CN111176249B - A kind of multi-station stamping forming and intelligent manufacturing method of forming die - Google Patents

一种多工位冲压成形与成形模智能制造方法，属于智能制造技术领域，本发明设计了能实现智能加工、智能检测、智能成形一体化的MES管控系统、模具加工、检测精度与冲压产品质量保证的闭环智能管理流程和方法，本发明实现智能加工、智能检测、智能成形一体化的解决方法，解决模具制造与冲压成形闭环智能联调，使得冲压成形质量问题能反馈系统，并智能修正模具。

An intelligent manufacturing method for multi-station stamping forming and forming dies belongs to the technical field of intelligent manufacturing. The invention designs an MES control system capable of realizing the integration of intelligent processing, intelligent detection and intelligent forming, as well as mould processing, detection accuracy and stamping product quality. The guaranteed closed-loop intelligent management process and method, the present invention realizes the integrated solution method of intelligent processing, intelligent detection and intelligent forming, solves the closed-loop intelligent joint adjustment of mold manufacturing and stamping forming, so that the quality problem of stamping and forming can be fed back to the system, and the mold can be intelligently corrected .

一种多工位冲压成形与成形模智能制造方法A kind of multi-station stamping forming and intelligent manufacturing method of forming die

技术领域technical field

本发明属于智能制造技术领域，并可应用于模具智能制造技术综合实训教学领域，尤其涉及一种多工位冲压成形与成形模智能制造方法。The invention belongs to the technical field of intelligent manufacturing, and can be applied to the field of comprehensive training and teaching of intelligent mold manufacturing technology, in particular to a multi-station stamping forming and intelligent manufacturing method for forming molds.

背景技术Background technique

冲压成形属于劳动密集型产业，冲压生产车间布置大批量冲压成形机，每台冲压成形机完成一个工位的冲压成形，流水线式连续生产，工人劳动强度大，安全性差。近年来，冲压生产逐步实现自动化生产，快速送料、工业机器人送料，冲压成形机自动控制、安全防护都取得了很大进步。但是，多台设备多工位生产占用车间面积大、生产效率低、成形精度控制和联调难度大。同时，冲压成形和成形模具制造分属不同区域，模具制造和装配精度对冲压成形质量影响不能快速反馈，造成冲压新产品开发周期加长。制造业转型升级急需能实现智能加工、智能检测、智能成形一体化的多工位冲压成形与成形模智能制造方法，实现一种新的制造装备以及业态，同时，为能满足这种新装备和新业态的人才需求，也急需把多工位冲压成形与成形模智能制造方法作为智能制造复合型人才培养的综合实训教学方法，能满足教学训练的要求。Stamping and forming is a labor-intensive industry. The stamping production workshop is equipped with a large number of stamping and forming machines. Each stamping and forming machine completes the stamping and forming of one station. In recent years, stamping production has gradually realized automatic production, rapid feeding, industrial robot feeding, automatic control of stamping forming machines, and safety protection have all made great progress. However, the multi-station production of multiple equipment occupies a large workshop area, has low production efficiency, and is difficult to control the forming accuracy and joint debugging. At the same time, stamping forming and forming die manufacturing belong to different areas, and the impact of die manufacturing and assembly accuracy on the quality of stamping forming cannot be quickly fed back, resulting in a longer development cycle for new stamping products. The transformation and upgrading of the manufacturing industry is in urgent need of a multi-station stamping forming and forming die intelligent manufacturing method that can realize the integration of intelligent processing, intelligent detection and intelligent forming, so as to realize a new type of manufacturing equipment and business format. The demand for talents in the new business format also urgently requires the intelligent manufacturing method of multi-station stamping and forming molds as a comprehensive training and teaching method for the cultivation of intelligent manufacturing compound talents, which can meet the requirements of teaching and training.

发明内容SUMMARY OF THE INVENTION

本发明是一种多工位冲压成形与成形模智能制造单元，实现智能加工、智能检测、智能成形一体化的解决方法，解决模具制造与冲压成形闭环智能联调，使得冲压成形质量问题能反馈系统，并智能修正模具。The invention is a multi-station stamping forming and forming die intelligent manufacturing unit, which realizes a solution method integrating intelligent processing, intelligent detection and intelligent forming, solves the closed-loop intelligent joint adjustment of die manufacturing and stamping forming, and enables feedback on the quality of stamping forming. system, and intelligently correct the mold.

一种多工位冲压成形与成形模智能制造方法，包括如下步骤：An intelligent manufacturing method for multi-station stamping and forming, comprising the following steps:

（1）通过MES，根据预设的编码规则，对立体仓库的RFID标签按照仓库状态进行初始化操作；MES发出指令，机器人实现如下顺序动作，到第一立体仓库取成形模零件，送入多轴加工中心的零点快换夹具，机器人退出，多轴加工中心启动，运行加工完成，利用在线测头进行检测，检测不合格，MES进行刀补，运行加工完成，在线检测合格，数据返回MES系统，机器人取出成形模零件送回第一立体仓库；(1) Through the MES, according to the preset coding rules, the RFID tags of the three-dimensional warehouse are initialized according to the warehouse state; the MES sends an instruction, and the robot performs the following sequence actions, and goes to the first three-dimensional warehouse to take the forming mold parts and send them to the multi-axis. The zero-point quick-change fixture of the machining center, the robot exits, the multi-axis machining center starts, the running and processing are completed, the online probe is used for detection, the detection fails, the MES performs tool compensation, the running processing is completed, the online detection is qualified, and the data is returned to the MES system. The robot takes out the forming mold parts and sends them back to the first three-dimensional warehouse;

（2）MES发出指令，机器人到第一立体仓库取成形模零件，送入智能装配台，模具完成装配，装配后的成形模具通过模具传送平台送入数控成形压机工位A，数控成形压机试冲，如果冲压产品不合格，通过模具传送平台将成形模具送回智能装配台，自动拆下成形模零件，送回到第一立体仓库，MES进行刀补，重复步骤（1），利用多轴加工中心对成形模零件工艺尺寸进行修正，重复步骤（2），装配模具，试冲合格中间半成品一；(2) MES issues an instruction, the robot goes to the first three-dimensional warehouse to take the forming mold parts, and sends them to the intelligent assembly table, the mold is assembled, and the assembled forming mold is sent to the CNC forming press station A through the mold transfer platform, and the CNC forming press Machine test punching, if the stamping product is unqualified, the forming die is sent back to the intelligent assembly table through the die transfer platform, the forming die parts are automatically removed, and sent back to the first three-dimensional warehouse, MES performs knife compensation, repeat step (1), use The multi-axis machining center corrects the process dimensions of the forming die parts, repeats step (2), assembles the die, and tests the qualified intermediate semi-finished product 1;

（3）MES发出指令，机器人到第二立体仓库取电极坯料，送入多轴加工中心的零点快换夹具，机器人退出，多轴加工中心启动，运行加工完成，利用在线测头进行检测，检测不合格，MES进行刀补，运行加工完成，在线检测合格，数据返回MES系统，机器人取出成形的电极零件送回第二立体仓库；(3) MES issues an instruction, the robot goes to the second three-dimensional warehouse to take the electrode blank, and sends it to the zero-point quick-change fixture of the multi-axis machining center. The robot exits, the multi-axis machining center starts, and the operation and processing are completed. If it is unqualified, MES performs tool compensation, the operation and processing are completed, the online inspection is qualified, the data is returned to the MES system, and the robot takes out the formed electrode parts and sends them back to the second three-dimensional warehouse;

（4）MES发出指令，机器人到第三立体仓库取成形模零件，送入电火花成形机的零点快换夹具，机器人退出，机器人到第二立体仓库取电极零件，送入电火花成形机的主轴夹具，电火花成形机启动，运行加工完成，机器人取电极回第二立体仓库，机器人取成形模零件，送入零点定位夹具，三坐标测量机对成形模零件模口尺寸进行测量，保证成形间隙在预设范围内,机器人取成形模零件回第三立体仓库；(4) MES issues an instruction, the robot goes to the third three-dimensional warehouse to take the forming mold parts, and sends them to the zero-point quick-change fixture of the EDM machine. The spindle fixture, the EDM machine is started, the operation and processing are completed, the robot takes the electrode back to the second three-dimensional warehouse, the robot takes the forming mold parts, and sends them into the zero-point positioning fixture. The three-coordinate measuring machine measures the die size of the forming mold parts to ensure the forming When the gap is within the preset range, the robot takes the mold parts and returns them to the third three-dimensional warehouse;

（5）MES发出指令，机器人到第三立体仓库取成形模零件，送入智能装配台，模具完成装配为成形模具，装配后通过模具传送平台送入数控成形压机工位B，数控成形压机试冲，如果冲压产品不合格，通过模具传送平台送成形模具回智能装配台，拆下成形模零件，送回到第三立体仓库，MES进行电火花放电补偿，重复步骤（4），电火花成形机对成形模零件工艺尺寸进行修正，重复步骤（5）装配模具，试冲合格中间半成品二；(5) MES issues an instruction, the robot goes to the third three-dimensional warehouse to take the forming mold parts, and sends them to the intelligent assembly table. The mold is assembled into a forming mold. After assembly, it is sent to the CNC forming press station B through the mold transfer platform, and the CNC forming press Machine test punching, if the stamping product is unqualified, send the forming die back to the intelligent assembly table through the die transfer platform, remove the forming die parts, and send them back to the third three-dimensional warehouse, MES performs EDM compensation, repeat step (4), electric The spark forming machine corrects the process dimensions of the forming die parts, repeats step (5) to assemble the die, and test punches the intermediate semi-finished product 2;

（6）其它工位模具同上述步骤完成；(6) Other station molds are completed with the above steps;

（7）机器人从第四立体仓库取成形毛坯料，送进成形压机工位A，机器人手爪退出，成形机压机A启动并冲压成形，机器人取成形压机工位A的半成品冲压件，放回第五立体仓库中转位A；(7) The robot takes the forming blank from the fourth three-dimensional warehouse, sends it to the forming press station A, the robot claw exits, the forming press press A starts and stamps, and the robot takes the semi-finished stamping part from the forming press station A , and put it back to index A in the fifth three-dimensional warehouse;

（8）机器人从工具快换台取扫描仪，到第五立体仓库中转位A处三维扫描半成品冲压件；(8) The robot takes the scanner from the tool quick-change table and scans the semi-finished stamping parts in 3D at index A in the fifth three-dimensional warehouse;

若不合格，根据误差，输入修补参数，模具自动调整闭合高度，机器人将扫描后的半成品冲压件放入废品箱；If it is not qualified, input the repair parameters according to the error, the mold will automatically adjust the closing height, and the robot will put the scanned semi-finished stamping parts into the waste bin;

若合格，则进入下一步；If qualified, go to the next step;

（9）机器人从第四立体仓库取成形毛坯料，送进成形压机工位A，机器人手爪退出，机器人从第五立体仓库中转位A处取半成品冲压件，送进成形压机工位B，机器人手爪退出，成形机压机启动并冲压成形，机器人先取成形压机工位A处的半成品冲压件，放回第五立体仓库中转位A，后取成形压机工位B处的半成品冲压件，放回第六立体仓库中转位B；(9) The robot takes the forming blank from the fourth three-dimensional warehouse, sends it to the forming press station A, the robot claw exits, and the robot takes the semi-finished stamping part from the index A in the fifth three-dimensional warehouse, and sends it to the forming press station B. The robot gripper is withdrawn, the forming machine press is started and stamping is formed. The robot first takes the semi-finished stamping parts at the forming press station A, puts them back in the fifth three-dimensional warehouse, and then takes the semi-finished stamping parts at the forming press station B. Semi-finished stamping parts, put back in the sixth three-dimensional warehouse for index B;

（10）机器人从工具快换台取扫描仪，到第六立体仓库中转位B处三维扫描半成品冲压件；(10) The robot takes the scanner from the tool quick-change table and scans the semi-finished stamping parts in three dimensions at index B in the sixth three-dimensional warehouse;

若不合格，根据误差，输入修补参数，模具自动调整闭合高度，机器人将扫描后半成品冲压件放入废品箱；If it is not qualified, input the repair parameters according to the error, the mold will automatically adjust the closing height, and the robot will put the scanned semi-finished stamping parts into the waste bin;

若合格，则进入下一步；If qualified, go to the next step;

（11）机器人从第四立体仓库取成形毛坯料，送进成形压机工位A，机器人手爪退出，机器人从第五立体仓库中转位A处取半成品冲压件，送进成形压机工位B，机器人手爪退出，机器人从第六立体仓库中转位B处取半成品冲压件，送进成形压机工位C，成形机压机启动并冲压成形，机器人先取成形压机工位A处半成品冲压件，放回第五立体仓库中转位A，后取成形压机工位B处半成品冲压件，放回第六立体仓库中转位B，再取成形压机工位C处的成品成形件，放回第七立体仓库中转位C；(11) The robot takes the forming blank from the fourth three-dimensional warehouse, sends it to the forming press station A, the robot claw exits, and the robot takes the semi-finished stamping part from the index A in the fifth three-dimensional warehouse, and sends it to the forming press station B. The robot's gripper exits, and the robot takes the semi-finished stamping parts from the sixth three-dimensional warehouse at position B and sends them to the forming press station C. The forming machine press starts and stamps and forms, and the robot first takes the semi-finished product from the forming press station A. The stamping parts are returned to the fifth three-dimensional warehouse for index A, and then the semi-finished stamping parts at the forming press station B are taken back to the sixth three-dimensional warehouse for index B, and then the finished forming parts at the forming press station C are taken. Put it back to index C in the seventh three-dimensional warehouse;

（12）机器人从工具快换台取扫描仪，到第七立体仓库中转位C处三维扫描成品成形件，扫描后，合格，机器人将扫描后冲压件放入成品箱；(12) The robot takes the scanner from the tool quick-change table, and scans the finished formed part at index C in the seventh three-dimensional warehouse. After scanning, it is qualified, and the robot puts the scanned stamping part into the finished product box;

（13）以此类推，调试完成，连续进行冲压成形。(13) By analogy, the debugging is completed, and the stamping is continuously performed.

本发明中，所述MES为智能管控及设计系统，其功能模块包括工艺设计、排程管理、设备管理、测量与刀补、生产统计、系统设置、任务管理等模块，每个模块包含具体管理功能。In the present invention, the MES is an intelligent control and design system, and its functional modules include process design, scheduling management, equipment management, measurement and tool compensation, production statistics, system settings, task management and other modules, each module includes specific management Function.

（1）工艺设计(1) Process design

根据给定的2D（DWG）文件，设计3D文件，从3D软件的设计档案中自动生成EBOM、PBOM和数控加工工艺文件。According to the given 2D (DWG) file, the 3D file is designed, and the EBOM, PBOM and CNC machining process files are automatically generated from the design file of the 3D software.

（2）排程管理(2) Schedule management

排程管理模块包括手动排程、自动排程和程序管理。The scheduling management module includes manual scheduling, automatic scheduling and program management.

1）手动排程1) Manual scheduling

根据加工和成形需要选择手动排程，生成工件的加工工序和成形工序。可对工件的每一道工序实行分步加工和成形，进行上料、下料、换料，能够自动在仓库中匹配电极。根据三坐标的检测结果，电火花成形机、加工中心能够可实现返修，加工合格零件送入模具装配单元，完成智能装配，装配后模具送入成形压机工位A、工位B、工位C…。

Manual scheduling is selected according to the processing and forming needs, and the processing and forming procedures of the workpiece are generated. It can perform step-by-step processing and forming for each process of the workpiece, carry out loading, unloading, and material changing, and can automatically match electrodes in the warehouse. According to the detection results of the three coordinates, the EDM and machining center can be repaired, and the qualified parts are sent to the mold assembly unit to complete the intelligent assembly. After assembly, the mold is sent to the forming press station A, station B, station C….

通过排列组合，完成零件的加工。

Through the arrangement and combination, the processing of the parts is completed.

可以多数量、多种类零件混流执行。

It can be executed in mixed flow with a large number and various types of parts.

零件加工程序通过网络自动下发给电火花成形机和加工中心。

Parts machining programs are automatically distributed to EDM and machining centers through the network.

可返修、可换料。

Repairable and replaceable.

可调节冲裁间隙、可调整成形闭合高度。

Adjustable blanking gap, adjustable forming closing height.

2）自动排程2) Automatic scheduling

可以选择自动排程，自动排程功能能够根据工艺等参数自动对订单任务进行生产加工和成形排程。排程完成后，可以结合其他模块完成订单的自动加工和成形、装配。Automatic scheduling can be selected, and the automatic scheduling function can automatically perform production processing and forming scheduling for order tasks according to parameters such as process. After the scheduling is completed, it can be combined with other modules to complete the automatic processing, forming and assembly of the order.

3）加工程序管理3) Processing program management

可导入加工程序，可直接通过网络下发加工程序给机床，可跟踪下发状态。

The processing program can be imported, and the processing program can be directly sent to the machine tool through the network, and the delivery status can be tracked.

可上传加工程序，可直接通过网络上传电火花成形机和加工中心程序到本地计算机。（适用于赛项三）

The processing program can be uploaded, and the EDM and machining center programs can be directly uploaded to the local computer through the network. (Applicable to Event 3)

加工程序导入后，工件可自动识别匹配的加工程序（适应工件类型的变化），并在加工前通过网络下发机床并自动加载。

After the machining program is imported, the workpiece can automatically identify the matching machining program (adapt to the change of the workpiece type), and send the machine tool through the network and load it automatically before machining.

（3）设备管理(3) Equipment management

采集产线设备的数据。Collect data from production line equipment.

1）加工中心数据采集1) Data collection of machining center

采集机床工作状态，包括离线/在线、加工、空闲、报警等。

Collect the working status of the machine tool, including offline/online, processing, idle, alarm, etc.

采集轴信息，包括工作模式、进给倍率、轴位置、主轴负载、主轴速度等。

Collect axis information, including working mode, feed rate, axis position, spindle load, spindle speed, etc.

采集机床正在执行的加工程序名称。

Collect the name of the machining program being executed by the machine tool.

采集机床的报警信息。

Collect the alarm information of the machine tool.

采集机床卡盘、开关门信息。

Collect machine tool chuck, door opening and closing information.

采集机床的刀具、刀补信息。

Collect the tool and tool compensation information of the machine tool.

2）电火花成形机数据采集2) EDM data collection

采集电火花成形机工作状态，包括离线/在线、加工、空闲、报警等。

Collect working status of EDM, including offline/online, machining, idle, alarm, etc.

采集电火花成形机信息，包括轴位置、工作模式、工作状态等信息。

Collect EDM information, including shaft position, working mode, working status and other information.

采集电火花成形机正在执行的加工程序名称和加工条件编号。

Collect the machining program name and machining condition number being executed by the EDM.

采集电火花成形机的报警代码信息。

Collect the alarm code information of the EDM.

采集电火花成形机卡盘状态、油槽到位等信息。

Collect information such as the state of the EDM chuck and the position of the oil tank.

3）机器人数据采集3) Robot data collection

机器人轴位置和轴速度信息，包括关节1、关节2、关节3、关节4、关节5、关节6和第七轴。

Robot axis position and axis speed information, including joint 1, joint 2, joint 3, joint 4, joint 5, joint 6, and the seventh axis.

机器人工作状态、工作模式和运行速率等信息。

Information such as the working status, working mode and running rate of the robot.

机器人通信状态信息。

Robot communication status information.

机器人报警信息。

Robot alarm information.

机器人当前正加载的工程名和加载的程序名称信息。

The name of the project currently being loaded by the robot and the name of the loaded program.

4）数控成形（型）机数据采集4) Data collection of CNC forming (type) machine

采集机床工作状态，包括离线/在线、成形（型）、空闲、报警等。

Collect the working status of the machine tool, including offline/online, forming (type), idle, alarm, etc.

采集油压、速度信息等。

Collect oil pressure, speed information, etc.

采集机床的报警信息。Collect the alarm information of the machine tool.

采集机床开关门信息。

Collect machine opening and closing information.

5）料仓管理5) Silo management

物料信息设置，包括类型、场次等。

Material information settings, including type, session, etc.

物料信息跟踪，实时跟踪物料状态信息，包括无料，待加工，加工中，加工异常，加工完成，不合格状态。

Material information tracking, real-time tracking of material status information, including no material, pending processing, processing, abnormal processing, processing completed, unqualified status.

物料信息同步给PLC和五色灯。

Material information is synchronized to PLC and five-color lights.

有料仓盘点功能，每个仓位下拉列表可以绑定任意工件类型，每个类型的工件可以绑定多个仓位，同时该模块具有执行RFID的读写功能。

There is a warehouse inventory function. Each warehouse drop-down list can be bound to any workpiece type, and each type of workpiece can be bound to multiple warehouses. At the same time, this module has the function of reading and writing RFID.

6）五色灯通信设置功能6) Five-color light communication setting function

7）料仓初始化功能7) Silo initialization function

8）监控功能8) Monitoring function

设置录像机通信参数。

Set the recorder communication parameters.

预览摄像头视频。

Preview camera video.

截取监视图片。

Capture surveillance pictures.

显示录像机操作信息。

Displays recorder operation information.

（4）测量与刀补(4) Measurement and tool compensation

1）刀具信息采集1) Tool information collection

实时获取机床的刀具数量，采集机床刀具数据。Real-time access to the number of tools of the machine tool, and collection of tool data of the machine tool.

2）测量数据采集2) Measurement data collection

读取并显示加工中心的刀具信息，包括长度、半径、长度补偿、半径补偿等信息。Read and display the tool information of the machining center, including length, radius, length compensation, radius compensation and other information.

在线测量数据采集

Online measurement data collection

显示工件的尺寸信息和刀具补偿信息，在加工中心的工件加工完成之后，可以查看工件的理论值和实际值之间的误差。Display the size information and tool compensation information of the workpiece. After the workpiece in the machining center is processed, you can view the error between the theoretical value and the actual value of the workpiece.

三坐标测量数据采集

Three-coordinate measurement data collection

a)能够通过3D设计软件进行三坐标测量点的设计，并生成测量程序，自动执行测量后，能够采集三坐标的测量结果。a) The three-coordinate measurement point can be designed through 3D design software, and a measurement program can be generated. After the measurement is performed automatically, the three-coordinate measurement results can be collected.

b)三坐标测量完成后能通过网络输出待检工件的测量数据并对比测量参数，判断检测是否合格，自动生成测量报告，并在管控软件内可查看零件对应的测量报告。b) After the three-coordinate measurement is completed, the measurement data of the workpiece to be inspected can be output through the network and the measurement parameters can be compared to determine whether the inspection is qualified or not, and the measurement report can be automatically generated, and the measurement report corresponding to the part can be viewed in the control software.

c)具备测量历史数据记录功能，能查看每一个加工工件的测量数据、测量结果、测量时间等信息，便于选手分析测量数据和加工趋势，测量对象包括实测值、名义值、上偏差、下偏差等。c) With the measurement history data recording function, it is possible to view the measurement data, measurement results, measurement time and other information of each processed workpiece, which is convenient for the players to analyze the measurement data and processing trends. The measurement objects include the measured value, nominal value, upper deviation, and lower deviation. Wait.

d)具备测量公差定义功能，可以设置不同零件类型的公差，自动获取三坐标测量值后，进行理论尺寸、公差值的对比，自动分析测量结果。d) It has the function of measuring tolerance definition, which can set the tolerance of different part types, and automatically obtain the three-coordinate measurement value, compare the theoretical size and tolerance value, and automatically analyze the measurement results.

e)显示工件的尺寸信息和刀具补偿信息，在加工中心的工件加工完成之后，可以查看工件的理论值和实际值之间的误差。e) Display the size information and tool compensation information of the workpiece. After the workpiece is processed in the machining center, the error between the theoretical value and the actual value of the workpiece can be viewed.

3）返修3) Repair

显示工件的尺寸信息和刀具补偿信息，在加工中心的工件加工完成之后，可以查看工件的理论值和实际值之间的误差，再决定进行返修还是加工完成；若需要进行返修，先决定对应的刀补，写入系统中后，再进行返修操作。Display the size information and tool compensation information of the workpiece. After the workpiece in the machining center is processed, you can check the error between the theoretical value and the actual value of the workpiece, and then decide whether to rework or complete the machining; if rework is required, first decide the corresponding After the tool compensation is written into the system, the repair operation is performed.

4）质量追溯功能4) Quality traceability function

能够对每一个零件的加工过程进行追溯，追溯的内容包括每一个零件的加工工序、测量数据、测量结果，测量的良率和不良率等信息。The processing process of each part can be traced, and the traced content includes the processing procedures, measurement data, measurement results, and measured yield and defect rates of each part.

(5)生产统计(5) Production Statistics

1）生产数据统计1) Production data statistics

单个零件的生产件数统计，零件的合格、不合格、异常个数占比统计等。

Statistics on the number of production pieces of a single part, statistics on the proportion of qualified, unqualified, and abnormal parts, etc.

多个零件综合生产件数统计，零件的合格、不合格、异常个数占比统计等。

Comprehensive production statistics of multiple parts, and statistics on the proportion of qualified, unqualified, and abnormal parts, etc.

2）看板2) Kanban

加工中心监视看板，包括机床在线状态、机床工作状态（空闲、运行、报警）、轴位置、轴速度、主轴负载。

Machining center monitoring kanban, including machine tool online status, machine tool working status (idle, running, alarm), axis position, axis speed, spindle load.

电火花成形机监视看板，包括电火花成形机的在线状态、轴位置、加工状态、当前加工程序和报警代码等信息。EDM monitoring kanban, including EDM online status, axis position, machining status, current machining program and alarm codes and other information.

机器人看板，包括机器人在线状态、机器人工作状态（空闲、运行、报警）、轴位置等信息。

Robot Kanban, including robot online status, robot working status (idle, running, alarm), axis position and other information.

料仓看板，包括料仓物料信息、工件状态。

Silo Kanban, including silo material information and workpiece status.

生产统计看板，包括加工件数、合格率、设备的稼动率等。

Production statistics kanban, including the number of processed pieces, qualified rate, equipment utilization rate, etc.

测量结果分析报告和看板，可以将三坐标测量、扫描质量等结果生成测量分析报告并显示。

Measurement result analysis report and kanban, which can generate measurement analysis report and display the results of three-coordinate measurement, scanning quality and so on.

看板呈现形式要符合实际生产要求。

The presentation form of the Kanban board should meet the actual production requirements.

(6)系统设置(6) System settings

1）网络拓扑图设置1) Network topology map settings

图形化显示产线网络拓补图。

Graphical display of production line network topology.

可配置各设备通信参数。

The communication parameters of each device can be configured.

2）网络验证2) Network verification

机床和电火花成形机通信测试，通过采集卡盘、开关门、主轴转速等信息，手动派发并加载加工程序，验证机床和电火花成形机通信是否正常。（电火花成形机适用于赛项三）

For the communication test between the machine tool and the EDM, by collecting information such as chuck, door opening and closing, and spindle speed, manually dispatch and load the machining program, and verify whether the communication between the machine tool and the EDM is normal. (The EDM is suitable for the third event)

机器人通信测试，通过采集机器人位置信息，验证机器人通信是否正常。

The robot communication test, by collecting robot position information, verifies whether the robot communication is normal.

料仓通信测试，通过设置料仓的状态和五色灯，验证料仓通信是否正常。

The silo communication test is to verify whether the silo communication is normal by setting the state of the silo and the five-color light.

三坐标通信测试，通过试测毛坯件或试切件的外形尺寸，验证三坐标通信是否正常。

The three-coordinate communication test is to verify whether the three-coordinate communication is normal by testing the external dimensions of the blank or trial cut.

3D扫描仪通信测试，通过扫描毛坯件或试切件的外形尺寸，验证3D扫描仪通信是否正常。

The 3D scanner communication test is to verify whether the 3D scanner communication is normal by scanning the external dimensions of the blank part or the trial cut part.

3）日志3) log

记录软件的操作信息。Records the operating information of the software.

(7)任务管理(7) Task management

1）可以在任务接收模块中，直接获订单、图纸等任务文件。1) In the task receiving module, you can directly obtain task documents such as orders and drawings.

2）可以向服务器上传文件材料（包括图纸、pdf格式工艺卡等文件）。2) Documents and materials (including drawings, process cards in pdf format, etc.) can be uploaded to the server.

多工位冲压成形与成形模智能制造单元，是将冲压成形机、模具精密测量机和装备、模具加工设备、工业机器人、数据信息采集设备、模具装调设备等形成“硬件”系统，结合智能化控制技术、高效加工技术、工业物联网技术、RFID数字信息技术和工业工程技术等形成“软件”系统，实现智能加工、智能检测、智能成形一体化生产线。Multi-station stamping and forming die intelligent manufacturing unit is to form a "hardware" system with stamping forming machine, die precision measuring machine and equipment, die processing equipment, industrial robot, data information acquisition equipment, die set-up equipment, etc., combined with intelligent Integrated control technology, high-efficiency processing technology, industrial Internet of Things technology, RFID digital information technology and industrial engineering technology form a "software" system to realize an integrated production line of intelligent processing, intelligent detection, and intelligent forming.

与现有技术相比，本发明具有如下优点：本发明实现了智能加工、智能检测、智能成形的一体化，解决了模具制造与冲压成形闭环智能联调，使得冲压成形质量问题能反馈系统，并智能修正模具。本发明的方法所用的设备车间占用面积小、生产效率高、成形精度控制和联调难度得到了有效降低。Compared with the prior art, the invention has the following advantages: the invention realizes the integration of intelligent processing, intelligent detection and intelligent forming, solves the closed-loop intelligent joint adjustment of die manufacturing and stamping forming, and enables the quality problem of stamping to be fed back to the system, And intelligently correct the mold. The equipment workshop used in the method of the invention occupies a small area, has high production efficiency, and effectively reduces the difficulty of forming precision control and joint adjustment.

附图说明Description of drawings

图1为本发明的多工位冲压成形与成形模智能制造单元原理图。FIG. 1 is a schematic diagram of the intelligent manufacturing unit of the multi-station stamping forming and forming die of the present invention.

图2为本发明中MES管控功能模块图。FIG. 2 is a diagram of MES management and control function modules in the present invention.

图3为本发明中MES管控生产流程图。FIG. 3 is a flow chart of MES control production in the present invention.

具体实施方式Detailed ways

为使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体实施方式，进一步阐述本发明。In order to make the technical means, creative features, achievement goals and effects realized by the present invention easy to understand, the present invention will be further described below with reference to the specific embodiments.

图1为多工位冲压成形与成形模智能制造单元原理图，主要由17个部分组成，安全防护系统1，数控成形机机2，电火花成形机3，三坐标测量机4，工具台5，多轴联动数控加工中心6，工具快换台7，立体仓库8，六轴机器人9，智能看板10，清洗干燥系统11，伺服一维行走轴12，智能模具装配台13，模具传送平台14，智能管控及设计系统15，PLC电气控制系统16，机器人控制柜17。Figure 1 is a schematic diagram of an intelligent manufacturing unit for multi-station stamping and forming, which is mainly composed of 17 parts, safety protection system 1, CNC forming machine 2, EDM 3, CMM 4, tool table 5 , Multi-axis CNC machining center 6, tool quick change table 7, three-dimensional warehouse 8, six-axis robot 9, intelligent Kanban 10, cleaning and drying system 11, servo one-dimensional travel axis 12, intelligent mold assembly table 13, mold transfer platform 14 , intelligent control and design system 15, PLC electrical control system 16, robot control cabinet 17.

一种多工位冲压成形与成形模智能制造方法，包括如下步骤：An intelligent manufacturing method for multi-station stamping and forming, comprising the following steps:

（1）通过MES，根据预设的编码规则，对立体仓库的RFID标签按照仓库状态进行初始化操作；MES发出指令，机器人实现如下顺序动作，到第一立体仓库取成形模零件，送入多轴加工中心的零点快换夹具，机器人退出，多轴加工中心启动，运行加工完成，利用在线测头进行检测，检测不合格，MES进行刀补，运行加工完成，在线检测合格，数据返回MES系统，机器人取出成形模零件送回第一立体仓库；(1) Through the MES, according to the preset coding rules, the RFID tags of the three-dimensional warehouse are initialized according to the warehouse state; the MES sends an instruction, and the robot performs the following sequence actions, and goes to the first three-dimensional warehouse to take the forming mold parts and send them to the multi-axis. The zero-point quick-change fixture of the machining center, the robot exits, the multi-axis machining center starts, the running and processing are completed, the online probe is used for detection, the detection fails, the MES performs tool compensation, the running processing is completed, the online detection is qualified, and the data is returned to the MES system. The robot takes out the forming mold parts and sends them back to the first three-dimensional warehouse;

（2）MES发出指令，机器人到第一立体仓库取成形模零件，送入智能装配台，模具完成装配，装配后的成形模具通过模具传送平台送入数控成形压机工位A，数控成形压机试冲，如果冲压产品不合格，通过模具传送平台将成形模具送回智能装配台，自动拆下成形模零件，送回到第一立体仓库，MES进行刀补，重复步骤（1），利用多轴加工中心对成形模零件工艺尺寸进行修正，重复步骤（2），装配模具，试冲合格中间半成品一；(2) MES issues an instruction, the robot goes to the first three-dimensional warehouse to take the forming mold parts, and sends them to the intelligent assembly table, the mold is assembled, and the assembled forming mold is sent to the CNC forming press station A through the mold transfer platform, and the CNC forming press Machine test punching, if the stamping product is unqualified, the forming die is sent back to the intelligent assembly table through the die transfer platform, the forming die parts are automatically removed, and sent back to the first three-dimensional warehouse, MES performs knife compensation, repeat step (1), use The multi-axis machining center corrects the process dimensions of the forming die parts, repeats step (2), assembles the die, and tests the qualified intermediate semi-finished product 1;

（3）MES发出指令，机器人到第二立体仓库取电极坯料，送入多轴加工中心的零点快换夹具，机器人退出，多轴加工中心启动，运行加工完成，利用在线测头进行检测，检测不合格，MES进行刀补，运行加工完成，在线检测合格，数据返回MES系统，机器人取出成形的电极零件送回第二立体仓库；(3) MES issues an instruction, the robot goes to the second three-dimensional warehouse to take the electrode blank, and sends it to the zero-point quick-change fixture of the multi-axis machining center. The robot exits, the multi-axis machining center starts, and the operation and processing are completed. If it is unqualified, MES performs tool compensation, the operation and processing are completed, the online inspection is qualified, the data is returned to the MES system, and the robot takes out the formed electrode parts and sends them back to the second three-dimensional warehouse;

（4）MES发出指令，机器人到第三立体仓库取成形模零件，送入电火花成形机的零点快换夹具，机器人退出，机器人到第二立体仓库取电极零件，送入电火花成形机的主轴夹具，电火花成形机启动，运行加工完成，机器人取电极回第二立体仓库，机器人取成形模零件，送入零点定位夹具，三坐标测量机对成形模零件模口尺寸进行测量，保证成形间隙是0.1-0.2mm,机器人取成形模零件回第三立体仓库；(4) MES issues an instruction, the robot goes to the third three-dimensional warehouse to take the forming mold parts, and sends them to the zero-point quick-change fixture of the EDM machine. The spindle fixture, the EDM machine is started, the operation and processing are completed, the robot takes the electrode back to the second three-dimensional warehouse, the robot takes the forming mold parts, and sends them into the zero-point positioning fixture. The three-coordinate measuring machine measures the die size of the forming mold parts to ensure the forming The gap is 0.1-0.2mm, and the robot takes the forming mold parts and returns them to the third three-dimensional warehouse;

（5）MES发出指令，机器人到第三立体仓库取成形模零件，送入智能装配台，模具完成装配为成形模具，装配后通过模具传送平台送入数控成形压机工位B，数控成形压机试冲，如果冲压产品不合格，通过模具传送平台送成形模具回智能装配台，拆下成形模零件，送回到第三立体仓库，MES进行电火花放电补偿，重复步骤（4），电火花成形机对成形模零件工艺尺寸进行修正，重复步骤（5）装配模具，试冲合格中间半成品二；(5) MES issues an instruction, the robot goes to the third three-dimensional warehouse to take the forming mold parts, and sends them to the intelligent assembly table. The mold is assembled into a forming mold. After assembly, it is sent to the CNC forming press station B through the mold transfer platform, and the CNC forming press Machine test punching, if the stamping product is unqualified, send the forming die back to the intelligent assembly table through the die transfer platform, remove the forming die parts, and send them back to the third three-dimensional warehouse, MES performs EDM compensation, repeat step (4), electric The spark forming machine corrects the process dimensions of the forming die parts, repeats step (5) to assemble the die, and test punches the intermediate semi-finished product 2;

（6）其它工位模具同上述步骤完成；(6) Other station molds are completed with the above steps;

（7）机器人从第四立体仓库取成形毛坯料，送进成形压机工位A，机器人手爪退出，成形机压机A启动并冲压成形，机器人取成形压机工位A的半成品冲压件，放回第五立体仓库中转位A；(7) The robot takes the forming blank from the fourth three-dimensional warehouse, sends it to the forming press station A, the robot claw exits, the forming press press A starts and stamps, and the robot takes the semi-finished stamping part from the forming press station A , and put it back to index A in the fifth three-dimensional warehouse;

（8）机器人从工具快换台取扫描仪，到第五立体仓库中转位A处三维扫描半成品冲压件；(8) The robot takes the scanner from the tool quick-change table and scans the semi-finished stamping parts in 3D at index A in the fifth three-dimensional warehouse;

若不合格，根据误差，输入修补参数，模具自动调整闭合高度，机器人将扫描后的半成品冲压件放入废品箱；If it is not qualified, input the repair parameters according to the error, the mold will automatically adjust the closing height, and the robot will put the scanned semi-finished stamping parts into the waste bin;

若合格，则进入下一步；If qualified, go to the next step;

（9）机器人从第四立体仓库取成形毛坯料，送进成形压机工位A，机器人手爪退出，机器人从第五立体仓库中转位A处取半成品冲压件，送进成形压机工位B，机器人手爪退出，成形机压机启动并冲压成形，机器人先取成形压机工位A处的半成品冲压件，放回第五立体仓库中转位A，后取成形压机工位B处的半成品冲压件，放回第六立体仓库中转位B；(9) The robot takes the forming blank from the fourth three-dimensional warehouse, sends it to the forming press station A, the robot claw exits, and the robot takes the semi-finished stamping part from the index A in the fifth three-dimensional warehouse, and sends it to the forming press station B. The robot gripper is withdrawn, the forming machine press is started and stamping is formed. The robot first takes the semi-finished stamping parts at the forming press station A, puts them back in the fifth three-dimensional warehouse, and then takes the semi-finished stamping parts at the forming press station B. Semi-finished stamping parts, put back in the sixth three-dimensional warehouse for index B;

（10）机器人从工具快换台取扫描仪，到第六立体仓库中转位B处三维扫描半成品冲压件；(10) The robot takes the scanner from the tool quick-change table and scans the semi-finished stamping parts in three dimensions at index B in the sixth three-dimensional warehouse;

若不合格，根据误差，输入修补参数，模具自动调整闭合高度，机器人将扫描后半成品冲压件放入废品箱；If it is not qualified, input the repair parameters according to the error, the mold will automatically adjust the closing height, and the robot will put the scanned semi-finished stamping parts into the waste bin;

若合格，则进入下一步；If qualified, go to the next step;

（11）机器人从第四立体仓库取成形毛坯料，送进成形压机工位A，机器人手爪退出，机器人从第五立体仓库中转位A处取半成品冲压件，送进成形压机工位B，机器人手爪退出，机器人从第六立体仓库中转位B处取半成品冲压件，送进成形压机工位C，成形机压机启动并冲压成形，机器人先取成形压机工位A处半成品冲压件，放回第五立体仓库中转位A，后取成形压机工位B处半成品冲压件，放回第六立体仓库中转位B，再取成形压机工位C处的成品成形件，放回第七立体仓库中转位C；(11) The robot takes the forming blank from the fourth three-dimensional warehouse, sends it to the forming press station A, the robot claw exits, and the robot takes the semi-finished stamping part from the index A in the fifth three-dimensional warehouse, and sends it to the forming press station B. The robot's gripper exits, and the robot takes the semi-finished stamping parts from the sixth three-dimensional warehouse at position B and sends them to the forming press station C. The forming machine press starts and stamps and forms, and the robot first takes the semi-finished product from the forming press station A. The stamping parts are returned to the fifth three-dimensional warehouse for index A, and then the semi-finished stamping parts at the forming press station B are taken back to the sixth three-dimensional warehouse for index B, and then the finished forming parts at the forming press station C are taken. Put it back to index C in the seventh three-dimensional warehouse;

（12）机器人从工具快换台取扫描仪，到第七立体仓库中转位C处三维扫描成品成形件，扫描后，合格，机器人将扫描后冲压件放入成品箱；(12) The robot takes the scanner from the tool quick-change table, and scans the finished formed part at index C in the seventh three-dimensional warehouse. After scanning, it is qualified, and the robot puts the scanned stamping part into the finished product box;

（13）以此类推，调试完成，连续进行冲压成形。(13) By analogy, the debugging is completed, and the stamping is continuously performed.

图2出示了本发明的MES管控功能模块图，图3出示了本发明的MES管控生产流程图，其中，成型零件1、2、3指代成型模零件，成型模具1、2、3指代3个成型工序中的3个成形模具。Fig. 2 shows the MES control function module diagram of the present invention, and Fig. 3 shows the MES control production flow chart of the present invention, wherein the molding parts 1, 2, and 3 refer to the molding die parts, and the molding die 1, 2, and 3 refer to the molding die parts. 3 molding dies in 3 molding steps.

由技术常识可知，本发明可以通过其它的不脱离其精神实质或必要特征的实施方案来实现。因此，上述公开的实施方案，就各方面而言，都只是举例说明，并不是仅有的。所有在本发明范围内或在等同于本发明的范围内的改变均被本发明包含。It is known from the technical common sense that the present invention can be realized by other embodiments without departing from its spirit or essential characteristics. Accordingly, the above-disclosed embodiments are, in all respects, illustrative and not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are encompassed by the present invention.

1.一种多工位冲压成形与成形模智能制造方法，其特征在于，包括如下步骤：1. a multi-station stamping forming and forming die intelligent manufacturing method, is characterized in that, comprises the steps: （1）通过MES，根据预设的编码规则，对立体仓库的RFID标签按照仓库状态进行初始化操作；MES发出指令，机器人实现如下顺序动作，到第一立体仓库取成形模零件，送入多轴加工中心的零点快换夹具，机器人退出，多轴加工中心启动，运行加工完成，利用在线测头进行检测，检测不合格，MES进行刀补，运行加工完成，在线检测合格，数据返回MES系统，机器人取出成形模零件送回第一立体仓库；(1) Through the MES, according to the preset coding rules, the RFID tags of the three-dimensional warehouse are initialized according to the warehouse state; the MES sends an instruction, and the robot performs the following sequence actions, and goes to the first three-dimensional warehouse to take the forming mold parts and send them to the multi-axis. The zero-point quick-change fixture of the machining center, the robot exits, the multi-axis machining center starts, the running and processing are completed, the online probe is used for detection, the detection fails, the MES performs tool compensation, the running processing is completed, the online detection is qualified, and the data is returned to the MES system. The robot takes out the forming mold parts and sends them back to the first three-dimensional warehouse; （2）MES发出指令，机器人到第一立体仓库取成形模零件，送入智能装配台，模具完成装配，装配后的成形模具通过模具传送平台送入数控成形压机工位A，数控成形压机试冲，如果冲压产品不合格，通过模具传送平台将成形模具送回智能装配台，自动拆下成形模零件，送回到第一立体仓库，MES进行刀补，重复步骤（1），利用多轴加工中心对成形模零件工艺尺寸进行修正，重复步骤（2），装配模具，试冲合格中间半成品一；(2) MES issues an instruction, the robot goes to the first three-dimensional warehouse to take the forming mold parts, and sends them to the intelligent assembly table, the mold is assembled, and the assembled forming mold is sent to the CNC forming press station A through the mold transfer platform, and the CNC forming press Machine test punching, if the stamping product is unqualified, the forming die is sent back to the intelligent assembly table through the die transfer platform, the forming die parts are automatically removed, and sent back to the first three-dimensional warehouse, MES performs knife compensation, repeat step (1), use The multi-axis machining center corrects the process dimensions of the forming die parts, repeats step (2), assembles the die, and tests the qualified intermediate semi-finished product 1; （3）MES发出指令，机器人到第二立体仓库取电极坯料，送入多轴加工中心的零点快换夹具，机器人退出，多轴加工中心启动，运行加工完成，利用在线测头进行检测，检测不合格，MES进行刀补，运行加工完成，在线检测合格，数据返回MES系统，机器人取出成形的电极零件送回第二立体仓库；(3) MES issues an instruction, the robot goes to the second three-dimensional warehouse to take the electrode blank, and sends it to the zero-point quick-change fixture of the multi-axis machining center. The robot exits, the multi-axis machining center starts, and the operation and processing are completed. If it is unqualified, MES performs tool compensation, the operation and processing are completed, the online inspection is qualified, the data is returned to the MES system, and the robot takes out the formed electrode parts and sends them back to the second three-dimensional warehouse; （4）MES发出指令，机器人到第三立体仓库取成形模零件，送入电火花成形机的零点快换夹具，机器人退出，机器人到第二立体仓库取电极零件，送入电火花成形机的主轴夹具，电火花成形机启动，运行加工完成，机器人取电极回第二立体仓库，机器人取成形模零件，送入零点定位夹具，三坐标测量机对成形模零件模口尺寸进行测量，保证成形间隙在预设范围内,机器人取成形模零件回第三立体仓库；(4) MES issues an instruction, the robot goes to the third three-dimensional warehouse to take the forming mold parts, and sends them to the zero-point quick-change fixture of the EDM machine. The spindle fixture, the EDM machine is started, the operation and processing are completed, the robot takes the electrode back to the second three-dimensional warehouse, the robot takes the forming mold parts, and sends them into the zero-point positioning fixture. The three-coordinate measuring machine measures the die size of the forming mold parts to ensure the forming When the gap is within the preset range, the robot takes the mold parts and returns them to the third three-dimensional warehouse; （5）MES发出指令，机器人到第三立体仓库取成形模零件，送入智能装配台，模具完成装配为成形模具，装配后通过模具传送平台送入数控成形压机工位B，数控成形压机试冲，如果冲压产品不合格，通过模具传送平台送成形模具回智能装配台，拆下成形模零件，送回到第三立体仓库，MES进行电火花放电补偿，重复步骤（4），电火花成形机对成形模零件工艺尺寸进行修正，重复步骤（5）装配模具，试冲合格中间半成品二；(5) MES issues an instruction, the robot goes to the third three-dimensional warehouse to take the forming mold parts, and sends them to the intelligent assembly table. The mold is assembled into a forming mold. After assembly, it is sent to the CNC forming press station B through the mold transfer platform, and the CNC forming press Machine test punching, if the stamping product is unqualified, send the forming die back to the intelligent assembly table through the die transfer platform, remove the forming die parts, and send them back to the third three-dimensional warehouse, MES performs EDM compensation, repeat step (4), electric The spark forming machine corrects the process dimensions of the forming die parts, repeats step (5) to assemble the die, and test punches the intermediate semi-finished product 2; （6）其它工位模具同上述步骤完成；(6) Other station molds are completed with the above steps; （7）机器人从第四立体仓库取成形毛坯料，送进成形压机工位A，机器人手爪退出，成形机压机A启动并冲压成形，机器人取成形压机工位A的半成品冲压件，放回第五立体仓库中转位A；(7) The robot takes the forming blank from the fourth three-dimensional warehouse, sends it to the forming press station A, the robot claw exits, the forming press press A starts and stamps, and the robot takes the semi-finished stamping part from the forming press station A , and put it back to index A in the fifth three-dimensional warehouse; （8）机器人从工具快换台取扫描仪，到第五立体仓库中转位A处三维扫描半成品冲压件；(8) The robot takes the scanner from the tool quick-change table and scans the semi-finished stamping parts in 3D at index A in the fifth three-dimensional warehouse; 若不合格，根据误差，输入修补参数，模具自动调整闭合高度，机器人将扫描后的半成品冲压件放入废品箱；If it is not qualified, input the repair parameters according to the error, the mold will automatically adjust the closing height, and the robot will put the scanned semi-finished stamping parts into the waste bin; 若合格，则进入下一步；If qualified, go to the next step; （9）机器人从第四立体仓库取成形毛坯料，送进成形压机工位A，机器人手爪退出，机器人从第五立体仓库中转位A处取半成品冲压件，送进成形压机工位B，机器人手爪退出，成形机压机启动并冲压成形，机器人先取成形压机工位A处的半成品冲压件，放回第五立体仓库中转位A，后取成形压机工位B处的半成品冲压件，放回第六立体仓库中转位B；(9) The robot takes the forming blank from the fourth three-dimensional warehouse, sends it to the forming press station A, the robot claw exits, and the robot takes the semi-finished stamping part from the index A in the fifth three-dimensional warehouse, and sends it to the forming press station B. The robot gripper is withdrawn, the forming machine press is started and stamping is formed. The robot first takes the semi-finished stamping parts at the forming press station A, puts them back in the fifth three-dimensional warehouse, and then takes the semi-finished stamping parts at the forming press station B. Semi-finished stamping parts, put back in the sixth three-dimensional warehouse for index B; （10）机器人从工具快换台取扫描仪，到第六立体仓库中转位B处三维扫描半成品冲压件；(10) The robot takes the scanner from the tool quick-change table and scans the semi-finished stamping parts in three dimensions at index B in the sixth three-dimensional warehouse; 若不合格，根据误差，输入修补参数，模具自动调整闭合高度，机器人将扫描后半成品冲压件放入废品箱；If it is not qualified, input the repair parameters according to the error, the mold will automatically adjust the closing height, and the robot will put the scanned semi-finished stamping parts into the waste bin; 若合格，则进入下一步；If qualified, go to the next step; （11）机器人从第四立体仓库取成形毛坯料，送进成形压机工位A，机器人手爪退出，机器人从第五立体仓库中转位A处取半成品冲压件，送进成形压机工位B，机器人手爪退出，机器人从第六立体仓库中转位B处取半成品冲压件，送进成形压机工位C，成形机压机启动并冲压成形，机器人先取成形压机工位A处半成品冲压件，放回第五立体仓库中转位A，后取成形压机工位B处半成品冲压件，放回第六立体仓库中转位B，再取成形压机工位C处的成品成形件，放回第七立体仓库中转位C；(11) The robot takes the forming blank from the fourth three-dimensional warehouse, sends it to the forming press station A, the robot claw exits, and the robot takes the semi-finished stamping part from the index A in the fifth three-dimensional warehouse, and sends it to the forming press station B. The robot's gripper exits, and the robot takes the semi-finished stamping parts from the sixth three-dimensional warehouse at position B and sends them to the forming press station C. The forming machine press starts and stamps and forms, and the robot first takes the semi-finished product from the forming press station A. The stamping parts are returned to the fifth three-dimensional warehouse for index A, and then the semi-finished stamping parts at the forming press station B are taken back to the sixth three-dimensional warehouse for index B, and then the finished forming parts at the forming press station C are taken. Put it back to index C in the seventh three-dimensional warehouse; （12）机器人从工具快换台取扫描仪，到第七立体仓库中转位C处三维扫描成品成形件，扫描后，合格，机器人将扫描后冲压件放入成品箱；(12) The robot takes the scanner from the tool quick-change table, and scans the finished formed part at index C in the seventh three-dimensional warehouse. After scanning, it is qualified, and the robot puts the scanned stamping part into the finished product box; （13）以此类推，调试完成，连续进行冲压成形。(13) By analogy, the debugging is completed, and the stamping is continuously performed. 2.根据权利要求1所述的多工位冲压成形与成形模智能制造方法，其特征在于，所述MES为智能管控及设计系统，其功能模块包括工艺设计、排程管理、设备管理、测量与刀补、生产统计、系统设置以及任务管理，每个模块包含具体管理功能。2. The multi-station stamping forming and forming die intelligent manufacturing method according to claim 1, wherein the MES is an intelligent control and design system, and its functional modules include process design, scheduling management, equipment management, measurement With tool compensation, production statistics, system settings and task management, each module contains specific management functions. 3.根据权利要求2所述的一种多工位冲压成形与成形模智能制造方法，其特征在于，工艺设计具体为根据给定的2D文件，设计3D文件，从3D软件的设计档案中自动生成EBOM、PBOM和数控加工工艺文件。3. A kind of multi-station stamping and forming die intelligent manufacturing method according to claim 2, it is characterized in that, the process design is specifically according to the given 2D file, design 3D file, automatically from the design file of 3D software. Generate EBOM, PBOM and CNC machining process files. 4.根据权利要求2所述的一种多工位冲压成形与成形模智能制造方法，其特征在于，所述排程管理模块包括手动排程、自动排程和程序管理；4. The multi-station stamping forming and forming die intelligent manufacturing method according to claim 2, wherein the scheduling management module comprises manual scheduling, automatic scheduling and program management; 1）手动排程1) Manual scheduling

根据加工和成形需要选择手动排程，生成工件的加工工序和成形工序，可对工件的每一道工序实行分步加工和成形，进行上料、下料、换料，能够自动在仓库中匹配电极，根据三坐标的检测结果，电火花成形机、加工中心能够实现返修，加工合格零件送入模具装配单元，完成智能装配，装配后模具送入成形压机工位A、工位B、工位C…；

Manual scheduling can be selected according to the needs of processing and forming, and the processing and forming processes of the workpiece can be generated. Step-by-step processing and forming can be performed for each process of the workpiece, loading, unloading, and changing materials can be automatically matched in the warehouse. Electrodes , According to the detection results of the three coordinates, the EDM and machining center can be repaired, and the qualified parts are sent to the mold assembly unit to complete the intelligent assembly. After assembly, the mold is sent to the forming press station A, station B, station C…;

通过排列组合，完成零件的加工；

Through the arrangement and combination, the processing of the parts is completed;

可以多数量、多种类零件混流执行；

It can be executed in mixed flow with a large number and various types of parts;

零件加工程序通过网络自动下发给电火花成形机和加工中心；

The part processing program is automatically sent to the EDM and machining center through the network;

可返修、可换料；

Can be repaired, can be replaced;

可调节冲裁间隙、可调整成形闭合高度；

Adjustable blanking gap, adjustable forming closing height; 2）自动排程2) Automatic scheduling 可以选择自动排程，自动排程功能能够根据工艺等参数自动对订单任务进行生产加工和成形排程；排程完成后，可以结合其他模块完成订单的自动加工和成形、装配；Automatic scheduling can be selected. The automatic scheduling function can automatically perform production processing and forming scheduling for order tasks according to parameters such as process; 3）加工程序管理3) Processing program management

可导入加工程序，可直接通过网络下发加工程序给机床，可跟踪下发状态；

The processing program can be imported, and the processing program can be directly sent to the machine tool through the network, and the delivery status can be tracked;

可上传加工程序，可直接通过网络上传电火花成形机和加工中心程序到本地计算机；

The machining program can be uploaded, and the EDM and machining center programs can be directly uploaded to the local computer through the network;

加工程序导入后，工件可自动识别匹配的加工程序，并在加工前通过网络下发机床并自动加载。

After the machining program is imported, the workpiece can automatically identify the matching machining program, and send it to the machine tool through the network and load it automatically before machining. 5.根据权利要求2所述的一种多工位冲压成形与成形模智能制造方法，其特征在于，所述设备管理具体为采集产线设备的数据。5 . The intelligent manufacturing method for multi-station stamping and forming molds according to claim 2 , wherein the equipment management is specifically collecting data of production line equipment. 6 . 6.根据权利要求2所述的一种多工位冲压成形与成形模智能制造方法，其特征在于，所述测量与刀补包括刀具信息采集、测量数据采集、返修处理以及质量追溯。6 . The multi-station stamping and forming die intelligent manufacturing method according to claim 2 , wherein the measurement and tool compensation include tool information collection, measurement data collection, repair processing and quality traceability. 7 .