Research On Cooperative Work Of Multi-manipulator In Hot-stamping Production Line

In the 21 st century, with the requirement of automotive light-weight, high-strength steel hot-forming technology is developing rapidly. The paper, under the background of researching and developing intelligent, stable and efficient hot-stamping production line, emphatically researches the problem of cooperative work of multi-manipulator in it, analyses the significance and feasibility, and then does optimization through experiment.In hot-stamping production line, the transportation of hot plate from heating furnace to die needs the work of both furnace unloading robot and press feeding robot. If they can work cooperatively, the transportation time can be reduced greatly, which can not only enhance the production efficiency, but also reduce the temperature loss of the hot plate in the air and improve the quality of the forming parts.Cooperative transportation is actually a process that the two manipulators achieve absolute position synchronization and accomplish sheet handover during the synchronous time. This requires they have an overlap distance on their journey. The key to realize coordinated transportation is that the synchronization error is small enough and the synchronization time is long enough for sheet handover.According to actual situation of the hot-stamping production line, this paper gives a simplified model of a multi-manipulator cooperative transportation system, and analyzes it both from the perspective of dynamics and kinematics. Then a three axis cooperative transportation experiment platform is established, and cooperative transportation is realized and optimized on it.Experiments on the platform show that cooperative transportation can indeed save a lot of time. It is also found that increasing the maximum velocity and acceleration of the two axes can shorten transportation time. The optimal situation is that the synchronization time is exactly equal the time that sheet handover needs. The longer overlap distance is, the move time coordinated transportation can save; the bigger acceleration is, the less time coordinated transportation can save; improving acceleration can save more time when overlap distance is relatively big. These conclusions provide guidance and reference for the implementation and optimization of cooperative work of multi-manipulator in hot-stamping production line.