CN105334801B - A kind of robot bending speeds match adaptive approach - Google Patents
A kind of robot bending speeds match adaptive approach Download PDFInfo
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- CN105334801B CN105334801B CN201510762377.5A CN201510762377A CN105334801B CN 105334801 B CN105334801 B CN 105334801B CN 201510762377 A CN201510762377 A CN 201510762377A CN 105334801 B CN105334801 B CN 105334801B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39001—Robot, manipulator control
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention discloses a kind of robot bending speeds match adaptive approach, the hardware system that methods described is related to includes grating scale, PLC and host computer, the signal output part of grating scale and robot is electrically connected with PLC respectively, host computer monitors PLC, signal and time data are obtained, speed data is transmitted to robot after being computed；The present invention uses round-about way, and uniformity is ensured using the time of both bending process of, robot and bending cutter.And the flexing movement time of the feedback automatic measurement ＆ calculation bending cutter by using grating scale, and the movement velocity of robot is calculated accordingly, after the automatic bending of No. 3 to 4 robots, the most suitable bending speed of robot can be found out automatically, avoid artificial participation adjustment, method of adjustment is scientific and reasonable, accurate reliable.
Description
Technical field
The present invention relates to a kind of robot bending speeds match adaptive approach.
Background technology
Robot is during coordinating bender to carry out bending to sheet metal component, and robotic gripper sheet metal component and bender
Bending cutter to sheet metal component carry out bending.During bending, robot will coordinate bending cutter to carry out flexing movement, by
Mismatched in the bending speed of bending cutter and the bending speed of robot, sheet metal component can be caused to become in bending process
Shape, causes the product after bending to there is angular error.
Existing mode first gives one bending speed of robot, further according to bending knot substantially by the way of manual testing
Fruit manually adjusts the bending speed of robot repeatedly, untill trying out a suitable speed.Such method, which is spent, to be compared
Once the long time and bender parameter changes, just need to debug again again, action repeatability is poor.
The content of the invention
In order to solve deficiency of the prior art, artificial participation adjustment is avoided it is an object of the invention to provide one kind, is adjusted
Adjusting method is scientific and reasonable, accurate reliable robot bending speeds match adaptive approach.
To achieve the above object, the present invention uses following technical scheme：
A kind of robot bending speeds match adaptive approach, the hardware system that methods described is related to include grating scale,
The signal output part of PLC and host computer, grating scale and robot is electrically connected with PLC respectively, host computer monitoring PLC, obtains signal
And time data, speed data is transmitted to robot after being computed；
Methods described specifically includes following steps：
1) grating scale is arranged on bender, grating scale determines the current location of the bending cutter on bender, and
The value of grating scale is remedied to consistent with actual conditions；
2) the host computer poor bending speed for interval, successively change robot, and being surveyed by PLC at a given speed is passed through
Determine the corresponding bending time under each bending speed of robot, obtained data are imported into spreadsheet and entered by being fitted function
Row fitting, obtains robot bending speed and the fitting formula of bending time；
3) grating scale that bending cutter is set in PLC starts position and final position, bending of the bending cutter to give tacit consent to
Speed carries out bending, and when bending cutter is by grating scale startup position and final position, PLC will be respectively started and stop timing
Device, thus records the bending time of bending cutter, juxtaposition flag bit；
4) host computer detects flag bit during PLC is scanned, when reading the bending for the bending cutter that PLC is recorded
Between, by bringing the bending time of bending cutter into step 2) in fitting formula can obtain the reference bending speed of robot；
5) host computer is by above-mentioned steps 4) obtain being transmitted to robot with reference to bending speed, robot carries out bending, surveyed by PLC
Determine robot and refer to the bending time under bending speed at this；
6) the bending time of contrast bending cutter and the bending time of robot, and obtain the time difference of the two,
If the time difference of the two is in default scope, using above-mentioned steps 4) in obtained reference bending speed as machine
The final bending speed of people；
If the time difference of the two exceeds default scope, the bending speed of robot is adjusted according to the magnitude relationship of the two,
Bending speed after adjustment is transmitted to robot by host computer, and robot carries out flexing movement again, and by PLC mensuration machine people again
Bending time under the bending speed, repeat step 6) up to the time difference of the two is in default scope, then by robot
Final bending speed as robot is finally adjusted to qualified bending speed.
The method of the PLC mensuration machines people bending time is as follows：When robot carries out bending, start and roll in robot
The position for being bent to position provides signal to PLC respectively, and PLC calculates the time difference of two signals, that is, when obtaining the bending of robot
Between.
Step 2) in, when speed difference is 3mm/s, robot bending speed and the fitting formula of bending time are：Y=
63.053x-1.3372, wherein, x is the bending time of robot, unit s；Y is the bending speed of robot, and unit is mm/s.
The present invention uses above technical scheme, has the advantages that：Due to direct measurement bender bending cutter and
The bending speed of robot has difficulties, therefore the present invention uses round-about way, utilizes the bending of, robot and bending cutter
The time of both processes ensures uniformity.And by using grating scale feedback automatic measurement ＆ calculation bending cutter flexing movement when
Between, and the movement velocity of robot is calculated accordingly, after the automatic bending of No. 3 to 4 robots, robot can be found out automatically and most closed
Suitable bending speed, it is to avoid artificial to participate in adjustment, method of adjustment is scientific and reasonable, accurate reliable.
Brief description of the drawings
The present invention is described in further details below in conjunction with the drawings and specific embodiments：
Fig. 1 is space structure schematic diagram of the invention.
Embodiment
As shown in figure 1, a kind of robot bending speeds match adaptive approach of the invention, the hardware that methods described is related to
System includes grating scale, PLC and host computer, and grating scale is used for the position data for gathering bender bending cutter, and PLC is responsible for doubling
Tulwar has and the time of robot flexing movement carries out timing, and host computer is then used to calculate corresponding speed and send it to
Robot；The signal output part of grating scale and robot is electrically connected with PLC respectively, host computer monitoring PLC, obtains signal and time
Data, robot is transmitted to after being computed by speed data；
Methods described specifically includes following steps：
1) grating scale is arranged on bender, grating scale determines the current location of the bending cutter on bender, and
The value of grating scale is remedied to consistent with actual conditions；
2) think that 3mm/s speed difference is interval by host computer, successively the bending speed of change robot, and by
The corresponding bending time under each bending speed of PLC mensuration machine people, obtained data are imported into spreadsheet and by fitting
Function is fitted, and obtains robot bending speed and the fitting formula of bending time；Y=63.053x-1.3372, wherein, x is
The bending time of robot, unit s；Y is the bending speed of robot, and unit is mm/s.
3) grating scale that bending cutter is set in PLC starts position and final position, and bending cutter is using 30mm/ as acquiescence
Bending speed carry out bending, when bending cutter by grating scale starts position and final position, PLC will be respectively started and stop
Timer, thus records the bending time of bending cutter, juxtaposition flag bit；
4) host computer detects flag bit during PLC is scanned, when reading the bending for the bending cutter that PLC is recorded
Between, by bringing the bending time of bending cutter into step 2) in fitting formula can obtain the reference bending speed of robot；
If above-mentioned steps 3) bending cutter bending time for measuring is 1.635s, substitutes into fitting formula and obtains bending reference velocity and be
32.667mm/s；
5) host computer is by above-mentioned steps 4) obtain being transmitted to robot with reference to bending speed, robot carries out bending, surveyed by PLC
Determine robot and refer to the bending time under bending speed at this；
6) the bending time of contrast bending cutter and the bending time of robot, and obtain the time difference of the two,
If the time difference of the two is in default scope, using above-mentioned steps 4) in obtained reference bending speed as machine
The final bending speed of people；
If the time difference of the two exceeds default scope, the bending speed of robot is adjusted according to the magnitude relationship of the two,
Bending speed after adjustment is transmitted to robot by host computer, and robot carries out flexing movement again, and by PLC mensuration machine people again
Bending time under the bending speed, repeat step 6) up to the time difference of the two is in default scope, then by robot
Final bending speed as robot is finally adjusted to qualified bending speed.
Above-mentioned steps 6) specific robot bending speed adjustment embodiment it is as follows, first bending time of hypothesis bending cutter
With the preset range of the time difference of the bending time of robot in 0.03s,
If the time difference of the two is in the range of 0.03, with above-mentioned steps 4) in obtained reference bending speed
32.667mm/s is the final bending speed of robot
If the time difference of the two exceeds 0.03s scope, according to the magnitude relationship of the two, by following rule adjustment：Such as
The bending time of fruit bending cutter is more than more than robot bending time 0.1s, then robot speed reduces 3mm/s；If robot
The bending time is more than more than bending cutter bending time 0.1s, then robot speed's increase 3mm/s.If during bending cutter bending
Between be more than robot bending time 0.03s and less than 0.1s, then robot speed reduces 1mm/s；If the robot bending time is big
It is less than 0.1s in bending cutter bending time 0.03s bis-, then robot speed's increase 1mm/s.
Such as, the bending time for measuring robot is 1.51s, and now obvious robot motion is too fast and the time difference is more than
0.1, then 3mm/s is subtracted on the basis of reference velocity 32.667mm/s, the speed of robot is changed to 29.667mm/s, adjusted
After the completion of pass to robot, robot carries out flexing movement again, and by the folding under PLC again the mensuration machine people bending speed
Curved time, repeat step 6) until bending cutter the bending time and robot the bending time time difference in 0.03 scope
It is interior, then robot is finally adjusted to the final bending speed to qualified bending speed as robot.
In addition, the method for PLC mensuration machine people's bending times is as follows：Robot carry out bending when, robot start and
The position of bending in place provides signal to PLC respectively, and PLC calculates the time difference of two signals, that is, obtains the bending of robot
Time.
Claims (3)
1. a kind of robot bending speeds match adaptive approach, the hardware system that methods described is related to includes grating scale, PLC
And host computer, it is characterised in that：The signal output part of grating scale and robot is electrically connected with PLC respectively, host computer monitoring PLC,
Signal and time data are obtained, speed data is transmitted to robot after being computed；
Methods described specifically includes following steps：
1) grating scale is arranged on bender, grating scale determines the current location of the bending cutter on bender, and by light
The value of grid chi is remedied to consistent with actual conditions；
2) the host computer poor bending speed for interval, successively change robot, and by PLC measuring machines at a given speed is passed through
The corresponding bending time under each bending speed of device people, obtained data are imported into spreadsheet and intended by being fitted function
Close, obtain robot bending speed and the fitting formula of bending time；
3) grating scale that bending cutter is set in PLC starts position and final position, bending speed of the bending cutter to give tacit consent to
Bending is carried out, when bending cutter is by grating scale startup position and final position, PLC will be respectively started and stop timer, by
This records the bending time of bending cutter, juxtaposition flag bit；
4) host computer detects flag bit during PLC is scanned, and reads the bending time for the bending cutter that PLC is recorded,
By bringing the bending time of bending cutter into step 2) in fitting formula can obtain the reference bending speed of robot；
5) host computer is by above-mentioned steps 4) obtain being transmitted to robot with reference to bending speed, robot carries out bending, by PLC measuring machines
Device people refers to the bending time under bending speed at this；
6) the bending time of contrast bending cutter and the bending time of robot, and obtain the time difference of the two,
If the time difference of the two is in default scope, using above-mentioned steps 4) in obtained reference bending speed as robot
Final bending speed；
If the time difference of the two exceeds default scope, the bending speed of robot is adjusted according to the magnitude relationship of the two, it is upper
Bending speed after adjustment is transmitted to robot by machine, and robot carries out flexing movement again, and by PLC mensuration machine people foldings again
Bending time under curved speed, repeat step 6) up to the time difference of the two is in default scope, it is then that robot is last
Final bending speed as robot is adjusted to qualified bending speed.
2. a kind of robot bending speeds match adaptive approach according to claim 1, it is characterised in that：The PLC
The method of mensuration machine people's bending time is as follows：When robot carries out bending, start and the position of bending in place point in robot
Signal is not provided to PLC, PLC calculates the time difference of two signals, that is, obtain the bending time of robot.
3. a kind of robot bending speeds match adaptive approach according to claim 1 or 2, it is characterised in that：Step
2) in, when speed difference is 3mm/s, robot bending speed and the fitting formula of bending time are：Y=63.053x-1.3372, its
In, x is the bending time of robot, unit s；Y is the bending speed of robot, and unit is mm/s.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510762377.5A CN105334801B (en) | 2015-11-11 | 2015-11-11 | A kind of robot bending speeds match adaptive approach |
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| CN201510762377.5A CN105334801B (en) | 2015-11-11 | 2015-11-11 | A kind of robot bending speeds match adaptive approach |
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| CN105334801A CN105334801A (en) | 2016-02-17 |
| CN105334801B true CN105334801B (en) | 2017-10-13 |
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| CN109590356B (en) * | 2019-01-30 | 2020-06-16 | 福建渃博特自动化设备有限公司 | Bending following method and terminal |
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| EP2353748A1 (en) * | 2010-02-08 | 2011-08-10 | WAFIOS Aktiengesellschaft | Method and device for producing a bent component |
| CN103707299A (en) * | 2013-12-18 | 2014-04-09 | 南京埃斯顿机器人工程有限公司 | Method of implementing real-time bending follow of bending robot |
| CN104331022A (en) * | 2014-10-14 | 2015-02-04 | 福建骏鹏通信科技有限公司 | Industrial robot bending fast programming system |
| CN104475504A (en) * | 2014-11-04 | 2015-04-01 | 上海新时达电气股份有限公司 | Real time following method for robot bend and device thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6137324A (en) * | 1984-07-27 | 1986-02-22 | Nippon Kokan Kk <Nkk> | Press brake |
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|---|---|---|---|---|
| EP2353748A1 (en) * | 2010-02-08 | 2011-08-10 | WAFIOS Aktiengesellschaft | Method and device for producing a bent component |
| CN103707299A (en) * | 2013-12-18 | 2014-04-09 | 南京埃斯顿机器人工程有限公司 | Method of implementing real-time bending follow of bending robot |
| CN104331022A (en) * | 2014-10-14 | 2015-02-04 | 福建骏鹏通信科技有限公司 | Industrial robot bending fast programming system |
| CN104475504A (en) * | 2014-11-04 | 2015-04-01 | 上海新时达电气股份有限公司 | Real time following method for robot bend and device thereof |
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Effective date of registration: 20190121 Address after: 350000 Second Floor of Building 18, Taijiang Industrial Park, Jinshan Orange Garden Chau Industrial Zone, Cangshan District, Fuzhou City, Fujian Province Patentee after: Fujian Bote Ruo automation equipment Co. Address before: 350000 Building No. 19, Taijiang Garden, Orange Garden Island Industrial Park, 618 Jinshan Avenue, Cangshan District, Fuzhou City, Fujian Province Patentee before: FUJIAN JUNPENG COMMUNICATION TECHNOLOGY CO., LTD. |