CN110153239A - A kind of bending follow-up method and metal plate bending process based on robot additional shaft - Google Patents
A kind of bending follow-up method and metal plate bending process based on robot additional shaft Download PDFInfo
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- CN110153239A CN110153239A CN201910507348.2A CN201910507348A CN110153239A CN 110153239 A CN110153239 A CN 110153239A CN 201910507348 A CN201910507348 A CN 201910507348A CN 110153239 A CN110153239 A CN 110153239A
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- Prior art keywords
- robot
- metal plate
- bending
- additional shaft
- mold
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Classifications
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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
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- 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
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/11—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers for feeding sheet or strip material
-
- 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
- B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
- B21D5/0281—Workpiece supporting devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The present invention discloses a kind of bending follow-up method and metal plate bending process based on robot additional shaft, comprising: step S1: establishes user coordinate system；Step S2: robot crawl metal plate is laid flat to the upper surface of mold, and tool coordinates system is overlapped with user coordinate system；Step S3: the geometrical relationship of the bending part of the lower surface of metal plate to the distance between the upper surface of mold with the unilateral bending angle of metal plate is established, bending is calculated and follows dynamic point, the bending for generating robot follows operation program；Step S4: the motion process point information of Converse solved robot judges whether robot meets the requirement of accessibility, if so, flexing movement is completed, if it is not, thening follow the steps A5；Step A5: according to the angle configurations of robot, calculating the servo-actuated step pitch of additional shaft, if additional shaft, which multiplies the adjustment number in step pitch with step pitch, moves to new position, return step A3.The present invention realize metal plate efficiently, reliably automate bending.
Description
Technical field
The present invention relates to the technical fields of the automatic bending of robot metal plate more particularly to a kind of based on robot additional shaft
Bending follow-up method and metal plate bending process.
Background technique
Currently, human assistance bending is gradually replaced in the robot cooperation automatic metal plate bending of bending machine, robot is automatic
Change bending and not only guarantee stable bending quality, go back significant increase production efficiency, while reducing labor intensity, alleviates enterprise
The problems such as employment is nervous.
Current most of robot bending systems would generally arrangement guide rail, be used for expanding machinery people motion range.But machine
When device people cooperates bending machine to execute flexing movement, guide rail is simultaneously failure to actuate (the guide rail only movement when task is removed in robot execution),
When big metal plate bending, the problems such as this automatic wrap direction of robot is easy to happen unreachable robot or interference:
When the big metal plate bending of robot handheld, robot and bending machine mounting distance increase, metal plate wide-angle bending at this time
When, robot is easy to happen inaccessible problem；
If reducing robot and bending machine mounting distance, metal plate and robot J4 axis are easy interference, can not execute bending
Movement.Bending machine is generally installed on certain altitude pedestal, to avoid interference problem, still, increases bending machine installation in this way
Difficulty, cost are also unfavorable for manual operation bending machine.
In the market, a small number of bending machine producers develop the bending lag function based on robot additional shaft.But additional shaft
Servo-actuated step pitch need manual setting, and by accessibility and servo-actuated test repeatedly, obtain a reasonable additional shaft and be servo-actuated
Step pitch.Therefore, it is impossible to which automatically, fast and accurately obtaining ideal additional shaft is servo-actuated step pitch.
Summary of the invention
For the above problem that the existing automatic brake techniques of robot metal plate are deposited, now it is intended to provide a kind of based on robot
The bending follow-up method and metal plate bending process of additional shaft solve in the automatic bending application of current machine National People's Congress metal plate, machine
People is unreachable, robot and workpiece interference, robot additional shaft are servo-actuated the problems such as step pitch can not calculate automatically, realizes big metal plate
Efficiently, bending is reliably automated.
Specific technical solution is as follows:
A kind of bending follow-up method based on robot additional shaft, suitable for the mold of the groove with V-shape, the folding
Curved follow-up method includes:
Step A1: establishing user coordinate system, and the user coordinate system is rectangular coordinate system, the origin of the user coordinate system
Positioned at the mold groove bottom perpendicular to the mold upper surface plane and the mold upper surface intersection
On line, the direction of the X-axis of the user coordinate system is the axial direction of the groove of the mold, and the Y-axis of the user coordinate system is just
The position where robot is directed toward in direction, and the positive direction of the Z axis of the user coordinate system is straight up；
Step A2: the robot crawl metal plate is laid flat to the upper surface of the mold, and the metal plate is located at the groove
Top, the robot remains stationary, calculate the tool coordinates system of the robot, the tool coordinates system with it is described
User coordinate system is overlapped；
Step A3: establish the bending part of the lower surface of the metal plate to the distance between the upper surface of the mold with it is described
The geometrical relationship of the unilateral bending angle of metal plate calculates bending and follows dynamic point, and generates the bending of the robot with servo-actuated
Make program；
Step A4: following the point of operation program and the current location of the robot according to the bending, Converse solved
The motion process point information of the robot, judges whether the robot meets the requirement of accessibility, if so, completing folding
Curved movement, if it is not, thening follow the steps A5；
Step A5: according to the angle configurations of the robot, calculating the servo-actuated step pitch of the additional shaft, if described additional
Axis multiplies the adjustment number in the step pitch with the step pitch and moves to new position, return step A3.
The above-mentioned bending follow-up method based on robot additional shaft, wherein the mold far from the robot one
Side is equipped with gear and refers to, the gear, which refers to limit with the side of the metal plate, to be cooperated.
The above-mentioned bending follow-up method based on robot additional shaft, wherein the step pitch is the minimum of the additional shaft
Move distance.
A kind of system flow of metal plate bending, wherein include:
Step B1: feeding platform feeding, open system, the robot start to work；
Step B2: the type of the workpiece of processing as needed, the robot replace corresponding gripper and run to institute
The top of feeding platform is stated, grabs a metal plate, and detect whether successfully to grab the metal plate, if it is not, described in then grabbing again
Metal plate, if so, executing step B3；
Step B3: the robot carries the metal plate and runs to alignment table, carries out secondary positioning crawl；
Step B4: the robot carries the metal plate and runs to thickness measuring system, detects the thickness deviation of the metal plate, mends
It repays to bending program；
Step B5: the robot grabs and carries the metal plate and runs to vision camera, and positioning of taking pictures accurately compensates institute
State the crawl deviation of metal plate；
Step B6: the robot grabs and carries the metal plate and runs to the upper surface of the mold, executes above-mentioned
Based on the bending follow-up method of robot additional shaft to complete flexing movement described in any one, work is made in the metal plate
Part；
Step B7: the robot grabs and carries the workpiece and runs to blanking bench blowing, and runs Aligning control.
The system flow of above-mentioned metal plate bending, wherein the feeding platform, the alignment table, the thickness measuring system, described
Vision camera, the blanking bench and the robot are set in safe fence.
The system flow of above-mentioned metal plate bending, wherein controller, hand-off and machine are additionally provided in the safe fence
People's guide rail.
The good effect that above-mentioned technical proposal has compared with prior art is:
The present invention is servo-actuated by robot additional shaft in control bending process, solves in big plate bending application, exists
Robot it is unreachable or interference the problem of；It is servo-actuated the automatic calculating of step pitch by additional shaft, replaces original manual setting, avoids
Robot accessibility and additional shaft are servo-actuated the test repeatedly of step pitch, improve bending efficiency.
Detailed description of the invention
Fig. 1 establishes user for a kind of bending follow-up method and metal plate bending process based on robot additional shaft of the present invention
The structural schematic diagram of coordinate system；
Fig. 2 is that a kind of robot of bending follow-up method and metal plate bending process based on robot additional shaft of the present invention is flat
Put the structural schematic diagram of metal plate to mold；
Fig. 3 is a kind of metal plate bending of bending follow-up method and metal plate bending process based on robot additional shaft of the present invention
Preceding structural schematic diagram；
Fig. 4 is a kind of metal plate bending of bending follow-up method and metal plate bending process based on robot additional shaft of the present invention
Structural schematic diagram in the process；
In attached drawing: 1, mold；2, groove；3, robot；4, metal plate；5, cutter；6, gear refers to.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
Fig. 1 establishes user for a kind of bending follow-up method and metal plate bending process based on robot additional shaft of the present invention
The structural schematic diagram of coordinate system, Fig. 2 are a kind of bending follow-up method and metal plate bending stream based on robot additional shaft of the present invention
The robot of journey lays flat the structural schematic diagram of metal plate to mold, Fig. 3 be a kind of bending based on robot additional shaft of the present invention with
Structural schematic diagram before the metal plate bending of dynamic method and metal plate bending process, Fig. 4, which is that the present invention is a kind of, is based on robot additional shaft
Bending follow-up method and metal plate bending process metal plate bending process in structural schematic diagram show as shown in Figures 1 to 4
A kind of bending follow-up method based on robot additional shaft of preferred embodiment, mold suitable for the groove 2 with V-shape
1, bending follow-up method includes:
Step A1: user coordinate system is established using " line-of-sight course ", user coordinate system is rectangular coordinate system, user coordinate system
Origin is located at the bottom of the groove 2 of mold 1 perpendicular on the intersecting lens of the plane of the upper surface of mold 1 and the upper surface of mold 1,
The direction of the X-axis of user coordinate system is the axial direction of the groove 2 of mold 1, and the positive direction of the Y-axis of user coordinate system is directed toward robot 3
The position at place, the positive direction of the Z axis of user coordinate system is straight up；
Step A2: robot 3 grabs metal plate 4 and lays flat to the upper surface of mold 1, and metal plate 4 is located at the top of groove 2, machine
People 3 remains stationary, by the tool coordinates system of program automatic computer device people 3, tool coordinates system and user coordinate system weight
It closes；
Step A3: the list of the bending part of the lower surface of metal plate 4 to the distance between the upper surface of mold 1 with metal plate 4 is established
The geometrical relationship of Edge Bend angle, calculate the bending bending that follows dynamic point, and generate robot 3 follow operation program (according to
Shown in Fig. 3, Fig. 4)；
Step A4: the point of operation program and the current location of robot 3, Converse solved robot 3 are followed according to bending
Motion process point information, judge whether robot 3 meets the requirement of accessibility, if so, complete flexing movement, if it is not,
Then follow the steps A5；
Step A5: according to the angle configurations of robot 3, the servo-actuated step pitch of additional shaft is calculated, if additional shaft is multiplied with step pitch
New position, return step A3 are moved in the adjustment number of step pitch.
The bending of either calculating robot 3 follows movement point, or calculates the servo-actuated step pitch of additional shaft bending, all
The bending geometrical model for establishing correct metal plate 4 passes through the bottom of the groove 2 of the lower surface of the model foundation metal plate 4 to mold 1
The geometrical relationship of the unilateral bending angle θ of the distance between portion h and metal plate 4: h=h (θ).
Wherein:
Rp: the angle R of cutter 5；
Rsm: the angle R of mold 1；
H: the depth of the V-groove of mold 1；
T: the thickness of metal plate 4；
H: distance of the bending part of the lower surface of metal plate 4 to the upper surface of mold 1；
θ: the unilateral bending angle of metal plate 4；
A: the horizontal sextant angle of the angle the R circle center line connecting of cutter 5 and mold 1；
B: cutter 5 and the angle the R circle center line connecting of mold 1 and the angle of metal plate；
2 α: the angle of the V-groove of mold 1.
Further, as a kind of preferred embodiment, mold 1 is equipped with gear far from the side of robot 3 and refers to 6, and gear refers to 6 and metal plate
The side of gold 4 limits cooperation.
Further, as a kind of preferred embodiment, step pitch is the smallest move distance of additional shaft.
The system flow of metal plate bending of the invention includes:
Step B1: feeding platform feeding, open system, robot 3 start to work；
Step B2: the type of the workpiece of processing as needed, robot 3 replace corresponding gripper and run to feeding platform
Top, start magnetic splitting system, grab a metal plate 4, and detected whether by the sensor of the gripper end of robot 3
Function grabs metal plate 4, if it is not, metal plate 4 is then grabbed again, if so, executing step B3；
Step B3: robot 3 carries the operation of metal plate 4 to alignment table, carries out secondary positioning crawl；
Step B4: robot 3 carries the operation of metal plate 4 to thickness measuring system, detects the thickness deviation of metal plate 4, compensation to bending
Program；
Step B5: robot 3 grabs and carries the operation of metal plate 4 to vision camera, and positioning of taking pictures accurately compensates metal plate 4
Grab deviation；
Step B6: robot 3 grabs and carries the operation of metal plate 4 to the upper surface of mold 1, and perform claim requires to appoint in 1 to 3
Meaning one based on the bending follow-up method of robot additional shaft to complete flexing movement, workpiece is made in metal plate 4；
Step B7: robot 3 grabs and carries workpiece and runs to blanking bench blowing, and runs Aligning control.
The above is only preferred embodiments of the present invention, are not intended to limit the implementation manners and the protection scope of the present invention.
The present invention also has on the basis of the above is implemented as follows mode:
In further embodiment of the present invention, continuing with referring to FIG. 1 to FIG. 4, feeding platform, alignment table, thickness measuring system,
Vision camera, blanking bench and robot 3 are set in safe fence.
Controller, hand-off and guide rails of robots are additionally provided in further embodiment of the present invention, in safe fence.
The present invention can reduce bending machine substructure height, avoids robot interference and inaccessible problem, realizes additional shaft
Step pitch calculates automatically.
The present invention is servo-actuated by robot additional shaft in control bending process, solves in big plate bending application, exists
Robot it is unreachable or interference the problem of；It is servo-actuated the automatic calculating of step pitch by additional shaft, replaces original manual setting, avoids
Robot accessibility and additional shaft are servo-actuated the test repeatedly of step pitch, improve bending efficiency.The present invention provides a kind of efficient
The automatic bending method of reliable machine National People's Congress plate.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (6)
1. a kind of bending follow-up method based on robot additional shaft, which is characterized in that the mould suitable for the groove with V-shape
Tool, the bending follow-up method include:
Step A1: establishing user coordinate system, and the user coordinate system is rectangular coordinate system, and the origin of the user coordinate system is located at
The bottom of the groove of the mold perpendicular on the intersecting lens of the plane of the upper surface of the mold and the upper surface of the mold,
The direction of the X-axis of the user coordinate system is the axial direction of the groove of the mold, and the positive direction of the Y-axis of the user coordinate system refers to
To the position where robot, the positive direction of the Z axis of the user coordinate system is straight up；
Step A2: the robot crawl metal plate is laid flat to the upper surface of the mold, and the metal plate is located at the upper of the groove
Side, the robot remain stationary, and calculate the tool coordinates system of the robot, the tool coordinates system and the user
Coordinate system is overlapped；
Step A3: the bending part of the lower surface of the metal plate is established to the distance between the upper surface of the mold and the metal plate
Unilateral bending angle geometrical relationship, calculate the bending bending that follows dynamic point, and generate the robot and follow movement journey
Sequence；
Step A4: following the point of operation program and the current location of the robot according to the bending, Converse solved described
The motion process point information of robot, judges whether the robot meets the requirement of accessibility, if so, it is dynamic to complete bending
Make, if it is not, thening follow the steps A5；
Step A5: according to the angle configurations of the robot, calculating the servo-actuated step pitch of the additional shaft, if the additional shaft with
The step pitch multiplies the adjustment number in the step pitch and moves to new position, return step A3.
2. according to claim 1 based on the bending follow-up method of robot additional shaft, which is characterized in that the mold is separate
The side of the robot is equipped with gear and refers to, the gear, which refers to limit with the side of the metal plate, to be cooperated.
3. according to claim 1 based on the bending follow-up method of robot additional shaft, which is characterized in that the step pitch is institute
State the smallest move distance of additional shaft.
4. a kind of system flow of metal plate bending characterized by comprising
Step B1: feeding platform feeding, open system, the robot start to work；
Step B2: the type of the workpiece of processing as needed, the robot replace corresponding gripper and run on described
Expect the top of platform, grabs a metal plate, and detect whether successfully to grab the metal plate, if it is not, the metal plate is then grabbed again,
If so, executing step B3；
Step B3: the robot carries the metal plate and runs to alignment table, carries out secondary positioning crawl；
Step B4: the robot carries the metal plate and runs to thickness measuring system, detects the thickness deviation of the metal plate, compensation is extremely
Bending program；
Step B5: the robot grabs and carries the metal plate and runs to vision camera, and positioning of taking pictures accurately compensates the metal plate
The crawl deviation of gold；
Step B6: the robot grabs and carries the metal plate and runs to the upper surface of the mold, perform claim require 1 to
The metal plate is made with completing flexing movement based on the bending follow-up method of robot additional shaft described in any one of 3
Workpiece；
Step B7: the robot grabs and carries the workpiece and runs to blanking bench blowing, and runs Aligning control.
5. the system flow of metal plate bending according to claim 4, which is characterized in that the feeding platform, the alignment table, institute
Thickness measuring system, the vision camera, the blanking bench and the robot are stated in safe fence.
6. the system flow of metal plate bending according to claim 5, which is characterized in that be additionally provided with control in the safe fence
Device, hand-off and guide rails of robots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910507348.2A CN110153239A (en) | 2019-06-12 | 2019-06-12 | A kind of bending follow-up method and metal plate bending process based on robot additional shaft |
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| CN201910507348.2A CN110153239A (en) | 2019-06-12 | 2019-06-12 | A kind of bending follow-up method and metal plate bending process based on robot additional shaft |
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Family
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Cited By (3)
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| CN112024753A (en) * | 2020-07-10 | 2020-12-04 | 武汉海默机器人有限公司 | Automatic robot path planning and processing equipment of bending machine |
| CN112906147A (en) * | 2021-01-18 | 2021-06-04 | 北京安怀信科技股份有限公司 | Ground interference identification method based on multiple metal plate bending |
| CN114505374A (en) * | 2022-02-25 | 2022-05-17 | 北京计算机技术及应用研究所 | Real-time following bending and springback eliminating method applied to automatic bending |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112024753A (en) * | 2020-07-10 | 2020-12-04 | 武汉海默机器人有限公司 | Automatic robot path planning and processing equipment of bending machine |
| CN112906147A (en) * | 2021-01-18 | 2021-06-04 | 北京安怀信科技股份有限公司 | Ground interference identification method based on multiple metal plate bending |
| CN112906147B (en) * | 2021-01-18 | 2021-09-28 | 北京安怀信科技股份有限公司 | Ground interference identification method based on multiple metal plate bending |
| CN114505374A (en) * | 2022-02-25 | 2022-05-17 | 北京计算机技术及应用研究所 | Real-time following bending and springback eliminating method applied to automatic bending |
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