CN109465316B - Intelligent integrated equipment and bending method applying same - Google Patents
Intelligent integrated equipment and bending method applying same Download PDFInfo
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- CN109465316B CN109465316B CN201810978246.4A CN201810978246A CN109465316B CN 109465316 B CN109465316 B CN 109465316B CN 201810978246 A CN201810978246 A CN 201810978246A CN 109465316 B CN109465316 B CN 109465316B
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- length
- stop finger
- lower die
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- 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
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- 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
- B21D5/06—Bending sheet metal along straight lines, e.g. to form simple curves by drawing procedure making use of dies or forming-rollers, e.g. making profiles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention discloses intelligent integrated equipment and a bending method applying the same, wherein the intelligent integrated equipment comprises a visual unit, a controller, a gripper, a displacement sensor and a manipulator; the invention realizes automatic identification of the type of the workpiece, can measure the size and the thickness of the workpiece, and automatically compensates the deviation of the size of the workpiece; the whole process of bending the workpiece is automated, and meanwhile, the influence of the dimensional deviation and the bending error on the dimensional error of the middle part of the workpiece is reduced by automatically compensating the dimensional deviation of the workpiece and adopting two bending reference surfaces; the automatic die shifting can be realized to change the length of the lower die assembly so as to match the size of a preprocessed part in a workpiece; the bending part of the workpiece which does not need to be bent can be avoided.
Description
Technical Field
The invention relates to the technical field of bending, in particular to intelligent integrated equipment and a bending method applying the same.
Background
At present, when bending many times to panel, generally need artifical supplementary can accomplish the overall process of bending to panel, need the manual work to select panel, recycle the manual work and place panel on the equipment of bending bend to panel, utilize the manual work to control the equipment of bending and bend to panel, need a large amount of human labor like this, the efficiency of bending is lower, through the manual operation equipment of bending, the condition that has the maloperation inevitably, the unqualified condition of bending often appears.
The existing bending equipment often adopts a datum plane to bend a plurality of positions of a plate, so that the bending error of the plate can be accumulated to one position, meanwhile, if the plate has size deviation, the size deviation and the bending error can be accumulated to one position, the error of the position is very large, and the bent product is not qualified. When the existing bending equipment bends a workpiece, if the lengths of some parts in the workpiece are different, a lower die assembly matched with the part with the longer length in the workpiece is often adopted; therefore, when the part with shorter length in the workpiece is bent, the part which does not need to be bent in the workpiece is also processed together; this also requires a lot of repair work and affects the aesthetics of the workpiece.
Disclosure of Invention
In view of the above disadvantages in the prior art, the present invention is to provide an intelligent integrated device and a bending method using the same.
The technical scheme adopted by the invention for solving the technical problem is a bending method applying intelligent integrated equipment, and is characterized by comprising the following steps of:
identifying a workpiece category;
calling a lower die component and bending parameters corresponding to the workpiece;
grabbing a workpiece to a pre-alignment workbench;
measuring the length dimensions of a first bending part and a second bending part in the workpiece;
the lower die is increased or decreased according to the length sizes of the first bending part and the second bending part of the workpiece, so that the length of the lower die assembly is matched with the length of the first bending part and the length of the second bending part of the workpiece;
determining a plurality of bending lines of a first bending part by using a rear stop finger as a reference surface so as to sequentially bend the workpiece along the plurality of bending lines in the first bending part; and turning the workpiece, determining a plurality of bending lines in the second bending position by using the front stop finger as a reference surface, and sequentially bending the workpiece along the plurality of bending lines in the second bending position.
Preferably, the method further comprises the steps of:
detecting the length size of the middle part in the workpiece;
the lower die is increased or decreased according to the length size of the middle part in the workpiece, so that the length of the lower die assembly corresponds to the length size of the middle part in the workpiece;
and determining a plurality of bending lines in the middle part by using the rear stop finger and the front stop finger as reference surfaces respectively, and sequentially bending the workpiece along the plurality of bending lines in the middle part.
Preferably, when the type of the workpiece is identified, the workpiece is photographed by infrared rays so as to acquire the characteristic points and the edge line shape of the workpiece to identify the type of the incoming workpiece.
Preferably, before the backstop finger and the front backstop finger are used as reference surfaces, the size deviation of the workpiece is obtained, and the relative positions of the backstop finger and the front backstop finger and the lower die are adjusted according to the size deviation of the workpiece.
Preferably, the bending parameters include a bending pressure.
An intelligent integrated device, characterized by; the method comprises the following steps:
a vision unit for identifying a category;
the controller is used for controlling and calling various lower die components and various bending parameters;
the gripper is used for gripping the workpiece and pushing the workpiece to the pre-alignment workbench;
the displacement sensor is used for measuring the length sizes of a first bending part and a second bending part in the workpiece;
the manipulator is used for shifting the mold to increase or decrease the lower mold so as to change the length of the lower mold assembly;
and the bending equipment is provided with a front stop finger and a rear stop finger, determines a plurality of bending lines in the first bending part and the second bending part by taking the front stop finger and the rear stop finger as reference surfaces for bending the workpiece, and bends the workpiece along the plurality of bending lines in the first bending part and the second bending part.
Preferably, the displacement sensor is also used to measure the length dimension of the intermediate portion in the workpiece.
Preferably, the vision unit comprises a camera for photographing the workpiece to acquire the feature points and the edge line shape of the workpiece.
Preferably, the controller is pre-stored with set workpiece dimension parameters, and the controller receives the workpiece dimension measured by the displacement sensor to further acquire the dimension deviation of the workpiece.
Preferably, the lower die assembly is formed by splicing a plurality of lower die assemblies.
The invention realizes the automatic identification of the thickness and the shape of the workpiece, can measure the size of the workpiece and automatically compensate the deviation of the size of the workpiece; the whole process of bending the workpiece is automated, and meanwhile, the influence on the critical dimension of the workpiece from two aspects of dimension deviation and bending error is reduced by automatically compensating the dimension deviation of the workpiece and adopting two reference surfaces; the automatic die shifting can be realized to change the length of the lower die assembly so as to match the size of a preprocessed part in a workpiece; the bending part of the workpiece which does not need to be bent can be avoided.
Drawings
FIG. 1 is a block diagram of the present invention;
FIG. 2 is a schematic view of a bent workpiece according to the present invention;
FIG. 3 is a front view of a workpiece being bent according to the present invention;
fig. 4 is a side view of the present invention after bending the workpiece.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
Referring to fig. 1 to 4, the present invention discloses an intelligent integrated device and a bending method using the same.
Example 1
The bending method of the intelligent integrated equipment is characterized by comprising the following steps:
identifying the thickness and shape of the workpiece 700; specifically, the vision unit 100 identifies the type of the workpiece 700, detects the thickness of the workpiece 700 by moving the upper die downward to give an initial pressure to the workpiece, and further determines which type of workpiece 700 the workpiece 700 is, in this embodiment, the intelligent integrated device can distinguish 1.5, 2.0, 2.5, 3.0, 4.0, 5.0, and 6.0 different thicknesses of the workpiece 700, and identify 200 different shapes and specifications of the workpieces 700 from six different thicknesses of the workpieces 700.
Calling a lower die assembly and bending parameters corresponding to the workpiece 700; the controller 200 is used for sending out instructions; when the specific type of the workpiece 700 is identified, a lower die assembly and bending parameters corresponding to the workpiece 700 are called through the controller 200, wherein the lower die assembly comprises a plurality of lower dies 310; specifically, the lower die assembly is adapted to the thickness of the workpiece 700; in the present embodiment; the controller 200 calls a machining program corresponding to the workpiece 700 according to the identified workpiece 700; the machining program comprises machining steps and bending parameters.
Grabbing the workpiece 700 to a pre-alignment workbench; the gripper 400 grips the workpiece 700 and places the workpiece 700 at a predetermined position, specifically, with the front catch finger 330 or the rear catch finger 340 as a reference surface, so that the workpiece 700 is stuck to the reference surface.
Measuring the length dimensions of a first bending part and a second bending part in the workpiece 700; and the length sizes of the first bending part and the second bending part are sensed through the displacement sensor.
The lower die 310 is increased or decreased according to the length and the size of the first bending part and the second bending part of the workpiece 700, so that the length of the lower die assembly is matched with the length of the first bending part and the second bending part of the workpiece 700; specifically, the same set of lower die assemblies are used to bend portions of the workpiece 700 having different lengths.
The workpiece 700 in this embodiment includes a middle portion, first bending portions located on both sides of the middle portion, second bending portions, two first connecting portions located near both ends of the first bending portions and connected to the middle portion, and two second connecting portions located near both ends of the second bending portions and connected to the middle portion. Gaps are formed between the two first connecting parts and the first bending parts, and gaps are formed between the two second connecting parts and the second bending parts; in this embodiment, the middle portion size is the critical size.
Determining a plurality of bending lines of a first bending part by using the rear stop finger 340 as a reference surface so that the workpiece 700 is bent along the plurality of bending lines in the first bending part in sequence; the workpiece 700 is turned around, a plurality of bending lines at the second bending portion are determined using the front catch finger 330 as a reference surface, and the workpiece 700 is sequentially bent along the plurality of bending lines at the second bending portion. In this embodiment, the bending lines of the first bending portion include a first bending line 710 and a second bending line 720; the plurality of bending lines in the second bending part comprise a third bending line 730 and a fourth bending line 740; according to the called processing program, the specific bending step is that a first bending part is made to be attached to the reference surface of the rear blocking finger 340, a first bending line 710 in the first bending part is determined, and the workpiece 700 is bent along the first bending line 710; adjusting the relative position between the backstop fingers 340 and the lower die 310 according to the machining program (i.e. adjusting the relative position between the workpiece 700 after the first bending and the lower die 310); the folded part of the first bending part is attached to the rear stop finger 340; the workpiece 700 is bent along a second bend line 720. Controlling the gripper 400 to move the workpiece 700 according to a machining program; turning the workpiece 700 around, enabling the first bending part of the workpiece 700 to be attached to the front stop finger 330 (namely, the bending part after the second bending is attached to the front stop finger 330), determining a third bending line 730, and bending the workpiece 700 along the third bending line 730; adjusting the relative position between the front catch fingers 330 and the lower mold 310; the folded portion of the third bend is brought into contact with the front catch finger 330 to define a fourth bend line 740, and the workpiece 700 is bent along the fourth bend line 740.
Preferably, the method further comprises the steps of:
detecting the length dimension of the middle part in the workpiece 700; the length of the intermediate portion is detected together with the length of the first bent portion and the length of the second bent portion.
Increasing or decreasing the lower die 310 according to the length of the middle part of the workpiece 700, so that the length of the lower die assembly corresponds to the length of the middle part of the workpiece 700;
determining a plurality of bending lines in the middle part by using the rear stop finger 340 and the front stop finger 330 as reference surfaces respectively and bending the workpiece 700 along the plurality of bending lines in the middle part in sequence; specifically, the bending lines in the middle include a fifth bending line 750 and a sixth bending line 760; according to the processing program, adjusting the relative position of the front stop finger 330 and the lower die 310 to enable the folded part after the fourth bending to be attached to the front stop finger 330, determining a fifth bending line 750, and bending the workpiece 700 along the fifth bending line 750; turning around the workpiece 700, adjusting the relative position of the rear stop finger 340 and the lower die 310, and determining a sixth bending line 760; causing the workpiece 700 to fold up along the sixth fold line 760.
Adjusting the length of the module assembly through a die shifting; the same set of modules can be bent to bend various parts of the workpiece 700 with different lengths; meanwhile, all steps of bending the workpiece 700 are intelligently controlled without manual assistance; moreover, all bending lines are determined by setting two reference surfaces of a front stop finger 330 and a rear stop finger 340; the bending errors are prevented from accumulating in the same location in the workpiece 700.
Preferably, when the feature points and the shape of the workpiece 700 are recognized, the workpiece 700 is photographed by infrared rays, and the feature points of the workpiece 700 and the edge line shape of the workpiece 700 are collected, specifically, the feature points are fabrication holes, mark points, and the like, and the feature points of different types of workpieces 700 are different.
Preferably, before the backing fingers 340 and the front fingers 330 are used as reference surfaces, the dimensional deviation of the workpiece 700 is acquired, and the relative positions of the backing fingers 330 and 340 and the lower die 310 are adjusted according to the dimensional deviation of the workpiece 700. Specifically, when the workpiece 700 has a dimensional deviation, the deviation is compensated by adjusting the relative positions of the front stop finger 330, the rear stop finger 340 and the lower die 310, and the deviation is transferred to a non-critical dimension without strict precision requirements, for example, the workpiece 700 with the deviation, both sides of the workpiece 700 need to be bent, if the dimensional precision of the part between the two sides is to be ensured; adjusting the relative positions of the rear stop fingers and the front stop fingers 330 and the lower die 310 to distribute the deviation of the workpiece 700 to both sides of the workpiece 700; the deviation of the workpiece 700 is prevented from being concentrated at the portion between the both sides.
Preferably, the bending parameters include bending pressure, different types of which require different bending pressures.
Example 2
An intelligent integrated device, characterized by; the method comprises the following steps:
a vision unit 100 for identifying a category of the workpiece 700; the vision unit 100 has a camera for taking pictures of the workpiece 700; the feature points and the shapes of the workpieces 700 are collected, and then compared with the feature points and the shapes of various workpieces 700 stored in advance, and then the specific types of the workpieces 700 are identified.
The controller 200 is used for controlling and calling various lower die assemblies and various bending parameters; the gripper 400, the manipulator 600 and the upper die 320 are controlled by sending instructions and used for setting a processing program to control the whole bending process. The multiple bends are pre-stored in the smart integrated device for recall by the controller 200 when a particular type of workpiece 700 is identified.
The gripper 400 is used for gripping the workpiece 700 and pushing the workpiece 700 to a pre-alignment workbench;
a displacement sensor 500 for measuring the length dimensions of the first bending portion and the second bending portion in the workpiece 700;
a manipulator 600 for shifting the mold to increase or decrease the lower mold 310 and thus change the length of the lower mold assembly; the lower die assembly includes a plurality of separable, modular lower dies 310.
The bending apparatus 300 has a front stop finger 330 and a back stop finger 340, determines a plurality of bending lines in a first bending portion and a second bending portion using the front stop finger 330 and the back stop finger 340 as reference surfaces for bending the workpiece 700, and bends the workpiece 700 along the plurality of bending lines in the first bending portion and the second bending portion.
Preferably, the displacement sensor 500 is also used to measure the length dimension of the middle portion of the workpiece 700. The length of the intermediate portion of the workpiece 700 may be measured along with the length dimensions of the first bend, the second bend, and the dimensional deviation of the workpiece 700 in the workpiece 700.
Preferably, the vision unit 100 includes a camera for taking a picture of the workpiece 700 to capture the edge line shape of the workpiece 700 and determine the workpiece type.
Preferably, the controller 200 is pre-stored with set dimensional parameters of the workpiece 700, the controller 200 receives the dimension of the workpiece 700 measured by the displacement sensor 500 to further obtain a dimensional deviation of the workpiece 700, after the dimensional deviation of the workpiece 700 is obtained, the compensation parameters pre-stored in the controller 200 are called, the relative positions of the front stop finger 330, the rear stop finger 340 and the lower die 310 are adjusted according to the compensation parameters (i.e., the relative positions of the front stop finger 340, the rear stop finger 340 and the workpiece 700 are adjusted, and the position of the bending line on the workpiece 700 is changed), the dimensional deviation is distributed to two outer sides of the workpiece 700 (the dimensional accuracy of the two outer sides is not high), and the dimensional accuracy (i.e., the accuracy of the critical dimension) of the part between the two outer sides of the workpiece 700 is ensured.
Preferably, the lower mold assembly is assembled by a plurality of lower molds 310.
The invention realizes automatic identification of the thickness and the shape of the workpiece 700, can measure the size of the workpiece 700 and automatically compensate the deviation of the size of the workpiece 700; the bending angle of the workpiece 700 is automatically corrected, automation is carried out on the whole process of bending the workpiece, and meanwhile, the influence of the size deviation and the bending error on the precision of the critical dimension of the workpiece 700 is reduced by automatically compensating the size deviation of the workpiece and adopting two reference surfaces; automatic die shifting can be achieved to change the length of the lower die assembly to match the size of the pre-machined portion in the workpiece 700; bending of portions of the workpiece 700 that do not require bending may be avoided.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (8)
1. The bending method of the intelligent integrated equipment is characterized by comprising the following steps:
identifying a category of the workpiece;
calling a lower die component and bending parameters corresponding to the workpiece;
grabbing a workpiece to a pre-alignment workbench;
measuring the length dimensions of a first bending part and a second bending part in the workpiece;
the lower die is increased or decreased according to the length sizes of the first bending part and the second bending part of the workpiece, so that the length of the lower die assembly is matched with the length of the first bending part and the length of the second bending part of the workpiece;
determining a plurality of bending lines of a first bending part by using a rear stop finger as a reference surface, and sequentially bending the workpiece along the plurality of bending lines in the first bending part; and turning the workpiece, determining a plurality of bending lines in the second bending position by using the front stop finger as a reference surface, and sequentially bending the workpiece along the plurality of bending lines in the second bending position.
2. The bending method using the intelligent integrated device according to claim 1, wherein: further comprising the steps of:
detecting the length size of the middle part in the workpiece;
the lower die is increased or decreased according to the length of the middle part in the workpiece, so that the length of the lower die assembly is matched with the length of the middle part in the workpiece;
and determining a plurality of bending lines in the middle part by using the rear stop finger and the front stop finger as reference surfaces respectively, and sequentially bending the workpiece along the plurality of bending lines in the middle part.
3. The bending method using the intelligent integrated device according to claim 2, wherein: when the workpiece type is identified, infrared shooting is carried out on the workpiece, and the workpiece type is identified by collecting the characteristic points and the edge line shape of the workpiece.
4. The bending method using the intelligent integrated device according to claim 2, wherein: before the rear stop finger and the front stop finger are used as reference surfaces, the size deviation of the workpiece is obtained through a displacement sensor, and the relative position of the front stop finger and the rear stop finger is adjusted according to the size deviation of the workpiece.
5. An intelligent integrated device, characterized by; the method comprises the following steps:
a vision unit for identifying the category of the workpiece;
the controller is used for controlling and calling various lower die components and various bending parameters;
the gripper is used for gripping the workpiece and pushing the workpiece to the pre-alignment workbench;
the displacement sensor is used for measuring the length sizes of the first bending part, the second bending part and the middle part in the workpiece;
the manipulator is used for shifting the mold to increase or decrease the lower mold so as to change the length of the lower mold assembly;
and the bending equipment is provided with a front stop finger and a rear stop finger, determines a plurality of bending lines in the first bending part and the second bending part by taking the front stop finger and the rear stop finger as reference surfaces for bending the workpiece, and bends the workpiece along the plurality of bending lines in the first bending part and the second bending part.
6. The intelligent integrated device of claim 5, wherein: the vision unit is used for carrying out infrared photographing on the workpiece so as to acquire the characteristic points and the edge line shape of the workpiece to identify the type of the workpiece.
7. The intelligent integrated device of claim 5, wherein: the controller is pre-stored with set workpiece size parameters, and receives the workpiece size measured by the displacement sensor to further obtain the size deviation of the workpiece.
8. The intelligent integrated device of claim 5, wherein: the lower die assembly is formed by splicing a plurality of lower die assemblies.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810978246.4A CN109465316B (en) | 2018-08-27 | 2018-08-27 | Intelligent integrated equipment and bending method applying same |
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| CN201810978246.4A CN109465316B (en) | 2018-08-27 | 2018-08-27 | Intelligent integrated equipment and bending method applying same |
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| CN109465316A CN109465316A (en) | 2019-03-15 |
| CN109465316B true CN109465316B (en) | 2020-04-17 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110711800B (en) * | 2019-08-29 | 2021-03-30 | 郑子姣 | Control method for width error and splicing error of elevator car wall |
| CN110722070B (en) * | 2019-09-11 | 2021-05-18 | 佛山市德展精密科技有限公司 | Robot workstation of bending |
| CN112275847B (en) * | 2020-09-15 | 2024-01-19 | 大族激光科技产业集团股份有限公司 | Bending system and method for machining by using robot and machine vision |
| CN113894601A (en) * | 2021-09-28 | 2022-01-07 | 广东利泰丰科技有限公司 | Automatic grabbing and processing method for precision part |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US3592033A (en) * | 1969-06-30 | 1971-07-13 | Donald F Murdoch | Automatic stop gauge for power means |
| JP4899802B2 (en) * | 2006-11-02 | 2012-03-21 | 村田機械株式会社 | Bending machine with bending length adjustment mechanism |
| CN101644921B (en) * | 2009-08-05 | 2011-07-20 | 无锡信捷电气有限公司 | Improved method for designing numerical control bending of plate |
| AT509857B1 (en) * | 2010-08-05 | 2011-12-15 | Trumpf Maschinen Austria Gmbh | BENDING COMPRESSION WITH A COMPONENT POSITIONING DEVICE AND A METHOD OF OPERATION |
| CN204208945U (en) * | 2014-09-17 | 2015-03-18 | 哈尔滨恒誉名翔科技有限公司 | The bender Working control device that a kind of view-based access control model is measured |
| CN104259318B (en) * | 2014-09-26 | 2016-04-27 | 上海瑞铁数控机床有限公司 | The automatic modular system of plate bending machine |
| CN104438488B (en) * | 2014-10-20 | 2016-07-27 | 上海新时达电气股份有限公司 | The bearing calibration of robot bending blowing pose and device thereof |
| CN104942052A (en) * | 2015-06-22 | 2015-09-30 | 苏州边桐传感科技有限公司 | Phased bending device with thickness detection function and positioning control function |
| CN105458075B (en) * | 2015-12-31 | 2018-08-21 | 沧州惠邦机电产品制造有限责任公司 | A kind of fast spelling formula combination bending fixture |
| CN206794439U (en) * | 2017-09-30 | 2017-12-26 | 安徽东海机床制造有限公司 | A kind of 8+1 axles high-performance intelligent numerical control apparatus for bending and its rear stock stop |
| CN207655676U (en) * | 2017-10-25 | 2018-07-27 | 湖北星星轮毂有限公司 | A kind of full-automatic numerical control processing bender |
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Effective date of registration: 20211216 Address after: 315113 Zhejiang city of Ningbo province Yinzhou District east Wu Village Patentee after: NINGBO XINDA ELEVATOR ACCESSORIES Co.,Ltd. Address before: 315113 Zhejiang city of Ningbo province Yinzhou District east Wu Village Patentee before: NINGBO XINDA GROUP Co.,Ltd. |
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