CN108838246B - 一种精确获得机器人折弯角度的方法 - Google Patents
一种精确获得机器人折弯角度的方法 Download PDFInfo
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- CN108838246B CN108838246B CN201810220700.XA CN201810220700A CN108838246B CN 108838246 B CN108838246 B CN 108838246B CN 201810220700 A CN201810220700 A CN 201810220700A CN 108838246 B CN108838246 B CN 108838246B
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- bending
- shaped groove
- robot
- angle
- lower die
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- 238000005452 bending Methods 0.000 title claims abstract description 150
- 238000000034 method Methods 0.000 title claims abstract description 51
- 229910052751 metal Inorganic materials 0.000 claims abstract description 72
- 239000002184 metal Substances 0.000 claims abstract description 72
- 230000007704 transition Effects 0.000 claims abstract description 35
- 238000007723 die pressing method Methods 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 239000007769 metal material Substances 0.000 abstract description 5
- 238000004364 calculation method Methods 0.000 description 5
- 238000003825 pressing Methods 0.000 description 5
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 4
- 230000007935 neutral effect Effects 0.000 description 4
- 229910001369 Brass Inorganic materials 0.000 description 3
- 239000010951 brass Substances 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 2
- 239000010960 cold rolled steel Substances 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910000906 Bronze Inorganic materials 0.000 description 1
- 229910001209 Low-carbon steel Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 239000010974 bronze Substances 0.000 description 1
- KUNSUQLRTQLHQQ-UHFFFAOYSA-N copper tin Chemical compound [Cu].[Sn] KUNSUQLRTQLHQQ-UHFFFAOYSA-N 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000013332 literature search Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000037303 wrinkles Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/004—Bending sheet metal along straight lines, e.g. to form simple curves with program control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/006—Bending sheet metal along straight lines, e.g. to form simple curves combined with measuring of bends
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
Description
材料 | 软黄铜、铜 | 黄铜、铜、软钢 | 硬黄铜、青铜、冷轧钢、铝 |
折弯系数K | 0.35 | 0.41 | 0.45 |
Claims (6)
Priority Applications (1)
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CN201810220700.XA CN108838246B (zh) | 2018-03-16 | 2018-03-16 | 一种精确获得机器人折弯角度的方法 |
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CN201810220700.XA CN108838246B (zh) | 2018-03-16 | 2018-03-16 | 一种精确获得机器人折弯角度的方法 |
Publications (2)
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CN108838246A CN108838246A (zh) | 2018-11-20 |
CN108838246B true CN108838246B (zh) | 2020-05-22 |
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Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020163997A1 (zh) * | 2019-02-12 | 2020-08-20 | 深圳配天智能技术研究院有限公司 | 折弯跟随轨迹规划方法、折弯***、机器人和存储装置 |
CN112453132B (zh) * | 2019-09-09 | 2022-10-14 | 河南森源重工有限公司 | 一种u型臂体折弯控制方法及装置 |
CN114505374A (zh) * | 2022-02-25 | 2022-05-17 | 北京计算机技术及应用研究所 | 一种应用于自动折弯的实时跟随折弯与回弹消除方法 |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101644921A (zh) * | 2009-08-05 | 2010-02-10 | 无锡信捷电气有限公司 | 一种改进型板料数控折弯设计方法 |
JP4587526B2 (ja) * | 2000-06-05 | 2010-11-24 | 株式会社アマダ | 曲げ加工装置 |
CN103707299A (zh) * | 2013-12-18 | 2014-04-09 | 南京埃斯顿机器人工程有限公司 | 一种实现折弯机器人折弯实时跟随的方法 |
CN103778322A (zh) * | 2014-01-03 | 2014-05-07 | 东南大学 | 一种折弯机上模滑块进深控制方法 |
CN104475504A (zh) * | 2014-11-04 | 2015-04-01 | 上海新时达电气股份有限公司 | 机器人折弯实时跟随方法及其装置 |
CN106295055A (zh) * | 2016-08-22 | 2017-01-04 | 南京埃斯顿自动化股份有限公司 | 一种对上模进深进行折弯回弹补偿的折弯机折弯方法 |
CN106393066A (zh) * | 2016-10-19 | 2017-02-15 | 上海发那科机器人有限公司 | 一种使用机器人实现折弯跟踪的方法 |
JP2017159327A (ja) * | 2016-03-10 | 2017-09-14 | 株式会社アマダホールディングス | 曲げ加工システム及び曲げ加工方法 |
-
2018
- 2018-03-16 CN CN201810220700.XA patent/CN108838246B/zh active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4587526B2 (ja) * | 2000-06-05 | 2010-11-24 | 株式会社アマダ | 曲げ加工装置 |
CN101644921A (zh) * | 2009-08-05 | 2010-02-10 | 无锡信捷电气有限公司 | 一种改进型板料数控折弯设计方法 |
CN103707299A (zh) * | 2013-12-18 | 2014-04-09 | 南京埃斯顿机器人工程有限公司 | 一种实现折弯机器人折弯实时跟随的方法 |
CN103778322A (zh) * | 2014-01-03 | 2014-05-07 | 东南大学 | 一种折弯机上模滑块进深控制方法 |
CN104475504A (zh) * | 2014-11-04 | 2015-04-01 | 上海新时达电气股份有限公司 | 机器人折弯实时跟随方法及其装置 |
JP2017159327A (ja) * | 2016-03-10 | 2017-09-14 | 株式会社アマダホールディングス | 曲げ加工システム及び曲げ加工方法 |
CN106295055A (zh) * | 2016-08-22 | 2017-01-04 | 南京埃斯顿自动化股份有限公司 | 一种对上模进深进行折弯回弹补偿的折弯机折弯方法 |
CN106393066A (zh) * | 2016-10-19 | 2017-02-15 | 上海发那科机器人有限公司 | 一种使用机器人实现折弯跟踪的方法 |
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Application publication date: 20181120 Assignee: Wuhan Yuzhi Technology Co.,Ltd. Assignor: WUHAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2022420000133 Denomination of invention: A method for accurately obtaining bending angle of robot Granted publication date: 20200522 License type: Common License Record date: 20221122 |
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Application publication date: 20181120 Assignee: Wuhan Dayan Precision Photoelectric Technology Co.,Ltd. Assignor: WUHAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2024980006632 Denomination of invention: A method for accurately obtaining the bending angle of robots Granted publication date: 20200522 License type: Common License Record date: 20240604 Application publication date: 20181120 Assignee: Espoo (Wuhan) Technology Co.,Ltd. Assignor: WUHAN University OF SCIENCE AND TECHNOLOGY Contract record no.: X2024980006631 Denomination of invention: A method for accurately obtaining the bending angle of robots Granted publication date: 20200522 License type: Common License Record date: 20240604 |
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