CN119369423A - Automatic control system of punching line feeding robot - Google Patents
Automatic control system of punching line feeding robot Download PDFInfo
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Abstract
The application provides an automatic control system of a blanking manipulator of a stamping line, which relates to the technical field of stamping control and comprises the steps of determining a driving coordinate system of blanking equipment of the stamping line, introducing a D-H principle by taking the driving coordinate system as a reference, performing blanking simulation and interference avoidance analysis of the stamping line, determining control logic of the stamping line, wherein the control logic comprises automatic logic and fine tuning logic, performing logic program conversion and initializing a programmable controller based on the control logic of the stamping line, connecting an equipment end with the programmable controller, and performing automatic control and feedback regulation management of the blanking equipment of the stamping line in cooperation with a split screen operation panel. The application can solve the technical problems that the control logic of the control system is imperfect and detailed connecting rod parameters cannot be determined aiming at the manipulator and the end effector in the prior art, realizes the technical aim of accurate connecting rod parameter configuration, and achieves the technical effects of improving the motion precision of the manipulator, ensuring the operation stability and improving the production efficiency.
Description
Technical Field
The application relates to the technical field of stamping control, in particular to an automatic control system of a blanking manipulator of a stamping line.
Background
In the current production process of the stamping line, the degree of automation of the blanking link directly influences the production efficiency and quality. The existing blanking manipulator of the stamping line realizes automation to a certain extent, but the control system of the blanking manipulator still has a plurality of defects.
At present, the control logic of a control system in the prior art is imperfect, and detailed connecting rod D-H parameters cannot be determined aiming at a manipulator and an end effector, so that the calculation of a kinematic forward and reverse solution is inaccurate, and the motion precision of the manipulator is further affected. In determining the D-H parameters of the connecting rod, the prior art fails to adequately consider the geometric relationship and relative position of the connecting rod, resulting in insufficiently fine parameter settings.
In summary, in the prior art, because the control logic of the control system is imperfect, the detailed D-H parameters of the connecting rod cannot be determined for the manipulator and the end effector, which results in inaccurate calculation of the forward and reverse kinematics solutions, and further affects the motion precision and the operation efficiency of the manipulator.
Disclosure of Invention
The application aims to provide an automatic control system of a blanking manipulator of a stamping line, which is used for solving the technical problems that the motion accuracy and the operation efficiency of the manipulator are further affected due to inaccurate control logic of the control system and inaccurate calculation of a kinematic forward-backward solution caused by the fact that detailed connecting rod parameters cannot be determined for the manipulator and an end effector in the prior art.
In view of the above problems, the application provides an automatic control system of a blanking manipulator of a stamping line, which comprises a driving coordinate system determining module, a programmable controller initializing module and an automatic control module, wherein the driving coordinate system determining module is used for determining a driving coordinate system of a blanking device of the stamping line, the driving coordinate system comprises a main body coordinate system based on a driving main body and a connecting rod coordinate system based on a blanking structure, the driving main body is of a gantry structure, the blanking structure comprises the manipulator and an end effector, the stamping line control logic determining module is used for introducing a D-H principle based on the driving coordinate system, performing blanking simulation and interference avoidance analysis of the stamping line, determining stamping line control logic, the control logic comprises automatic logic and fine tuning logic, the programmable controller initializing module is used for performing logic program conversion and initializing a programmable controller based on the stamping line control logic, and the automatic control module is used for connecting the equipment end with the pressing line programmable controller and performing automatic control and feedback management of the blanking device in cooperation with a split screen operation panel.
One or more technical schemes provided by the application have at least the following technical effects or advantages:
The method comprises the steps of determining a driving coordinate system of a blanking device of a stamping line, wherein the driving coordinate system comprises a main body coordinate system based on a driving main body and a connecting rod coordinate system based on a blanking structure, the driving main body is of a gantry structure, the blanking structure comprises a manipulator and an end effector, introducing a D-H principle based on the driving coordinate system, conducting blanking simulation and interference avoidance analysis of the stamping line, determining a control logic of the stamping line, wherein the control logic comprises an automation logic and a fine tuning logic, conducting logic program conversion and initializing a programmable controller based on the control logic of the stamping line, connecting an equipment end with the programmable controller, and conducting automatic control and feedback adjustment management of the blanking device of the stamping line in cooperation with a split screen operation panel, namely achieving the technical targets of precise connecting rod parameter configuration and motion control logic optimization, and achieving the technical effects of improving the motion precision of the manipulator, guaranteeing the operation stability and improving the production efficiency.
The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent. It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the application or the technical solutions of the prior art, the following brief description will be given of the drawings used in the description of the embodiments or the prior art, it being obvious that the drawings in the description below are only exemplary and that other drawings can be obtained from the drawings provided without the inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an automated control system for a blanking manipulator of a stamping line according to the present application;
Fig. 2 is a schematic flow chart of interference avoidance analysis in the automatic control system of the blanking manipulator of the press line.
Reference numerals illustrate:
The system comprises a coordinate system determining module 11, a stamping line control logic determining module 12, a programmable controller initializing module 13 and an automatic control module 14.
Detailed Description
The application solves the technical problems that the motion accuracy and the operation efficiency of the manipulator are further affected due to inaccurate calculation of the kinematic forward and reverse solution caused by the fact that the control logic of the control system is imperfect and detailed connecting rod parameters cannot be determined for the manipulator and the end effector in the prior art by providing the automatic control system for the blanking manipulator of the stamping line. The technical targets of accurate connecting rod parameter configuration and motion control logic optimization are realized, and the technical effects of improving the motion precision of the manipulator, ensuring the operation stability and improving the production efficiency are achieved.
In the following, the technical solutions of the present application will be clearly and completely described with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments of the present application, and that the present application is not limited by the exemplary embodiments described herein. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. It should be further noted that, for convenience of description, only some, but not all of the drawings related to the present application are shown.
Referring to fig. 1, the application provides an automated control system for a blanking manipulator of a stamping line, which specifically includes:
The driving coordinate system determining module 11 is used for determining a driving coordinate system of the blanking equipment of the stamping line, wherein the driving coordinate system comprises a main body coordinate system based on a driving main body and a connecting rod coordinate system based on a blanking structure, the driving main body is of a gantry structure, and the blanking structure comprises a manipulator and an end effector.
Specifically, when determining the drive coordinate system of the press line blanking apparatus, the structure of the drive coordinate system is first clarified. The driving coordinate system comprises a main body coordinate system based on a driving main body and a connecting rod coordinate system based on a blanking structure. The body coordinate system is a coordinate system established relative to the driving body, which is a gantry structure. The gantry structure is a frame structure for supporting and guiding the movement of the equipment, covers over the processing area, and is movable along the track. The connecting rod coordinate system is established based on the blanking structure, and the blanking structure mainly comprises a manipulator and an end effector. The robot is a device for moving the material to the position of the press, and the end of the robot is connected to an end effector for gripping the material. The end effector secures the material by suction cups or grippers to ensure that the material does not fall during movement.
The stamping line control logic determining module 12 is configured to introduce a D-H principle based on the driving coordinate system, perform stamping line blanking simulation and interference avoidance analysis, and determine stamping line control logic, where the control logic includes automation logic and trimming logic.
Specifically, the D-H principle is a robot kinematics analysis method, and a mathematical model of the mechanical arm is established by defining parameters such as the length of a connecting rod, the offset of the connecting rod, the joint angle, the joint torsion angle and the like, so that the relative position and the posture of the connecting rod are calculated more accurately. On the basis of taking a driving coordinate system as a reference, D-H principle is introduced to simulate blanking of the stamping line and avoid interference analysis, namely, D-H principle is adopted to establish a connecting rod coordinate system of a loading and blanking manipulator and an end effector, positive and negative solutions of kinematics of the connecting rod coordinate system are calculated, so that a jacobian matrix and logic steps of positive solutions of the manipulator speed and acceleration are obtained, control logic is determined, driving main body control logic under a main body portal frame is cooperated, and further, simulation of blanking process of the stamping line is performed, wherein the simulation comprises a path of moving a material from one position to the other position, and collision between the manipulator and equipment is avoided when the manipulator moves. The control logic comprises an automation logic and a fine tuning logic, wherein the automation logic refers to an instruction flow of the blanking process of the stamping line under standard operation. While fine-tuning logic is used to adjust for control errors, deviations, etc. that may be present in the automation control.
And the programmable controller initializing module 13 is used for performing logic program conversion and initializing the programmable controller based on the stamping line control logic.
Specifically, the conversion of logic program is performed according to the control logic of the stamping line, and the original control logic is rewritten and configured in a format suitable for the programmable controller. Control logic refers to rules and instructions for managing and directing the operation of the apparatus during the stamping production process, for example, setting the press to stay 2 seconds after each stamping to ensure cooling of the die. The logic program is converted into instructions that can be recognized and executed by the programmable controller through logic program conversion, such as using ladder diagrams or functional block diagrams to describe the operating state and flow of the device. Next, initializing the programmable controller refers to loading the converted program into the programmable controller and setting the programmable controller to have the capability of executing specific control logic. In this process, the initialization may involve setting input and output parameters, for example, setting an input port of the programmable controller to receive signals from the sensor, and setting an output port to control an operation state of the servo motor, so as to ensure that the stamping line can perform accurate operation according to the set control logic in actual operation, thereby improving production efficiency and product quality.
And the automatic control module 14 is used for connecting the equipment end with the programmable controller, and carrying out automatic control and feedback regulation management on the blanking equipment of the punching line in cooperation with the split screen operation panel.
Specifically, in the automation control of the punching line, the equipment side receives instructions and feedback information by being connected to a programmable controller, thereby realizing the automation operation. The programmable controller executes a predetermined control logic, such as controlling the robot to move to the next position and prepare for blanking after the stamping operation is completed. The split screen operation panel is a multi-screen display system and is used for monitoring different equipment states and parameters in real time, such as stamping force, temperature, position feedback and other information. Through combining programmable controller and split screen operation panel, help the operator can look over real-time feedback information and monitor equipment state, if when the position of manipulator appears the skew more than 1 millimeter, split screen panel can trigger the alarm and show position skew data, and then automatically regulated equipment's parameter is in order to resume to preset state to ensure the steady operation of whole punching line unloading equipment.
The automatic control system of the blanking manipulator of the stamping line can achieve the technical aims of accurate parameter configuration of the connecting rod and optimization of motion control logic, and achieves the technical effects of improving the motion precision of the manipulator, ensuring the operation stability and improving the production efficiency.
Further, the application also comprises:
Determining a D-H parameter of a connecting rod aiming at the manipulator and the end effector, wherein each connecting rod corresponds to a group of D-H parameters, the D-H parameters comprise a connecting rod length, a connecting rod torsion angle, a connecting rod distance and a connecting rod included angle, performing kinematic forward and inverse solution calculation based on the D-H parameter of the connecting rod by combining simulation data to define a jacobian matrix, wherein the jacobian matrix describes the relation between joint motion vectors and the end effector motion vectors, and determining the jacobian matrix to be a first automation logic under the connecting rod coordinate system.
Specifically, for the design of the manipulator and the end effector, the D-H parameters of each link first need to be determined. The D-H parameters refer to a set of parameters describing the position and attitude of the links of the robotic arm, where each link corresponds to a set of D-H parameters. Wherein the D-H parameters comprise a link length, a link torsion angle, a link distance and a link included angle. The link length represents the linear distance between two links, the link torsion angle represents the rotational angle between adjacent links, the link distance is the axial distance from one joint to the next, and the link angle describes the yaw angle between links. The D-H parameters help determine the geometric position and spatial pose of the robotic arm.
And then, after the D-H parameters are obtained, carrying out forward and reverse kinematics calculation on the manipulator, and further analyzing the movement condition of the manipulator by combining the simulation data. Kinematic positive solutions refer to calculating the position of the end effector given each joint angle, e.g., the end effector reaches a particular position at joint angles of 30 degrees, 45 degrees, and 60 degrees, respectively. The inverse kinematics solution is to calculate the required joint angle after knowing the position of the end effector, for example, the joint angle is reversely deduced when the end effector reaches a position. Through the calculation of the positive and negative kinematics solutions, a jacobian matrix can be defined, and the jacobian matrix describes the relationship between the joint motion vector and the end effector motion vector, so that the conversion relationship between the force and the speed is calculated conveniently.
Finally, the first automation logic under the coordinate system of the connecting rod can be determined through the operation result of the jacobian matrix, and the automation operation of the manipulator in the standard path is realized.
Through D-H parameter analysis, kinematic calculation and Jacobian matrix definition of the manipulator, accurate control from the angle of a manipulator joint to the movement of the end effector can be formed, and finally, a basis is provided for automatic logic under a connecting rod coordinate system of a stamping line, so that the whole blanking process is more efficient and accurate.
Further, the application also comprises:
And respectively constructing a base coordinate system for the N connecting rods, and determining a connecting rod D-H parameter, wherein the connecting rod D-H parameter is determined based on a connecting rod geometric relationship and a relative position.
Specifically, the number of links is determined according to the structural characteristics of the manipulator and the end effector to construct the whole mechanical system, and N links are obtained. The number of links determines the degree of freedom of the manipulator, i.e. the number of independent directions of movement that it can achieve in space. For example, a manipulator comprising 6 links has 6 degrees of freedom, enabling complex positioning and attitude adjustment in the X-axis, Y-axis, and Z-axis directions.
The base coordinate system is then a coordinate system defining the position of each link and serves as a reference point to establish the relationship between adjacent links. A base coordinate system is established for each of the N links to accurately describe the position and orientation of each link. For example, if the base coordinate system of the first link is referenced to the origin, the base coordinate system of the second link is located at the end of the first link and is positioned relative to the distance according to a specific angle.
The D-H parameters of each link are then determined in its base coordinate system, with the D-H parameters being determined based on the link geometry and relative position. The D-H parameters mainly comprise the length, the torsion angle, the included angle and the distance of the connecting rods, are defined according to the physical relationship among the connecting rods, and further define the connection mode and the movement characteristic among the parts of the manipulator.
The structure and the relative position of the manipulator are accurately described by determining the number of N connecting rods, constructing a base coordinate system of each connecting rod and determining corresponding D-H parameters, and a foundation is provided for subsequent kinematic calculation and control logic.
Further, the application also comprises:
the method comprises the steps of taking an articulation motion vector as an independent variable, taking an end effector motion vector as a dependent variable, and combining the simulation data to perform kinematic analysis, wherein the first articulation is a connecting rod connecting articulation far away from the end effector, the first articulation is taken as a head end, the end effector is taken as a tail end and is taken as a kinematic forward direction, the end effector is taken as a head end, the first articulation is taken as a tail end and is taken as a kinematic reverse direction, and the conversion of a connecting rod coordinate system is taken as a calculation principle.
Specifically, the first joint is a connecting rod connecting joint far away from the end effector, namely, the first joint and the end effector are respectively the connecting rod connecting joints at the tail ends of the two ends of the mechanical arm. In the motion from the first joint of the manipulator to the end effector, the motion vector of the joint is taken as an independent variable, and the motion vector of the end effector is taken as an independent variable. The joint motion vector represents the rotational or translational amplitude of each joint, while the motion vector of the end-effector represents the change in the final position of the end-effector in space. In combination with the simulation data, various joint variables (e.g., angles or displacements) may be calculated, and the position and attitude of the end effector (e.g., end effector) may be calculated.
Next, the directions of the kinematics forward and backward are defined to define the calculation sequence of the mechanical arm motion. When the first joint is used as a starting point and the end effector is used as an ending point, the end effector is called kinematic forward direction, namely the position of the end effector is calculated gradually from the direction away from the end effector to the end effector. The reverse direction is an analysis mode with the end effector as a starting point and the first joint as an end point, and is used for calculating the joint angle required for reaching the designated position.
The kinematic calculation uses the conversion of a connecting rod coordinate system as a basic principle, namely, the integral displacement sequentially driven from the first joint to the end effector is calculated through the coordinate conversion of each connecting rod. The coordinate system of the connecting rod is established by the datum point of each connecting rod, the relative positions of the connecting rods are changed along with the movement of the manipulator, and the final position or the required joint angle of the end effector can be obtained step by step through coordinate conversion.
The forward and reverse kinematics analysis is established through the relation between the joint motion vector and the end effector motion vector, and the accurate position calculation of the manipulator is realized by combining the conversion of a connecting rod coordinate system, so that the data support is provided for path planning and motion control in complex operation.
Further, the application also comprises:
The main body coordinate system comprises an X1 axis, an X2 axis, a Y axis and a Z axis, a second automation logic for driving the main body is determined based on the main body coordinate system by combining simulation data, wherein the second automation logic is used for controlling the matching motion of a gantry structure and a manipulator, and the first automation logic and the second automation logic are fused according to the operation standard of blanking of a stamping line to determine the automation logic.
Specifically, the body coordinate system is composed of an X1 axis, an X2 axis, a Y axis, and a Z axis, each axis being used to describe the position and direction of the driving body in three-dimensional space. The X1 axis and the X2 axis represent feeding shafts, the feeding shaft adjustment quantity is simulated through the opening and closing device, the adjustment quantity is larger than +/-200 mm, the Y axis represents a transverse moving shaft, the transverse moving ranges of two sides are 0-350 mm, the Z axis represents a lifting shaft, the lifting shaft is used for simulating end pick-up building scenes under different heights, the shaft position takes a table top of a workbench as an origin, and the adjustment range is 600-1500 mm. When the end picking device is simulated, the end picking devices are installed on two sides of the simulation main rod, the transverse moving function of the end picking devices on two sides is achieved through an X1 shaft and an X2 shaft, the end picking devices are moved forward and backward through a Y shaft, and the end picking devices are lifted and lowered through a Z shaft.
Based on the subject coordinate system as a control basis, simulation of the simulation data is performed, and second automation logic driving the subject is determined. The second automation logic is mainly used to control the movement of the gantry structure to cooperate with the movement of the robot arm, ensuring that each operation is completed according to a predetermined path.
And then, integrating the first automation logic and the second automation logic based on the standard operation flow of blanking of the stamping line to form an integral automation logic. The automatic logic coordinates the movements of the manipulator and the gantry structure to ensure the stable and efficient blanking process. For example, the first automation logic of the manipulator may be started after the material is detected in place, while the second automation logic of the gantry structure is responsible for ensuring that no interference occurs during the movement of the manipulator, and finally realizing the automation control of the whole blanking process of the stamping line.
Through the establishment of a main body coordinate system and the analysis of the automation logic of the driving main body by combining analog data, the logic of the mechanical arm and the logic of the driving main body are integrated into a whole, and an automation system for ensuring the high-efficiency operation of the blanking process of the stamping line is formed.
Further, the application also comprises:
setting limit control logic, adding the limit control logic into the automation logic, wherein the limit control logic performs anti-deviation limit constraint on the driving main body, and performing in-place locking control when the driving main body reaches a first target position, wherein the in-place locking control is performed by triggering in any locking mode by taking a motor band-type brake and a pneumatic positioning locking mechanism as locking modes.
Specifically, limit control logic is added to the automation logic to ensure that the motion of the drive body does not exceed a specified range. The limit control logic is used for preventing the deviation of the driving main body, so that the driving main body is kept in a set running path to prevent the deviation from a safety range.
Then, when the driving body reaches the first target position, the in-place locking control is performed, so that the driving body is ensured to be stable at a specific position and move without being influenced by external force. In the locking control, a motor band-type brake or a pneumatic positioning locking mechanism is adopted as a locking mode. The motor band-type brake stops and locks the movement through the braking function of the motor, and the pneumatic positioning and locking mechanism locks the mechanical position through an air cylinder or a pneumatic device. For example, when the drive body reaches the target position, the pneumatic locking mechanism may apply a force of 10 newtons in 1 second to lock the position to ensure that it does not move due to shock or interference after being in place. Any locking mode of the motor band-type brake and the pneumatic positioning locking mechanism is selected according to the requirement, and if one of the locking modes is successfully triggered, the in-place locking control can be completed.
By limiting the movement range of the driving main body, the driving main body is prevented from deviating from a set path, and in-place locking control is performed after the driving main body reaches a target position, so that the accuracy and stability of the driving main body at a key position are ensured, and the safety guarantee of an automatic control system is formed.
Further, as shown in fig. 2, the present application further includes:
Combining simulation data, performing assembly compatibility analysis on the end effector to determine a first adjustment strategy, wherein the first adjustment strategy is used for correcting design or motion parameters of the end effector, performing interference avoidance analysis on the end effector to determine a second adjustment strategy, wherein the interference avoidance analysis comprises action interference influence under full operation action, the second adjustment strategy is used for avoiding interference conditions, and fitting the first adjustment strategy and the second adjustment strategy to determine a configuration strategy of the end effector.
Specifically, by combining analog data, the tooling compatibility analysis is performed on the end-effector to ensure that the end-effector can be mated with the manipulator and other equipment. The purpose of the assembly compatibility analysis is to check whether the tooling is suitable for the range of motion and position requirements of the manipulator under different operating conditions. For example, when the length of the end-effector is 20 cm, the assembly compatibility analysis may help determine whether it is free to move without affecting other components, thereby yielding a first adjustment strategy for modifying the design or motion parameters of the end-effector.
Then, interference avoidance analysis is performed on the end-effector to determine how to avoid the end-effector from colliding with surrounding equipment in actual operation. Interference avoidance analysis is the evaluation of the end-effector as it completes its full job action as to whether it may hit other structural components, particularly as the end-effector moves or rotates in multiple directions. For example, if adjacent mechanical components may be contacted when the end effector is rotated to an angle, the interference avoidance analysis provides a second adjustment strategy for avoiding interference conditions.
The first adjustment strategy is then fitted to the second adjustment strategy to comprehensively form a final configuration strategy for the end effector. The fitting can obtain an optimization scheme which not only ensures the assembly compatibility, but also can effectively avoid interference. For example, the configuration strategy may limit the movement of the end-effector at certain angles to avoid collisions, while ensuring that the end-effector can reach all target positions.
The first adjustment strategy of the end effector is provided through assembly compatibility analysis, the second adjustment strategy is provided through interference avoidance analysis, and finally the configuration strategy of the end effector is determined, so that safe and effective work is realized in actual operation.
Further, the application also comprises:
The method comprises the steps of determining key operation nodes based on monitoring dimensions of a split screen operation panel, combining monitoring data under the same time stamp, determining a real-time monitoring interface, determining accuracy decoupling and allocation under the whole operation period based on an assembly accuracy standard, determining node deviation constraint conditions of all operation nodes, and carrying out feedback adjustment management of blanking equipment of the stamping line based on the node deviation constraint conditions by a system automatic feedback loop and manual supervision.
Specifically, for a plurality of monitoring dimensions involved in a split screen operation panel, a key job node requiring a significant attention is determined for performing a combined analysis of real-time data on the key job node. At each key operation node, the monitoring data of each dimension are synchronized, namely, a plurality of monitoring item data under the same time stamp are combined, so that the real-time monitoring interface can comprehensively display the running state of the equipment. For example, if the operation nodes of the punching apparatus are pressure monitoring and temperature monitoring, both data are displayed at the same time when the time stamp is 1 second, so that comprehensive monitoring is performed.
And then, analyzing the operation precision of the equipment in the whole period based on the assembly precision standard, and resolving and distributing the precision to each operation node to obtain the allowable error range and the deviation constraint condition of each node. The assembly precision standard refers to the overall precision requirement of the equipment when the whole stamping cycle is completed, and the precision decoupling and allocation is to decompose the overall precision onto each operation node. For example, if the assembly accuracy is 0.5 mm, the deviation constraint for each node may be set to 0.1 mm to ensure that the cumulative error does not exceed the requirement.
Finally, according to the deviation constraint condition, the feedback adjustment management is carried out on blanking equipment of the stamping line by utilizing a mode of combining a system automatic feedback loop and manual supervision. The automatic feedback loop can monitor the deviation constraint condition of the equipment in real time, and automatically carry out fine adjustment, and manual supervision is used for intervention operation when abnormal conditions occur, for example, manual inspection is triggered when the deviation constraint exceeds 0.2 mm.
The accurate monitoring and management of blanking equipment of the stamping line are realized by synchronously monitoring data on key nodes, decoupling and splitting precision to determine the deviation constraint of each node and feedback adjustment combining automation and manpower, so that the efficient operation of the equipment is ensured and the precision requirement is met.
In summary, the automatic control system of the blanking manipulator of the stamping line provided by the application has the following technical effects:
The method comprises the steps of determining a driving coordinate system of a blanking device of a stamping line, wherein the driving coordinate system comprises a main body coordinate system based on a driving main body and a connecting rod coordinate system based on a blanking structure, the driving main body is of a gantry structure, the blanking structure comprises a manipulator and an end effector, introducing a D-H principle based on the driving coordinate system, conducting blanking simulation and interference avoidance analysis of the stamping line, determining a control logic of the stamping line, wherein the control logic comprises an automation logic and a fine tuning logic, conducting logic program conversion and initializing a programmable controller based on the control logic of the stamping line, connecting an equipment end with the programmable controller, and conducting automatic control and feedback adjustment management of the blanking device of the stamping line in cooperation with a split screen operation panel, namely achieving the technical targets of precise connecting rod parameter configuration and motion control logic optimization, and achieving the technical effects of improving the motion precision of the manipulator, guaranteeing the operation stability and improving the production efficiency.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the present application and the equivalent techniques thereof, the present application is also intended to include such modifications and variations.
Claims (8)
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| Application Number | Priority Date | Filing Date | Title |
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| CN202411957340.3A CN119369423A (en) | 2024-12-30 | 2024-12-30 | Automatic control system of punching line feeding robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202411957340.3A CN119369423A (en) | 2024-12-30 | 2024-12-30 | Automatic control system of punching line feeding robot |
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