Research on the Multi-Robots Coordination Conveying Strategy in Hot Stamping Line

In the conveying system of hot stamping line, there exists the static sheet transfer process between the feeding and unloading robot. This paper presents a method called coordination conveying to solve the problem of long conveying time of static transferring. It makes experimental research on the coordinated control strategies of constant and variable speed, analyzes how these parameters, such as overlapping distance, synchronization speed and acceleration impact on the cycle time, and finds the best strategy. The results show that, under the same condition, the constant velocity makes the shortest cycle time, and the variable has the longer synchro time, meaning the abundant time can be used for transfer. There exists the optimal value of overlap distance and synchro speed within the allowable bearing range of the mechanical structure, and the more rapidly the robot conveys, the faster the acceleration is and the shorter the cycle time becomes. With a total conveying distance of 4.9 m as an example, the cycle time can be optimized from 3.2 s to 2.1 s, and reduced by 35 %.