008] Based on the aforementioned operational safety boundary, control technical indicators, and preset phase adjustment benchmark of the slider, the initial phase range of the slider of the target press switched to intermittent mode is adjusted using phase adjustment technology to obtain the target phase range.

[0009] Based on the target phase interval and the cooperative control standard, a data transmission channel between each press, robot arm and robot in the continuous stamping production line is established using distributed bus control technology. The first operating status data of each press, robot arm and robot are collected through the data transmission channel.

[0010] Based on the first operating status data, the actual operating cycle time of the presses in the mixed mode of the continuous stamping production line is adjusted to obtain the adjusted cycle time, so that after any press is switched to intermittent mode, the continuous stamping production line can operate in continuous mode.

[0011] Optionally, the production line configuration data includes the structural type information and installation layout information of each press, the stroke-related data of the slider includes the displacement angle data of the slider, the operation requirement data includes the continuous operation requirements of the continuous stamping production line, the permission conditions for the press to switch to intermittent mode, the target data of the overall line cycle time, and the operation data of the manipulator and robot include the motion trajectory data of the manipulator and robot.

[0012] Based on the aforementioned data, the collaborative control standards, the operational safety boundaries of the continuous stamping production line, and the control technical indicators are determined, including:

[0013] Based on the motion trajectory data, the action duration of the manipulator and robot in completing each command action, and the first connection relationship between each command action and the slider movement of the adjacent press are analyzed to determine the action response information of the manipulator and robot.

[0014] Based on the structural type information, installation layout information, and continuous operation requirements of each press, combined with the motion trajectory data and action response information, the correlation between the motion characteristics of presses of different structural types and the motion trajectories of manipulators and robots is analyzed to determine the target corresponding data and adjustment data for the coordinated operation of each press, manipulator, and robot.

[0015] The target-corresponding data and adjustment data are integrated to form a collaborative control standard;

[0016] Based on the displacement angle data, the permission conditions, and the motion trajectory data, the possibility of spatial overlap between the motion amplitude of each slider and the motion trajectory of the manipulator and robot is analyzed to determine the operational safety boundary.

[0017] Based on the target data of the overall line rhythm, the displacement angle data of the slider, and the action response information, the control technical indicators are determined.

[0018] Optionally, based on the aforementioned operational safety boundary, control technical indicators, and a preset phase adjustment benchmark for the slider, the initial phase range of the slider of the target press switched to intermittent mode is adjusted using phase adjustment technology to obtain the target phase range, including:

[0019] Based on the preset phase control reference of the slider and the displacement angle data of the slider of the target press switched to intermittent mode, the initial phase range of the downward movement of the slider of the target press is determined.

[0020] Candidate phase intervals within the operational safety boundary are selected from the initial phase intervals, and the phase interval adjustment requirements for the downward movement of the slider within the candidate phase intervals are determined according to the control technical indicators.

[0021] Based on the operational safety boundary and action response information, analyze the initiation timing and duration of the slider's downward motion within the candidate phase interval and the second connection relationship between the manipulator and robot in completing each instruction action;

[0022] The candidate phase interval is divided into a first phase segment, a second phase segment, and a third phase segment. Based on the phase interval adjustment requirements and the second connection relationship, the phase interval parameters corresponding to each phase segment are adjusted to obtain the target phase interval.

[0023] Optionally, based on the target phase interval and the cooperative control standard, a data transmission channel is established between the presses, manipulators, and robots in the continuous stamping production line using distributed bus control technology, including:

[0024] Based on a distributed bus architecture, the central control unit of the continuous stamping production line is used as the master station, and the control modules of each press, the control module of the robot arm, and the control module of the robot are used as slave stations, thus constructing a communication connection architecture between the master station and each slave station.

[0025] Configure the data transmission parameters between the master station and each slave station according to the phase interval parameters of the target phase interval and the transmission timeliness requirements of the cooperative control standard;

[0026] Based on the communication connection architecture and the data transmission parameters, a data transmission channel is constructed between the master station and each slave station.

[0027] Optionally, based on the communication connection architecture and the data transmission parameters, a data transmission channel is constructed between the master station and each slave station, including:

[0028] Based on the correspondence between the master station and each slave station in the communication connection architecture, multiple data transmission paths corresponding to the master station and each slave station are generated.

[0029] Based on the data transmission parameters and the link identifier corresponding to the data transmission path, match the corresponding path parameters for different data transmission paths, and set data encapsulation rules applicable to all data transmission paths.

[0030] Based on the node connection order of each data transmission path, the corresponding path parameters, and the data encapsulation rules, a physical communication link is constructed between the master station and each slave station.

[0031] Based on the physical communication link, determine the communication interaction logic between the master station and each slave station;

[0032] Based on the data transmission path, the physical communication link, and the communication interaction logic, a data transmission channel is constructed between the master station and each slave station.

[0033] Optionally, based on the first operating status data, the actual operating cycle time of the press in the mixed mode of the continuous stamping production line is adjusted to obtain the adjusted cycle time, including:

[0034] Extract the associated operational data corresponding to the target press, the target manipulator, and the target robot that cooperate with the target press from the first operational status data;

[0035] The associated operating data is compared with the collaborative control standard to determine the first deviation between the target press and the target manipulator and the target robot, and at the same time, the second deviation between the operating cycle of each press and the operating cycle of each device in the target data of the whole line cycle is calculated.

[0036] Based on the first deviation and the second deviation, and in conjunction with the control technical indicators, the cycle adjustment parameters corresponding to the equipment that needs to be adjusted are determined.

[0037] The cycle adjustment parameters corresponding to each device are sent to the control module of the corresponding slave station through the data transmission channel to update the operation control logic of each device, obtain the updated device, and collect the second operation status data of the updated device.

[0038] Based on the second operating status data, the actual operating cycle time of the press in the mixed mode of the continuous stamping production line is calculated, and the actual operating cycle time is adjusted based on the target data of the overall line cycle time to obtain the adjusted cycle time.

[0039] Optionally, the actual operating cycle time is adjusted based on the target data of the overall line cycle time to obtain the adjusted cycle time, including:

[0040] Calculate the third deviation between the actual operating cycle and the target data of the whole line cycle, and calculate the fourth deviation between the actual operating cycle of each device in the second operating status data and the operating cycle of the corresponding device in the target data;

[0041] Based on the third and fourth deviations, the impact of each device on the third deviation is calculated, and the adjustment priority of each device is determined in conjunction with the control technical indicators.

[0042] According to the adjustment priority, the cycle adjustment parameters corresponding to each device that needs adjustment are iteratively optimized until the target cycle adjustment parameters that meet the error allowable range of the collaborative control standard are obtained. Based on the target cycle adjustment parameters, the actual operating cycle is calibrated to obtain the adjusted cycle.

[0043] Secondly, this application provides a press mixed-mode cycle control system for a continuous stamping production line, comprising:

[0044] The acquisition module is used to acquire relevant data of the continuous stamping production line, including production line configuration data, slider stroke data, operation requirements data, and operation data of the manipulator and robot.

[0045] The determination module is used to determine the collaborative control standards, the operational safety boundaries and control technical indicators of the continuous stamping production line based on the relevant data.

[0046] The first adjustment module is used to adjust the initial phase range of the slider of the target press that has switched to intermittent mode based on the operating safety boundary, control technical indicators and preset slider phase adjustment benchmark, so as to obtain the target phase range.

[0047] A module is established to establish a data transmission channel between each press, robot, and robot in the continuous stamping production line based on the target phase interval and the cooperative control standard, using distributed bus control technology. The first operating status data of each press, robot, and robot are collected through the data transmission channel.

[0048] The second adjustment module is used to adjust the actual operating rhythm of the presses in the mixed mode of the continuous stamping production line based on the first operating status data, so as to obtain the adjusted rhythm, so that the continuous stamping production line can operate in continuous mode after any press is switched to intermittent mode.

[0049] Thirdly, this application provides a computing device, including a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are invoked and executed by the processing component to implement the steps of the press mixed mode cycle control method in a continuous stamping production line as described in the first aspect above.

[0050] Fourthly, this application provides a computer storage medium storing a computer program, which, when executed by a computer, implements the steps of a press mixed mode cycle control method in a continuous stamping production line as described in the first aspect above.

[0051] This application provides a method for controlling the cycle time of a press in a mixed mode in a continuous stamping production line. It constructs collaborative control standards and safety boundaries by acquiring multi-dimensional operational data of the production line, and dynamically adjusts the initial phase range of the target press slider accordingly. Furthermore, it establishes an efficient communication channel between devices based on a distributed bus architecture, collects the operating status of each unit in real time, and finally performs closed-loop adjustment of the overall line cycle time in mixed mode based on this status. This ensures continuous and stable operation of the entire line even when any press switches to intermittent mode. It achieves adaptive coordination of the cycle time during mode switching, avoids line rhythm disruption caused by sudden changes in the operating status of local equipment, and improves the synchronization accuracy and operational robustness of the system in flexible production scenarios.

[0052] Furthermore, this application extracts the associated operational data of the target press and its cooperating manipulator and robot, compares it with the collaborative control standard to identify the action deviations between equipment, and combines it with the overall line cycle time target to generate targeted cycle time adjustment parameters. These parameters are then sent to each slave station control module via the data channel to update the operational logic, and the cycle time is recalibrated based on the updated equipment status feedback. This enables cycle time optimization to not only respond to global rhythm requirements but also accurately compensate for local collaborative deviations, thereby overcoming the response lag and coordination inaccuracy problems caused by static scheduling and lack of state closed loop in centralized control, and enhancing the dynamic collaborative capability and operational continuity of the production line in hybrid mode. Attached Figure Description

[0053] To more clearly illustrate the technical solutions of the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 A flowchart illustrating a press hybrid mode cycle control method in a continuous stamping production line provided in this application embodiment;

[0055] Figure 2 This is a schematic diagram illustrating a specific implementation of a press hybrid mode cycle control method in a continuous stamping production line provided in this application embodiment;

[0056] Figure 3 This is a schematic diagram of the structure of a press hybrid mode cycle control system in a continuous stamping production line provided in this application embodiment. Detailed Implementation

[0057] To address the problem that existing centralized control schemes struggle to adapt to real-time operating conditions during press mode switching due to their reliance on fixed phase settings and static scheduling, this application provides a press hybrid mode cycle control method for continuous stamping production lines. The core idea of ​​this method is to: collect multi-source information such as the configuration, stroke, operating requirements, and handling unit status of production line equipment to establish a collaborative control standard and safe operating boundary adapted to the current operating conditions; based on this, abandoning the rigid strategy of preset phase offset, instead dynamically adjust the initial phase of the target press slide according to the operating boundary and control benchmark to form a target phase range matching the overall line rhythm; then, through a distributed bus architecture, establish data pathways between devices to achieve real-time perception of operating status, and based on this, perform closed-loop correction of the actual cycle time in hybrid mode, ensuring that even if a single press switches to intermittent operation, the entire line can still maintain a continuous, coordinated, safe, and efficient production rhythm.

[0058] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of the present application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0059] The core of this application is to provide a method for controlling the cycle time of a press in a mixed mode in a continuous stamping production line. A flowchart of one specific implementation is shown below. Figure 1 As shown, the method includes:

[0060] Step 101: Obtain relevant data of the continuous stamping production line, including production line configuration data, slider stroke data, operation requirements data, and operation data of the manipulator and robot.

[0061] In this step, the continuous stamping production line refers to an automated production line consisting of multiple presses, supporting robotic arms and robots, used to continuously complete sheet metal stamping. The production line includes press units, conveying units and control units, and is built based on the assembly line operation mode.

[0062] Production line configuration data refers to data used to characterize the hardware layout and equipment characteristics of the production line. This data includes the structural type information and installation layout information of each press, which can be obtained based on the equipment's factory parameters and installation records. It is used for subsequent analysis of the motion characteristics of different presses and the positional relationship between equipment.

[0063] The stroke-related data of the slider refers to the data used to reflect the movement trajectory and position changes of the press slider, which includes the displacement angle data of the slider.

[0064] Operational requirements data refers to a set of parameters used to define the operating rules and objectives of the production line. This data includes the continuous operation requirements of the continuous stamping production line, the permissible conditions for switching the press to intermittent mode, and the target data for the overall line cycle time, based on production task planning and safety specifications. This embodiment does not limit the design of specific content such as continuous operation requirements and permissible conditions; these can be set according to actual conditions.

[0065] Operational data of robotic arms and robots refers to the data used to record the motion state of robotic arms and robots, including motion trajectory data of robotic arms and robots.

[0066] In this embodiment, the equipment composition and operating scenario of the continuous stamping production line are first defined, and then various types of data are collected in a targeted manner. Specifically: the production line configuration data is obtained by retrieving preset equipment files and on-site verification records; the stroke-related data of the slider is obtained in real time by the electronic cam encoder mounted on the slider, and the position change information of the slider during movement is recorded by this component; the operation requirement data is obtained by receiving the production parameter instructions input by the operator to clarify the production line operation requirements and cycle time targets; the operation data of the robotic arm and robot are extracted through their control module, and the motion trajectory and action execution status are recorded by this module.

[0067] Step 102: Based on the relevant data, determine the collaborative control standard, the operational safety boundary of the continuous stamping production line, and the control technical indicators.

[0068] In this step, the collaborative control standard refers to the specification formed by integrating the corresponding data and adjustment data of the collaborative operation targets of each press, manipulator and robot. The standard includes the timing reference of equipment collaborative actions and the deviation adjustment rules.

[0069] The operational safety boundary can be understood as the safe range of equipment movement determined based on slider displacement angle data, press intermittent mode permission conditions, and robot motion trajectory data. This boundary includes the press loading protection zone angle and the press unloading protection zone angle.

[0070] Control technical indicators refer to quantitative constraint parameters determined based on the overall line cycle target data, slider displacement angle data, and action response information. These indicators include the allowable deviation range of the equipment operating cycle and the accuracy threshold of phase adjustment.

[0071] In this embodiment of the application, step 102 specifically includes the following steps:

[0072] Step 201: Based on the motion trajectory data, analyze the action duration of the robot and the robot in completing each command action, and the first connection relationship between each command action and the slider movement of the adjacent press, so as to determine the action response information of the robot and the robot.

[0073] In this step, the command action refers to the specific work actions performed by the robotic arm and robot to cooperate with the press to complete the stamping process. The command action includes loading action, unloading action, and transfer action.

[0074] The first connection relationship can be understood as the coordination logic between the various command actions of the robotic arm and robot and the movement of the adjacent press slider in the time dimension. This relationship includes the sequential relationship between the command actions and the slider movement, as well as the duration of the action interval.

[0075] Action response information refers to comprehensive data including the duration of each command action of the manipulator and robot, and the first connection relationship between the command action and the movement of the adjacent press slider.

[0076] In this embodiment of the application, the starting position coordinates and ending position coordinates of each instruction action are first extracted from the motion trajectory data of the manipulator and the robot. Combined with the sampling interval time of the motion trajectory, the duration of each instruction action from start to end is calculated.

[0077] Next, the displacement angle data of the adjacent press slides are extracted to determine the timing sequence of each stage of slide upward, downward, and pressure holding. The timing sequence of the command actions is compared with the timing sequence of slide movement one by one. The slide movement stage corresponding to each command action and the time interval between the two are analyzed to determine the first connection relationship. For example, one first connection relationship is that after the robot completes the loading command action, the adjacent press slide is triggered to enter the downward stage at a fixed interval, and the loading command action falls within the upward stage of the slide without timing overlap. Finally, the timing data of all command actions and the first connection relationship are integrated to generate complete action response information.

[0078] Step 202: Based on the structural type information, installation layout information, and continuous operation requirements of each press, and combined with the motion trajectory data and action response information, analyze the correlation between the motion characteristics of presses of different structural types and the motion trajectories of the manipulator and robot, so as to determine the target corresponding data and adjustment data for the coordinated operation of each press, manipulator, and robot.

[0079] In this step, the structural type information refers to the data that characterizes the core structural features of the press. This information includes the press drive method, slide stroke range, motion speed characteristics, etc., and can be obtained based on the equipment's factory parameters.

[0080] Installation layout information refers to data that characterizes the spatial relationship between various pieces of equipment. This information includes the spacing between each press and the relative position of the press and the robotic arm, and can be obtained based on the production line installation and construction records.

[0081] Motion characteristics can be understood as the motion law of the slider of presses with different structural types. These characteristics include the slider motion speed change curve and motion cycle stability.

[0082] The correlation can be understood as the adaptation logic between the press motion characteristics and the motion trajectory of the manipulator and robot. This relationship includes the matching relationship between the press slider motion cycle and the manipulator / robot motion cycle, and the correspondence between the slider motion position and the manipulator / robot motion position.

[0083] The target corresponding data refers to the data that characterizes the ideal state of collaborative operation of each press, manipulator, and robot.

[0084] Adjustment data refers to parameters used to correct the deviation between the actual operating status of the equipment and the target data. This data includes timing deviation adjustment amount and position deviation correction value.

[0085] In this embodiment, the structural type information and installation layout information of each press are first extracted. Combined with the continuous operation requirements in the operation demand data, the bottom line rules for the coordination of the entire line equipment are clarified, namely, the continuous flow of the stamping process, the collision-free operation of equipment, and the satisfaction of production efficiency requirements. Then, based on the motion trajectory data and action response information of the manipulator and robot, the adaptability of the motion characteristics such as the slider movement speed and motion cycle of the press with the motion trajectory of the manipulator and robot is analyzed for different structural types of presses, and the correlation between the motion characteristics of the press and the motion trajectory of the manipulator and robot is determined.

[0086] For example, one possible relationship is that the hydraulic press slide moves smoothly, and its downward stamping phase is precisely synchronized with the robot's loading trajectory in terms of timing and without spatial overlap. The mechanical press has a short motion cycle, and its upward reset phase is seamlessly connected with the robot's unloading trajectory. Then, based on this relationship, an ideal state is set where the timing of the equipment actions is perfectly matched and there is no positional deviation, and target corresponding data is generated.

[0087] Finally, the actual operating data of the equipment is compared with the corresponding target data. Specific deviation values, such as the duration of timing deviation and the amount of spatial position deviation, are calculated one by one. Combined with the preliminary constraints of the control technical indicators, adjustment data for correcting these deviations is generated. The preliminary constraints of the control technical indicators refer to the preliminary deviation control standards set in advance based on the continuous operation requirements of the entire line, the slider displacement angle data, and the action response information. These include the maximum acceptable range of timing deviation and spatial position deviation, as well as the priority guidance for equipment adjustment. These preliminary rules are used to define which deviations need to be corrected, the upper limit of the correction magnitude, and the order of adjustment, ensuring that the generated adjustment data does not exceed the bottom line of the overall line coordination and safe operation.

[0088] Step 203: Integrate the target-corresponding data and adjustment data to form a collaborative control standard.

[0089] In this embodiment, the target-corresponding data and adjustment data are first classified and sorted. The data are categorized according to the logical hierarchy of equipment type, action sequence system, and position coordination. Then, data integration rules are set, with the target-corresponding data of each type of equipment as the benchmark item and the adjustment data as the correction and supplementary item of the benchmark item. The specific rules for correcting the adjustment data when the actual operation deviation of the equipment exceeds the preset value are clarified. Finally, all the integrated data are systematically sorted to form a collaborative control standard that includes equipment coordination benchmark requirements and deviation correction rules.

[0090] It should be noted that this embodiment does not limit the content of each item in the collaborative control standard, and can be set accordingly according to the actual situation.

[0091] Step 204: Based on the displacement angle data, the permission conditions, and the motion trajectory data, analyze the possibility of spatial overlap between the motion amplitude of each slider and the motion trajectory of the manipulator and robot, in order to determine the operational safety boundary.

[0092] In this step, the possibility of spatial overlap can be understood as the potential probability that the spatial range covered by the movement amplitude of the press slider intersects with the spatial range covered by the movement trajectory of the manipulator and robot.

[0093] In this embodiment, displacement angle data is first extracted from the stroke-related data of the slider to calculate the extreme positions of the slider's upward and downward movements, thus determining the spatial range covered by the slider's motion amplitude. Then, the permission conditions for switching the press to intermittent mode from the operation requirements data are imported to clarify the constraint rules for the slider's motion range in intermittent mode. Next, the motion trajectory data of the manipulator and robot are extracted to determine the spatial range covered by their motion trajectories. Then, the spatial range of the slider's motion amplitude is superimposed and compared with the spatial range of the manipulator and robot's motion trajectories to analyze the areas and probabilities of spatial intersection. Finally, based on the collision risk assessment results, a minimum safe distance between the slider and the manipulator / robot is set, and this distance is used as the core threshold to determine the complete operational safety boundary.

[0094] Step 205: Based on the target data of the overall line rhythm, the displacement angle data of the slider, and the action response information, determine the control technical indicators.

[0095] In this step, the target data for the overall line cycle time refers to the target parameters used to define the overall operating rhythm of the continuous stamping production line. This data includes the number of stampings completed per unit time of the entire line and the target cycle of equipment coordinated operation, which are set based on production task planning.

[0096] The displacement angle data of the slider refers to the real-time data reflecting the change in the movement position of the press slider. This data includes the extreme positions of the slider's up and down movement and the positions of the movement trajectory nodes.

[0097] In this embodiment, the target data of the overall production line cycle time is first broken down into the individual operating cycle targets of each press, robot, and robot; then, the displacement angle data of the slider is extracted, the motion cycle of each press slider is calculated, and the impact of the equipment action connection time on the overall production line cycle time is analyzed in combination with the action response information; then, the core dimensions of the control technical indicators are set, including the allowable range of equipment operating cycle deviation, the phase adjustment accuracy threshold, and the action connection time threshold; finally, based on the target data of the overall production line cycle time and the equipment operating characteristics, the specific quantitative values ​​of each dimension indicator are calculated to form a complete control technical indicator.

[0098] The embodiments of this application make up for the lack of unified coordination standards and the ambiguity of safety boundaries in traditional stamping production lines, solve the problem of no clear basis for subsequent phase adjustment and cycle optimization, and ensure the accuracy of the coordination of the actions of each piece of equipment and the safety of operation.

[0099] Step 103: Based on the aforementioned operational safety boundary, control technical indicators, and preset phase adjustment benchmark of the slider, the initial phase range of the slider of the target press switched to intermittent mode is adjusted using phase adjustment technology to obtain the target phase range.

[0100] In this step, the preset phase adjustment reference of the slider refers to the slider phase reference parameters set based on the press structure type and stamping process requirements. The reference may include the phase starting point of the slider movement, the standard phase range, and the phase adjustment step size, which are used to provide a reference basis for determining the initial phase range.

[0101] The target press that is switched to intermittent mode refers to the press that has switched from continuous operation mode to non-continuous cyclic operation due to production needs (such as mold replacement or partial maintenance). Its slide movement is intermittent, and the phase needs to be adjusted separately to adapt to the continuous operation of the whole line.

[0102] The initial phase interval refers to the phase range covered by the downward movement of the slider, which is initially determined based on the preset phase control benchmark and the displacement angle data of the target press slider. It has not been verified by safety boundaries and collaborative adaptation.

[0103] The target phase range refers to the downward phase range of the slider that, after adjustment by phase control technology, simultaneously meets the operational safety boundary, control technical indicators, and equipment coordination requirements.

[0104] In the embodiments of this application, such as Figure 2 As shown, step 103 specifically includes the following steps:

[0105] Step 301: Based on the preset phase adjustment reference of the slider and the displacement angle data of the slider of the target press switched to intermittent mode, determine the initial phase interval of the downward movement of the slider of the target press.

[0106] In this step, the downward movement of the slider refers to the movement of the press slider from the upper limit position to the lower limit position, completing the motion process of sheet metal stamping.

[0107] In this embodiment, the slider displacement angle data of the target press switched to intermittent mode is first extracted to determine the actual starting position, ending position and motion trajectory node of the slider downward movement; then the preset slider phase control reference is retrieved, and the phase starting point in the reference is used as a reference. Combined with the phase range corresponding to the slider displacement angle data, the initial phase interval covered by the slider from the start of downward movement to the completion of stamping is defined. Safety boundaries and cooperative adaptation requirements are not considered.

[0108] Step 302: Select candidate phase intervals within the operational safety boundary from the initial phase interval, and determine the phase interval adjustment requirements for the downward movement of the slider within the candidate phase intervals based on the control technical indicators.

[0109] In this step, the candidate phase interval refers to the remaining phase interval that meets the requirements for safe operation of the equipment space after removing the part that exceeds the operational safety boundary from the initial phase interval, ensuring that the slider will not collide with the manipulator or robot when moving within this interval.

[0110] Phase interval adjustment requirements refer to the direction and range of phase interval parameter correction determined by analyzing whether candidate phase intervals meet the requirements of cycle accuracy and phase stability based on control technical indicators.

[0111] In this embodiment, the initial phase interval is first compared with the operational safety boundary, and phase segments that have a risk of spatial overlap between the slider's motion amplitude and the manipulator's or robot's motion trajectory are eliminated, while the phase interval within the safety range is retained as a candidate phase interval. Then, the phase accuracy threshold and allowable range of cycle deviation in the control technical indicators are compared to analyze whether the duration and starting phase of the candidate phase interval are compatible with the overall line cycle, and whether it is necessary to advance or delay the slider's downward start time, shorten or extend the interval duration, and clarify the phase interval adjustment requirements.

[0112] Step 303: Based on the operational safety boundary and action response information, analyze the initiation timing and duration of the slider's downward motion within the candidate phase interval and the second connection relationship between the manipulator and the robot in completing each instruction action.

[0113] In this step, the second connection relationship can be understood as the precise coordination relationship between the starting time and duration of the downward movement of the target press slider and the various command actions of the manipulator and robot in terms of timing and space within the candidate phase interval. This relationship is different from the basic timing coordination of the first connection relationship and focuses more on the precise adaptation within the candidate phase interval.

[0114] In this embodiment, firstly, based on the minimum safe distance defined by the operational safety boundary and combined with the action response information, the timing of the start of the slide descent of the target press and the connection interval of the robot's loading action within the candidate phase interval are analyzed. Through the above comparison, it is ensured that before the slide descent starts, the robot has completed the loading of the sheet metal and withdrawn to the safe area, with no risk of spatial collision. At the same time, the duration of the slide descent movement and the execution duration of the robot's loading action are compared to analyze their temporal matching, so as to clarify the second connection relationship between each stage of the slide descent and the robot and the robot completing each instruction action.

[0115] For example, a second connection relationship could be that at the initial stage of the slide's downward movement, the robot C has already withdrawn from the safe area and the interval time meets the operational safety boundary requirements; the duration of the middle stage of the slide's downward stamping is precisely matched with the execution time of the robot D's unloading action; when the slide is nearing the end of its downward movement, the robot D synchronously starts the unloading action, achieving a seamless connection between the stamping and unloading actions, which not only meets safety requirements but also adapts to the overall production line's collaborative rhythm.

[0116] Step 304: Divide the candidate phase interval into a first phase segment, a second phase segment, and a third phase segment. Combine the phase interval adjustment requirements and the second connection relationship, adjust the phase interval parameters corresponding to each phase segment to obtain the target phase interval.

[0117] In this step, the first phase segment refers to the acceleration phase of the slider moving downward within the candidate phase interval, corresponding to the phase range in which the slider accelerates from the starting position to the stamping position. The core objective is to quickly reach the stamping speed.

[0118] The second phase segment refers to the uniform stamping stage of the slider descending within the candidate phase interval. It corresponds to the phase range in which the slider completes the sheet metal stamping at a stable speed, directly affecting the stamping quality.

[0119] The third phase segment refers to the deceleration phase of the slider's downward movement within the candidate phase interval. It corresponds to the phase range in which the slider decelerates and moves to its downward limit position after completing the stamping process, thus avoiding impact on the equipment.

[0120] Phase interval parameters refer to quantitative parameters that characterize the properties of each phase segment. These parameters include the phase start angle, duration of continuous phase, and motion speed threshold of each phase segment.

[0121] In this embodiment, the candidate phase interval is first divided into a first phase segment, a second phase segment, and a third phase segment according to the speed change law of the slider's downward movement. Then, the phase interval parameters corresponding to each phase segment are adjusted in a targeted manner based on the phase interval adjustment requirements and the second connection relationship.

[0122] For example, one adjustment method could be to appropriately shift the starting angle of the first phase segment backward based on the second connection relationship, ensuring that the robot arm C has completely withdrawn from the safe area and meets the spacing requirements when the slider starts to accelerate; according to the phase interval adjustment requirements, extend the duration of the second phase segment to match the execution time of the robot D's unloading action, and introduce a proportional-integral-derivative closed-loop control algorithm to collect the deviation between the actual running speed of the slider and the preset speed threshold in real time, dynamically correct the speed parameters, ensure the speed stability of the uniform stamping stage, and improve the stamping accuracy; optimize the deceleration speed threshold of the third phase segment, shorten the deceleration phase range, avoid affecting the connection of subsequent processes, and finally integrate the adjusted phase segments to obtain the target phase interval that meets the safety, coordination, and indicator requirements.

[0123] The embodiments of this application not only ensure the operational safety of the target press during intermittent operation, but also ensure its coordination consistency with the manipulator, robot and other continuous presses through phase adaptation, laying the core phase foundation for subsequent construction of data transmission channels and optimization of the overall production line cycle time.

[0124] Step 104: Based on the target phase interval and the cooperative control standard, a data transmission channel is established between each press, robot and robot in the continuous stamping production line using distributed bus control technology. The first operating status data of each press, robot and robot are collected through the data transmission channel.

[0125] In this step, the data transmission channel refers to the master-slave data transmission link built based on distributed bus control technology, which consists of data transmission path, physical communication link and communication interaction logic. It is used to realize the issuance of instructions and the return of status data between the master station and the control modules of each device, and to adapt to the device collaboration requirements in the hybrid mode.

[0126] The first operating status data refers to the operating data of each press, manipulator and robot collected in real time through the data transmission channel. This data includes press slider displacement, action sequence, equipment operating cycle, etc.

[0127] In this embodiment, firstly, based on the target phase interval and the collaborative control standard, a data transmission channel is established between the presses, robotic arms, and robots in the continuous stamping production line using distributed bus control technology to clarify the communication rules and data transmission specifications between the master station and the slave stations. After establishing the data transmission channel, the master station issues collaborative control commands to each slave station through this channel, while simultaneously collecting the first operating status data of each press, robotic arm, and robot in real time to ensure accurate and synchronized data transmission, laying the foundation for subsequent adjustments to the overall line cycle time based on the data. Specifically, "establishing a data transmission channel between the presses, robotic arms, and robots in the continuous stamping production line using distributed bus control technology based on the target phase interval and the collaborative control standard" includes the following steps:

[0128] Step 401: Based on the distributed bus architecture, the central control unit of the continuous stamping production line is used as the master station, and the control modules of each press, the control module of the robot arm, and the control module of the robot are used as slave stations, thus constructing a communication connection architecture between the master station and each slave station.

[0129] In this step, the distributed bus architecture refers to a distributed communication architecture built on industrial bus technology, which supports parallel communication of multiple nodes, has the characteristics of stable transmission and low latency, and is suitable for the collaborative needs of multiple devices in a continuous stamping production line.

[0130] The central control unit refers to the core control component of a continuous stamping production line. It is used to coordinate the operation of various equipment, process feedback data, and issue control commands. It is the core hub of the entire line control.

[0131] The master station refers to the communication master node undertaken by the central control unit, which is responsible for initiating communication requests, issuing control commands, receiving feedback data from slave stations, and leading the entire communication process.

[0132] A slave station refers to a communication slave node undertaken by the control module of each device. It is responsible for receiving instructions from the master station, executing corresponding operations, feeding back its own operating status data to the master station, and passively responding to the master station's communication requests.

[0133] The communication connection architecture refers to a master-slave communication framework built on a distributed bus architecture with the master station as the core and each slave station as the terminal, clearly defining the connection method and communication range of the master and slave stations.

[0134] In this embodiment of the application, based on a distributed bus architecture, the central control unit of the continuous stamping production line is set as the master station, and the control modules of each press, manipulator and robot are set as independent slave stations. The master station and each slave station are connected one by one through bus lines, clarifying the communication correspondence between the master station and each slave station, and constructing a communication connection architecture with clear hierarchy and clear responsibilities.

[0135] Step 402: Configure the data transmission parameters between the master station and each slave station according to the phase interval parameters of the target phase interval and the transmission timeliness requirements of the cooperative control standard.

[0136] In this step, the transmission timeliness requirement refers to the upper limit of data transmission delay and data update frequency requirements for master and slave stations as specified in the collaborative control standard.

[0137] Data transmission parameters refer to the communication parameters configured to meet the timeliness requirements of transmission. These parameters include data transmission baud rate, transmission frequency, data frame length, and verification method.

[0138] In this embodiment, the master-slave station data transmission parameters are configured specifically according to the phase interval parameters of the target phase interval and the transmission timeliness requirements in the collaborative control standard. For example, one configuration method is to increase the transmission frequency between its control module and the master station and shorten the data update interval for the phase control requirements of the target compressor A; at the same time, the transmission baud rate and verification method are uniformly set to ensure that the data transmission rate of all master and slave stations is consistent and the data is accurate, thus adapting to the collaborative requirements of the whole line hybrid mode.

[0139] Step 403: Based on the communication connection architecture and the data transmission parameters, construct a data transmission channel between the master station and each slave station.

[0140] In this embodiment of the application, step 403 specifically includes the following steps:

[0141] Step 411: Based on the correspondence between the master station and each slave station in the communication connection architecture, generate multiple data transmission paths corresponding to the master station and each slave station.

[0142] In this step, the correspondence between the master station and each slave station can be understood as the independent communication association between the master station and each slave station in the communication connection architecture. That is, the master station can establish communication with each slave station individually, and the slave stations do not communicate directly with each other, but only interact through the master station.

[0143] The data transmission path refers to the independent data transmission route between the master station and a single slave station. It clarifies the specific transmission path from the master station to the corresponding slave station, or from the slave station back to the master station, ensuring accurate data transmission.

[0144] In this embodiment, based on the independent correspondence between the master station and each slave station in the communication connection architecture, a dedicated data transmission path is generated for each slave station. Specifically, this includes generating four types of independent data transmission paths: from the master station to the control modules of each press, from the master station to the control module of the robot arm, and from the master station to the control module of the robot. This ensures that the data transmission between the master station and each slave station does not interfere with each other and improves the transmission accuracy.

[0145] Step 412: Based on the data transmission parameters and the link identifier corresponding to the data transmission path, match the corresponding path parameters for different data transmission paths, and set data encapsulation rules applicable to all data transmission paths.

[0146] In this step, the link identifier refers to the unique identifier code assigned to each data transmission path, used to distinguish different paths and avoid path confusion during data transmission.

[0147] Path parameters refer to the specific configuration parameters adapted to the corresponding data transmission path. These parameters include path transmission priority, signal gain value, etc.

[0148] Data encapsulation rules refer to the uniformly set rules used for data packaging and parsing. These rules include data frame format, field definitions, start and end markers, etc.

[0149] In this embodiment, a unique link identifier is assigned to each data transmission path, and corresponding path parameters are matched for different paths in combination with data transmission parameters. At the same time, a unified data encapsulation rule is set to standardize the data frame format and parsing method, thereby ensuring that the data transmitted on all paths can be accurately parsed by the master station and the corresponding slave station, avoiding data corruption.

[0150] Step 413: Based on the node connection order of each data transmission path, the corresponding path parameters, and the data encapsulation rules, construct the physical communication link between the master station and each slave station.

[0151] In this step, the node connection order refers to the sequential connection order of the master station, slave station, and intermediate transmission nodes on each data transmission path.

[0152] A physical communication link refers to a physical communication link built on actual bus lines and transmission nodes, which is the hardware carrier for data transmission.

[0153] In this embodiment, the master station, intermediate transmission nodes and corresponding slave stations are connected sequentially according to the node connection order of each data transmission path, relying on the bus line. The link transmission status is debugged by substituting the path parameters matched for each path. At the same time, the data encapsulation rules are embedded in the link transmission protocol to ensure that the data is packaged and transmitted according to the rules on the physical link, and finally an independent and stable master-slave physical communication link is built.

[0154] Step 414: Based on the physical communication link, determine the communication interaction logic between the master station and each slave station.

[0155] In this step, the communication interaction logic refers to the rules for data interaction between the master station and each slave station through the physical communication link. This logic includes the command issuance sequence, data feedback interval, exception handling mechanism, and communication handshake process.

[0156] In this embodiment, based on the physical communication link and combined with the operational requirements of the compressor hybrid mode, the communication interaction logic between the master and slave stations is determined. Specifically, the master station sends control commands to each slave station in a fixed sequence. After receiving the commands, each slave station executes the operation and feeds back the first operating status data to the master station within a preset interval. A communication abnormal retransmission mechanism is set up. If the data transmission fails, a retransmission is triggered. At the same time, the communication handshake process between the master station and the slave station is clarified to ensure accurate synchronization of each communication and avoid command loss or data delay.

[0157] Step 415: Based on the data transmission path, the physical communication link, and the communication interaction logic, construct the data transmission channel between the master station and each slave station.

[0158] In this embodiment, the data transmission path, physical communication link, and communication interaction logic are integrated to form a complete data transmission channel. Through this channel, the master station can accurately send control commands to each slave station, and each slave station can provide real-time feedback on the first operating status data of the equipment. Moreover, the transmission process meets the target phase interval control and coordinated control standard requirements, providing reliable data transmission support for subsequent overall line cycle adjustment.

[0159] This application's embodiments not only ensure the stability and timeliness of data transmission, adapting to the precise control requirements of the target phase range, but also ensure that data transmission between multiple devices does not interfere with each other through independent paths and unified rules. It solves the problems of poor adaptability and data transmission lag in traditional communication methods, providing support for real-time acquisition of first-running-state data and supporting the communication foundation for coordinated control of the entire production line in the hybrid mode of the press.

[0160] Step 105: Based on the first operating status data, adjust the actual operating cycle time of the presses in the mixed mode of the continuous stamping production line to obtain the adjusted cycle time, so that the continuous stamping production line can operate in continuous mode after any press is switched to intermittent mode.

[0161] In this step, the actual operating cycle time refers to the rhythm parameters of the overall operation of the continuous stamping production line when it is in press mixed mode. The actual operating cycle time includes the number of stampings per unit time of the entire line and the actual cycle of coordinated operation of each piece of equipment.

[0162] The adjusted cycle time refers to the overall line operation rhythm that meets the target data of the whole line cycle time and satisfies the collaborative control standard after deviation calculation, parameter adjustment and iterative optimization, ensuring that the whole line still maintains continuous operation even when the target press is running intermittently.

[0163] In this embodiment of the application, step 105 specifically includes the following steps:

[0164] Step 501: Extract the associated operating data corresponding to the target press, the target manipulator and the target robot that cooperate with the target press from the first operating status data.

[0165] In this step, the target robotic finger is a robotic arm that works in conjunction with the target press to perform auxiliary operations such as feeding and transferring. Its action sequence is precisely matched with the movement of the target press slide to ensure the continuity of the stamping process of the target press.

[0166] A target robot refers to a robot specifically designed to work with a target press to perform tasks such as unloading and stacking. It forms a collaborative work group with the target robotic arm and the target press, adapting to the intermittent operation requirements of the target press.

[0167] Related operational data refers to the real-time data related to the coordinated operation of the target press, target manipulator, and target robot in the first operational status data. This data includes the action sequence, operation cycle, position feedback, and connection interval of the three.

[0168] In this embodiment of the application, the operation data related to the target press, the target manipulator and the target robot that work with it are first filtered from the first operation status data. Specifically, the slider motion cycle and descent start sequence of the target press, the loading time and withdrawal time of the target manipulator, and the unloading time and action connection interval of the target robot are extracted. The above data are integrated to form associated operation data.

[0169] Step 502: Compare the associated operating data with the collaborative control standard to determine the first deviation between the target press and the target manipulator and the target robot, and at the same time calculate the second deviation between the operating cycle of each press and the operating cycle of each device in the target data of the whole line cycle.

[0170] In this step, the first deviation refers to the difference between the actual collaborative state of the target press, the target manipulator, and the target robot and the preset collaborative benchmark in the collaborative control standard. The first deviation includes action timing deviation, connection interval deviation, position coordination deviation, etc.

[0171] The second deviation refers to the difference between the actual operating cycle of each press and the preset operating cycle of the corresponding press in the overall line cycle target data. These presses include the target press and other continuously operating presses.

[0172] In this embodiment, the associated operating data is first compared with the collaborative control standard to calculate the interval deviation between the target press's slider descent start-up sequence and the target robot's loading completion sequence, as well as the timing deviation between the target robot's unloading start-up sequence and the target robot's loading start-up sequence. Then, these two types of deviations are integrated to determine the first deviation. At the same time, the actual operating cycle of each press in the production line is extracted and compared with the preset operating cycle of the corresponding press in the target data of the whole line cycle. Then, the difference of each comparison is calculated to obtain the second deviation corresponding to each press.

[0173] Step 503: Based on the first deviation and the second deviation, and in conjunction with the control technical indicators, determine the cycle adjustment parameters corresponding to the equipment that needs to be adjusted.

[0174] In this step, the cycle adjustment parameters refer to the parameters used to correct equipment operating deviations and optimize the overall line cycle. These parameters include equipment operating cycle adjustment amount, action timing offset amount, phase adjustment value, etc.

[0175] In this embodiment, firstly, based on the allowable deviation range set in the control technical indicators, devices whose first or second deviation exceeds the allowable deviation range are selected as devices that need to be adjusted; then, corresponding cycle adjustment parameters are set for the deviation type of each device that needs to be adjusted, for example, setting a shortening amount of the operating cycle for press A to correct the second deviation.

[0176] Furthermore, for press speed regulation scenarios, a proportional-integral-derivative closed-loop control algorithm can be introduced. By dynamically adjusting the output of the press drive unit through real-time feedback of the slider running speed deviation, precise closed-loop speed control can be achieved. A timing offset is set for the robot C to correct the first deviation, ensuring that the adjustment parameters meet the accuracy requirements of the control technical indicators, while adapting to the intermittent operation characteristics of the target press.

[0177] Step 504: Send the cycle adjustment parameters corresponding to each device to the control module of the corresponding slave station through the data transmission channel to update the operation control logic of each device, obtain the updated device, and collect the second operation status data of the updated device.

[0178] In this step, the operation control logic refers to the preset operation rules in the device control module. This control logic includes logic such as action timing control, period adjustment, and phase switching.

[0179] The second operating status data refers to the real-time operating data collected by the equipment through the data transmission channel after receiving the cycle adjustment parameters and updating the operating control logic.

[0180] In this embodiment, the cycle adjustment parameters of each device to be adjusted are sent to the control module of the corresponding slave station through the data transmission channel. The control module updates its internal operation control logic according to the parameters, adjusts the device operation cycle and action sequence, and obtains the updated device. At the same time, the operation data of all devices are collected in real time through the data transmission channel to form the second operation status data.

[0181] Step 505: Based on the second operating status data, calculate the actual operating cycle time of the press in the mixed mode of the continuous stamping production line, and adjust the actual operating cycle time based on the target data of the overall line cycle time to obtain the adjusted cycle time.

[0182] In this embodiment, firstly, based on the second operating state data, the number of stamping operations completed per unit time of the entire line is counted, and the actual operating cycle time in the hybrid mode is calculated. Since a single adjustment may not fully meet the target requirements of the entire line, further optimization and adjustment based on the target cycle time data of the entire line are required to ensure that the cycle time accuracy meets the requirements. Next, the actual operating cycle time is adjusted based on the target cycle time data of the entire line to obtain the adjusted cycle time. This step may specifically include the following steps:

[0183] Step 511: Calculate the third deviation between the actual operating cycle and the target data of the whole line cycle, and calculate the fourth deviation between the actual operating cycle of each device in the second operating status data and the operating cycle of the corresponding device in the target data.

[0184] In this step, the third deviation refers to the difference between the actual operating cycle of the entire line after adjustment and the preset operating cycle in the target operating cycle data of the entire line, reflecting the degree of deviation between the overall operating cycle of the entire line and the target operating cycle.

[0185] The fourth deviation refers to the difference between the actual operating cycle of each device after adjustment and the preset operating cycle of the corresponding device in the overall line cycle target data, reflecting the adaptation of a single device to the target cycle after adjustment.

[0186] In this embodiment, the actual operating cycle is first calculated based on the second operating status data. Then, the operating cycle is compared with the preset operating cycle of the target data of the whole line cycle to obtain the third deviation. At the same time, the adjusted actual operating cycle of each device is extracted one by one. Then, the difference between the adjusted actual operating cycle of each device and the preset operating cycle of the corresponding device in the target data of the whole line cycle is calculated to obtain the fourth deviation for each device.

[0187] Step 512: Based on the third and fourth deviations, calculate the influence of each device on the third deviation, and combine the control technical indicators to determine the adjustment priority of each device.

[0188] In this step, the impact degree refers to the degree to which the fourth deviation of a single device contributes to the third deviation, that is, the proportion of the deviation of that device to the total deviation of the entire line. It is used to determine which devices are the core factors causing the overall line cycle time deviation.

[0189] Adjustment priority refers to the order in which equipment is adjusted based on its impact and control technical requirements. Equipment with high impact and critical to the overall line coordination is adjusted first to ensure optimization efficiency and accuracy.

[0190] In this embodiment, under the premise that the third deviation is not zero, the absolute value of the fourth deviation of each device is divided by the absolute value of the third deviation to obtain the influence degree of each device on the third deviation; combined with the importance requirements of device coordination in the control technical indicators, the adjustment priority is divided. For example, one division method is: the target press A has the highest influence degree and is the core of the whole line coordination, so it is set as the highest priority; the robot C has the second highest influence degree and is set as the second priority; other devices with smaller deviations are set as low priority.

[0191] Step 513: According to the adjustment priority, iteratively optimize the cycle adjustment parameters corresponding to each device that needs adjustment until the target cycle adjustment parameters that meet the error allowable range of the collaborative control standard are obtained. Based on the target cycle adjustment parameters, calibrate the actual operating cycle to obtain the adjusted cycle.

[0192] In this step, the target beat adjustment parameter refers to the final beat adjustment parameter that, after iterative optimization, meets the allowable range of the standard error of the coordinated control and enables the beat of the entire line to conform to the target data. It is the core basis for equipment operation and beat calibration.

[0193] In this embodiment, the cycle adjustment parameters of each device to be adjusted are iteratively optimized first, according to the adjustment priority from high to low. Specifically, the parameters of the target press are optimized first, and its fourth deviation is corrected to reduce the influence on the third deviation. Then the parameters of the robot are optimized. During the iteration process, the closed-loop control logic of the proportional-integral-derivative closed-loop control algorithm is used to collect the running speed and cycle data of the device after adjustment in real time. The cycle adjustment parameters are dynamically corrected by comparing with the target value, which speeds up the parameter convergence speed and ensures the speed adjustment accuracy and the overall line coordination.

[0194] After each optimization, equipment operation data is collected, the third and fourth deviations are recalculated, and it is determined whether they meet the error allowable range of the collaborative control standard. The optimization is repeated iteratively until the third deviation of the entire line and the fourth deviation of each device are within the allowable range, and the target cycle adjustment parameters are obtained. Based on these parameters, the actual operating cycle of the entire line is calibrated, and the adjusted cycle is finally obtained to ensure that the entire line maintains continuous and stable operation when the target press is running intermittently.

[0195] The embodiments of this application ensure the adaptability of the target press to intermittent operation, while ensuring that the overall line cycle time matches the target requirements; it solves the problems of weak targeting and insufficient precision of traditional adjustment methods, and improves the stability and coordination accuracy of the entire line to continuous operation in the mixed mode of the press.

[0196] Figure 3 This is a schematic diagram illustrating a specific embodiment of a press hybrid mode cycle control system in a continuous stamping production line provided in this application. (Refer to...) Figure 3 The system may include:

[0197] The acquisition module 31 is used to acquire relevant data of the continuous stamping production line, including production line configuration data, slider stroke data, operation requirement data, and operation data of the manipulator and robot.

[0198] The determination module 32 is used to determine the collaborative control standard, the operational safety boundary and control technical indicators of the continuous stamping production line based on the relevant data.

[0199] The first adjustment module 33 is used to adjust the initial phase range of the slider of the target press that has switched to intermittent mode based on the operating safety boundary, control technical indicators and preset slider phase adjustment benchmark, so as to obtain the target phase range.

[0200] Module 34 is established to establish a data transmission channel between each press, robot arm and robot in the continuous stamping production line based on the target phase interval and the cooperative control standard and using distributed bus control technology. The first operating status data of each press, robot arm and robot are collected through the data transmission channel.

[0201] The second adjustment module 35 is used to adjust the actual operating rhythm of the presses in the mixed mode of the continuous stamping production line based on the first operating status data, so as to obtain the adjusted rhythm, so that the continuous stamping production line can operate in continuous mode after any press is switched to intermittent mode.

[0202] This application provides an embodiment of a press hybrid mode cycle control system for a continuous stamping production line, which is used to implement the aforementioned press hybrid mode cycle control method for a continuous stamping production line. Therefore, the specific implementation of the press hybrid mode cycle control system for a continuous stamping production line can be found in the embodiment section of the press hybrid mode cycle control method for a continuous stamping production line described above. The specific implementation can be referred to the description of the corresponding embodiments, which will not be repeated here.

[0203] This application also provides a computing device, including a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are invoked and executed by the processing component to implement the steps of the press mixed mode cycle control method in a continuous stamping production line as described above.

[0204] This application also provides a computer storage medium storing a computer program, which, when executed by a computer, implements the steps of the press mixed mode cycle control method in a continuous stamping production line as described above.

[0205] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory, random access memory, portable hard drives, magnetic disks, or optical disks.

[0206] The embodiments of this application also provide a computer program product, which includes a computer program that, when executed by a processor, implements the steps in any of the embodiments of the press mixed mode cycle control method in a continuous stamping production line.

[0207] Those skilled in the art will further 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, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. 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 this application.

[0208] The above provides a detailed description of a press hybrid mode cycle control method and system for a continuous stamping production line provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and its core ideas. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. A press mix mode cycle control method in a continuous punch press production line, characterized by, The method comprises the following steps: acquiring relevant data of a continuous stamping production line, wherein the relevant data comprises production line configuration data, stroke-related data of a slide block, operation requirement data, operation data of a manipulator and a robot; determining a cooperative control standard, an operation safety boundary of the continuous stamping production line and a control technical index based on the relevant data; adjusting an initial phase interval of a slide block of a target press switched to a batch mode by using a phase regulation technology based on the operation safety boundary, the control technical index and a preset phase regulation reference of the slide block, to obtain a target phase interval; establishing a data transmission channel between each press, the manipulator and the robot in the continuous stamping production line by using a distributed bus control technology based on the target phase interval and the cooperative control standard, and collecting first operation state data of each press, the manipulator and the robot through the data transmission channel; adjusting an actual operation tempo of the press hybrid mode in the continuous stamping production line based on the first operation state data to obtain an adjusted tempo, so that the continuous stamping production line can operate in a continuous mode after any press is switched to a batch mode; wherein adjusting the actual operation tempo of the press hybrid mode in the continuous stamping production line based on the first operation state data to obtain an adjusted tempo comprises: extracting associated operation data corresponding to the target press, the target manipulator cooperating with the target press and the target robot from the first operation state data; comparing the associated operation data with the cooperative control standard to determine a first deviation of the target press, the target manipulator and the target robot, and calculating a second deviation between the operation period of each press and the operation period of each device in the target data of the whole line tempo; determining the tempo adjustment parameter corresponding to the device to be adjusted based on the first deviation and the second deviation in combination with the control technical index; updating the operation control logic of each device by respectively issuing the tempo adjustment parameter corresponding to each device to the control module of the corresponding slave station through the data transmission channel to obtain updated devices and collect second operation state data of the updated devices; calculating the actual operation tempo of the press hybrid mode in the continuous stamping production line based on the second operation state data, and adjusting the actual operation tempo based on the target data of the whole line tempo to obtain an adjusted tempo; wherein adjusting the actual operation tempo based on the target data of the whole line tempo to obtain an adjusted tempo comprises: a third deviation between the running period of the actual running tact and the running period of the target data of the whole-line tact is calculated, and a fourth deviation between the actual running period of each device in the second running state data and the running period of the corresponding device in the target data is calculated; based on the third deviation and the fourth deviation, an influence degree of each device on the third deviation is calculated, and the adjustment priority of each device is divided in combination with the control technical index; according to the adjustment priority, the tact adjustment parameter corresponding to each device needing adjustment is iteratively optimized until the target tact adjustment parameter meeting the error allowable range of the collaborative control standard is obtained, and the actual running tact is calibrated based on the target tact adjustment parameter to obtain the adjusted tact.

2. The method of claim 1, wherein, The production line configuration data includes structure type information and installation layout information of each press, the stroke related data of the slider includes displacement angle data of the slider, the running requirement data includes continuous running requirements of the continuous stamping production line, permission conditions of switching the press to the intermittent mode, and target data of the whole-line tact, and the running data of the mechanical hand and the robot includes motion trajectory data of the mechanical hand and the robot; Based on the related data, the collaborative control standard, the running safety boundary of the continuous stamping production line, and the control technical index are determined, including: Based on the motion trajectory data, the action duration of the mechanical hand and the robot for completing each instruction action and the first connection relationship between each instruction action and the slider motion of the adjacent press are analyzed to determine the action response information of the mechanical hand and the robot; Based on the structure type information and the installation layout information of each press and the continuous running requirements, in combination with the motion trajectory data and the action response information, the correlation between the motion characteristics of the press of different structure types and the motion trajectory of the mechanical hand and the robot is analyzed to determine the target corresponding data and the adjustment data of the collaborative running between each press, the mechanical hand, and the robot; The target corresponding data and the adjustment data are integrated to form the collaborative control standard; Based on the displacement angle data, the permission conditions, and the motion trajectory data, the overlapping possibility of the motion amplitude of each slider and the motion trajectory of the mechanical hand and the robot in space is analyzed to determine the running safety boundary; Based on the target data of the whole-line tact, the displacement angle data of the slider, and the action response information, the control technical index is determined.

3. The method of claim 1, wherein, Based on the running safety boundary, the control technical index, and the preset phase control reference of the slider, the initial phase interval of the slider of the target press switched to the intermittent mode is adjusted by using the phase control technology to obtain a target phase interval, including: Based on the preset phase control reference of the slider and the displacement angle data of the slider of the target press switched to the intermittent mode, the initial phase interval of the downward motion of the slider of the target press is determined; From the initial phase interval, a candidate phase interval within the running safety boundary is selected, and the phase interval adjustment requirement of the downward motion of the slider in the candidate phase interval is determined according to the control technical index; According to the operation safety boundary and action response information, a second connection relationship between a starting time and a motion time of the slider downlink motion in the candidate phase interval and completion of each instruction action of the manipulator and the robot is analyzed; The candidate phase interval is divided into a first phase section, a second phase section and a third phase section, and a phase interval parameter corresponding to each phase section is adjusted in combination with the phase interval adjustment requirement and the second connection relationship to obtain a target phase interval.

4. The method of claim 1, wherein, Based on the target phase interval and the cooperative control standard, a data transmission channel between each press, the manipulator and the robot in the continuous stamping production line is established by using a distributed bus control technology, including: Based on the distributed bus architecture, the central control unit of the continuous stamping production line is taken as a master station, and the control modules of each press, the control modules of the manipulator and the control modules of the robot are taken as slave stations, and a communication connection architecture between the master station and each slave station is constructed; According to the phase interval parameter of the target phase interval and a transmission time limit requirement of the cooperative control standard, data transmission parameters between the master station and each slave station are configured; Based on the communication connection architecture and the data transmission parameters, a data transmission channel between the master station and each slave station is constructed.

5. The method of claim 4, wherein, Based on the communication connection architecture and the data transmission parameters, a data transmission channel between the master station and each slave station is constructed, including: Based on a corresponding relationship between the master station and each slave station in the communication connection architecture, a plurality of data transmission paths corresponding to the master station and each slave station are generated; According to the data transmission parameters and link identifiers corresponding to the data transmission paths, corresponding path parameters are matched for different data transmission paths, and a data encapsulation rule applicable to all data transmission paths is set; According to a node connection sequence of each data transmission path, corresponding path parameters and the data encapsulation rule, a physical communication link between the master station and each slave station is constructed; Based on the physical communication link, a communication interaction logic between the master station and each slave station is determined; Based on the data transmission paths, the physical communication link and the communication interaction logic, a data transmission channel between the master station and each slave station is constructed.

6. A press hybrid mode cycle control system in a continuous stamping production line for implementing the press hybrid mode cycle control method in a continuous stamping production line according to any one of claims 1-5, characterized in that, including: An acquisition module is configured to acquire relevant data of the continuous stamping production line, the relevant data including production line configuration data, stroke related data of the slider, operation requirement data, and operation data of the manipulator and the robot; A determination module is configured to determine a cooperative control standard, an operation safety boundary of the continuous stamping production line and control technology indexes based on the relevant data; A first adjustment module is configured to adjust an initial phase interval of a slider of a target press switched to a discontinuous mode by using a phase regulation technology based on the operation safety boundary, the control technology indexes and a preset phase regulation benchmark of the slider to obtain a target phase interval; An establishment module is configured to establish a data transmission channel between each press, the manipulator and the robot in the continuous stamping line by using a distributed bus control technology based on the target phase interval and the cooperative control standard, and to collect first operation state data of each press, the manipulator and the robot through the data transmission channel. A second adjustment module is configured to adjust the actual running tempo of the press hybrid mode in the continuous stamping production line based on the first running state data, to obtain an adjusted tempo, so that the continuous stamping production line can run in the continuous mode after any press switches to the intermittent mode.

7. A computing device, comprising: The continuous stamping production line comprises a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are used to be called and executed by the processing component to implement the press hybrid mode tempo control method of the continuous stamping production line according to any one of claims 1 to 5.

8. A computer storage medium, characterized in that A computer program is stored, and the computer program is executed by a computer to implement the press hybrid mode tempo control method of the continuous stamping production line according to any one of claims 1 to 5.

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