Control method and device of stamping automation line, electronic equipment and storage medium

Abstract

The invention provides a control method and device of a stamping automation line, electronic equipment and a storage medium, and belongs to the technical field of industrial control, and the control method comprises the steps that track fusion points of cooperative movement of all moving shafts of a manipulator are obtained, and reverse time calculation is conducted based on the track fusion points; based on the target transition time and the speed curves of all the moving shafts, a motion track of the manipulator is generated; performing phase matching on the execution cycle of the motion trail and the operation cycle of the stamping equipment to obtain a cooperative phase of the manipulator and the stamping equipment; and based on the interference interval and the cooperative phase, the stamping equipment and the manipulator are controlled to perform cooperative operation. Reverse time calculation is carried out through the track fusion points of all the moving shafts of the mechanical arm, the smooth movement track is generated, shutdown waiting after single-time punching is eliminated through phase matching between the mechanical arm and the punching equipment, and therefore continuous and cooperative punching operation can be achieved, impact of intermittent operation on a die is avoided, and the production efficiency is improved. The forming quality is improved; and the equipment failure rate is reduced.

Description

Technical Field

[0001] This invention relates to the field of industrial control technology, and in particular to a control method, device, electronic equipment and storage medium for an automated stamping line. Background Technology

[0002] An automated stamping line is an automated production system consisting of stamping equipment and robotic arms responsible for material handling. Its operation and control methods directly affect the operating efficiency of the entire production line, the quality of product forming, and the service life of the equipment.

[0003] Currently, the operation control of stamping automation lines is usually carried out in a single-work mode, that is, after each stroke is completed, the line must stop at the top dead center and wait for the robot to complete the picking and placing of the part before the next stroke can be started.

[0004] However, stamping equipment operating in this mode needs to run at a frequency at least twice that of the entire stamping line. This intermittent high-speed operation of the press will cause a large impact on the mold, affecting the stretching and forming quality of the parts, and also leading to an increased equipment failure rate. Summary of the Invention

[0005] This invention provides a control method, device, electronic equipment, and storage medium for an automated stamping line, which addresses the shortcomings of the intermittent high-speed operation mode of the punch press in the prior art, which causes significant impact on the mold, affects the stretch forming quality of parts, and leads to an increased equipment failure rate. It enables continuous and coordinated operation of the automated stamping line, improves product forming quality, and extends the service life of the equipment.

[0006] This invention provides a control method for an automated stamping line, comprising the following steps: The trajectory fusion points of the coordinated motion of each moving axis of the robot are obtained, and the target transition time of each moving axis is obtained by reverse time calculation based on the trajectory fusion points. Based on the target transition time and the velocity curves of all the moving axes, the motion trajectory of the robot is generated; The operating cycle of the stamping equipment and the interference range between the stamping equipment and the robot are obtained; the execution cycle of the motion trajectory is phase-matched with the operating cycle of the stamping equipment to obtain the cooperative phase between the robot and the stamping equipment. Based on the interference interval and the cooperative phase, the stamping equipment and the robot arm are controlled to perform cooperative operations.

[0007] According to a control method for an automated stamping line provided by the present invention, the step of performing reverse time calculation based on the trajectory fusion point to obtain the target transition time of each of the moving axes includes: Obtain the target displacement data of each of the moving axes at the trajectory fusion point; Based on the dynamic parameters of each of the moving axes and the target displacement data, inverse kinematics calculation is performed to obtain the independent transition time of each of the moving axes at the trajectory fusion point; Obtain the performance constraint parameters of the stamping process on each of the moving axes at the trajectory fusion point, and determine the weight coefficient corresponding to each of the moving axes based on the performance constraint parameters; The independent transition time of each of the moving axes is weighted and fused with the weight coefficient corresponding to each of the moving axes to obtain the weighted transition time of each of the moving axes; The weighted transition times of each of the moving axes are compared, and the maximum time value among all the weighted transition times is determined as the reference transition time; The reference transition time is synchronously mapped to each of the moving axes, and the reference transition time is determined as the target transition time for each of the moving axes.

[0008] According to the present invention, a control method for an automated stamping line is provided, wherein the performance constraint parameters include material carrying state parameters and interference attribute parameters; the step of determining the weight coefficient corresponding to each of the moving axes based on the performance constraint parameters includes: Based on the material carrying state parameters, determine the load weighting coefficient for each of the moving axes; Based on the interference property parameters, determine the accuracy weighting coefficient for each of the moving axes; The load weighting coefficient and the accuracy weighting coefficient are combined to obtain the weighting coefficient corresponding to each moving axis.

[0009] According to a control method for an automated stamping line provided by the present invention, generating the motion trajectory of the robot based on the target transition time and the speed curves of all the moving axes includes: Obtain the velocity curves of each of the moving axes, wherein the velocity curves are segmented S-shaped velocity curves constructed based on the kinematic parameters of the manipulator; Calculate the ratio of the target transition time to the original planned time of each of the moving axes in the segmented S-shaped velocity curve; Based on the scaling factor, the time nodes in the segmented S-shaped velocity curves of each of the moving axes are initially linearly scaled to obtain candidate velocity curves. If the candidate velocity curve passes the dynamic boundary constraint verification, then the candidate velocity curve is determined as the target velocity curve; if the candidate velocity curve fails the dynamic boundary constraint verification, then the local parameters of the segmented S-shaped velocity curve are adjusted to obtain the target velocity curve. Based on the target velocity curve, the motion trajectory of each of the moving axes is generated.

[0010] According to the control method of the automated stamping line provided by the present invention, the interference range between the stamping equipment and the robot arm is obtained based on the following steps: Obtain the mold structure parameters of the stamping equipment and the actuator size parameters of the robot arm; Based on the mold structure parameters and the actuator size parameters, the first interference height of the robot entering the working area of ​​the stamping equipment and the second interference height of the robot leaving the working area of ​​the stamping equipment are determined; The real-time status data of the stamping automation line during operation is obtained, and the dynamic compensation amount is determined based on the real-time status data. The first interference height and the second interference height are corrected using the dynamic compensation amount to obtain the first target height and the second target height; Based on the first target height and the second target height, the motion overlap area between the robot and the stamping equipment in space is determined, and the motion overlap area is defined as the interference interval.

[0011] According to a control method for an automated stamping line provided by the present invention, the step of phase matching the execution cycle of the motion trajectory with the operating cycle of the stamping equipment to obtain the coordinated phase of the robot and the stamping equipment includes: The operating cycle of the stamping equipment is adjusted based on the execution cycle of the motion trajectory to obtain a synchronized operating cycle; Obtain the correspondence between the crankshaft angle and displacement of the stamping equipment during the synchronous operation cycle; The phase mapping relationship is obtained by discretizing the relationship between the motion trajectory and the crankshaft angle and displacement; Based on the phase mapping relationship, the target start angle for the robot to enter the interference zone and the target exit angle for the robot to exit the interference zone are determined, and the target start angle and the target exit angle are determined as the cooperative phase.

[0012] According to a control method for an automated stamping line provided by the present invention, adjusting the operating cycle of the stamping equipment based on the execution cycle of the motion trajectory to obtain a synchronized operating cycle includes: The first cycle of the robotic arm executing the motion trajectory and the second cycle of the stamping equipment performing a single stamping are obtained; The maximum value between the first period and the second period is determined as the initial complete line period; If the initial production line cycle does not meet the stamping process conditions, the cycle extension step is executed iteratively until the updated production line cycle meets the stamping process conditions. The production line cycle that meets the stamping process conditions is then determined as the synchronous operation cycle. The period extension step includes: The current production cycle is increased by a preset time step to obtain the updated production cycle.

[0013] According to a control method for an automated stamping line provided by the present invention, the step of controlling the stamping equipment and the robot to perform cooperative operations based on the interference interval and the cooperative phase includes: The real-time position of the stamping equipment is obtained, and after the stamping equipment runs to the target exit angle in the cooperative phase and leaves the interference range, the robot arm is controlled to enter the interference range to pick up or unload materials. After detecting that the robotic arm has left the interference zone, the stamping equipment is controlled to run to the target starting angle in the cooperative phase and enter the interference zone for stamping.

[0014] The present invention also provides a control device for an automated stamping line, comprising: A robotic arm is used to move materials within a work area; the robotic arm includes a first encoder for collecting first position data of each moving axis of the robotic arm; A stamping machine, used for stamping the material; The controller is connected to both the robotic arm and the stamping equipment to implement the control method for the automated stamping line.

[0015] According to the control device of the stamping automation line provided by the present invention, a second encoder is provided on the transverse axis of the robot arm for collecting the second position data of the transverse axis; The controller is also used for: Obtain the first position data and the second position data corresponding to the horizontal translation axis; Calculate the difference between the first position data and the second position data; If the difference exceeds a preset threshold, the stamping equipment and the robotic arm will be controlled to stop operating.

[0016] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the control method of any of the above-described automated stamping lines.

[0017] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method for the stamping automation line as described above.

[0018] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the control method for the stamping automation line as described above.

[0019] The control method, device, electronic equipment, and storage medium for the automated stamping line provided by this invention generate a smooth motion trajectory by performing reverse time calculation through the trajectory fusion point of each moving axis of the robot, and eliminates the downtime waiting after a single stamping by phase matching between the robot and the stamping equipment, thereby enabling continuous and coordinated stamping operation, avoiding the impact of intermittent operation on the mold, improving forming quality, and reducing equipment failure rate. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in this invention 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 some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating the control method for an automated stamping line provided by the present invention.

[0022] Figure 2 This is a flowchart illustrating the process of determining the target transition time provided by the present invention.

[0023] Figure 3 This is a flowchart illustrating the process of determining the motion trajectory of a robotic arm provided by the present invention.

[0024] Figure 4 This is a schematic diagram of the process for determining the interference range between the stamping equipment and the robot arm provided by the present invention.

[0025] Figure 5 This is a schematic diagram of the process provided by the present invention for phase matching the execution cycle of the motion trajectory with the operating cycle of the stamping equipment.

[0026] Figure 6 This is a schematic diagram of the S-shaped velocity curve provided by the present invention.

[0027] Figure 7 This is a schematic diagram of the fusion of the position curves of each moving axis provided by the present invention.

[0028] Figure 8This is a flowchart illustrating the stamping line cycle and phase generation algorithm provided by the present invention.

[0029] Figure 9 This is a schematic diagram of the collaborative control of the robotic arm and the stamping equipment provided by the present invention.

[0030] Figure 10 This is a schematic diagram of the control device for the automated stamping line provided by the present invention.

[0031] Figure 11 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0033] It should be noted that, in the description of this invention, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0034] The terms "upper," "lower," etc., indicating orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in the invention can be understood according to the specific circumstances.

[0035] The terms "first," "second," etc., used in this invention are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more.

[0036] To facilitate a full understanding of the technical solution of this application, the following content is hereby introduced: The operation modes of automated stamping lines are mainly divided into continuous mode and intermittent mode. Intermittent mode refers to the stamping equipment needing to pause at the top dead center; continuous mode refers to the stamping equipment not pausing at the top dead center during the stamping process. The technical solution of this application is mainly applied to automated stamping lines in continuous operation mode, focusing on improvements to the overall line coordinated control and the motion trajectory generation technology of the robotic arm.

[0037] In existing technologies, most automated stamping lines employ an intermittent operation mode. In this mode, the stamping equipment operates on a single-cycle basis, meaning that after each stroke, it must stop at the top dead center, waiting for the robotic arm to complete the part handling before starting the next stroke. To increase the overall line cycle time, the stamping equipment needs to operate at at least twice the overall stamping cycle time. However, this intermittent high-speed operation causes significant impact on the dies, affecting the stretch forming quality of the parts. It also places higher demands on the design performance of the stamping equipment and may lead to an increased equipment failure rate.

[0038] In addition, the motion control of robotic arms in stamping automation lines usually adopts polynomial interpolation. This method is limited by the curve shape and cannot fully utilize the dynamic performance of the robotic arm, resulting in low robotic arm operating speed and thus low operating efficiency of the entire line.

[0039] Therefore, this application provides a control method for an automated stamping line. By acquiring the trajectory fusion point of the coordinated motion of each moving axis of the robot and performing reverse time calculation to generate the optimal motion trajectory, the execution cycle of the motion trajectory is matched with the operating cycle of the stamping equipment. This enables continuous coordinated operation of the stamping equipment and the robot without stopping, while ensuring the safe interference range. This effectively overcomes the defects of traditional intermittent operation, such as large mold impact, high equipment failure rate and low overall line efficiency.

[0040] The following is combined Figures 1-11 This invention describes the control method, apparatus, electronic equipment, and storage medium for an automated stamping line.

[0041] Figure 1This is a flowchart illustrating the control method for an automated stamping line provided by the present invention, as shown below. Figure 1 As shown, the execution subject of the control method for the stamping automation line provided by the present invention can be a controller of the stamping automation line, a server, a cloud computing platform, or a computer capable of executing the method of the present invention, etc. Unless otherwise specified, the controller will be used as an example in the following embodiments.

[0042] As an optional embodiment, the control method of this automated stamping line mainly includes, but is not limited to, the following steps: Step 110: Obtain the trajectory fusion point of the coordinated motion of each moving axis of the robot, and perform reverse time calculation based on the trajectory fusion point to obtain the target transition time of each moving axis.

[0043] A robotic arm is an automated actuator responsible for material handling, picking up and placing in various work areas or between stamping equipment in an automated stamping line. For example, a robotic arm can be a two-axis stamping robotic arm.

[0044] Each movement axis of a robot refers to the control axis or drive mechanism that constitutes the independent movement direction of the robot's motion system. For example, each movement axis can be a transverse axis that controls horizontal movement and an up-down axis that controls vertical movement.

[0045] A trajectory fusion point refers to a spatial node where different moving axes of a robot switch motion states or connect trajectories to ensure a smooth and continuous overall motion trajectory when performing coordinated motion. For example, a trajectory fusion point can be the point where the lateral and longitudinal movements of a robot smoothly transition.

[0046] Trajectory fusion points can be obtained through preset stamping process requirements or the initial kinematic planning path of the system. For example, the key nodes for motion state fusion of each axis can be extracted by performing basic path planning on the starting point, target point, and safe working space of the robot.

[0047] Reverse time extrapolation refers to the method of deriving and calculating the transition time required for each movement axis to reach the fusion state based on the expected motion state at the trajectory fusion point. For example, the transition time period that meets the strict position continuity requirement can be determined by reverse calculation based on the expected fusion point position and preset kinematic parameters.

[0048] The target transition time refers to the optimal time interval required for each moving axis to achieve a smooth and uninterrupted connection at the trajectory fusion point. For example, the target transition time can be the optimal transition duration to ensure that multiple moving axes achieve a smooth speed connection under dynamic constraints, thereby achieving a perfect match between the motions of the axes.

[0049] Step 120: Generate the motion trajectory of the robot arm based on the target transition time and the velocity curves of all moving axes.

[0050] A speed curve refers to the regular characteristics or mathematical expression of the change of the running speed of each moving axis of a robot during operation. For example, a speed curve can be a segmented S-shaped speed curve planned by combining the maximum dynamic parameters of the motor and mechanical mechanism, so as to meet the requirements of fast and smooth movement of the robot.

[0051] The motion trajectory of a robotic arm refers to the actual spatial path and its corresponding time sequence state that the robotic arm follows when performing actions such as picking up and placing parts in the work space. For example, the motion trajectory of a robotic arm can be a complete three-dimensional motion path with smooth speed and no interruption between each moving axis after target transition time mapping and collaborative fusion, so as to enable the robotic arm to achieve the optimal operating rhythm under the premise of satisfying the equipment dynamics constraints.

[0052] Step 130: Obtain the operating cycle of the stamping equipment and the interference range between the stamping equipment and the robot; perform phase matching between the execution cycle of the motion trajectory and the operating cycle of the stamping equipment to obtain the cooperative phase between the robot and the stamping equipment.

[0053] Stamping equipment refers to the core production equipment in an automated production line used for stamping and forming materials. For example, stamping equipment can be a press or punch press in continuous operation mode.

[0054] The operating cycle of a stamping machine refers to the time span during which the machine completes one full stamping operation. For example, the operating cycle can be the time it takes for the crankshaft of the stamping machine to rotate once or to complete one reciprocating stamping operation.

[0055] The operating cycle of stamping equipment can be obtained by pre-setting stamping process requirements or by reading data from the equipment's control system. For example, the operating time of a single stamping operation can be estimated by obtaining the motor speed and transmission ratio parameters of the stamping equipment.

[0056] The interference zone refers to the dangerous working area where the robot arm may collide and overlap with the stamping equipment in physical space or movement sequence when it enters the mold area to perform operations. For example, the interference zone can be the overlapping space formed between the first interference height of the robot arm when it puts material into the stamping work area and the second interference height when it picks up material and leaves the work area.

[0057] The execution cycle of a motion trajectory refers to the total time required for a robot to complete a full handling operation according to the generated optimal motion trajectory. For example, the execution cycle of a motion trajectory can be the optimal cycle time of the entire line planned based on the dynamic constraints of each moving axis.

[0058] Phase matching refers to aligning and coordinating the time sequence of a robotic arm with the motion state of a stamping machine so that the two can work together safely within the same production cycle. For example, the robotic arm trajectory can be discretized and the stamping cycle can be gradually adjusted so that the timing of the robotic arm's actions matches the rotation angle of the stamping press.

[0059] Cooperative phase refers to the relative start-up timing or angle correspondence between the robot and the stamping equipment during cooperative operation, determined after matching calculation. For example, cooperative phase can be the target start-up angle and target exit angle of the robot to ensure safe operation, thereby achieving smooth and seamless connection between the robot and the stamping equipment.

[0060] Step 140: Based on the interference interval and the cooperative phase, control the stamping equipment and the robot to perform cooperative operations.

[0061] Collaborative operation refers to the process in which stamping equipment and robotic arms cooperate to complete continuous production within a unified time axis and spatial range according to a predetermined rhythm and action sequence. For example, the spindle running angle of the stamping equipment and the three-dimensional spatial position of the robotic arm can be synchronized in real time through the control system, so that when the two approach or enter the interference zone, they can avoid each other and connect their actions strictly according to the matched collaborative phase.

[0062] Specifically, during the actual operation of the automated line, the system will issue action commands in real time according to the coordination phase to schedule the stamping equipment and the robot. For example, when the stamping equipment runs to the safe exit angle indicated by the coordination phase and leaves the interference zone, the robot is controlled to quickly enter the interference zone to complete the picking or placing operation. After the robot leaves the interference zone, the stamping equipment is controlled to continue the next stamping process. Throughout the entire process, the stamping equipment maintains continuous operation and does not stop at the top dead center.

[0063] Considering that existing stamping lines mostly adopt intermittent operation, the stamping equipment must stop after each stroke to wait for the robot to move. This intermittent high-speed operation not only leads to low equipment efficiency but also causes significant impact on the mold and increases the failure rate. Therefore, this invention establishes a seamless temporal coupling relationship between the robot's motion trajectory and the stamping equipment's operating cycle by accurately calculating the interference range and cooperative phase between the two. This enables high-speed and safe cooperation between the robot and the stamping equipment while ensuring continuous and uninterrupted operation, effectively avoiding collisions and interference between the equipment, completely eliminating downtime, and maximizing the overall production cycle and service life of the automated stamping line.

[0064] The control method for automated stamping lines provided by this invention generates a smooth motion trajectory by performing reverse time calculations at the trajectory fusion points of each moving axis of the robot, and eliminates downtime waiting after a single stamping by phase matching between the robot and the stamping equipment. This enables continuous and coordinated stamping operation, avoids the impact of intermittent operation on the mold, improves forming quality, and reduces equipment failure rate.

[0065] Figure 2 This is a flowchart illustrating the process of determining the target transition time provided by the present invention, as shown below. Figure 2 As shown, as another optional embodiment provided by the present invention, reverse time calculation is performed based on trajectory fusion points to obtain the target transition time of each moving axis, including but not limited to the following steps: Step 210: Obtain the target displacement data of each moving axis at the trajectory fusion point.

[0066] Target displacement data refers to the specific spatial position or travel value that each moving axis of the robot must reach in the predetermined trajectory connection area. For example, target displacement data can be the exact physical coordinate position of the robot's lateral axis when entering the trajectory fusion area.

[0067] The target displacement data can be obtained through a pre-set process path or the spatial trajectory coordinate system initially planned by the system. For example, it can be determined by reading the pre-set material picking and unloading spatial coordinates and the geometric transition points between each action segment in the automated line control system.

[0068] Step 220: Based on the dynamic parameters of each moving axis and the target displacement data, perform inverse kinematics calculation to obtain the independent transition time of each moving axis at the trajectory fusion point.

[0069] The dynamic parameters of each moving axis refer to the inherent attribute parameters that reflect the physical structure and driving capability limitations of each drive axis of the robot during the movement process. For example, the dynamic parameters of each moving axis can be the constraint values ​​such as the maximum running speed, maximum acceleration, and jerk obtained from the motor and mechanical transmission mechanism.

[0070] Inverse kinematics calculation refers to a mathematical analysis method that uses the desired target position and motion state as known results to deduce the process variables required to reach that state. For example, the time required for motion can be calculated in reverse by using the inverse position search method, based on the displacement conditions that must be met at the fusion point and the dynamic constraints of each axis itself.

[0071] Independent transition time refers to the time required for a single moving axis of a robot to reach a predetermined fusion point based solely on its own physical properties without considering the coordination of other axes. For example, independent transition time can be the theoretical time required for the upper and lower axes to move to a specified displacement under the drive of their own maximum dynamic parameters.

[0072] Step 230: Obtain the performance constraint parameters of the stamping process on each moving axis at the trajectory fusion point, and determine the weight coefficient corresponding to each moving axis based on the performance constraint parameters.

[0073] Performance constraint parameters refer to the physical or spatial restrictions imposed on the motion state of each moving axis of a robot at specific spatial nodes in high-speed stamping collaborative operations in order to ensure the smoothness of material handling and the safety of equipment operation.

[0074] For example, performance constraint parameters may include the material-carrying state parameters of the robot at the trajectory fusion point and the interference attribute parameters of the spatial region where the trajectory fusion point is located. The material-carrying state parameters characterize whether the robot is currently gripping a metal sheet and the weight of the sheet. The interference attribute parameters characterize whether the robot is currently in a narrow and potentially dangerous area, such as between the upper and lower dies of the stamping equipment. By analyzing these performance constraint parameters, the control system can assign reasonable weight coefficients to different moving axes. For example, based on the material-carrying state parameters, it can determine the load weight coefficient for moving axes that are significantly affected by gravity and inertia. Based on the interference attribute parameters, it can determine the accuracy weight coefficient for moving axes that perform die entry and exit actions. Then, it can combine the load weight coefficient and the accuracy weight coefficient to obtain the final weight coefficient for each moving axis.

[0075] Step 240: The independent transition time of each moving axis is weighted and fused with the corresponding weight coefficient of each moving axis to obtain the weighted transition time of each moving axis.

[0076] Specifically, the control system uses the calculated weighting coefficients to amplify or compensate the original independent transition time of each moving axis in the time dimension, so that the movement rhythm of each moving axis can adapt to the current stamping conditions.

[0077] For example, assuming the independent transition time of the upper and lower axes of a robotic arm to a specified displacement under its maximum dynamic drive is 0.5 seconds, when the system recognizes that the upper and lower axes are currently in a material-carrying state and located within the mold interference zone, the load weighting coefficient assigned to it is 1.2, and the accuracy weighting coefficient is 1.3. The weighted transition time obtained through weighted fusion calculation is then 0.78 seconds. However, for the lateral axis in an unloaded state and operating within the safe zone, its weighting coefficient is 1.0, and its weighted transition time remains its original independent transition time. This weighted fusion method allows the moving axes under heavy load or high-precision requirements to obtain a more ample smooth transition time.

[0078] Step 250: Compare the weighted transition times of each moving axis, and determine the maximum time value among all weighted transition times as the reference transition time.

[0079] Specifically, to ensure that all moving axes participating in the coordinated motion can smoothly and safely pass the trajectory fusion point at the same moment, the system compares the weighted transition times obtained after weighted compensation for each axis and selects the longest value as the unified time benchmark for multi-axis coordination. For example, if the weighted transition time calculated for the transverse axis is 0.4 seconds, while the weighted transition time calculated for the vertical axis due to heavy-load mold entry conditions is 0.78 seconds, the control system will determine the longer 0.78 seconds as the reference transition time for the entire robot's coordinated motion. By selecting the maximum weighted time as the benchmark, not only is strict alignment of multi-axis motion on the time axis achieved, but it also forces the originally faster unloaded axes to actively slow down to match the heavy-load axes under extreme conditions. Thus, while satisfying the dynamic physical constraints of each axis, it effectively reduces the mechanical impact during heavy-load mold entry and exit, maximizing the protection of the mold and the robot.

[0080] Step 260: Synchronously map the reference transition time to each moving axis, and determine the reference transition time as the target transition time for each moving axis.

[0081] Specifically, after determining the maximum time consumption as the baseline transition time, this unified time scale is allocated and applied to all movement axes participating in the coordinated motion, forcing each axis to complete its displacement task within the same time window. For example, the 0.6 seconds obtained from the above comparison is uniformly assigned to the horizontal and vertical axes as the target transition time they jointly follow during the trajectory fusion phase.

[0082] Considering that in high-speed stamping collaborative motion, if the transition time of each axis of the robot is inconsistent, it will lead to phenomena such as single-axis waiting, pause, or overall non-smooth movement when the robot splices spatial trajectories, thus making it difficult to fully utilize the dynamic performance of the robot, this invention innovatively adopts the reverse position search method at the trajectory fusion point to calculate and extract the maximum transition time for synchronous mapping. This enables smooth and uninterrupted connection of speeds between moving axes while ensuring strict continuity of spatial position, thereby achieving the optimal operating rhythm under mechanical dynamic constraints.

[0083] The control method for an automated stamping line provided by this invention acquires the target displacement data of each moving axis at the trajectory fusion point, combines dynamic parameters to perform inverse kinematics calculation to find the maximum time value in the weighted transition time of each axis, and synchronously maps this reference transition time to each moving axis. This enables smooth and uninterrupted connection of speeds between the moving axes of the robot arm while ensuring strict continuity of spatial position, effectively avoiding single-axis waiting or stopping phenomena in multi-axis coordination, thereby achieving the optimal operating rhythm under dynamic constraints and further improving the comprehensive dynamic performance and independent operating efficiency of the robot arm.

[0084] In another embodiment of the present invention, the performance constraint parameters include material carrying state parameters and interference attribute parameters; determining the weight coefficient corresponding to each moving axis based on the performance constraint parameters includes: determining the load weight coefficient of each moving axis based on the material carrying state parameters; determining the accuracy weight coefficient of each moving axis based on the interference attribute parameters; and combining the load weight coefficient and the accuracy weight coefficient to obtain the weight coefficient corresponding to each moving axis.

[0085] Specifically, the system obtains the current material-carrying status of the robot and its interference position attributes in three-dimensional space in real time by reading the host computer's process instructions or sensor feedback signals. The load weight coefficient mainly reflects the dynamic inertial influence of the material weight on each moving axis. The heavier the material, the higher the load weight coefficient, to ensure that the axis movement can obtain more buffer time during acceleration and deceleration. The accuracy weight coefficient mainly reflects the tolerance of the moving axis to the position tracking accuracy at different spatial positions. When the robot enters the mold to perform the unloading action, the system will assign a very high accuracy weight coefficient to prevent collisions caused by minor vibrations.

[0086] For example, when a robotic arm picks up a 30-kilogram steel plate from the first press and prepares to feed it into the second press, the control system detects that it is in a material-carrying state. At this time, the vertical axis, which is most affected by gravity, will receive a high load weighting coefficient. Simultaneously, when the robotic arm's vertical axis moves downwards below the interference height of the second press's mold, the interference attribute parameter is activated, and the system will further assign a very high precision weighting coefficient to this vertical axis. By multiplying or nonlinearly superimposing this load weighting coefficient and precision weighting coefficient, the final comprehensive weighting coefficient of the vertical axis is obtained. In this case, although the horizontal axis operates in a safe, open area, the significantly amplified comprehensive weighting coefficient of the vertical axis means that the final calculated reference transition time will be determined by this vertical axis, thus forcing the entire system to decelerate synchronously, ensuring that the heavy-load material falls accurately and without vibration into the mold.

[0087] The control method for automated stamping lines provided by this invention, by introducing a dynamic weight allocation mechanism based on material carrying status and interference attributes, completely changes the passive situation in traditional control systems where each axis blindly follows the slowest axis. This method enables the robotic arm to make adaptive decisions based on the current load weight and the degree of environmental hazard. This not only significantly reduces the risk of accidental collisions caused by mechanical vibration or material deformation during high-speed operation, ensuring the surface forming quality of stamped parts, but also effectively extends the service life of servo motors and precision transmission mechanisms, achieving a dynamic balance between production cycle optimization and equipment safety.

[0088] Figure 3 This is a flowchart illustrating the process of determining the motion trajectory of a robotic arm provided by the present invention, as shown below. Figure 3 As shown, as another optional embodiment provided by the present invention, the motion trajectory of the robot is generated based on the target transition time and the velocity curves of all moving axes, including but not limited to the following steps: Step 310: Obtain the velocity curves of each moving axis. The velocity curves are segmented S-shaped velocity curves constructed based on the kinematic parameters of the robot.

[0089] A segmented S-shaped velocity curve refers to a smooth running curve that divides the entire motion process into multiple continuous stages such as acceleration, uniform acceleration, deceleration, uniform speed, acceleration and deceleration, uniform deceleration, and deceleration. For example, a segmented S-shaped velocity curve can be a seven-segment motion speed model planned by combining the maximum dynamic parameters of the motor.

[0090] As an optional embodiment, the segmented S-shaped velocity curve is shown below: ; in, t It indicates time, that is, the cumulative time since the start of the movement; t 1 , t 2 , ..., t 7 This indicates a time point, i.e., the dividing point where the motion state changes; τ 1 , τ 2 , ..., τ 7 This indicates local time, that is, the cumulative time within the current segment; T 1 , T 2 , T 4 , T 5 , T 6This indicates the duration of a time period, that is, the total duration of each phase of movement. J Indicates judder; v 0 Indicates the initial velocity; v 01 , v 02 , ..., v 06 Indicates the velocity at the end of each segment; S Indicates displacement. S 01 , S 02 , ..., S 07 This represents the cumulative displacement at the end of each segment.

[0091] Step 320: Calculate the ratio of the target transition time to the original planned time of each moving axis in the segmented S-shaped velocity curve.

[0092] The original planning time refers to the basic time required for each moving axis of the robot to complete the action independently based on its own parameters without considering the requirements of multi-axis coordination and trajectory fusion. For example, the original planning time can be the theoretical time for the robot's Z-axis to independently plan and complete the specified action according to its maximum motion capability.

[0093] The scaling factor refers to the mathematical ratio between the target unification time required for multi-axis collaboration and the time required for independent planning of a single moving axis. For example, the scaling factor can be the adjustment ratio of the Y-axis automatically calculated based on the set Z-axis duration.

[0094] Specifically, the control system extracts the total time of the original segmented S-curve of each moving axis of the robot, and divides the target transition time calculated in reverse by the original time to obtain a constant for proportional scaling of the subsequent time axis. For example, if the original time of the Y-axis is independently planned to be 0.5 seconds, and the target transition time calculated to match the overall cycle time is 0.6 seconds, then the scaling factor is 1.2.

[0095] Step 330: Based on the scaling factor, perform preliminary linear scaling on the time nodes in the segmented S-shaped velocity curves of each moving axis to obtain candidate velocity curves.

[0096] Specifically, while maintaining the spatial geometry of the segmented S-shaped velocity curve and the relative proportions of each motion stage, the control system multiplies the original time nodes t1 to t7 by a calculated scaling factor, thereby extending or shortening the local time of each motion stage. For example, by setting the Z-axis scaling factor, the corresponding Y-axis scaling factor is automatically calculated. This scaling factor ensures that the Y and Z directions are synchronously and proportionally stretched according to the entire S-curve, aligning the time nodes without needing to separately match their local motion states. The curves of velocity, acceleration, and jerk over time generated by this initial linear scaling are the candidate velocity curves.

[0097] Step 340: If the candidate velocity curve passes the dynamic boundary constraint verification, the candidate velocity curve is determined as the target velocity curve; if the candidate velocity curve fails the dynamic boundary constraint verification, the local parameters of the segmented S-shaped velocity curve are adjusted to obtain the target velocity curve.

[0098] Specifically, the system extracts the derivative parameters of the candidate speed curve at each characteristic time point, including instantaneous velocity, instantaneous acceleration, and instantaneous jerk, and compares them with the preset maximum dynamic physical threshold of the moving axis. If all derivative parameters do not exceed the rated torque of the corresponding motor or the strength limit of the mechanical structure, the verification is deemed successful, and the candidate speed curve is directly determined as the final target speed curve.

[0099] If the verification fails, for example, when the proportional coefficient is less than 1, causing the instantaneous acceleration or jerk to exceed the physical threshold when the movement speeds up, the system will perform parametric local adjustments to the segmented S-shaped velocity curve. Specifically, the system will forcibly clamp the excessive dynamic parameters to the corresponding maximum physical threshold upper limit, and while maintaining this upper limit, compensate for the time difference between the target transition time and the original planned time by dynamically stretching or compressing the time length of the uniform speed operation phase or uniform acceleration operation phase in the segmented S-shaped velocity curve, thereby generating the final target velocity curve. This parametric online adjustment method ensures that, in the pursuit of the ultimate production cycle time, the robot's movement trajectory always remains within the physical boundaries of equipment safety, effectively avoiding motor overload alarms or mechanical structure damage caused by blind linear scaling.

[0100] Step 350: Based on the target velocity curve, generate the motion trajectory of each moving axis.

[0101] Specifically, the system re-substitutes the adjusted time points into the displacement and velocity calculation model of the piecewise S-curve to generate precise position coordinates for each axis at each time point, thereby synthesizing a multi-axis collaborative overall three-dimensional physical path. This invention, by introducing a parameterized adjustment mechanism with dynamic verification, completely solves the defect of traditional linear scaling schemes easily exceeding physical limits under high-speed conditions, achieving stable and rapid operation of the stamping robot under extreme cycle times.

[0102] Considering that the existing fifth-order polynomial curve interpolation method is limited by the curve shape and the use of circular transition during curve transition constrains mechanical performance and cannot fully realize dynamic potential, this invention introduces segmented S-shaped velocity curves to independently plan the motion of each axis, and uses a proportional coefficient to linearly scale and match the time nodes during the splicing process. This can completely solve the problems of low operating efficiency of the robot and pauses in the inter-axis coordination while meeting the requirements of high-speed operation, and achieve smooth, fast and fully realized automated control with maximum dynamic performance.

[0103] The control method for automated stamping lines provided by this invention achieves precise synchronization of multi-axis coordinated motion by introducing a segmented S-shaped velocity curve constructed based on the kinematic parameters of a robotic arm, and combining it with linear scaling and dynamic boundary verification using proportional coefficients. This method not only enables the rapid generation of smooth trajectories through linear scaling under normal operating conditions, but also, under high-speed or extreme operating conditions, automatically triggers a parameterized local adjustment mechanism by performing safety checks on the instantaneous derivative parameters of candidate velocity curves. This significantly improves the operational stability and efficiency of the entire line under extreme cycle times.

[0104] Figure 4 This is a flowchart illustrating the process of determining the interference range between the stamping equipment and the robotic arm provided by the present invention, as shown below. Figure 4 As shown, in another optional embodiment provided by the present invention, the interference range between the stamping equipment and the robot arm is obtained based on the following steps: Step 410: Obtain the mold structure parameters of the stamping equipment and the actuator size parameters of the robot.

[0105] The mold structure parameters of stamping equipment refer to the spatial geometric dimensions or contour data of the mold components inside the stamping equipment used to directly form materials. For example, the mold structure parameters of stamping equipment can be the closed height of the upper and lower molds, the maximum stroke of the opening, the size of the mold table, and the height of the protruding parts that may cause physical obstruction around the mold.

[0106] The actuator size parameters of a robot refer to the overall external spatial dimensions of the end tool used to grasp or place materials at the end of the robot and the materials being transported. For example, the actuator size parameters of a robot can be the maximum unfolded width of the robot gripper or suction cup, the vertical distance from the end flange to the lowest point of the material, and the physical boundary extremes in the horizontal and vertical directions.

[0107] Step 420: Based on the mold structure parameters and actuator size parameters, determine the first interference height when the robot enters the working area of ​​the stamping equipment and the second interference height when it leaves the working area of ​​the stamping equipment.

[0108] The first interference height refers to the safe vertical critical position that the robot must maintain to avoid collision with the running mold components when entering the mold area to perform the unloading action. For example, the first interference height can be set by combining the top dead center position of the mold, the table height of the lower mold, and the lowest point size of the end of the material carried by the preceding robot through spatial geometric calculations.

[0109] The second interference height refers to the critical vertical height at which the robot arm avoids physical interference with the upward-rising mold when it enters the mold area to pick up the material and leaves safely after the stamping action is completed. For example, the second interference height can be extracted by calculating the fixture size of the picking robot arm, the height of the stamped part, and the real-time upward displacement of the upper mold.

[0110] Step 430: Obtain real-time status data of the stamping automation line during operation, and determine the dynamic compensation amount based on the real-time status data.

[0111] Real-time status data refers to dynamic parameters reflecting changes in the physical state of equipment and materials, collected in real time by sensors or calculated by the control system based on the current operating conditions during the high-speed continuous operation of an automated production line. For example, real-time status data may include the amplitude of end-effector vibration generated during the high-speed start-up and shutdown phases of the robotic arm, the deformation and sagging data of the transported metal sheet caused by gravity or residual stress from stamping, and the thermal elongation data of the slide block due to temperature rise caused by prolonged continuous operation of the stamping equipment. By monitoring and fusing these dynamic parameters in real time, the control system can determine a spatial safety margin to compensate for physical errors, i.e., a dynamic compensation amount. For example, when the system detects that the end-effector speed exceeds a preset threshold, it will automatically calculate the corresponding vibration compensation value based on a pre-stored dynamic model to address the space occupancy expansion caused by end-effector vibration.

[0112] Step 440: The first interference height and the second interference height are corrected using dynamic compensation to obtain the first target height and the second target height.

[0113] Specifically, the control system superimposes the calculated dynamic compensation onto the theoretical interference height, which is pre-calculated using mold structure parameters and actuator size parameters, thereby constructing an actual safety boundary that can encompass all dynamic errors.

[0114] For example, assuming the initial first interference height is 500 mm, if the system calculates the current sheet metal sagging to be 10 mm and the robot's end effector vibration amplitude to be 5 mm, then the dynamic compensation amount is 15 mm. The system will apply this compensation amount to the initial height, correcting the first interference height upwards or in a safe direction to 515 mm, thus obtaining the first target height; similarly, a similar correction is made to the second interference height to obtain the second target height. Through this dynamic correction mechanism, the system can transform the originally static, fixed interference range into a dynamic interference range that changes in real time with the operating state, completely eliminating the potential collision risks caused by uncontrollable factors such as mechanical vibration, material deformation, or thermal expansion, ensuring high-speed and safe operation of the robot under extreme space constraints.

[0115] Step 450: Based on the first target height and the second target height, determine the motion overlap area between the robot and the stamping equipment in space, and define the motion overlap area as the interference interval.

[0116] The motion overlap area refers to the dangerous working area where the spatial trajectory of the robot performing the handling task coincides or intersects with the dynamic space of the upper and lower opening and closing of the stamping equipment mold on a three-dimensional physical level. For example, the motion overlap area can be the central three-dimensional space between the upper and lower molds of the stamping press, defined by the first interference height and the second interference height.

[0117] Specifically, the control system uses the first and second target heights as spatial boundaries, compares them with the actual three-dimensional motion trajectory generated by the robot arm and the stroke range of the punch die, and extracts the three-dimensional spatial segments where collisions are inevitable when the devices operate simultaneously. These segments are then designated as interference zones requiring strict timing avoidance. For example, the system explicitly defines the dynamic area of ​​the die formed between the maximum descent depth boundary during robot arm unloading and the lifting safety boundary during unloading as the interference zone, to guide subsequent coordinated control.

[0118] Considering that in continuous stamping automated lines, the stamping equipment no longer pauses at the top dead center but maintains a high-speed reciprocating state, if precise spatial boundaries are not defined, it is very easy for the robot arm to collide severely with the moving mold during the material handling process. Therefore, this invention introduces mold structure parameters and actuator size parameters to accurately calculate the first target height and the second target height, and determines the dynamic motion overlap area accordingly. This provides an absolutely safe physical spatial boundary for the motion timing matching of the press and the robot arm under the harsh condition of continuous operation without stopping the equipment, thus fully ensuring the equipment safety of high-speed collaborative operation.

[0119] The control method for an automated stamping line provided by this invention accurately determines the first and second interference heights of the robot entering and leaving the work area by acquiring the mold structure parameters of the stamping equipment and the actuator size parameters of the robot. Based on this, further dynamic corrections are made to obtain the first and second target heights. The overlapping area of ​​the equipment's movement in space is defined as the interference interval. Thus, under the condition that the stamping equipment can operate continuously without stopping, the potential collision risk area can be accurately defined in three dimensions, providing a reliable safety space constraint for subsequent high-speed motion timing coordination, and further ensuring the operational safety of the automated stamping line under extreme cycle times.

[0120] Figure 5 This is a schematic diagram of the process provided by the present invention for phase matching the execution cycle of the motion trajectory with the operating cycle of the stamping equipment, as shown in the figure. Figure 5 As shown, as another optional embodiment provided by the present invention, the execution cycle of the motion trajectory is phase-matched with the operating cycle of the stamping equipment to obtain the coordinated phase of the robot and the stamping equipment, including but not limited to the following steps: Step 510: Adjust the operating cycle of the stamping equipment based on the execution cycle of the motion trajectory to obtain the synchronous operating cycle.

[0121] Synchronous operating cycle refers to the unified operating time span that the robotic arm and the stamping equipment follow when performing continuous and uninterrupted collaborative operations. For example, the unified cycle that meets the overall production rhythm can be determined by comparing the time it takes for the robotic arm to complete a single transport and the time it takes for the stamping press to complete a single punch.

[0122] Specifically, the initial cycle time can be evaluated based on the preset stamping process requirements, and the time step can be adjusted by increasing or decreasing the time step based on the original cycle of the robot and the punch press. For example, the robot's time can be appropriately slowed down or adjusted outside the interference zone to adapt to the new cycle after overall coordination, so that the two can achieve synchronization on the time scale.

[0123] Step 520: Obtain the correspondence between crankshaft rotation angle and displacement of the stamping equipment during synchronous operation cycle.

[0124] The correspondence between crankshaft rotation angle and displacement refers to the dynamic mapping curve of the physical position of the driven die slide in the vertical direction when the main shaft or crankshaft of the punch press performs a complete rotation cycle from zero to 360 degrees. For example, the mathematical relationship between the precise displacement of the slide downward and upward and the current rotation angle can be obtained by reading the mechanical transmission model of the stamping equipment or the electronic cam table built into the control system.

[0125] Step 530: Discretize and map the relationship between the motion trajectory and the crankshaft angle and displacement to obtain the phase mapping relationship.

[0126] Discretization mapping refers to the process of decomposing the continuous three-dimensional spatial trajectory of a robot arm generated based on time into independent state points according to a set sampling frequency, and aligning and binding them one by one with the crankshaft rotation angle of the stamping equipment. For example, by fixing the time of the preceding robot arm trajectory, the displacement coordinate points of the robot arm can be projected one by one into the rotation coordinate system of the stamping press.

[0127] Phase mapping relationship refers to the angular synchronization binding data formed between the spatial position of each moving axis of the robot and the real-time position of the die of the stamping equipment under a unified synchronous operation cycle. For example, the phase mapping relationship can be automatically generated electronic cam table data used to control the coordinated action of each axis.

[0128] Step 540: Based on the phase mapping relationship, determine the target start angle for the robot to enter the interference zone and the target exit angle for the robot to exit the interference zone, and define the target start angle and the target exit angle as the cooperative phase.

[0129] The target start-up angle refers to the specific crankshaft rotation angle that allows the subsequent robotic arm to begin entering the interference zone to pick up materials when the die rises to a safe height during continuous operation of the stamping equipment. For example, it can be set by finding the angle value corresponding to when the stamping press leaves the second interference height in the phase mapping relationship.

[0130] The target exit angle refers to the crankshaft rotation angle boundary of the stamping equipment when the preceding robot completes unloading and completely withdraws from the interference zone. For example, it can be obtained by reverse calculation of the angle at which the punch press is located when the preceding robot leaves the first interference height.

[0131] Specifically, the control system uses discretized trajectory data to gradually increase the start phase of subsequent robotic arms to find the optimal safe avoidance point, ensuring that the punch press only moves down to stamp after the robotic arm has finished unloading the material and left the die area, and that the robotic arm only enters to pick up the material after the stamping is completed and the interference zone has been left. For example, the system fixes these critical angles into a reference frame for collaborative control.

[0132] Considering that relying solely on time delay for control in high-speed collaborative production can easily lead to accumulated errors and severe equipment collisions, this invention discretizes the motion trajectory in the time dimension and maps it to a phase mapping relationship based on the crankshaft angle of the punch press. This accurately extracts the target start angle and the target exit angle, thereby providing absolutely reliable safety collaborative commands in the continuous mode of punch press operation without stopping, effectively avoiding motion interference and significantly improving the system's operating efficiency.

[0133] As an optional embodiment, when performing phase calculations for the robot and the punch press, the system can discretize the trajectory, keep the trajectory time of the preceding robot constant, and gradually increase the start phase of the subsequent robot. This matching process specifically includes the following steps: setting the material pick-up point and material release point of the robot; setting the first interference zone and the second interference zone; automatically selecting the motion curve type based on the interference height information to obtain an efficient and flexible motion curve; obtaining dynamic parameters based on motor and mechanical parameters; and automatically generating an electronic cam table corresponding to the motion curve of each axis.

[0134] It should be noted that, in order to ensure safer and more reliable system operation, the following timing logic constraints must be met when controlling the stamping equipment and the robot to work together: the punch press can only move down to stamp after the preceding robot has finished unloading the material and left the die area; after stamping is completed and the punch press leaves the interference area, the subsequent robot can only enter to pick up the material; the preceding robot can only unload the material after the subsequent robot has picked up the material and left, and the two always maintain a certain safe distance.

[0135] As an optional embodiment, the relevant phase calculation model during the collaborative operation of the robotic arm and the stamping equipment can be expressed as: ; in, Indicates the first i The target coordinated phase of each stamping device This indicates the subsequent activation phase of the robotic arm. This indicates the angle at which the preceding robotic arm exits the interference zone. This indicates the safety angle on the feeding side of the stamping equipment.

[0136] The control method for automated stamping lines provided by this invention obtains the correspondence between the crankshaft angle and displacement of the stamping equipment based on the synchronous operation cycle, and discretizes the motion trajectory to accurately determine the target start angle and target exit angle of the robot entering and exiting the interference zone as the cooperative phase. This allows the motion trajectory in the time dimension to be converted into a cooperative control benchmark with the mechanical angle of the stamping equipment as the absolute reference. This effectively eliminates the cumulative error caused by simply relying on time delay, ensures seamless connection and absolute avoidance of the actions of the stamping equipment and the robot in continuous operation mode, and further improves the accuracy and operational safety of the high-speed cooperative control of the entire line.

[0137] In another embodiment of the present invention, the operating cycle of the stamping equipment is adjusted based on the execution cycle of the motion trajectory to obtain a synchronous operating cycle, including: obtaining the first cycle of the robot arm executing the motion trajectory and the second cycle of the stamping equipment executing a single stamping; and determining the maximum value of the first cycle and the second cycle as the initial line cycle.

[0138] The first cycle of the robot's motion trajectory refers to the total independent time required for the robot to complete one complete picking, handling and placing action according to the pre-generated optimal speed curve. For example, the first cycle can be the shortest reciprocating running time planned by the robot based on its own maximum dynamic limitations without considering the coordination with the punch press.

[0139] The second cycle of a single stamping operation refers to the time span during which a stamping device completes a full physical processing action in continuous operation mode, moving from the top dead center to the bottom dead center and then back to the top dead center. For example, the second cycle can be the standard time required for the stamping device motor to drive the crankshaft to rotate 360 ​​degrees at its rated speed.

[0140] The initial cycle time refers to the maximum time taken during the operation of the robot and the stamping equipment when initially integrating their movement rhythms. This is chosen as a baseline reference value to ensure that there are no timing conflicts or equipment overloads in the various execution links of the system. For example, the fastest theoretical cycle time of the initial line can be set by comparing the shortest handling operation time of the robot with the fastest single punching time of the punch press and taking the larger value.

[0141] If the initial production line cycle does not meet the stamping process conditions, the cycle extension step is executed iteratively until the updated production line cycle meets the stamping process conditions. The production line cycle that meets the stamping process conditions is then determined as the synchronous operation cycle. The cycle extension step includes: adding a preset time step to the current production line cycle to obtain the updated production line cycle.

[0142] Stamping process conditions refer to the physical and motion timing constraints that must be met to ensure the forming quality of parts, the safe operation of equipment, and the consistency of cycle time between multiple stations. For example, stamping process conditions may be that each station cycle meets the collision-free safety distance in the interference zone and meets the maximum allowable speed limit required for material stretching and forming.

[0143] The preset time step refers to a fixed time increment value set when searching for the optimal overall line operation cycle in order to balance the system adjustment accuracy and optimization calculation efficiency. For example, the preset time step can be the fine-tuning time of 0.01 seconds accumulated by the control system when slowing down the overall line cycle in each iteration.

[0144] Specifically, the control system checks whether the current cycle time meets the process safety requirements according to the initial settings. If the requirements are not met due to the overlapping movement of the robot and the punch press within the interference zone, the system determines that the overall line cycle time needs to be slowed down. It iterative calculations are performed by continuously adding preset time steps until a minimum feasible cycle time that allows the robot to safely pick up and place materials is obtained. For example, after iteratively calculating a synchronized operating cycle that meets all safety and process constraints, the system will also adaptively adjust the robot's running time or waiting time outside the interference zone based on the adjusted new cycle time to accurately match the new overall line cycle time. This achieves overall line coordination and optimal cycle time while ensuring continuous operation of the punch press without stopping.

[0145] As an optional embodiment, according to the stamping process requirements, the formula for the conditions that each station's cycle must meet when the system adjusts the overall production line cycle can be expressed as: ; in, For each workstation's cycle time, This indicates the time the preceding robotic arm spends in the interference zone. This indicates the time the stamping equipment spends outside the interference zone. This indicates the time the subsequent robot arm spends in the interference zone. This indicates the common time that the robotic arms spent in the interference zone before and after the interference.

[0146] The control method for automated stamping lines provided by this invention obtains the maximum value between the first cycle of the robot's motion trajectory and the second cycle of the stamping equipment performing a single stamping as the initial overall line cycle. When the initial cycle does not meet the stamping process conditions, it iteratively extends it with a preset time step until the conditions are met. This allows for adaptive optimization calculation of the shortest overall line coordination cycle that satisfies both safety avoidance and processing requirements, while taking into account the extreme physical operating capabilities of both the robot and the stamping equipment. This effectively avoids problems such as equipment interference or reduced forming quality caused by blindly setting the cycle time, and further achieves the optimal balance between production efficiency and operational safety of the automated line.

[0147] In another embodiment of the present invention, based on the interference interval and the cooperative phase, the stamping equipment and the robot are controlled to perform cooperative operations, including: obtaining the real-time position of the stamping equipment; after the stamping equipment runs to the target exit angle in the cooperative phase and leaves the interference interval, the robot is controlled to enter the interference interval to pick up or unload materials; after the robot is detected to leave the interference interval, the stamping equipment is controlled to run to the target start angle in the cooperative phase and enter the interference interval to perform stamping.

[0148] Specifically, the control system collects the actual physical rotation angle data of the stamping equipment's spindle in real time and compares it with the pre-calculated cooperative phase boundary value. This serves as the absolute safety timing command to trigger the robot arm to perform actions and for the stamping equipment to continue its downward movement, thus achieving seamless material transfer without the stamping equipment stopping or waiting. For example, when the system detects that the stamping equipment has completed the stamping action and its die has risen upward with the crankshaft to the preset target exit angle and is physically completely out of the interference height region, it immediately triggers the subsequent robot arm to quickly probe into the die area and grab the formed part. After the preceding robot arm has placed the material to be processed and confirmed that its end effector has completely withdrawn from the dangerous interference space, the stamping equipment runs continuously to the target starting angle and smoothly enters the interference zone to perform the next high-speed stamping action. The two always maintain a certain safe distance, and this cycle repeats, achieving safe, high-speed, and continuous cooperative coordination between the equipment based entirely on spatial phase.

[0149] The control method for an automated stamping line provided by this invention acquires the real-time position of the stamping equipment and controls the robot to enter and perform material handling or unloading only after the stamping equipment has reached the target exit angle in the cooperative phase and physically left the interference zone. At the same time, the stamping equipment is only allowed to run to the target start angle and enter the interference zone for the next stamping operation after the robot has completely left the interference zone. This establishes a dual dynamic interlocking safety mechanism based on real-time spatial position and preset cooperative phase while ensuring continuous and uninterrupted operation of the stamping equipment. This completely eliminates the risk of physical collision between the robot and the high-speed moving mold, and further ensures the absolute safety and highly coordinated stability of the entire line under extreme operating cycles.

[0150] Figure 6 This is a schematic diagram of the S-shaped velocity curve provided by the present invention, as shown below. Figure 6 As shown, four sub-graphs arranged vertically visually illustrate the relationship between various dynamic parameters of a single axis (e.g., the Y-axis lateral movement) of the robot and time during a complete motion planning process. The horizontal axis of these four sub-graphs is uniformly time, and the vertical axes, from top to bottom, represent Y-axis displacement, Y-axis velocity, Y-axis acceleration, and Y-axis jerk, respectively.

[0151] In the top displacement-time graph, the continuous blue solid line represents the planned trajectory of a single axis, and the red dots distributed on the trajectory represent intermediate path points. These intermediate path points accurately correspond to the time nodes when the various motion states in the segmented S-curve switch. In the second layer velocity-time graph, the velocity curve shows a smooth bell-shaped transition with gentle undulations at both ends, indicating that the robot arm does not have any sudden speed changes during the start-up and stopping phases. In the third layer acceleration-time graph, the acceleration shows a continuous broken line change, ensuring the continuity of force. In the bottom jerk-time graph, the jerk switches in a step-like pattern between positive constant value, zero value, and negative constant value, which perfectly matches the underlying mathematical control logic of the system that constructs a segmented S-curve velocity curve based on kinematic parameters.

[0152] Figure 7 This is a schematic diagram of the fusion of the position curves of each moving axis provided by the present invention, as shown below. Figure 7 As shown, the two-dimensional correspondence between the position of the robot's horizontal axis in the Y direction and the position of its vertical axis in the Z direction is presented intuitively in two-dimensional space. The horizontal axis represents the physical displacement data of the Y axis, and the vertical axis represents the physical displacement data of the Z axis. Figure 7 The solid line trajectory included fully depicts the spatial closed-loop motion path of the robotic arm as it performs a handling task within the work area, consisting of alternating horizontal lateral movement and vertical lifting. Furthermore, Figure 7 The legend in the lower right corner clearly indicates that the circular and square markers represent the start and end points of the motion trajectory, respectively. In this embodiment, the start and end points completely overlap in the center area of ​​the straight trajectory segment below, indicating that the robot arm has accurately completed a seamless closed-loop reciprocating work cycle.

[0153] As can be seen from the technical solution of this invention, in this continuous spatial trajectory, the corner areas with smooth transitions are precisely the trajectory fusion points of the coordinated movement of the robot's various axes. At these trajectory fusion points, the system does not employ traditional circular or polynomial interpolation methods limited by the curve shape. Instead, it acquires the target displacement data of the Y-axis and Z-axis at these fusion points, uses a reverse position search method to calculate and extract the maximum independent transition time as a benchmark, and then automatically calculates the corresponding Y-axis scaling factor using a set Z-axis scale. This allows for the proportional linear scaling and synchronous mapping of the segmented S-shaped velocity curves of each axis at the same time node. It is precisely thanks to this matching algorithm based on reverse time calculation and time axis stretching that… Figure 7 Only by ensuring the strict continuity of spatial position can the comprehensive motion trajectory of the robot arm achieve a smooth and uninterrupted connection of speed between the Y and Z axes, thereby generating the actual motion trajectory with the optimal rhythm under the condition of satisfying the dynamic parameter constraints of each axis.

[0154] Figure 8 This is a flowchart illustrating the stamping line cycle time and phase generation algorithm provided by the present invention, as shown below. Figure 8 As shown, the algorithm first generates the optimal motion curve of the robot arm, that is, based on the aforementioned reverse time calculation and segmented S-shaped velocity curve scaling method, to obtain a smooth motion trajectory that fully utilizes the dynamic performance of the robot arm; then, the system obtains the punch press motion cycle in continuous mode and determines the angle, that is, extracts the physical time of the punch press to complete a single punch and the key reference angle during the crankshaft rotation process; on this basis, the system combines the mold structure parameters and actuator size parameters to accurately delineate the interference range between the robot arm and the punch press, and clarifies the overlapping working area where the two may collide in three-dimensional space.

[0155] Subsequently, the system enters the overall line cycle adjustment stage. In this stage, the system sets the initial cycle time to the maximum cycle time that the robot and the punch press can meet according to the stamping process requirements, and checks whether the cycle time meets the safety condition of no interference. If it does not meet the condition, the overall line cycle time is gradually slowed down for iterative optimization, and the robot time is adjusted outside the interference zone to match this new synchronization cycle. After the cycle is unified, the system sequentially performs robot phase matching and punch press phase matching. By setting the material pick-up point and material unload point, the robot trajectory in the time dimension is discretized and mapped to the punch press crankshaft angle coordinate system. During the matching calculation, the time of the preceding robot trajectory is kept unchanged, and the start phase of the subsequent robot is gradually increased. Finally, the electronic cam table corresponding to the motion of each axis is automatically generated.

[0156] Through the complete closed-loop process described above, the system can strictly ensure that the punch press only moves down to stamp after the preceding robot arm has finished unloading the material and left the mold area, and that the robot arm only enters to pick up the material after the stamping is completed and the mold has left the interference area. Furthermore, a certain safe distance is always maintained between the preceding and following actions, thereby achieving continuous, high-speed, and absolutely safe collaborative operation of the entire line under the optimal cycle time.

[0157] Figure 9 This is a schematic diagram of the collaborative control of the robotic arm and stamping equipment provided by the present invention, as shown below. Figure 9 As shown, the interface intuitively displays the collaborative operation trajectory mapping relationship of multiple devices on the entire production line, generated based on an electronic cam gauge, within the operation interface of the automated control system. The top of the interface includes tabs such as POS, VEL, ACC, Jerk, and Torque for switching and viewing different dynamic parameters such as displacement, velocity, acceleration, jerk, and torque. It also provides checkboxes for the Y-axis and Z-axis, as well as drop-down filter menus for trajectory display (Sync) and punch press (All). The currently displayed main view is the 4-cycle synchronous change curve of the device's Y-axis position vs. angle.

[0158] In this coordinate system, the horizontal axis represents the uniform synchronous operation crankshaft angle of the stamping equipment, spanning four complete work cycles, while the vertical axis represents the real-time physical displacement of each piece of equipment in the Y-axis direction. The legend in the lower left corner of the figure clearly marks the various pieces of equipment participating in the collaborative operation and their assigned collaborative phases. The solid lines represent the lateral movement trajectories of the robotic arms at different workstations. For example, the blue R1 Y at the bottom represents the first robotic arm with a phase of 0.0 degrees, the orange-red R2 Y in the middle represents the second robotic arm with a phase of 64.7 degrees, and the yellow R3 Y at the top represents the third robotic arm with a phase of 129.8 degrees. The dashed lines represent the running trajectories of adjacent stamping equipment dies. For example, the purple dashed line P1 Y represents the first stamping equipment with a phase of 193.5 degrees, and the green dashed line P2 Y represents the second stamping equipment with a phase of 254.5 degrees.

[0159] As can be seen from the technical solution of this invention, these curves are the visualization results of the electronic cam table corresponding to the motion of each axis, automatically generated by the aforementioned phase discretization mapping and iterative optimization algorithm. From the relative fluctuations of the curves, it is clear that the system, by setting an increasing start phase for the robotic arms, perfectly achieves staggered avoidance of multiple devices on the same time axis: only after the preceding robotic arm completes its unloading action and its displacement curve shows that it has completely left the die area, does the corresponding punching machine trajectory enter the downward stamping stage; and only after stamping is completed and the punching machine trajectory leaves the interference zone, does the subsequent robotic arm begin to pick up the material. All robotic arms and punching machines maintain an absolute safe distance at any time and at any angle. This phase matching method based on a unified angle reference allows the punching machines of the entire stamping line to completely break free from the constraints of the traditional intermittent mode, which requires pausing and waiting at the top dead center, achieving truly continuous, smooth, and high-speed collaborative operation across the entire line.

[0160] Figure 10 This is a schematic diagram of the control device for the automated stamping line provided by the present invention, as shown below. Figure 10 As shown, the control devices for an automated stamping line mainly include, but are not limited to: The robotic arm 1010 is used to move materials within a work area; the robotic arm 1010 includes a first encoder for collecting first position data of each moving axis of the robotic arm 1010.

[0161] The first encoder refers to the basic displacement or angle measurement sensor integrated into the drive actuator inside the robot. For example, the first encoder can be the servo motor encoder that comes with the drive motor of each moving axis of the robot.

[0162] The first position data refers to the current physical coordinates or travel values ​​of each axis of the robot arm, which are obtained in real time based on the number of rotations or the running angle of the drive motor. For example, the first position data can be the real-time position coordinates of the transverse axis collected by the drive motor encoder and fed back to the control system.

[0163] The stamping equipment 1030 is used for stamping materials.

[0164] The controller 1020 is connected to the robot arm 1010 and the stamping equipment 1030 respectively, and is used to realize the control method of the stamping automation line.

[0165] It should be noted that the control device for the stamping automation line provided by the present invention can execute the control method for the stamping automation line described in any of the above embodiments during actual operation, which will not be elaborated in this embodiment.

[0166] The control device for the automated stamping line provided by this invention generates a smooth motion trajectory by performing reverse time calculation through the trajectory fusion point of each moving axis of the robot, and eliminates the downtime waiting after a single stamping by phase matching between the robot and the stamping equipment. This enables continuous and coordinated stamping operation, avoids the impact of intermittent operation on the mold, improves forming quality and reduces equipment failure rate.

[0167] In another embodiment of the present invention, a second encoder is provided on the transverse axis of the robot arm for collecting second position data of the transverse axis; the controller is also used to: acquire first position data and second position data corresponding to the transverse axis; calculate the difference between the first position data and the second position data; if the difference exceeds a preset threshold, control the stamping equipment and the robot arm to stop running.

[0168] The second encoder refers to a redundant position measurement sensor that is installed separately from the drive motor on the actual moving parts or transmission mechanism of the robot to directly measure physical displacement. For example, the second encoder can be an external linear grating ruler or a separate rotary encoder that is directly mounted on the transverse axis of the robot in the Y direction, thus forming a redundant system for monitoring position together with the first encoder built into the motor.

[0169] The second position data refers to the actual physical displacement or coordinate value of the mechanical end or drive shaft directly acquired by the independent redundant sensor. For example, the second position data can be the current actual horizontal movement distance of the transverse axis directly measured and fed back by the external second encoder. This data is not affected by the mechanical transmission error between the motor and the end.

[0170] Specifically, during high-speed stamping collaborative operation, the controller synchronously reads the first position data inside the motor and the second position data outside the transverse axis in real time, and compares the difference between the two in real time to verify whether the transmission system of the robot arm has an abnormal operating state. For example, when the transverse axis of the robot arm experiences motion failure such as transmission belt breakage, mechanical slippage, or motor step loss, the first position data at the motor end may still be updated normally according to the instructions. However, since the transverse mechanism does not actually move synchronously, the second position data collected by the second encoder will stagnate or deviate. At this time, the difference between the two will rapidly increase. Once the controller determines that the difference exceeds the preset absolute safety distance threshold, it will immediately determine that the robot arm has failed and instantly issue an instruction to control the continuously running stamping equipment and the robot arm to stop running urgently. This effectively makes up for the deficiency of the existing technology that only adopts a redundancy scheme on the stamping press and lacks a safety redundancy design for the robot arm, providing extremely high system safety for automated equipment that operates in high-speed collaborative operation.

[0171] The control device for the stamping automation line provided by this invention adds a second encoder to the transverse axis of the robot arm, which together with the original first encoder of the motor forms a hardware redundancy system for position monitoring. It can compare and calculate the difference between the position data of the two in real time, thereby quickly triggering the whole machine shutdown protection when the robot arm experiences motion failures such as belt breakage, slippage, or motor step loss. This provides extremely high system protection and operational reliability for the safe and stable operation of the stamping automation line under extreme production cycles.

[0172] Figure 11 This is a schematic diagram of the structure of the electronic device provided by the present invention, such as... Figure 11 As shown, the electronic device may include a processor 1110, a communications interface 1120, a memory 1130, and a communication bus 1140. The processor 1110, communications interface 1120, and memory 1130 communicate with each other via the communication bus 1140. The processor 1110 can call logic instructions in the memory 1130 to execute a control method for an automated stamping line. This method includes: acquiring the trajectory fusion points of the coordinated motion of each moving axis of the robot; performing reverse time calculation based on the trajectory fusion points to obtain the target transition time of each moving axis; generating the motion trajectory of the robot based on the target transition time and the speed curves of all moving axes; acquiring the operating cycle of the stamping equipment and the interference interval between the stamping equipment and the robot; performing phase matching between the execution cycle of the motion trajectory and the operating cycle of the stamping equipment to obtain the cooperative phase between the robot and the stamping equipment; and controlling the stamping equipment and the robot to perform cooperative operations based on the interference interval and the cooperative phase.

[0173] Furthermore, the logical instructions in the aforementioned memory 1130 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0174] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the control method for the stamping automation line provided by the above methods. The method includes: acquiring the trajectory fusion point of the coordinated motion of each moving axis of the robot; performing reverse time calculation based on the trajectory fusion point to obtain the target transition time of each moving axis; generating the motion trajectory of the robot based on the target transition time and the speed curve of all moving axes; acquiring the operating cycle of the stamping equipment and the interference interval between the stamping equipment and the robot; performing phase matching between the execution cycle of the motion trajectory and the operating cycle of the stamping equipment to obtain the coordinated phase between the robot and the stamping equipment; and controlling the stamping equipment and the robot to perform coordinated operations based on the interference interval and the coordinated phase.

[0175] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements a control method for an automated stamping line provided by the methods described above. The method includes: acquiring the trajectory fusion points of the coordinated motion of each moving axis of a robot; performing reverse time calculation based on the trajectory fusion points to obtain the target transition time of each moving axis; generating the motion trajectory of the robot based on the target transition time and the speed curves of all moving axes; acquiring the operating cycle of the stamping equipment and the interference interval between the stamping equipment and the robot; performing phase matching between the execution cycle of the motion trajectory and the operating cycle of the stamping equipment to obtain the coordinated phase between the robot and the stamping equipment; and controlling the stamping equipment and the robot to perform coordinated operations based on the interference interval and the coordinated phase.

[0176] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0177] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0178] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for an automated stamping line, characterized in that, include: The trajectory fusion points of the coordinated motion of each moving axis of the robot are obtained, and the target transition time of each moving axis is obtained by reverse time calculation based on the trajectory fusion points. Based on the target transition time and the velocity curves of all the moving axes, the motion trajectory of the robot is generated; The operating cycle of the stamping equipment and the interference range between the stamping equipment and the robotic arm are obtained; The execution cycle of the motion trajectory is phase-matched with the operating cycle of the stamping equipment to obtain the cooperative phase between the robot and the stamping equipment; Based on the interference interval and the cooperative phase, the stamping equipment and the robot arm are controlled to perform cooperative operations.

2. The control method for an automated stamping line according to claim 1, characterized in that, The step of performing reverse time extrapolation based on the trajectory fusion points to obtain the target transition time for each of the moving axes includes: Obtain the target displacement data of each of the moving axes at the trajectory fusion point; Based on the dynamic parameters of each of the moving axes and the target displacement data, inverse kinematics calculation is performed to obtain the independent transition time of each of the moving axes at the trajectory fusion point; Obtain the performance constraint parameters of the stamping process on each of the moving axes at the trajectory fusion point, and determine the weight coefficient corresponding to each of the moving axes based on the performance constraint parameters; The independent transition time of each of the moving axes is weighted and fused with the weight coefficient corresponding to each of the moving axes to obtain the weighted transition time of each of the moving axes; The weighted transition times of each of the moving axes are compared, and the maximum time value among all the weighted transition times is determined as the reference transition time; The reference transition time is synchronously mapped to each of the moving axes, and the reference transition time is determined as the target transition time for each of the moving axes.

3. The control method for an automated stamping line according to claim 2, characterized in that, The performance constraint parameters include material carrying state parameters and interference attribute parameters; determining the weight coefficients corresponding to each of the moving axes based on the performance constraint parameters includes: Based on the material carrying state parameters, determine the load weighting coefficient for each of the moving axes; Based on the interference property parameters, determine the accuracy weighting coefficient for each of the moving axes; The load weighting coefficient and the accuracy weighting coefficient are combined to obtain the weighting coefficient corresponding to each moving axis.

4. The control method for an automated stamping line according to claim 1, characterized in that, The process of generating the motion trajectory of the robot based on the target transition time and the velocity curves of all the moving axes includes: Obtain the velocity curves of each of the moving axes, wherein the velocity curves are segmented S-shaped velocity curves constructed based on the kinematic parameters of the manipulator; Calculate the ratio of the target transition time to the original planned time of each of the moving axes in the segmented S-shaped velocity curve; Based on the scaling factor, the time nodes in the segmented S-shaped velocity curves of each of the moving axes are initially linearly scaled to obtain candidate velocity curves. If the candidate velocity curve passes the dynamic boundary constraint verification, then the candidate velocity curve is determined as the target velocity curve; if the candidate velocity curve fails the dynamic boundary constraint verification, then the local parameters of the segmented S-shaped velocity curve are adjusted to obtain the target velocity curve. Based on the target velocity curve, the motion trajectory of each of the moving axes is generated.

5. The control method for an automated stamping line according to claim 1, characterized in that, The interference range between the stamping equipment and the robotic arm is obtained based on the following steps: Obtain the mold structure parameters of the stamping equipment and the actuator size parameters of the robot arm; Based on the mold structure parameters and the actuator size parameters, the first interference height of the robot entering the working area of ​​the stamping equipment and the second interference height of the robot leaving the working area of ​​the stamping equipment are determined; The real-time status data of the stamping automation line during operation is obtained, and the dynamic compensation amount is determined based on the real-time status data. The first interference height and the second interference height are corrected using the dynamic compensation amount to obtain the first target height and the second target height; Based on the first target height and the second target height, the motion overlap area between the robot and the stamping equipment in space is determined, and the motion overlap area is defined as the interference interval.

6. The control method for an automated stamping line according to claim 1, characterized in that, The step of phase-matching the execution cycle of the motion trajectory with the operating cycle of the stamping equipment to obtain the coordinated phase between the robot and the stamping equipment includes: The operating cycle of the stamping equipment is adjusted based on the execution cycle of the motion trajectory to obtain a synchronized operating cycle; Obtain the correspondence between the crankshaft angle and displacement of the stamping equipment during the synchronous operation cycle; The phase mapping relationship is obtained by discretizing the relationship between the motion trajectory and the crankshaft angle and displacement; Based on the phase mapping relationship, the target start angle for the robot to enter the interference zone and the target exit angle for the robot to exit the interference zone are determined, and the target start angle and the target exit angle are determined as the cooperative phase.

7. The control method for an automated stamping line according to claim 6, characterized in that, The process of adjusting the operating cycle of the stamping equipment based on the execution cycle of the motion trajectory to obtain a synchronized operating cycle includes: The first cycle of the robotic arm executing the motion trajectory and the second cycle of the stamping equipment performing a single stamping are obtained; The maximum value between the first period and the second period is determined as the initial complete line period; If the initial production line cycle does not meet the stamping process conditions, the cycle extension step is executed iteratively until the updated production line cycle meets the stamping process conditions. The production line cycle that meets the stamping process conditions is then determined as the synchronous operation cycle. The period extension step includes: The current production cycle is increased by a preset time step to obtain the updated production cycle.

8. The control method for an automated stamping line according to claim 6, characterized in that, The method of controlling the stamping equipment and the robot to perform coordinated operations based on the interference interval and the coordinated phase includes: The real-time position of the stamping equipment is obtained, and after the stamping equipment runs to the target exit angle in the cooperative phase and leaves the interference range, the robot arm is controlled to enter the interference range to pick up or unload materials. After detecting that the robotic arm has left the interference zone, the stamping equipment is controlled to run to the target starting angle in the cooperative phase and enter the interference zone for stamping.

9. A control device for an automated stamping line, characterized in that, include: A robotic arm is used to move materials within a work area; the robotic arm includes a first encoder for collecting first position data of each moving axis of the robotic arm; A stamping machine, used for stamping the material; The controller is connected to both the robotic arm and the stamping equipment, and is used to implement the control method for the stamping automation line according to any one of claims 1-8.

10. The control device for an automated stamping line according to claim 9, characterized in that, include: A second encoder is installed on the transverse axis of the robotic arm to collect the second position data of the transverse axis; The controller is also used for: Obtain the first position data and the second position data corresponding to the horizontal translation axis; Calculate the difference between the first position data and the second position data; If the difference exceeds a preset threshold, the stamping equipment and the robotic arm will be controlled to stop operating.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the control method for the stamping automation line as described in any one of claims 1 to 8.

12. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the control method for the stamping automation line as described in any one of claims 1 to 8.

13. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the control method for the stamping automation line as described in any one of claims 1 to 8.

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