CN110788861B - Robot overturning and bending method and bending robot - Google Patents

Abstract

The embodiment of the invention discloses a robot overturning and bending method and a bending robot, wherein the method comprises the following steps: acquiring information of a working scene where the bending robot is located; calculating and generating optimized track information of the bending robot according to the environment information; and controlling the bending robot to execute gesture overturning corresponding to the optimized track information according to the optimized track information. According to the embodiment of the invention, the environment information of the environment where the bending robot is located is obtained, the optimized track information of the operation of the bending robot is calculated and generated according to the environment information, and the bending robot is controlled to work according to the optimized track information, so that the bending robot performs gesture overturning corresponding to the optimized track information, the operation beat of the bending robot can be effectively improved, and the production efficiency is improved.

Description

Robot overturning and bending method and bending robot

Technical Field

The embodiment of the invention relates to the technical field of sheet metal machining, in particular to a robot-based overturning and bending method and a special bending robot.

Background

In the sheet metal machining industry, a sheet metal workpiece is required to be bent, and 2-3 operators are required to cooperate with a bending machine to finish the work of forming the workpiece. Because of repeated labor of manpower for a long time, fatigue is easy to generate, so that the production efficiency is reduced and the risk of potential safety hazard is improved. And as labor costs rise and the proportion of more and more young workforces engaged in first-line manufacturing decreases, the demand for robots to replace labor increases for more and more traditional manufacturing enterprises.

At present, a whole set of manual bending work stations are replaced by robots in many enterprises, so that the labor cost and the risk of potential safety hazards are greatly reduced, however, the running beats of the existing robots are slow, and the production efficiency is low.

Disclosure of Invention

The embodiment of the invention provides a bending control method for improving the beat of a bending workstation and a bending special robot, and aims to solve the problems of the traditional technical scheme.

In order to solve the technical problems, the embodiment of the invention adopts the following technical scheme: the method for overturning and bending the robot comprises the following steps:

acquiring environment information of a working scene where the bending robot is located;

calculating and generating optimized track information of the bending robot according to the environment information;

and controlling the bending robot to execute gesture overturning corresponding to the optimized track information according to the optimized track information.

Optionally, the step of obtaining environmental information of a working scene where the bending robot is located includes:

acquiring relative position information of at least one docking station device and the bending robot;

and calculating and generating the environment information according to the relative position information.

Optionally, before the step of collecting the relative position information of the at least one docking station device and the bending robot, the method further includes:

acquiring identification information of a preset information acquisition tool, wherein the information acquisition tool is used for acquiring the relative position information;

and associating and starting the information acquisition tool according to the identification information.

Optionally, the docking station device includes material loading workstation, centering platform, face change mechanism, unloading workstation and bender, the material loading workstation includes split mechanism, the unloading workstation includes tray positioning mechanism, according to environmental information calculates the step of generating the optimization orbit information of bending robot operation still includes:

according to the relative positions of the centering platform and the bending machine and preset track planning rules, at least one first collision avoidance path between the centering platform and the bending machine is planned;

and determining a first collision avoidance path with the shortest time in the at least one first collision avoidance path as a first optimized track between the centering platform and the bending machine.

Optionally, the step of calculating and generating the optimized track information of the bending robot according to the environmental information further includes:

at least one second collision avoidance path between the bending machine and the blanking workbench is planned according to the relative positions of the bending machine and the blanking workbench and the track planning rule;

and determining a second collision prevention path with the shortest time in the at least one second collision prevention path as a second optimized track between the bending machine and the blanking workbench.

Optionally, the bending robot is provided with at least one joint, and the step of controlling the bending robot to execute the posture turnover corresponding to the optimized track information according to the optimized track information includes:

for each joint, calculating and generating first joint angle control information of the corresponding joint according to the first optimized track;

and controlling the corresponding joints to rotate according to the first joint angle control information so that the bending robot turns over from the centering platform to move to the bending machine.

Optionally, the step of controlling the bending robot to execute the posture turnover corresponding to the optimized track information according to the optimized track information further includes:

for each joint, calculating and generating second joint angle control information of the corresponding joint according to the second optimized track;

and controlling the corresponding joints to rotate according to the second joint angle control information so that the bending robot turns over and moves from the bending machine to the blanking workbench.

In order to solve the technical problems, the embodiment of the invention also provides a bending robot, which adopts the method for turning and bending by the robot.

The embodiment of the invention has the beneficial effects that: according to the method, the environment information of the working scene where the bending robot is located is obtained, the running optimization track information of the bending robot is calculated and generated according to the environment information, and the bending robot is controlled to work according to the optimization track information, so that the bending robot performs gesture overturning corresponding to the optimization track information, the running beat of the bending robot can be effectively improved, and the production efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic front view of a robot flip method according to an embodiment of the present invention;

FIG. 2 is a basic flow diagram of collecting environmental information of a work scene according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a basic flow of acquiring relative position information by an acquisition tool according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a basic flow for generating a first optimized trajectory according to an embodiment of the present invention;

FIG. 5 is a basic flow diagram of generating a second optimized trajectory according to one embodiment of the present invention;

FIG. 6 is a schematic diagram of a basic flow for driving a bending robot to turn over according to one embodiment of the present invention;

FIG. 7 is a schematic diagram of a basic flow for driving a bending robot to turn over according to another embodiment of the present invention;

FIG. 8 is a schematic front view of the joints of a robot arm according to one embodiment of the present invention;

FIG. 9 is a schematic top view of the joints of a robotic arm according to one embodiment of the invention;

FIG. 10 is a schematic diagram of a workstation layout in accordance with one embodiment of the present invention;

FIG. 11 is a schematic illustration of a bending robot traveling to a take out station in accordance with one embodiment of the present invention;

FIG. 12 is a schematic illustration of a bending robot traveling to a centering station in accordance with one embodiment of the present invention;

FIG. 13 is a schematic illustration of a bending robot traveling to a bending station in accordance with one embodiment of the present invention;

FIG. 14 is a schematic view of a bending robot running to a blanking station according to one embodiment of the present invention;

fig. 15 is a schematic view of the structure of two bending stations according to one embodiment of the present invention.

Detailed Description

In order to enable those skilled in the art to better understand the present invention, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present invention with reference to the accompanying drawings.

In some of the flows described in the specification and claims of the present invention and in the foregoing figures, a plurality of operations occurring in a particular order are included, but it should be understood that the operations may be performed out of order or performed in parallel, with the order of operations such as 101, 102, etc., being merely used to distinguish between the various operations, the order of the operations themselves not representing any order of execution. In addition, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first" and "second" herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, and are not limited to the "first" and the "second" being different types.

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.

Example 1

Referring to fig. 1 specifically, fig. 1 is a basic flow chart of a robot turning and bending method according to the present embodiment.

As shown in fig. 1, a method for turning and bending by a robot includes:

s1100, acquiring environment information of a working scene where the bending robot is located.

The environment where the bending robot is located is a working scene of the bending robot, in one embodiment, environmental information of the working scene where the bending robot is located can be confirmed through simulation software, when the bending robot is used for grabbing materials to be processed and conveying the materials to be processed to mechanical arms for processing in each station, the working scene where the bending robot is located includes, but is not limited to, a feeding workbench (including a split mechanism), a centering table, a bending machine, a face changing mechanism and a discharging workbench (including tray positioning), wherein the feeding workbench corresponds to a material taking station, the centering table is used for carrying out secondary positioning on the materials to be processed, the bending machine is used for bending the materials to be processed, and the discharging workbench corresponds to a discharging station.

S1200, calculating and generating optimized track information of the bending robot according to the environment information;

the system calculates and generates optimized track information of the operation of the bending robot according to the environmental information, and when the system is implemented, the bending robot conveys materials to be processed to be transferred among peripheral devices, and takes the materials to be processed as sheet metal parts as examples, the bending robot conveys the sheet metal parts from the material taking station to the centering platform for secondary positioning, and the system calculates and generates the optimized track information of the bending robot according to the relative position between the material taking station and the centering platform.

And S1300, controlling the bending robot to execute gesture overturning corresponding to the optimized track information according to the optimized track information.

The system controls the turning gesture of the robot according to the generated optimized track information, for example, the mechanical arm is provided with a plurality of joints (2, 3 or 5), each joint can rotate at a certain angle to realize the turning of the gesture of the robot, and the rotation angle of the joint can be controlled according to the optimized track information, for example, the movement range of a certain joint angle of the robot is enlarged, and the movement track of the bending robot is optimized, so that the working efficiency of the robot is improved. Of course, in implementation, the motion track of the bending robot can be optimized by reducing the motion range of a certain joint angle, or the motion track of the bending robot can be optimized by increasing the angles of a plurality of joints and reducing the angles of other joints.

According to the embodiment, the environment information of the working scene where the bending robot is located is obtained, the optimized track information of the operation of the bending robot is calculated and generated according to the environment information, and the bending robot is controlled to work according to the optimized track information, so that the bending robot performs gesture overturning corresponding to the optimized track information, the operation beat of the bending robot can be effectively improved, and the production efficiency is improved.

In another alternative embodiment, referring to fig. 2, fig. 2 is a schematic diagram of a basic flow of collecting environmental information according to an embodiment of the present invention.

As shown in fig. 2, step S1100 includes:

s1010, acquiring relative position information of at least one docking station device and the bending robot;

the docking station equipment is peripheral equipment of the bending robot, and comprises a loading workbench (comprising a separating mechanism), a centering table, a bending machine, a surface changing mechanism and a blanking workbench (comprising tray positioning), and when the docking station equipment is implemented, the relative position information between each docking station equipment and the bending robot can be acquired by adopting an infrared positioning and calibrating method.

S1020, calculating and generating the environment information according to the relative position information.

After the relative positions of the bending robot and the peripheral equipment are collected by the system, environmental information is calculated and generated according to the relative position information, and when the system is implemented, the relative positions of the bending robot and the peripheral equipment can be confirmed through simulation.

In one embodiment, referring to fig. 3, fig. 3 is a schematic flow chart of a basic process of acquiring relative position information by an acquisition tool according to an embodiment of the present invention.

As shown in fig. 3, before step S1010, the method further includes:

s1001, acquiring identification information of a preset information acquisition tool, wherein the information acquisition tool is used for acquiring the relative position information;

the information acquisition tool is a tool which is preset in the system and used for acquiring the relative position information of the bending robot and the peripheral equipment, and comprises an infrared locator, a Bluetooth locator and an acoustic locator when in implementation, wherein the information acquisition tool is provided with unique identification information.

S1002, associating and starting the information acquisition tool according to the identification information.

The system can be related to the information acquisition tool through the unique identification information, and then the information acquisition tool is started to acquire the relative position information of the bending robot and at least one docking station device.

In one embodiment, referring to fig. 4, fig. 4 is a schematic diagram of a basic flow of generating a first optimized trajectory according to one embodiment of the present invention.

As shown in fig. 4, the docking station apparatus includes a centering table, a bending machine, and a blanking table, and step S1200 includes:

s1210, according to the relative positions of the centering platform and the bending machine and preset track planning rules, at least one first collision avoidance path between the centering platform and the bending machine is planned;

the system collects the relative positions of the centering platform and the bending machine, and when the system is implemented, the information collection tool can collect the relative positions of the centering platform and the bending machine, and when the system is implemented, the actual positions of the centering platform and the bending machine can be obtained through visible light images, and then the relative positions of the centering platform and the bending machine are calculated according to the actual positions, for example, the positions of the centering platform and the bending machine are marked in a world map of the system by laser ranging, for example, the coordinates of the centering platform in the world map are (10, 30) and the coordinates of the bending machine in the world map are (50, 90), and the relative positions of the centering platform and the bending machine can be obtained according to the coordinates. The track planning algorithm is a preset tool for planning a track in the system, in one embodiment, the track planning algorithm can adopt an RRT (Rapid-Exploring Random Tree) path planning algorithm, the RRT is a sampling-based path planning algorithm, the method is commonly used for path planning of a mobile robot, the method is suitable for solving the path planning problem under high-dimensional space and complex constraint, and the basic idea is to search and advance a target point by one step in a mode of generating random points, so that obstacles are effectively avoided, and the path is prevented from sinking into a local minimum. At least one first collision avoidance path from the centering platform to the bending machine can be planned through an RRT path planning algorithm.

S1220, determining a first collision avoidance path with the shortest time in the at least one first collision avoidance path as a first optimized track between the centering platform and the bending machine.

After planning at least one first collision avoidance path, the system compares the time spent by a plurality of first collision avoidance paths, so that the shortest collision avoidance path is found out and used as a first optimized track, the first optimized track is the shortest path track when the robot turns over from the centering platform to the bending machine, and certainly, when the robot is implemented, if only one first collision avoidance path exists, the time comparison step is skipped, and the first collision avoidance path is directly used as the first optimized track. In implementation, referring to fig. 5, fig. 5 is a schematic diagram of a basic flow of generating a second optimized trajectory according to an embodiment of the present invention.

As shown in fig. 5, step S1200 further includes:

s1230, according to the relative positions of the bending machine and the blanking workbench and the track planning rule, at least one second collision prevention path between the bending machine and the blanking workbench is planned;

after the material to be processed is gripped by the robot and bent at the bending station, the workpiece is carried to the next station, for example, the workpiece is transferred to a blanking workbench for stacking, the system acquires the relative positions of the bending machine and the blanking workbench, and when the robot is in operation, the relative positions between the blanking workbench and the bending machine can be acquired through the information acquisition tool, the actual positions of the centering machine and the bending machine can be acquired through the visible light image mode, the relative positions of the centering machine and the bending machine are calculated according to the actual positions, and then at least one second collision avoidance path from the bending machine to the blanking workbench is planned through RRT path planning rules.

S1240, determining a second collision avoidance path with the shortest time in the at least one second collision avoidance path as a second optimized track between the bending machine and the blanking workbench.

After planning at least one second collision avoidance path, the system compares the time spent by a plurality of second collision avoidance paths, wherein the time spent is the time spent by the robot running between two adjacent stations, so that the shortest collision avoidance path is found out and used as a second optimized track, the second optimized track is the shortest path track spent by the robot running from a bending machine to a blanking workbench, and certainly, when the system is implemented, if the second collision avoidance path is only one, the time comparison step is skipped, and the second collision avoidance path is directly used as the second optimized track.

In one embodiment, referring to fig. 6, fig. 6 is a schematic diagram of a basic flow for driving the bending robot to turn over according to one embodiment of the present invention.

As shown in fig. 6, the bending robot includes at least one joint, and step S1300 includes:

s1310, calculating and generating first joint angle control information of the corresponding joint according to the first optimized track aiming at each joint;

according to the system, first joint angle control information is calculated and generated according to a first optimized track for each joint of the robot, the first joint angle control information is used for controlling rotation of the corresponding joint, and as the robot is provided with a plurality of joints, the conveying state of the robot is smooth and the time for conveying workpieces between two adjacent devices is less by controlling different joints to rotate by different angles. When the mechanical arm completes a series of actions, the mechanical arm receives a control angle instruction and then executes an instruction result, the angle instruction is calculated by a motion planner, and the motion planner calculates the rotation angle of each joint corresponding to the running path of the mechanical arm under the constraint of the initial position and the end position of the end effector, the length of each connecting rod of the mechanical arm and other parameters.

S1320, controlling corresponding joints to rotate according to the first joint angle control information so that the bending robot can overturn from the centering platform to the bending machine.

According to the system, for each joint, the corresponding joint is controlled to rotate according to the first rotation angle, when the system is implemented, the path points directly planned by the motion planner are generally discrete key points, the joint angles of smooth motion of each joint can be obtained by utilizing an interpolation algorithm on the basis, and the motor motion of each joint is driven by the output pulses of the joint angles of the system, so that the bending robot can overturn from the centering platform to the bending machine.

Similarly, the overturning of the robot from the bending machine to the blanking workbench can also be realized by controlling the angles of all joints of the robot, and referring to fig. 7, fig. 7 is a schematic diagram of a basic flow for driving the overturning of the bending robot according to another embodiment of the invention.

As shown in fig. 7, step S1300 further includes:

s1330, calculating and generating second joint angle control information of the corresponding joint according to the second optimized track aiming at each joint;

the system calculates and generates second joint angle control information according to a second optimization track for each joint of the robot, wherein the second joint angle control information is used for controlling rotation of the corresponding joint, and when the system is implemented, the motion planner can calculate angle instructions of each joint to control the mechanical arm to complete a series of actions, and under the constraint that the position of the bending machine is obtained as an initial position, the position of the blanking workbench is obtained as an end position, and parameters such as the length of each connecting rod of the mechanical arm are used, the rotation angle of each joint corresponding to a path of the mechanical arm is calculated.

S1340, controlling corresponding joints to rotate according to the second joint angle control information, so that the bending robot can turn over and move from the bending machine to the blanking workbench.

According to the system, for each joint, the corresponding joint is controlled to rotate according to the second rotation angle, when the system is implemented, the path points directly planned by the motion planner are generally discrete key points, the joint angles of smooth motion of each joint can be obtained by utilizing an interpolation algorithm on the basis, and the motor motion of each joint is driven by the output pulses of the joint angles of the system, so that the bending robot runs from the bending machine to the blanking workbench.

In implementation, taking an example that the mechanical arm is provided with 6 joints, please refer to fig. 8 and fig. 9, and fig. 8 and fig. 9 are a schematic front view and a schematic top view of each joint of the mechanical arm in an embodiment of the present invention respectively. As shown in fig. 8 and 9, the mechanical arm comprises a joint J1, a joint J2, a joint J3, a joint J4, a joint J5 and a joint J6, wherein the movement range of the joint J1 is-180 degrees to +180 degrees; the movement range of the joint J2 is-140 degrees to +140 degrees; the movement range of the joint J3 is-240 degrees to +70 degrees; the movement range of the joint J4 is-180 degrees to +180 degrees; the movement range of the joint J6 is-130 degrees to +130 degrees; the movement range of the joint J5 is-360 degrees to +360 degrees; the distance L1 between the axis of the joint J1 and the axis of the joint J2 is 50-200mm, the distance L2 between the axis of the joint J2 and the ground is 650-850mm, the distance L3 between the axis of the joint J3 and the axis of the joint J2 is 650-850mm, the distance L4 between the axis of the joint J5 and the axis of the joint J3 is 1350-1550mm, and the distance L5 between the end face of the end flange and the axis of the joint J5 is 150-250mm.

In one embodiment, the rotation of each joint is realized by a controller, the controller outputs a control signal to the driving piece corresponding to each joint to control the corresponding driving piece to work, so as to drive the joint to rotate, and taking joint J1 as an example, the first driving piece 321 adopts a servo motor, the rotation angle is controlled by controlling the length of a pulse signal, and in the implementation, the controller also controls the rotation angle range of each joint, and in fig. 9, the movement range of the joint J1 is-180 degrees to +180 degrees as an example, and the joint J1 can rotate 180 degrees clockwise or 180 degrees anticlockwise from the zero angle. In order to avoid the movement exceeding range of each joint, soft limit and hard limit can be arranged at each joint, for example, when the joint J1 rotates to-180 degrees or +180 degrees, the motor stops rotating at the moment, and the robot can send out an alarm prompt, for example, the alarm prompt exceeds the limit alarm prompt of the joint J1 of the robot, so that the joint J1 is prevented from rotating beyond the range; on the other hand, mechanical limiting devices can be arranged at the joints, and the limiting devices can limit the movement range of the joint J1 to be between-180 degrees and +180 degrees.

Because of the specificity of the structure, the joint J2 can rotate within the range of-140 degrees to +140 degrees, can realize backward overturning in space, and fully utilizes the space behind the mechanical arm. The foregoing is data of an alternative embodiment, and in a specific implementation, the adjustment may be further performed according to a use requirement, for example, the range of the joint J2 is set to-130 ° to +130°, and specifically, the adjustment may be performed according to the use requirement to implement a corresponding function so as to meet a production requirement. The specific working principle of the robot overturning and bending method is as follows:

referring to fig. 10, fig. 10 is a schematic diagram of a bending station layout (applicable to one robot to one bending machine and one robot to multiple bending machines) according to an embodiment of the present invention, including a numerically controlled bending machine 100, a robot 200, a feeding and separating workbench 300, a centering mechanism 400, a feeding and positioning mechanism 500 and a robot gripper 600, where a workpiece 1000 is a stainless steel plate workpiece with a workpiece size of 2600×1200×1.2, and specific dimensions are shown in fig. 1, a1=1500, a2=1900, b=1200, c1=1200, c2=200, d1=1300, d2=550, and unit is mm. According to the actual working scene, the relative positions of the robot 200, the numerical control bending machine 100 and peripheral equipment are determined through simulation software, and the peripheral equipment comprises, but is not limited to, a feeding workbench 300 (comprising a separating mechanism), a centering platform 400 and a discharging workbench 500 (comprising a tray positioning mechanism).

Referring to fig. 11, fig. 11 is a schematic diagram showing a bending robot turning to a material taking station according to an embodiment of the present invention, in fig. 11, a mechanical arm starts from an initial position, a joint J1 rotates forward by 41.75 °, a joint J2, a joint J3 and a joint J5 are linked, and the robot turns to the material taking station (a feeding and separating workbench 300), and the movement angles of the joints are as follows: j1 =41.75°, j2= -41.32 °, j3= -119.26 °, j4= -0, j5= -60.74 °, at which time it may be determined by vacuum detection whether the robot gripper has gripped the workpiece.

Referring to fig. 12, fig. 12 is a schematic diagram showing a bending robot turning to a centering station according to an embodiment of the present invention, in fig. 12, a mechanical arm grabs a workpiece and conveys the workpiece from a material taking station to a centering mechanism 400 (centering table), so as to perform secondary positioning, and a proximity switch for detecting the workpiece in place is mounted on the centering table, so as to detect long sides and short sides of the workpiece, and at this time, angles of each joint are as follows: j1 =41.53°, j2=20.35°, j3= 196.89 °, j4=9.16°, j5= 56.62 °.

Referring to fig. 13, fig. 13 is a schematic diagram of a bending robot turning to a bending machine according to an embodiment of the present invention, in fig. 13, after long side and short side in-place signals of a workpiece are given to a robot 200, the robot 200 grabs the workpiece from a centering table, and automatically adjusts the posture of each joint: j1 The bending robot has the advantages that the bending robot is capable of directly overturning to a bending station, each joint is linked, the time for overturning the joint J1 from the centering platform to the bending machine is shortened, the running track of the bending robot 200 is optimized, and the beat and efficiency are improved, wherein the angle is between-39.42 degrees, J2= 112.09 degrees, J3= -110.15 degrees, J4= 44.96, and J5= -50.63 degrees.

Referring to fig. 14, fig. 14 is a schematic diagram illustrating a bending robot turning to a blanking station according to an embodiment of the present invention, in fig. 14, a robot 200 receives a signal that a bending machine 100 finishes bending, and conveys a workpiece to the blanking station to finish stacking of the workpiece, and angles of joints are as follows: j1 =40.08°, j2=50.22°, j3= -25.38°, j4=0, j5=64.66°; after the bending robot 200 finishes the blanking operation, the postures of the joints are automatically adjusted as follows: j1 =41.75°, j2= -41.32 °, j3= -119.26 °, j4= -0, j5= -60.74 °, as shown in fig. 11, the material is directly turned over to the material taking station, the next bending cycle is continuously started, and the time for the robot 200 to rotate from the material discharging station to the material feeding station is reduced. In the whole working process, the mechanical arm finishes twice overturning, the first mechanical arm grabs the positioned workpiece from the centering mechanism and directly overturns to the numerical control bending machine, so that the running time of the joint J1 from the centering platform to the bending machine is shortened; after the work piece is put into the second time mechanical arm code, the mechanical arm code is directly overturned to the material taking station, the running time of the J1 joint from the rotation of the material taking station to the material taking station is reduced, the running track of the mechanical arm is optimized through the overturning of the mechanical arm for two times, the running beat is improved, the productivity can be effectively improved, and the production efficiency is improved.

The embodiment is also applicable to a scene that one robot is matched with a plurality of numerical control bending machines to complete bending application, and in the embodiment, the embodiment is briefly described by taking one robot matched with two numerical control bending machines as an example, the robot obtains the relative position relation between the numerical control bending machines and peripheral equipment, the bending process of a station 1 is completed by matching with the numerical control bending machine 101, the bending process of the station 2 is completed by directly overturning the robot to the bending machine 102 by adjusting the angle of each joint, and referring to fig. 15, the time for the robot to run from the numerical control bending machine 101 to the numerical control bending machine 102 is reduced.

In the whole process, the robot finishes three times of overturning in total, and the first robot grabs a workpiece from the centering mechanism 400 and directly overturns to the numerical control bending machine for bending; after the first procedure bending is completed for the second time, the robot directly turns over from the number 1 numerical control bending machine 101 to the number 2 numerical control bending machine 102; after the third robot is used for stacking the workpieces, the workpieces are directly turned over to a material taking station and enter the next cycle, and through the turning over of the robots for three times, the running track is optimized and the running beat of the whole workstation is improved;

in order to solve the technical problems, the embodiment of the invention also provides a bending robot, which adopts the method for turning and bending by the robot. According to the method, the environment information of the working scene where the bending robot is located is obtained, the running optimization track information of the bending robot is calculated and generated according to the environment information, and the bending robot is controlled to work according to the optimization track information, so that the bending robot performs gesture overturning corresponding to the optimization track information, the running beat of the bending robot can be effectively improved, and the production efficiency is improved.

The foregoing is only a partial embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.

Claims (3)

1. A method of robotic flip bending comprising:

acquiring environment information of a working scene where the bending robot is located;

calculating and generating the optimized track information of the bending robot operation according to the environment information, wherein the optimized track information comprises the following steps: acquiring relative position information of at least one docking station device and the bending robot; the butt joint station equipment comprises a feeding workbench, a centering table, a bending machine, a surface changing mechanism and a discharging workbench, wherein the feeding workbench comprises a separating mechanism, and the discharging workbench comprises a tray positioning mechanism; calculating and generating the environment information according to the relative position information; according to the relative positions of the centering platform and the bending machine and preset track planning rules, at least one first collision avoidance path between the centering platform and the bending machine is planned; determining a first collision avoidance path with shortest time in the at least one first collision avoidance path as a first optimized track between the centering platform and the bending machine; at least one second collision avoidance path between the bending machine and the blanking workbench is planned according to the relative positions of the bending machine and the blanking workbench and the track planning rule; determining a second collision avoidance path with shortest time in the at least one second collision avoidance path as a second optimized track between the bending machine and the blanking workbench;

controlling the bending robot to execute gesture overturning corresponding to the optimized track information according to the optimized track information; the bending robot is provided with at least one joint; for each joint, calculating and generating first joint angle control information of the corresponding joint according to the first optimized track; controlling corresponding joints to rotate according to the first joint angle control information so as to enable the bending robot to turn over and move from the centering platform to the bending machine;

the gesture overturning is realized by controlling the joints of the bending robot to rotate according to a rotation angle, and the rotation angle is obtained according to the optimized track information; for each joint, calculating and generating second joint angle control information of the corresponding joint according to the second optimized track; and controlling the corresponding joints to rotate according to the second joint angle control information, so that the bending robot turns over and moves from the bending machine to the blanking workbench.

2. The method of robotic flip bending of claim 1, wherein prior to the step of collecting relative positional information of at least one docking station apparatus and the bending robot, further comprising:

acquiring identification information of a preset information acquisition tool, wherein the information acquisition tool is used for acquiring the relative position information;

and associating and starting the information acquisition tool according to the identification information.

3. A bending robot, wherein the bending robot adopts the robot overturning and bending method according to any one of claims 1 to 2.

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