CN109590355B - Method and terminal for taking out plate - Google Patents

Abstract

The invention relates to a method and a terminal for taking out a plate, and belongs to the field of industrial automation control. According to the invention, when a plate is bent to a preset target bending angle by a bending machine according to a first bending line, an upper die and a manipulator of the bending machine synchronously move upwards by a preset target displacement amount vertically; establishing a coordinate system; controlling the manipulator to move a preset first distance along the positive direction of the X axis of a coordinate system, so that the vertical distance between the vertical projection of the upper die of the bending machine on the plate and the first bending line is greater than a preset first interval threshold value; and controlling the manipulator to move a preset second distance along the Z-axis negative direction of the coordinate system. The yield of bending products is improved.

Description

Method and terminal for taking out plate

Technical Field

The invention relates to a method and a terminal for taking out a plate, and belongs to the field of industrial automation control.

Background

At present, a common automatic bending method of a machine is that when a bending machine is matched with a manipulator to bend a plate to a target bending angle, an upper die of the bending machine moves upwards, and the manipulator takes out the bent plate immediately. The bending method is easy to cause plate deformation, and the yield of the bent product is low.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: how to improve the qualification rate of bending products.

In order to solve the technical problems, the invention adopts the technical scheme that:

the invention provides a method for taking out a plate, which comprises a bending machine and a manipulator; the bending machine comprises an upper bending machine die and a lower bending machine die; the upper die of the bending machine is parallel and opposite to the lower die of the bending machine; a groove is formed in the lower die of the bending machine; the manipulator is used for grabbing the plate;

when the bending machine bends the plate to a preset target bending angle according to the first bending line,

the upper die and the manipulator of the bending machine synchronously move upwards vertically by a preset target displacement;

establishing a coordinate system; the coordinate system takes the position of the tip of an upper die of the bending machine as an original point, the upward direction perpendicular to the upper end surface of the plate is the positive direction of a Z axis, the perpendicular line passing through the original point and making the first bending line is an X axis, the direction of the original point towards the first bending line is the positive direction of the X axis, and the Y axis direction is determined by the X axis direction and the Z axis direction according to a right hand rule;

controlling the manipulator to move a preset first distance along the positive direction of the X axis of a coordinate system, so that the vertical distance between the vertical projection of the upper die of the bending machine on the plate and the first bending line is greater than a preset first interval threshold value;

and controlling the manipulator to move a preset second distance along the Z-axis negative direction of the coordinate system.

Preferably, before controlling the manipulator to move a preset second distance in the negative direction of the Z-axis of the coordinate system, the method further includes:

controlling the manipulator to rotate counterclockwise around a Z axis of the coordinate system by a preset rotation angle, so that the vertical distance between one end point of the vertical projection of the upper die of the bending machine on the plate and a second bending line is greater than a preset second interval threshold value, and the vertical distance between the other end point of the vertical projection of the upper die of the bending machine on the plate and a third bending line is greater than the second interval threshold value;

the second bending line and the third bending line are positioned on two sides of the upper die of the bending machine; the end point is close to the second bending line; the other end point is close to the third bending line.

Preferably, before controlling the manipulator to rotate counterclockwise by a preset rotation angle around the Z axis of the coordinate system, so that a vertical distance between one end of a vertical projection of the upper die on the plate and a second bending line of the bending machine is greater than a preset second distance threshold value, and a vertical distance between the other end of the vertical projection of the upper die on the plate and a third bending line of the bending machine is greater than the second distance threshold value, the method further includes:

calculating the preset rotation angle according to a preset first formula;

the first formula is specifically:

φ＝arctan((1/3)*L₂/L₃)

wherein φ is the predetermined angle of rotation, L₂The L3 is a distance between the center point of the manipulator and an end point of the lower die of the bending machine when the plate is horizontally placed on the lower die of the bending machine.

Preferably, the upper die and the manipulator of the bending machine synchronously move vertically upwards by a preset target displacement, specifically:

when the upper die of the bending machine reaches a preset bending termination point,

s1, controlling the upper die of the bending machine to vertically move upwards by a preset second displacement;

s2, acquiring the position information of the upper die of the bending machine in real time to obtain the current position information;

s3, calculating the distance between the upper die and the manipulator of the bending machine according to the current position information to obtain a third displacement;

s4, controlling the manipulator to move vertically upwards by the third displacement;

and repeatedly executing S1-S4 until the total displacement of the upper die of the bending machine is the target displacement.

Preferably, before controlling the manipulator to move a preset first distance in the positive direction of the X axis of the coordinate system, so that the vertical distance between the vertical projection of the upper die on the plate and the first bending line of the bending machine is greater than a preset first distance threshold, the method further includes:

calculating the preset first distance according to a preset second formula;

the second formula specifically includes:

L₁＝(1/3)L₂

wherein L is₁Is the preset first distance, L₂The vertical distance between the center point of the manipulator and the first bending line is set.

The invention also provides a terminal for taking out the plate, which comprises a bending machine and a manipulator; the bending machine comprises an upper bending machine die and a lower bending machine die; the upper die of the bending machine is parallel and opposite to the lower die of the bending machine; a groove is formed in the lower die of the bending machine; the manipulator is used for grabbing the plate; further comprising one or more processors and memory, the memory storing a program and configured to perform the following steps by the one or more processors:

when the bending machine bends the plate to a preset target bending angle according to the first bending line,

the upper die and the manipulator of the bending machine synchronously move upwards vertically by a preset target displacement;

establishing a coordinate system; the coordinate system takes the position of the tip of an upper die of the bending machine as an original point, the upward direction perpendicular to the upper end surface of the plate is the positive direction of a Z axis, the perpendicular line passing through the original point and making the first bending line is an X axis, the direction of the original point towards the first bending line is the positive direction of the X axis, and the Y axis direction is determined by the X axis direction and the Z axis direction according to a right hand rule;

controlling the manipulator to move a preset first distance along the positive direction of the X axis of a coordinate system, so that the vertical distance between the vertical projection of the upper die of the bending machine on the plate and the first bending line is greater than a preset first interval threshold value;

and controlling the manipulator to move a preset second distance along the Z-axis negative direction of the coordinate system.

Preferably, before controlling the manipulator to move a preset second distance in the negative direction of the Z-axis of the coordinate system, the method further includes:

controlling the manipulator to rotate counterclockwise around a Z axis of the coordinate system by a preset rotation angle, so that the vertical distance between one end point of the vertical projection of the upper die of the bending machine on the plate and a second bending line is greater than a preset second interval threshold value, and the vertical distance between the other end point of the vertical projection of the upper die of the bending machine on the plate and a third bending line is greater than the second interval threshold value;

the second bending line and the third bending line are positioned on two sides of the upper die of the bending machine; the end point is close to the second bending line; the other end point is close to the third bending line.

Preferably, before controlling the manipulator to rotate counterclockwise by a preset rotation angle around the Z axis of the coordinate system, so that a vertical distance between one end of a vertical projection of the upper die on the plate and a second bending line of the bending machine is greater than a preset second distance threshold value, and a vertical distance between the other end of the vertical projection of the upper die on the plate and a third bending line of the bending machine is greater than the second distance threshold value, the method further includes:

calculating the preset rotation angle according to a preset first formula;

the first formula is specifically:

φ＝arctan((1/3)*L₂/L₃)

wherein φ is the predetermined angle of rotation, L₂The L3 is a distance between the center point of the manipulator and an end point of the lower die of the bending machine when the plate is horizontally placed on the lower die of the bending machine.

Preferably, the upper die and the manipulator of the bending machine synchronously move vertically upwards by a preset target displacement, specifically:

when the upper die of the bending machine reaches a preset bending termination point,

s1, controlling the upper die of the bending machine to vertically move upwards by a preset second displacement;

s2, acquiring the position information of the upper die of the bending machine in real time to obtain the current position information;

s3, calculating the distance between the upper die and the manipulator of the bending machine according to the current position information to obtain a third displacement;

s4, controlling the manipulator to move vertically upwards by the third displacement;

and repeatedly executing S1-S4 until the total displacement of the upper die of the bending machine is the target displacement.

Preferably, before controlling the manipulator to move a preset first distance in the positive direction of the X axis of the coordinate system, so that the vertical distance between the vertical projection of the upper die on the plate and the first bending line of the bending machine is greater than a preset first distance threshold, the method further includes:

calculating the preset first distance according to a preset second formula;

the second formula specifically includes:

L₁＝(1/3)L₂

wherein L is₁Is the preset first distance, L₂The vertical distance between the center point of the manipulator and the first bending line is set.

The invention has the following beneficial effects:

1. the invention provides a method and a terminal for taking out a plate, which are different from the prior art, wherein when a bending machine is matched with a manipulator to bend the plate to a target bending angle, an upper die of the bending machine moves upwards, and the manipulator takes out the bent plate immediately; when the direction of bending is upwards, the condition of being close to the mould on the bender may appear on the limit that just has just been bent in the plate for mould on the bender is easily collided with the limit that the plate has been bent at the in-process that shifts up, causes this limit of bending to warp, and the qualification rate of the product of bending is low. The manipulator and the upper die of the bending machine are controlled to move upwards synchronously, so that the friction collision between the upper die of the bending machine and a plate is reduced obviously in the process of moving upwards; after the mould and the manipulator on the bender shift up certain displacement volume, control the manipulator and remove predetermined first distance along coordinate system X axle positive direction to make the limit that just has bent remove towards the direction of keeping away from mould far away on the bender, thereby when making the manipulator snatch the plate and remove towards the Z axle negative direction of coordinate system, the mould can not rub and collide with the limit that just has bent on the bender. In the whole process of taking out the bent plate from the bending machine by the manipulator, the probability of frictional collision between the upper die and the bent edge of the bending machine is extremely low, bent products are not easy to deform, and the qualification rate of the bent products is greatly improved.

2. Further, the length of the upper die of the bending machine is approximately the same as that of the bent plate, and before the plate is taken out by the manipulator along the negative direction of the Z axis of the coordinate system, the plate is rotated around the Z axis of the coordinate system, so that the upper die of the bending machine is close to the diagonal direction of the plate, and the bending machine is far away from the bending edges on two sides of the bending machine in situ; the condition that the bending product is deformed due to collision friction between the bending edges of the upper die and the two sides of the bending machine when the manipulator takes out the plate along the negative direction of the Z axis of the coordinate system is effectively avoided, and therefore the qualification rate of the bending product is improved.

3. Furthermore, the rotation angle is set according to the actual size of the plate and the grabbing position of the manipulator, the manipulator is controlled to grab the plate and rotate the rotation angle, so that the bending edges on the two sides of the upper die of the bending machine are far away from the upper die of the bending machine, the rotation angle can be adjusted by acquiring corresponding parameters in real time in the bending process, the plate bending machine is flexibly suitable for plates with different sizes and different manipulator grabbing positions, the rotation angle set according to the actual situation is more favorable for ensuring that the upper die of the bending machine is far away from the bending edges on the two sides in situ after the plate rotates, and the qualification rate of.

4. Further, the bending machine stops immediately after the upper die of the bending machine moves upwards by a certain displacement from a bending termination point, the displacement required to move upwards at present of the manipulator is calculated according to the current actual position of the upper die of the bending machine, the manipulator is controlled to closely follow the upper die of the bending machine so as to prevent the upper die of the bending machine from generating large friction collision with a bending edge on a plate, the upper die of the bending machine moves upwards repeatedly, the manipulator closely follows the upper die of the bending machine and other series of actions until the total displacement of the upper die of the bending machine reaches a preset target displacement, and the manipulator has enough space to take the plate out of the bending machine. According to the plate taking-out device, in the plate taking-out process, the process that the upper die of the bending machine and the manipulator synchronously move upwards is performed in a segmented mode, the displacement of the manipulator which needs to move upwards each time is calculated according to the real-time position of the upper die of the bending machine, the situation that the manipulator cannot follow the upper die of the bending machine is avoided, the upper die of the bending machine and the manipulator synchronously move in the same direction, the friction between the upper die of the bending machine and the bending edge of the plate is small in the moving-up process, the bending edge of the plate is not prone to deformation, and the qualified.

5. Furthermore, according to the invention, a first distance for the manipulator to move towards the X-axis square of the coordinate system is set according to the actual size of the plate and the grabbing position of the manipulator, and the manipulator is controlled to grab the plate to move, so that the upper die of the bending machine is far away from the bending edge parallel to the upper die of the bending machine, the first distance can be adjusted by acquiring corresponding parameters in real time in the bending process, the plate bending machine is flexibly suitable for plates with different sizes and different manipulator grabbing positions, the first distance set according to the actual condition is more favorable for ensuring that the upper die of the bending machine is far away from the bending edge in front of the upper die after the plate moves, and the.

Drawings

FIG. 1 is a block flow diagram of an embodiment of a method for removing a panel provided by the present invention;

FIG. 2 is a schematic view of a bending machine;

FIG. 3 is a schematic view of a bending line;

FIG. 4 is a first schematic view of a bending process;

FIG. 5 is a second schematic view of a bending process;

FIG. 6 is a third schematic view of a bending process;

FIG. 7 is a fourth schematic illustration of a bending process;

FIG. 8 is a fifth schematic view of a bending process;

FIG. 9 is a sixth schematic illustration of a bending process;

FIG. 10 is a seventh schematic view of a bending process;

FIG. 11 is an eighth schematic illustration of a bending process;

FIG. 12 is a block diagram of an embodiment of a board removal terminal according to the present invention;

description of reference numerals:

1. an upper die of a bending machine; 2. a bending machine lower die; 3. a groove; 4. a plate member; 5. a first bend line; 6. a second bend line; 7. a third bend line; 8. a processor; 9. a memory.

Detailed Description

The invention is described in detail below with reference to the figures and the specific embodiments.

Referring to fig. 1 to 12 of the drawings,

the first embodiment of the invention is as follows:

as shown in fig. 1 and 2, the present embodiment provides a method for removing a plate member, including a bending machine and a robot; the bending machine comprises a bending machine upper die 1 and a bending machine lower die 2; the upper die of the bending machine is parallel and opposite to the lower die of the bending machine; a groove 3 is formed in the lower die of the bending machine; the manipulator is used for grabbing the plate 4;

s1, when the bending machine bends the plate to a preset target bending angle according to the first bending line 5, enabling the upper die and the manipulator of the bending machine to synchronously vertically move upwards by a preset target displacement.

The bending line schematic diagram is shown in fig. 3, the bending machine and the manipulator cooperate to hem the plate according to the first bending line 5, when one side of the plate is bent to a target bending angle according to the first bending line 5, the manipulator needs to take out the plate from the bending machine to rotate so as to hem the plate according to another bending line, or to complete a bending operation to take out the plate and place the plate at a fixed position.

The method specifically comprises the following steps:

when the upper die of the bending machine reaches a preset bending termination point,

and S11, controlling the upper die of the bending machine to vertically move upwards by a preset second displacement.

When the upper die of the bending machine reaches a preset bending termination point, the fact that the edge folding operation for the first bending line is completed is indicated, and the upper die of the bending machine needs to be lifted subsequently to take out the plate. The second displacement is very small, and the bending edge of the plate cannot deform in the upward moving process of the upper die of the bending machine.

And S12, acquiring the position information of the upper die of the bending machine in real time to obtain the current position information.

Wherein, the displacement volume that mould vertically shifted up is fixed unchangeably on the host computer of bender every turn control bender, but because external factors's effect, the displacement volume that actually shifts up of mould on the bender probably does not accord with the presetting, consequently, this embodiment shifts up the mould on the bender after the operation, acquires the current position information of mould on the bender in real time, the displacement volume that actually shifts up of mould on the bender this time is obtained to the accurate, with this accurate calculation reachs the displacement volume that the manipulator need shift up this time, in order to realize mould and manipulator synchronization on the bender.

And S13, calculating the distance between the upper die and the manipulator of the bending machine according to the current position information to obtain a third displacement.

And S14, controlling the manipulator to move vertically upwards by the third displacement.

And repeatedly executing S11-S14 until the total displacement of the upper die of the bending machine is the target displacement.

For example, as shown in fig. 4, when the upper die of the bending machine reaches a predetermined bending termination point, the bending operation corresponding to the first bending line is completed. As shown in fig. 5, the upper die and the robot of the bending machine are synchronously moved upward by a preset target displacement amount in cooperation, and the plate is synchronously moved upward by the upward force of the robot.

Wherein, this embodiment is from bending the termination point, stop immediately after the mould shifts up certain displacement volume on the bender, the displacement volume that the manipulator needs to shift up at present is calculated according to the mould current actual position on the bender, and control manipulator and follow closely to mould on the bender, so that mould and the edge of bending on the plate produce great friction collision on the bender, mould shifts up on the repeated execution bender, manipulator follows closely to mould a series of actions such as the bender, the total displacement volume of mould reaches predetermined target displacement volume on the bender, make the manipulator have sufficient space to take out the plate from the bender. Because this embodiment is at the in-process of taking out the plate, the process segmentation that mould and manipulator moved up in step goes on in the bender, and the displacement volume that the manipulator need shift up each time all calculates according to the real-time position of mould on the bender and obtains, the manipulator can not appear and can not follow the condition of mould on the bender, the synchronous syntropy motion of mould and manipulator on the bender has been guaranteed, thereby it is little with the friction on the limit of bending on the plate to make the mould on the bender shift up in-process, the limit non-deformable of bending of plate, the qualification rate of the product of bending has been.

S2, establishing a coordinate system; the coordinate system uses the most advanced position of mould on the bender is the original point, and is perpendicular the ascending direction of plate up end is Z axle positive direction, crosses the original point is done the perpendicular line of first line of bending is the X axle, the original point court the direction of first line of bending is X axle positive direction, and Y axle direction is confirmed according to the right-hand rule by X axle direction and Z axle direction.

Wherein the coordinate system is shown in fig. 5, PnE is the position of the robot for grabbing the plate, i.e. the origin of the coordinate system.

S3, controlling the manipulator to move a preset first distance along the positive direction of the X axis of the coordinate system, so that the vertical projection of the upper die on the plate and the vertical distance of the first bending line 5 are larger than a preset first distance threshold value.

As shown in fig. 6, after the manipulator is controlled to move a preset first distance VD1 along the positive direction of the X-axis of the coordinate system, the distance between the bending edges of the upper die of the bending machine corresponding to the first bending line is increased.

After the mould and the manipulator shift up certain displacement volume on the bender, control the manipulator and remove predetermined first distance along coordinate system X axle positive direction to make the limit that just has bent (the limit of bending that first bending line 5 corresponds) remove towards the direction of keeping away from mould far away on the bender, thereby when making the manipulator snatch the Z axle negative direction removal of plate toward coordinate system, the mould can not rub and collide with the limit that just has bent on the bender.

Preferably, the preset first distance is calculated according to a preset second formula;

the second formula specifically includes:

L₁＝(1/3)L₂

wherein, as shown in FIG. 7, L₁Is the preset first distance, L₂Is the vertical distance between the center point of the manipulator and the first bending line 5.

This embodiment sets up the first distance that the manipulator removed towards coordinate system X axle square according to the actual size of plate and the position of snatching of manipulator, snatch the plate through controlling the manipulator and remove, make on the bender the mould keep away from the limit of bending parallel with the bender on the mould, realize obtaining corresponding parameter adjustment first distance in real time at the in-process accessible of bending, the nimble not unidimensional plate of adaptation and the manipulator of difference snatch the position, the first distance that sets up according to actual conditions more is favorable to guaranteeing that the plate removes the back and goes up the mould and keep away from the limit of bending in its the place ahead on the bender, the qualification rate of the product.

S4, controlling the manipulator to rotate counterclockwise by a preset rotation angle around the Z axis of the coordinate system, so that the vertical distance between one end point of the vertical projection of the upper die of the bending machine on the plate and the second bending line 6 is greater than a preset second interval threshold value, and the vertical distance between the other end point of the vertical projection of the upper die of the bending machine on the plate and the third bending line 7 is greater than the second interval threshold value; the second bending line 6 and the third bending line 7 are positioned on two sides of an upper die of the bending machine; the end point is close to the second bending line; the other end point is close to the third bending line.

The length of the upper die of the bending machine is substantially the same as that of the bent plate, and in this embodiment, before the manipulator takes out the plate along the negative direction of the Z axis of the coordinate system, the plate is rotated around the Z axis of the coordinate system, so that the upper die of the bending machine is close to the diagonal direction of the plate, and the bending machine is away from the bending edges (two bending edges corresponding to the second bending line 6 and the third bending line 7) on two sides of the bending machine in situ; the condition that the bending product is deformed due to collision friction between the bending edges of the upper die and the two sides of the bending machine when the manipulator takes out the plate along the negative direction of the Z axis of the coordinate system is effectively avoided, and therefore the qualification rate of the bending product is improved.

Preferably, the preset rotation angle is calculated according to a preset first formula;

the first formula is specifically:

φ＝arctan((1/3)*L₂/L₃)

wherein, as shown in FIG. 8, φ is the predetermined rotation angle, and L is₂The L3 is a distance between the center point of the manipulator and an end point of the lower die of the bending machine when the plate is horizontally placed on the lower die of the bending machine.

For example, the distances VD2 and VD3 between the two side edges of the upper die of the bending machine and the bending edges of the two sides of the bending machine are shown in FIG. 9; after the plate is rotated by a phi angle around the Z axis of the coordinate system, the distances VD2 and VD3 between the two side edges of the upper die of the bending machine and the bending edges of the two sides of the bending machine are shown in FIG. 10. After the rotation, the distance between the two side edges of the upper die of the bending machine and the bending edges of the two sides of the bending machine is obviously increased.

This embodiment sets up rotation angle according to the actual size of plate and the position of snatching of manipulator, snatch this rotation angle of plate rotation through control manipulator, the limit of bending of mould both sides is kept away from on the bender on making the bender, realize obtaining corresponding parameter adjustment rotation angle in real time at the in-process accessible of bending, the nimble not unidimensional plate of adaptation and the manipulator of difference snatch the position, the rotation angle that sets up according to actual conditions more is favorable to guaranteeing that the mould is kept away from the limit of bending of normal position in both sides on the rotatory back bender of plate, the qualification rate of the product of bending.

And S5, controlling the manipulator to move a preset second distance along the Z-axis negative direction of the coordinate system.

As shown in fig. 11, the manipulator moves along the negative direction of the Z axis of the coordinate system, and takes out the plate from the bending machine, in the whole process, a certain distance exists between each bending edge of the plate and the upper die of the bending machine, the upper die of the bending machine cannot rub and collide with each bending edge of the plate, and the bent product is not easy to deform.

The second embodiment of the invention is as follows:

as shown in fig. 2 and 12, the present embodiment provides a method for removing a plate member, including a bending machine and a robot; the bending machine comprises a bending machine upper die 1 and a bending machine lower die 2; the upper die of the bending machine is parallel and opposite to the lower die of the bending machine; a groove 3 is formed in the lower die of the bending machine; the manipulator is used for grabbing the plate 4; further comprising one or more processors 8 and a memory 9, said memory 9 storing programs and being configured to perform the following steps by said one or more processors 8:

s1, when the bending machine bends the plate to a preset target bending angle according to the first bending line 5, enabling the upper die and the manipulator of the bending machine to synchronously vertically move upwards by a preset target displacement.

The bending line schematic diagram is shown in fig. 3, the bending machine and the manipulator cooperate to hem the plate according to the first bending line 5, when one side of the plate is bent to a target bending angle according to the first bending line 5, the manipulator needs to take out the plate from the bending machine to rotate so as to hem the plate according to another bending line, or to complete a bending operation to take out the plate and place the plate at a fixed position.

The method specifically comprises the following steps:

when the upper die of the bending machine reaches a preset bending termination point,

and S11, controlling the upper die of the bending machine to vertically move upwards by a preset second displacement.

When the upper die of the bending machine reaches a preset bending termination point, the fact that the edge folding operation for the first bending line is completed is indicated, and the upper die of the bending machine needs to be lifted subsequently to take out the plate. The second displacement is very small, and the bending edge of the plate cannot deform in the upward moving process of the upper die of the bending machine.

And S12, acquiring the position information of the upper die of the bending machine in real time to obtain the current position information.

Wherein, the displacement volume that mould vertically shifted up is fixed unchangeably on the host computer of bender every turn control bender, but because external factors's effect, the displacement volume that actually shifts up of mould on the bender probably does not accord with the presetting, consequently, this embodiment shifts up the mould on the bender after the operation, acquires the current position information of mould on the bender in real time, the displacement volume that actually shifts up of mould on the bender this time is obtained to the accurate, with this accurate calculation reachs the displacement volume that the manipulator need shift up this time, in order to realize mould and manipulator synchronization on the bender.

And S13, calculating the distance between the upper die and the manipulator of the bending machine according to the current position information to obtain a third displacement.

And S14, controlling the manipulator to move vertically upwards by the third displacement.

And repeatedly executing S11-S14 until the total displacement of the upper die of the bending machine is the target displacement.

For example, as shown in fig. 4, when the upper die of the bending machine reaches a predetermined bending termination point, the bending operation corresponding to the first bending line is completed. As shown in fig. 5, the upper die and the robot of the bending machine are synchronously moved upward by a preset target displacement amount in cooperation, and the plate is synchronously moved upward by the upward force of the robot.

Wherein, this embodiment is from bending the termination point, stop immediately after the mould shifts up certain displacement volume on the bender, the displacement volume that the manipulator needs to shift up at present is calculated according to the mould current actual position on the bender, and control manipulator and follow closely to mould on the bender, so that mould and the edge of bending on the plate produce great friction collision on the bender, mould shifts up on the repeated execution bender, manipulator follows closely to mould a series of actions such as the bender, the total displacement volume of mould reaches predetermined target displacement volume on the bender, make the manipulator have sufficient space to take out the plate from the bender. Because this embodiment is at the in-process of taking out the plate, the process segmentation that mould and manipulator moved up in step goes on in the bender, and the displacement volume that the manipulator need shift up each time all calculates according to the real-time position of mould on the bender and obtains, the manipulator can not appear and can not follow the condition of mould on the bender, the synchronous syntropy motion of mould and manipulator on the bender has been guaranteed, thereby it is little with the friction on the limit of bending on the plate to make the mould on the bender shift up in-process, the limit non-deformable of bending of plate, the qualification rate of the product of bending has been.

S2, establishing a coordinate system; the coordinate system uses the most advanced position of mould on the bender is the original point, and is perpendicular the ascending direction of plate up end is Z axle positive direction, crosses the original point is done the perpendicular line of first line of bending is the X axle, the original point court the direction of first line of bending is X axle positive direction, and Y axle direction is confirmed according to the right-hand rule by X axle direction and Z axle direction.

Wherein the coordinate system is shown in fig. 5, PnE is the position of the robot for grabbing the plate, i.e. the origin of the coordinate system.

S3, controlling the manipulator to move a preset first distance along the positive direction of the X axis of the coordinate system, so that the vertical projection of the upper die on the plate and the vertical distance of the first bending line 5 are larger than a preset first distance threshold value.

As shown in fig. 6, after the manipulator is controlled to move a preset first distance VD1 along the positive direction of the X-axis of the coordinate system, the distance between the bending edges of the upper die of the bending machine corresponding to the first bending line is increased.

After the mould and the manipulator shift up certain displacement volume on the bender, control the manipulator and remove predetermined first distance along coordinate system X axle positive direction to make the limit that just has bent (the limit of bending that first bending line 5 corresponds) remove towards the direction of keeping away from mould far away on the bender, thereby when making the manipulator snatch the Z axle negative direction removal of plate toward coordinate system, the mould can not rub and collide with the limit that just has bent on the bender.

Preferably, the preset first distance is calculated according to a preset second formula;

the second formula specifically includes:

L₁＝(1/3)L₂

wherein, as shown in FIG. 7, L₁Is the preset first distance, L₂Is the vertical distance between the center point of the manipulator and the first bending line 5.

This embodiment sets up the first distance that the manipulator removed towards coordinate system X axle square according to the actual size of plate and the position of snatching of manipulator, snatch the plate through controlling the manipulator and remove, make on the bender the mould keep away from the limit of bending parallel with the bender on the mould, realize obtaining corresponding parameter adjustment first distance in real time at the in-process accessible of bending, the nimble not unidimensional plate of adaptation and the manipulator of difference snatch the position, the first distance that sets up according to actual conditions more is favorable to guaranteeing that the plate removes the back and goes up the mould and keep away from the limit of bending in its the place ahead on the bender, the qualification rate of the product.

S4, controlling the manipulator to rotate counterclockwise by a preset rotation angle around the Z axis of the coordinate system, so that the vertical distance between one end point of the vertical projection of the upper die of the bending machine on the plate and the second bending line 6 is greater than a preset second interval threshold value, and the vertical distance between the other end point of the vertical projection of the upper die of the bending machine on the plate and the third bending line 7 is greater than the second interval threshold value; the second bending line 6 and the third bending line 7 are positioned on two sides of an upper die of the bending machine; the end point is close to the second bending line; the other end point is close to the third bending line.

The length of the upper die of the bending machine is substantially the same as that of the bent plate, and in this embodiment, before the manipulator takes out the plate along the negative direction of the Z axis of the coordinate system, the plate is rotated around the Z axis of the coordinate system, so that the upper die of the bending machine is close to the diagonal direction of the plate, and the bending machine is away from the bending edges (two bending edges corresponding to the second bending line 6 and the third bending line 7) on two sides of the bending machine in situ; the condition that the bending product is deformed due to collision friction between the bending edges of the upper die and the two sides of the bending machine when the manipulator takes out the plate along the negative direction of the Z axis of the coordinate system is effectively avoided, and therefore the qualification rate of the bending product is improved.

Preferably, the preset rotation angle is calculated according to a preset first formula;

the first formula is specifically:

φ＝arctan((1/3)*L₂/L₃)

wherein, as shown in FIG. 8, φ is the predetermined rotation angle, and L is₂The L3 is a distance between the center point of the manipulator and an end point of the lower die of the bending machine when the plate is horizontally placed on the lower die of the bending machine.

For example, the distances VD2 and VD3 between the two side edges of the upper die of the bending machine and the bending edges of the two sides of the bending machine are shown in FIG. 9; after the plate is rotated by a phi angle around the Z axis of the coordinate system, the distances VD2 and VD3 between the two side edges of the upper die of the bending machine and the bending edges of the two sides of the bending machine are shown in FIG. 10. After the rotation, the distance between the two side edges of the upper die of the bending machine and the bending edges of the two sides of the bending machine is obviously increased.

This embodiment sets up rotation angle according to the actual size of plate and the position of snatching of manipulator, snatch this rotation angle of plate rotation through control manipulator, the limit of bending of mould both sides is kept away from on the bender on making the bender, realize obtaining corresponding parameter adjustment rotation angle in real time at the in-process accessible of bending, the nimble not unidimensional plate of adaptation and the manipulator of difference snatch the position, the rotation angle that sets up according to actual conditions more is favorable to guaranteeing that the mould is kept away from the limit of bending of normal position in both sides on the rotatory back bender of plate, the qualification rate of the product of bending.

And S5, controlling the manipulator to move a preset second distance along the Z-axis negative direction of the coordinate system.

As shown in fig. 11, the manipulator moves along the negative direction of the Z axis of the coordinate system, and takes out the plate from the bending machine, in the whole process, a certain distance exists between each bending edge of the plate and the upper die of the bending machine, the upper die of the bending machine cannot rub and collide with each bending edge of the plate, and the bent product is not easy to deform.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. A method for taking out a plate comprises a bending machine and a manipulator; the bending machine comprises an upper bending machine die and a lower bending machine die; the upper die of the bending machine is parallel and opposite to the lower die of the bending machine; a groove is formed in the lower die of the bending machine; the manipulator is used for grabbing the plate; the method is characterized in that:

when the bending machine bends the plate to a preset target bending angle according to the first bending line,

the upper die and the manipulator of the bending machine synchronously move upwards vertically by a preset target displacement;

establishing a coordinate system; the coordinate system takes the position of the tip of an upper die of the bending machine as an original point, the upward direction perpendicular to the upper end surface of the plate is the positive direction of a Z axis, the perpendicular line passing through the original point and making the first bending line is an X axis, the direction of the original point towards the first bending line is the positive direction of the X axis, and the Y axis direction is determined by the X axis direction and the Z axis direction according to a right hand rule;

controlling the manipulator to move a preset first distance along the positive direction of the X axis of a coordinate system, so that the vertical distance between the vertical projection of the upper die of the bending machine on the plate and the first bending line is greater than a preset first interval threshold value;

and controlling the manipulator to move a preset second distance along the Z-axis negative direction of the coordinate system.

2. The method of removing a board member according to claim 1, wherein before controlling the robot to move in the negative Z-axis direction of the coordinate system by the predetermined second distance, further comprising:

controlling the manipulator to rotate counterclockwise around a Z axis of the coordinate system by a preset rotation angle, so that the vertical distance between one end point of the vertical projection of the upper die of the bending machine on the plate and a second bending line is greater than a preset second interval threshold value, and the vertical distance between the other end point of the vertical projection of the upper die of the bending machine on the plate and a third bending line is greater than the second interval threshold value;

the second bending line and the third bending line are positioned on two sides of the upper die of the bending machine; the end point is close to the second bending line; the other end point is close to the third bending line.

3. The method for removing a plate according to claim 2, wherein the step of controlling the manipulator to rotate counterclockwise around the Z axis of the coordinate system by a preset rotation angle so that a vertical distance between one end point of a vertical projection of an upper die on the plate of the bending machine and a second bending line is greater than a preset second spacing threshold value, and a vertical distance between the other end point of the vertical projection of the upper die on the plate of the bending machine and a third bending line is greater than the second spacing threshold value further comprises the steps of:

calculating the preset rotation angle according to a preset first formula;

the first formula is specifically:

φ＝arctan((1/3)*L₂/L₃)

wherein φ is the predetermined angle of rotation, L₂The L3 is a distance between the center point of the manipulator and an end point of the lower die of the bending machine when the plate is horizontally placed on the lower die of the bending machine.

4. The method for taking out a plate according to claim 1, wherein the upper die and the manipulator of the bending machine synchronously move vertically upwards by a preset target displacement amount, specifically:

when the upper die of the bending machine reaches a preset bending termination point,

s1, controlling the upper die of the bending machine to vertically move upwards by a preset second displacement;

s2, acquiring the position information of the upper die of the bending machine in real time to obtain the current position information;

s3, calculating the distance between the upper die and the manipulator of the bending machine according to the current position information to obtain a third displacement;

s4, controlling the manipulator to move vertically upwards by the third displacement;

and repeatedly executing S1-S4 until the total displacement of the upper die of the bending machine is the target displacement.

5. The method for removing a plate according to claim 1, wherein before controlling the manipulator to move a preset first distance in a positive direction of an X-axis of a coordinate system so that a vertical distance between a vertical projection of an upper die of the bending machine on the plate and the first bending line is greater than a preset first distance threshold, the method further comprises:

calculating the preset first distance according to a preset second formula;

the second formula specifically includes:

L₁＝(1/3)L₂

wherein L is₁Is the preset first distance, L₂The vertical distance between the center point of the manipulator and the first bending line is set.

6. A terminal for taking out a plate comprises a bending machine and a manipulator; the bending machine comprises an upper bending machine die and a lower bending machine die; the upper die of the bending machine is parallel and opposite to the lower die of the bending machine; a groove is formed in the lower die of the bending machine; the manipulator is used for grabbing the plate; characterized in that it further comprises one or more processors and a memory, said memory storing a program and being configured to perform the following steps by said one or more processors:

when the bending machine bends the plate to a preset target bending angle according to the first bending line,

the upper die and the manipulator of the bending machine synchronously move upwards vertically by a preset target displacement;

establishing a coordinate system; the coordinate system takes the position of the tip of an upper die of the bending machine as an original point, the upward direction perpendicular to the upper end surface of the plate is the positive direction of a Z axis, the perpendicular line passing through the original point and making the first bending line is an X axis, the direction of the original point towards the first bending line is the positive direction of the X axis, and the Y axis direction is determined by the X axis direction and the Z axis direction according to a right hand rule;

controlling the manipulator to move a preset first distance along the positive direction of the X axis of a coordinate system, so that the vertical distance between the vertical projection of the upper die of the bending machine on the plate and the first bending line is greater than a preset first interval threshold value;

and controlling the manipulator to move a preset second distance along the Z-axis negative direction of the coordinate system.

7. The board removal terminal of claim 6, wherein before controlling the robot to move the preset second distance in the negative Z-axis direction of the coordinate system, further comprising:

controlling the manipulator to rotate counterclockwise around a Z axis of the coordinate system by a preset rotation angle, so that the vertical distance between one end point of the vertical projection of the upper die of the bending machine on the plate and a second bending line is greater than a preset second interval threshold value, and the vertical distance between the other end point of the vertical projection of the upper die of the bending machine on the plate and a third bending line is greater than the second interval threshold value;

the second bending line and the third bending line are positioned on two sides of the upper die of the bending machine; the end point is close to the second bending line; the other end point is close to the third bending line.

8. The plate removal terminal according to claim 7, wherein the manipulator is controlled to rotate counterclockwise around the Z-axis of the coordinate system by a preset rotation angle, so that a vertical distance between one end of the vertical projection of the upper die on the plate and the second bending line of the bending machine is greater than a preset second spacing threshold, and a vertical distance between the other end of the vertical projection of the upper die on the plate and the third bending line of the bending machine is greater than the second spacing threshold, further comprising:

calculating the preset rotation angle according to a preset first formula;

the first formula is specifically:

φ＝arctan((1/3)*L₂/L₃)

wherein φ is the predetermined angle of rotation, L₂The L3 is a distance between the center point of the manipulator and an end point of the lower die of the bending machine when the plate is horizontally placed on the lower die of the bending machine.

9. The terminal for removing plates according to claim 6, wherein the upper die and the manipulator of the bending machine synchronously move vertically upwards by a preset target displacement amount, specifically:

when the upper die of the bending machine reaches a preset bending termination point,

s1, controlling the upper die of the bending machine to vertically move upwards by a preset second displacement;

s2, acquiring the position information of the upper die of the bending machine in real time to obtain the current position information;

s3, calculating the distance between the upper die and the manipulator of the bending machine according to the current position information to obtain a third displacement;

s4, controlling the manipulator to move vertically upwards by the third displacement;

and repeatedly executing S1-S4 until the total displacement of the upper die of the bending machine is the target displacement.

10. The board removal terminal according to claim 6, wherein before controlling the manipulator to move a preset first distance in the positive direction of the X-axis of the coordinate system, so that the vertical distance between the vertical projection of the upper die on the board and the first bending line of the bending machine is greater than a preset first distance threshold, the method further comprises:

calculating the preset first distance according to a preset second formula;

the second formula specifically includes:

L₁＝(1/3)L₂

wherein L is₁Is the preset first distance, L₂The vertical distance between the center point of the manipulator and the first bending line is set.

Images