CN105334801A - Robot bending speed matching adaptive method - Google Patents
Robot bending speed matching adaptive method Download PDFInfo
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- CN105334801A CN105334801A CN201510762377.5A CN201510762377A CN105334801A CN 105334801 A CN105334801 A CN 105334801A CN 201510762377 A CN201510762377 A CN 201510762377A CN 105334801 A CN105334801 A CN 105334801A
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- bending
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39001—Robot, manipulator control
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention discloses a robot bending speed matching adaptive method. a hardware system involved in the method comprises a grating ruler, a PLC and an upper computer, wherein signal output ends of the grating ruler and the robot are electrically connected with the PLC respectively; and the upper computer monitors the PLC, signals and time data are acquired, and after calculation, speed data are sent to the robot. An indirect method is adopted, time of the robot and a bending process of a bending knife is used for ensuring consistency, feedback of the grating ruler is used for automatically calculating the bending action time of the bending knife, the motion speed of the robot is measured and calculated accordingly, and after three to four times of automatic robot bending, the most proper bending speed of the robot can be automatically found out, manual adjustment participation is avoided, and the adjustment method is scientific, reasonable, accurate and reliable.
Description
Technical field
The present invention relates to a kind of robot bending speeds match adaptive approach.
Background technology
Robot carries out in the process of bending at cooperation bender to sheet metal component, and the bending cutter that robotic gripper sheet metal component and bender carries out bending to sheet metal component.In the process of bending, robot will coordinate bending cutter to carry out flexing movement, because the bending speed of bending cutter is not mated with the bending speed of robot, sheet metal component can be caused to deform in Forging Process, cause the product after bending to there is angular error.
Existing mode adopts the mode of manual testing substantially, first given robot bending speed, more repeatedly manually adjusts the bending speed of robot according to bending result, until try out a suitable speed.Such method spends the long time and once bender parameter changes, just needs again to debug again, and action is repeatable poor.
Summary of the invention
In order to solve deficiency of the prior art, the object of the present invention is to provide one to avoid manually participating in adjustment, method of adjustment is scientific and reasonable, accurately reliable robot bending speeds match adaptive approach.
For achieving the above object, the present invention is by the following technical solutions:
A kind of robot bending speeds match adaptive approach, the hardware system that described method relates to comprises grating scale, PLC and host computer, the signal output part of grating scale and robot is electrically connected with PLC respectively, host computer monitoring PLC, obtain signal and time data, afterwards speed data is passed to robot as calculated;
Described method specifically comprises the following steps:
1) be arranged on bender by grating scale, grating scale determines the current location of the bending cutter on bender, and is remedied to consistent with actual conditions by the value of grating scale;
2) by host computer with specific velocity contrast for interval, successively change the bending speed of robot, and the corresponding bending time under measuring each bending speed of robot by PLC, the data importing spreadsheet obtained is carried out matching by matching function, obtains robot bending speed and the fitting formula of bending time;
3) in PLC, set grating scale enable position and the final position of bending cutter, bending cutter carries out bending with the bending speed of acquiescence, when bending cutter is by grating scale enable position and final position, PLC will start respectively and stop timer, record the bending time of bending cutter thus, juxtaposition zone bit;
4) host computer detects zone bit in the process of scanning PLC, reads bending time of bending cutter that PLC records, by bringing the bending time of bending cutter into step 2) in fitting formula can obtain the reference bending speed of robot;
5) host computer is by above-mentioned steps 4) obtain passing to robot with reference to bending speed, robot carries out bending, measures the bending time of robot under this reference bending speed by PLC;
6) the bending time of bending cutter and the bending time of robot is contrasted, and the mistiming both obtaining,
If the mistiming of the two is in the scope preset, then with above-mentioned steps 4) in the reference bending speed that obtains be the final bending speed of robot;
If the mistiming of the two exceeds default scope, according to the bending speed of the magnitude relationship adjustment robot of the two, bending speed after adjustment is passed to robot by host computer, robot carries out flexing movement again, and again measure the bending time under this bending speed of robot by PLC, repeat step 6) until the two mistiming preset scope in, then robot is finally adjusted to the final bending speed of qualified bending speed as robot.
The method that described PLC measures the robot bending time is as follows: when robot carries out bending, provides signal calculates two signals mistiming to PLC, PLC respectively, namely obtain the bending time of robot in the position that robot starts and bending puts in place.
Step 2) in, when velocity contrast is 3mm/s, robot bending speed and the fitting formula of bending time are: y=63.053x
-1.3372, wherein, x is the bending time of robot, unit s; Y is the bending speed of robot, and unit is mm/s.
The present invention adopts above technical scheme, there is following beneficial effect: because the bending speed directly measuring bender bending cutter and robot has difficulties, therefore the present invention adopts round-about way, utilizes, time of both Forging Process of robot and bending cutter ensures consistance.And by utilizing the flexing movement time of the feedback automatic measurement & calculation bending cutter of grating scale, and calculate the movement velocity of robot accordingly, after No. 3 to 4 the automatic bendings of robot, automatically the most suitable bending speed of robot can be found out, avoid manually participating in adjustment, method of adjustment is scientific and reasonable, accurately reliably.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in further details:
Fig. 1 is space structure schematic diagram of the present invention.
Embodiment
As shown in Figure 1, a kind of robot of the present invention bending speeds match adaptive approach, the hardware system that described method relates to comprises grating scale, PLC and host computer, grating scale is for gathering the position data of bender bending cutter, PLC is responsible for carrying out timing to the time of bending tool tool and robot flexing movement, and host computer is then for calculating corresponding speed and being reached robot; The signal output part of grating scale and robot is electrically connected with PLC respectively, and host computer monitoring PLC, obtains signal and time data, afterwards speed data is passed to robot as calculated;
Described method specifically comprises the following steps:
1) be arranged on bender by grating scale, grating scale determines the current location of the bending cutter on bender, and is remedied to consistent with actual conditions by the value of grating scale;
2) think that the velocity contrast of 3mm/s is interval by host computer, successively change the bending speed of robot, and the corresponding bending time under measuring each bending speed of robot by PLC, the data importing spreadsheet obtained is carried out matching by matching function, obtains robot bending speed and the fitting formula of bending time; Y=63.053x
-1.3372, wherein, x is the bending time of robot, unit s; Y is the bending speed of robot, and unit is mm/s.
3) in PLC, set grating scale enable position and the final position of bending cutter, bending cutter is that the bending speed of acquiescence carries out bending with 30mm/, when bending cutter is by grating scale enable position and final position, PLC will start respectively and stop timer, record the bending time of bending cutter thus, juxtaposition zone bit;
4) host computer detects zone bit in the process of scanning PLC, reads bending time of bending cutter that PLC records, by bringing the bending time of bending cutter into step 2) in fitting formula can obtain the reference bending speed of robot; If above-mentioned steps 3) bending cutter bending time of measuring is 1.635s, substituting into fitting formula, to obtain bending reference velocity be 32.667mm/s;
5) host computer is by above-mentioned steps 4) obtain passing to robot with reference to bending speed, robot carries out bending, measures the bending time of robot under this reference bending speed by PLC;
6) the bending time of bending cutter and the bending time of robot is contrasted, and the mistiming both obtaining,
If the mistiming of the two is in the scope preset, then with above-mentioned steps 4) in the reference bending speed that obtains be the final bending speed of robot;
If the mistiming of the two exceeds default scope, according to the bending speed of the magnitude relationship adjustment robot of the two, bending speed after adjustment is passed to robot by host computer, robot carries out flexing movement again, and again measure the bending time under this bending speed of robot by PLC, repeat step 6) until the two mistiming preset scope in, then robot is finally adjusted to the final bending speed of qualified bending speed as robot.
Above-mentioned steps 6) specifically the embodiment of robot bending speed adjustment is as follows, first supposes that the preset range of the mistiming of the bending time of bending cutter and the bending time of robot is in 0.03s,
If the mistiming of the two is in 0.03 scope, then with above-mentioned steps 4) in the reference bending speed 32.667mm/s that obtains be the final bending speed of robot
If the mistiming of the two exceeds the scope of 0.03s, then according to the magnitude relationship of the two, by following rule adjustment: if the bending time of bending cutter is greater than robot bending time more than 0.1s, then robot speed reduces 3mm/s; If the robot bending time is greater than bending cutter bending time more than 0.1s, then robot speed increases 3mm/s.If the bending cutter bending time is greater than robot bending time 0.03s and is less than 0.1s, then robot speed reduces 1mm/s; If the robot bending time is greater than bending cutter bending time 0.03s bis-and is less than 0.1s, then robot speed increases 1mm/s.
Such as, the bending time of measuring robot is 1.51s, now obviously robot motion too fast and mistiming is greater than 0.1, then on the basis of reference velocity 32.667mm/s, deduct 3mm/s, change the speed of robot into 29.667mm/s, robot is passed to after having adjusted, robot carries out flexing movement again, and again measure the bending time under this bending speed of robot by PLC, repeat step 6) until the mistiming of the bending time of bending cutter and the bending time of robot in 0.03 scope, then robot is finally adjusted to the final bending speed of qualified bending speed as robot.
In addition, the method that PLC measures the robot bending time is as follows: when robot carries out bending, provides signal calculates two signals mistiming to PLC, PLC respectively, namely obtain the bending time of robot in the position that robot starts and bending puts in place.
Claims (3)
1. a robot bending speeds match adaptive approach, it is characterized in that: the hardware system that described method relates to comprises grating scale, PLC and host computer, the signal output part of grating scale and robot is electrically connected with PLC respectively, host computer monitoring PLC, obtain signal and time data, afterwards speed data is passed to robot as calculated;
Described method specifically comprises the following steps:
1) be arranged on bender by grating scale, grating scale determines the current location of the bending cutter on bender, and is remedied to consistent with actual conditions by the value of grating scale;
2) by host computer with specific velocity contrast for interval, successively change the bending speed of robot, and the corresponding bending time under measuring each bending speed of robot by PLC, the data importing spreadsheet obtained is carried out matching by matching function, obtains robot bending speed and the fitting formula of bending time;
3) in PLC, set grating scale enable position and the final position of bending cutter, bending cutter carries out bending with the bending speed of acquiescence, when bending cutter is by grating scale enable position and final position, PLC will start respectively and stop timer, record the bending time of bending cutter thus, juxtaposition zone bit;
4) host computer detects zone bit in the process of scanning PLC, reads bending time of bending cutter that PLC records, by bringing the bending time of bending cutter into step 2) in fitting formula can obtain the reference bending speed of robot;
5) host computer is by above-mentioned steps 4) obtain passing to robot with reference to bending speed, robot carries out bending, measures the bending time of robot under this reference bending speed by PLC;
6) the bending time of bending cutter and the bending time of robot is contrasted, and the mistiming both obtaining,
If the mistiming of the two is in the scope preset, then with above-mentioned steps 4) in the reference bending speed that obtains be the final bending speed of robot;
If the mistiming of the two exceeds default scope, according to the bending speed of the magnitude relationship adjustment robot of the two, bending speed after adjustment is passed to robot by host computer, robot carries out flexing movement again, and again measure the bending time under this bending speed of robot by PLC, repeat step 6) until the two mistiming preset scope in, then robot is finally adjusted to the final bending speed of qualified bending speed as robot.
2. a kind of robot according to claim 1 bending speeds match adaptive approach, it is characterized in that: the method that described PLC measures the robot bending time is as follows: when robot carries out bending, signal is provided respectively to PLC in the position that robot starts and bending puts in place, PLC calculates the mistiming of two signals, namely obtains the bending time of robot.
3. a kind of robot according to claim 1 and 2 bending speeds match adaptive approach, is characterized in that: step 2) in, when velocity contrast is 3mm/s, robot bending speed and the fitting formula of bending time are: y=63.053x
-1.3372, wherein, x is the bending time of robot, unit s; Y is the bending speed of robot, and unit is mm/s.
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| CN201510762377.5A CN105334801B (en) | 2015-11-11 | 2015-11-11 | A kind of robot bending speeds match adaptive approach |
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| CN201510762377.5A CN105334801B (en) | 2015-11-11 | 2015-11-11 | A kind of robot bending speeds match adaptive approach |
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| CN105334801A true CN105334801A (en) | 2016-02-17 |
| CN105334801B CN105334801B (en) | 2017-10-13 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109590356A (en) * | 2019-01-30 | 2019-04-09 | 福建渃博特自动化设备有限公司 | A kind of bending follower method and terminal |
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| JPS6137324A (en) * | 1984-07-27 | 1986-02-22 | Nippon Kokan Kk <Nkk> | Press brake |
| EP2353748A1 (en) * | 2010-02-08 | 2011-08-10 | WAFIOS Aktiengesellschaft | Method and device for producing a bent component |
| CN103707299A (en) * | 2013-12-18 | 2014-04-09 | 南京埃斯顿机器人工程有限公司 | Method of implementing real-time bending follow of bending robot |
| CN104331022A (en) * | 2014-10-14 | 2015-02-04 | 福建骏鹏通信科技有限公司 | Industrial robot bending fast programming system |
| CN104475504A (en) * | 2014-11-04 | 2015-04-01 | 上海新时达电气股份有限公司 | Real time following method for robot bend and device thereof |
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2015
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Patent Citations (5)
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| EP2353748A1 (en) * | 2010-02-08 | 2011-08-10 | WAFIOS Aktiengesellschaft | Method and device for producing a bent component |
| CN103707299A (en) * | 2013-12-18 | 2014-04-09 | 南京埃斯顿机器人工程有限公司 | Method of implementing real-time bending follow of bending robot |
| CN104331022A (en) * | 2014-10-14 | 2015-02-04 | 福建骏鹏通信科技有限公司 | Industrial robot bending fast programming system |
| CN104475504A (en) * | 2014-11-04 | 2015-04-01 | 上海新时达电气股份有限公司 | Real time following method for robot bend and device thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109590356A (en) * | 2019-01-30 | 2019-04-09 | 福建渃博特自动化设备有限公司 | A kind of bending follower method and terminal |
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| CN105334801B (en) | 2017-10-13 |
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Effective date of registration: 20190121 Address after: 350000 Second Floor of Building 18, Taijiang Industrial Park, Jinshan Orange Garden Chau Industrial Zone, Cangshan District, Fuzhou City, Fujian Province Patentee after: Fujian Bote Ruo automation equipment Co. Address before: 350000 Building No. 19, Taijiang Garden, Orange Garden Island Industrial Park, 618 Jinshan Avenue, Cangshan District, Fuzhou City, Fujian Province Patentee before: FUJIAN JUNPENG COMMUNICATION TECHNOLOGY CO., LTD. |
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