CN105911955A - Bending machine numerical control system device with embedded robot for control and method thereof - Google Patents
Bending machine numerical control system device with embedded robot for control and method thereof Download PDFInfo
- Publication number
- CN105911955A CN105911955A CN201610480549.4A CN201610480549A CN105911955A CN 105911955 A CN105911955 A CN 105911955A CN 201610480549 A CN201610480549 A CN 201610480549A CN 105911955 A CN105911955 A CN 105911955A
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- robot
- control system
- digital control
- slide block
- workpiece
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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
-
- 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
- G05B19/188—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 special applications and not provided for in the relevant subclasses, (e.g. making dies, filament winding)
-
- 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
- G05B2219/37582—Position, angle of workpiece surface
Abstract
The invention discloses a bending machine numerical control system device with embedded robot control and a method thereof. The bending machine numerical control system device comprises a numerical control system, a robot, a rack, a slide block control mechanism, a slide block, an upper mold, a lower mold, a charging frame and a discharging station, wherein the numerical control system is arranged on the rack; the robot is arranged on the rack; the slide block control mechanism is used for pushing the slide block to move up and down; the upper mold is mounted on the slide block; the lower mold is arranged under the upper mold; the lower mold is arranged on the rack; the charging frame is mounted at the left side of the rack; and the discharging station is mounted at the right side of the rack. The robot and bending machining are uniformly programmed and are subjected to synchronous motion control through the numerical control system, so that the robot becomes an embedded part of a numerical control bending machine and a rear bumper structure is cancelled; and the defects in the current market that the common numerical control bending machine and the robot are independently controlled and special software needs to be used for simulating a process of bending the robot so that the use complexity is caused are overcome.
Description
Technical field
The invention belongs to dynamo-electric numerical control device field, the bender digital control system dress that a kind of embedded robot controls
Put and using method.
Background technology
On existing market, the actual application of numerical control bender employing robot is the most common, and its reason is robot controller and folding
The most independent control system of bender digital control system, but workpiece shapes can be changed during bending operation, need machine
People accurately follows bending feed speed and the track of bender, and otherwise tracking error will affect bending precision and bending deformed
Journey.Additionally due to the technological parameters such as each centre of location of bending, bending angle and mold shape are all different, how to count
The path calculating robot is extremely difficult.
For solving the problem that robot bending is followed, market has the robot bending software of special exploitation, setting according to workpiece
The meter technical papers such as size and die size, after inputting bending parameter and choosing bending line, machine at software calculating automatically
People path, then inputs robot controller, then jointly controls the automatic Forging Process of panel beating with digital control system.
This process operation is more complicated, and the panel beating for small lot basically can not use, and efficiency is the lowest.
It addition, general bender robot separates with bender body, robot coordinate system's initial point and machine coordinates system
Distance between initial point needs to be calculated by detection to obtain, and error is relatively big, and each bending all must must pass through back material stopping machine
Structure auxiliary positioning panel beating and obtain flanging length accurately, this have impact on working (machining) efficiency equally and adds agency cost.
It is accordingly required in particular to a kind of bender digital control system device and method with the control of embedded robot, existing to solve
Problem present in technology.
Summary of the invention
The invention aims to solve in prior art, do not have a kind of to be suitable to practical and convenient bender robot device's
Defect, it is provided that the bender digital control system device and method that a kind of embedded robot controls, solves present in prior art
Problem.
For achieving the above object, technical scheme is as follows:
A kind of have the bender digital control system device that embedded robot controls, including upper mold, slide block, frame, lower mold and machine
Frame, described upper mold is arranged on slide block, and described slide block can slide up and down and is arranged in frame, in described frame, upper mold
Lower section be fixedly installed lower mold, it is characterised in that: also include digital control system and for capture release workpiece robot, institute's machine
Device people is arranged in frame, described slide block slide up and down the motion with robot respectively by digital control system control.
In the present invention, also including slide block controlling organization, described slide block controlling organization promotes slide block to run up and down.
In the present invention, the artificial wu-zhi-shan pig of described machine.
In the present invention, the sidepiece of described robot arranges stock shelf.
A kind of using method with the bender digital control system device that embedded robot controls, comprises the following steps:
Step one, operator input workpiece drawing in digital control system, define work piece holder centre coordinate and folding on drawing
Curved line, to the distance of clamp central, continues with bending technique parameter, then automatically calculates planning robot inside digital control system
Control track code with slide block.
Step 2: operator's slow running bending program, checks that overall process is abnormal with or without controlling, after measuring workpiece bending
Size and angle precision, if reaching requirement, enter next step.
Step 3: operator start properly functioning bending program, first operator and place a number of on stock shelf
Starting automatic bending, then robot feeding from stock shelf after workpiece, panel beating is delivered to upper mold surface alignment, slide block controls
Mechanism drives slide block down, and when slide block lower end touches workpiece surface, workpiece starts to be bent upwards deformation, digital control system
Automatically control slide block and robot coordinated motion, make robot accurately follow workpiece and rotated Forging Process, on last slide block
OK, robot removes workpiece according to evading collision course from mould, and is placed in output station by workpiece.
In the present invention, described bending technique parameter includes upper/lower die size, the width of the workpiece chi arranged in digital control system
The parameters such as route evaded by very little, thickness of workpiece size and mould.
In the present invention, following of described step 3 refers to that fixture catches workpiece all the time, along with workpiece gradually rotates, and robot
The most synchronously do circular motion.
In the present invention, described robot architecture uses five axial coordinate systems, and this robot architecture is in robot architecture
One, it would however also be possible to employ the robot of other structure, be not limited only to use wu-zhi-shan pig structure.
In the present invention, edit after panel beating parameter in described digital control system, digital control system is internal automatically calculate slide position and
The dependency relation of robot path, it is not necessary to by the motion path of other computed in software machine people.
In the present invention, described digital control system controls robot and the motion of slide block controlling organization.
Beneficial effect
1, the bender digital control system device and method that a kind of embedded robot of the present invention controls, compared with prior art,
Solve conventional bender robot on existing market and use the defect that process is complicated, after the simple programming of panel beating, counting
Ore-controlling Role is internal calculates slide position and the dependency relation of robot path automatically, it is not necessary to by other computed in software machine people
Motion path, operating process is simple and quick, improves work efficiency；The present invention uses specific structural grouping, it is not necessary to
The rear stock stop resetting bending length of side, eliminates rear stock stop, saves the resetting time, simplified bender
Structure；
2, robot is arranged in frame, and the up and down motion of slide block and the motion of robot, respectively by digital control system control, make
Obtain robot coordinate system and lathe coordinate system unification to be controlled by digital control system management, robot coordinate system's initial point and lathe coordinate system
Distance between system initial point is that Machine Design installation determines, is rolled over accurately so need not rear stock stop location panel beating
Edge lengths.
Accompanying drawing explanation
The bender structural representation of a kind of external robot on Fig. 1 existing market；
The bender structural representation of the embedded robot of Fig. 2 present invention；
In figure: 1, digital control system；2, robot；3, frame；4, slide block controlling organization；5, slide block；6、
Upper mold；7, lower mold；8, stock shelf；9, output station；10, workpiece；11, rear stock stop.
Detailed description of the invention
In the view of whole accompanying drawings, corresponding reference marks represents corresponding parts.
A kind of embedded robot control bender digital control system device, bender digital control system device include digital control system 1,
Robot 2, frame 3, slide block controlling organization 4, slide block 5, upper mold 6, lower mold 7, stock shelf 8, output station 9 and work
Part 10, digital control system 1 is arranged in frame 3, and robot 2 is arranged in frame 3, and slide block controlling organization 4 promotes sliding
Block about 5 runs, and upper mold 6 is arranged on slide block 5, and the lower section of upper mold 6 arranges lower mold 7, and lower mold 7 is arranged on frame 3
On, stock shelf 8 is arranged on frame 3 left side, and output station 9 is arranged on the right of frame 3, and workpiece 10 is by robot 2 fixture
Capturing or release, after working out panel beating parameter in digital control system 1, digital control system 1 controls robot 2 and slide block controlling organization
4 run, on digital control system 1 internal calculating slide block 5 position and robot 2 tunnel automatically during bending panel beating rotates up
Footpath, it is achieved the Synchronous Bending of robot 2 and slide block 5 controls.Bender digital control system device need not rear stock stop 11
The resetting bending length of side, saves the resetting time, has simplified bender structure；In the embodiment of extension, can be
Spray super-hydrophobic oleophobic composite coating on the outer surface of upper mold 6 and lower mold 7 respectively, make upper mold 6 and lower mold 7 possess super respectively
The function of hydrophobic oleophobic, in long-term use, it is possible to ensure upper mold 6 and the sanitary grade of lower mold；Further, expanding
In the technical scheme of exhibition, ultraviolet germicidal lamp can be set in frame 3 by the way of bonding, fill in bender digital control system
Put residing space nobody time, ultraviolet germicidal lamp can be opened, the space residing for bender digital control system device is sterilized,
Reach preferable using effect.
In the present invention, digital control system 1 controls robot 2 and slide block controlling organization 4 moves, preferred embodiment in,
Slide block controlling organization is cylinder, pushes or pull on slide block by the piston movement of cylinder and moves up and down, and cylinder can be electrically connected with number
Ore-controlling Role 1, is passed through time and the frequency of its piston movement of programming Control by digital control system.
In the present invention, after editing panel beating parameter in digital control system 1, digital control system 1 is internal calculates slide block 5 position automatically
Dependency relation with robot 2 path, it is not necessary to by the motion path of other computed in software machine people 2.
In the present invention, robot 2 is arranged in frame 3, and robot 2 is feeding from stock shelf 8.
In the present invention, robot 2 structure uses five axial coordinate systems, and this robot architecture is in robot architecture
A kind of, it would however also be possible to employ the robot of other structure, it is not limited only to use wu-zhi-shan pig structure.
In the present invention, rear stock stop 11 is eliminated.Robot coordinate system and lathe coordinate system unification are by digital control system 1
Management controls, and the distance between robot coordinate system's initial point and machine coordinates system initial point is that Machine Design installation determines, institute
Position panel beating and obtain flanging length accurately need not rear stock stop 8.And general bender robot 2 and bender this
Body is to separate, and the distance between robot coordinate system's initial point and machine coordinates system initial point needs to be calculated by detection to obtain,
And error is bigger, it is necessary to obtain flanging length accurately by rear stock stop 10 auxiliary positioning panel beating.
The using method of the bender digital control system device that a kind of embedded robot controls, comprises the following steps:
Step one, operator input workpiece drawing in digital control system, define work piece holder centre coordinate and folding on drawing
Curved line, to the distance of clamp central, continues with bending technique parameter, then automatically calculates planning robot inside digital control system
Control track code with slide block.
Step 2: operator's slow running bending program, checks that overall process is abnormal with or without controlling, after measuring workpiece bending
Size and angle precision, if reaching requirement, enter next step.
Step 3: operator start properly functioning bending program, first operator and place a number of on stock shelf
Starting automatic bending, then robot feeding from stock shelf after workpiece, panel beating is delivered to upper mold surface alignment, slide block controls
Mechanism drives slide block down, and when slide block lower end touches workpiece surface, workpiece starts to be bent upwards deformation, digital control system
Automatically control slide block and robot coordinated motion, make robot accurately follow workpiece and rotated Forging Process, on last slide block
OK, robot removes workpiece according to evading collision course from mould, and is placed in output station by workpiece.
In the present invention, rear stock stop is eliminated.Robot coordinate system and lathe coordinate system unification are by digital control system management control
System, the distance between robot coordinate system's initial point and machine coordinates system initial point is that Machine Design installation determines, so being not required to
Rear stock stop location panel beating is wanted to obtain flanging length accurately.And general bender robot is to separate with bender body
, the distance between robot coordinate system's initial point and machine coordinates system initial point needs to be calculated by detection to obtain, and error is relatively
Greatly, it is necessary to obtain flanging length accurately by rear stock stop auxiliary positioning panel beating.
Further, described bending technique parameter include in digital control system arrange upper/lower die size, width of the workpiece size,
The parameters such as route evaded by thickness of workpiece size and mould.
Further, described " following " refers to that fixture catches workpiece all the time, and along with workpiece gradually rotates, robot is also same
Do circular motion to step.
Further, robot architecture of the present invention uses five axial coordinate systems, and this robot architecture is in robot architecture
One, it would however also be possible to employ the robot of other structure, be not limited only to use wu-zhi-shan pig structure.
The above-mentioned description to embodiment is to be understood that for ease of those skilled in the art and use the present invention.Ripe
These embodiments obviously easily can be made various amendment by the personnel knowing art technology, and described herein the most former
Ought to use in other embodiments without through performing creative labour.Therefore, the invention is not restricted to above-described embodiment, ability
Field technique personnel should be the present invention's according to the announcement of the present invention, the improvement made without departing from scope and amendment
Within protection domain.
Claims (10)
1. there is the bender digital control system device that embedded robot controls, including upper mold, slide block, frame, lower mold
And frame, described upper mold is arranged on slide block, and described slide block can slide up and down and is arranged in frame, in described frame,
The lower section of upper mold is fixedly installed lower mold, it is characterised in that: also include digital control system and for capturing the robot of release workpiece,
Robot of institute is arranged in frame, described slide block slide up and down the motion with robot respectively by digital control system control.
The most according to claim 1 have the bender digital control system device that embedded robot controls, it is characterised in that:
Also including slide block controlling organization, described slide block controlling organization promotes slide block to run up and down.
The most according to claim 1 have the bender digital control system device that embedded robot controls, it is characterised in that:
The artificial wu-zhi-shan pig of described machine.
The most according to claim 1 have the bender digital control system device that embedded robot controls, it is characterised in that:
The sidepiece of described robot arranges stock shelf.
5. a using method with the bender digital control system device that embedded robot controls, it is characterised in that include
Following steps:
Step one, operator input workpiece drawing in digital control system, define work piece holder centre coordinate and folding on drawing
Curved line, to the distance of clamp central, continues with bending technique parameter, and then digital control system is internal calculates planning machine automatically
The control track code of device people and slide block.
Step 2: operator's slow running bending program, checks that overall process is abnormal with or without controlling, after measuring workpiece bending
Size and angle precision, if reaching requirement, enter next step.
Step 3: operator start properly functioning bending program, first operator and place a number of on stock shelf
Start automatic bending, then robot feeding from stock shelf after workpiece, panel beating is delivered to upper mold surface alignment, slide block
Controlling organization drives slide block down, and when slide block lower end touches workpiece surface, workpiece starts to be bent upwards deformation,
Digital control system automatically controls slide block and robot coordinated motion, makes robot accurately follow workpiece and has rotated bending
Journey, last slide block is up, and robot removes workpiece according to evading collision course from mould, and is placed into out by workpiece
In material station.
The using method with the bender digital control system device that embedded robot controls the most according to claim 5,
It is characterized in that: described bending technique parameter include in digital control system arrange upper/lower die size, width of the workpiece size,
The parameters such as route evaded by thickness of workpiece size and mould.
The using method with the bender digital control system device that embedded robot controls the most according to claim 5,
It is characterized in that: following of described step 3 refers to that fixture catches workpiece all the time, along with workpiece gradually rotates, robot is also same
Do circular motion to step.
The using method with the bender digital control system device that embedded robot controls the most according to claim 5,
It is characterized in that: described robot architecture uses five axial coordinate systems, this robot architecture is in robot architecture
Kind, it would however also be possible to employ the robot of other structure, it is not limited only to use wu-zhi-shan pig structure.
The using method with the bender digital control system device that embedded robot controls the most according to claim 5,
It is characterized in that: after editing panel beating parameter in described digital control system, digital control system is internal calculates slide position and machine automatically
The dependency relation in people path, it is not necessary to by the motion path of other computed in software machine people.
The using method with the bender digital control system device that embedded robot controls the most according to claim 5,
It is characterized in that: described digital control system controls robot and the motion of slide block controlling organization.
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| CN201610480549.4A CN105911955B (en) | 2016-06-23 | 2016-06-23 | Bending machine digital control system device and method with the control of embedded robot |
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| CN201610480549.4A CN105911955B (en) | 2016-06-23 | 2016-06-23 | Bending machine digital control system device and method with the control of embedded robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393066A (en) * | 2016-10-19 | 2017-02-15 | 上海发那科机器人有限公司 | Method for achieving bending tracking through robot |
| CN108334031A (en) * | 2017-12-29 | 2018-07-27 | 南京埃斯顿自动化股份有限公司 | The torque shaft bending machine control method of adjust automatically R axis zero-bit and its movement locus |
| CN109278043A (en) * | 2018-08-30 | 2019-01-29 | 成都卡诺普自动化控制技术有限公司 | A kind of industrial robot bending follower method |
| CN109772944A (en) * | 2018-12-13 | 2019-05-21 | 天水锻压机床(集团)有限公司 | A kind of servo-actuated bending control method of panel beating robot |
| CN110153239A (en) * | 2019-06-12 | 2019-08-23 | 上海发那科机器人有限公司 | A kind of bending follow-up method and metal plate bending process based on robot additional shaft |
| CN110802181A (en) * | 2019-11-02 | 2020-02-18 | 江苏永兴金融设备有限公司 | Automatic feeding structure and feeding method for bending machine |
| CN113351695A (en) * | 2021-07-15 | 2021-09-07 | 广东宏石激光技术股份有限公司 | Plate bending method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106393066A (en) * | 2016-10-19 | 2017-02-15 | 上海发那科机器人有限公司 | Method for achieving bending tracking through robot |
| CN108334031A (en) * | 2017-12-29 | 2018-07-27 | 南京埃斯顿自动化股份有限公司 | The torque shaft bending machine control method of adjust automatically R axis zero-bit and its movement locus |
| CN108334031B (en) * | 2017-12-29 | 2020-06-02 | 南京埃斯顿自动化股份有限公司 | Torsion shaft bending machine control method capable of automatically adjusting zero position and motion trail of R shaft |
| CN109278043A (en) * | 2018-08-30 | 2019-01-29 | 成都卡诺普自动化控制技术有限公司 | A kind of industrial robot bending follower method |
| CN109772944A (en) * | 2018-12-13 | 2019-05-21 | 天水锻压机床(集团)有限公司 | A kind of servo-actuated bending control method of panel beating robot |
| CN109772944B (en) * | 2018-12-13 | 2020-04-28 | 天水锻压机床(集团)有限公司 | Sheet metal machining robot follow-up bending control method |
| CN110153239A (en) * | 2019-06-12 | 2019-08-23 | 上海发那科机器人有限公司 | A kind of bending follow-up method and metal plate bending process based on robot additional shaft |
| CN110802181A (en) * | 2019-11-02 | 2020-02-18 | 江苏永兴金融设备有限公司 | Automatic feeding structure and feeding method for bending machine |
| CN113351695A (en) * | 2021-07-15 | 2021-09-07 | 广东宏石激光技术股份有限公司 | Plate bending method |
| CN113351695B (en) * | 2021-07-15 | 2023-01-13 | 广东宏石激光技术股份有限公司 | Plate bending method |
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| CN105911955B (en) | 2019-01-25 |
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