CN107081761A - It is a kind of to be used for metal plate and body non-interference robot during automatic bending - Google Patents

It is a kind of to be used for metal plate and body non-interference robot during automatic bending Download PDF

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Publication number
CN107081761A
CN107081761A CN201710513061.1A CN201710513061A CN107081761A CN 107081761 A CN107081761 A CN 107081761A CN 201710513061 A CN201710513061 A CN 201710513061A CN 107081761 A CN107081761 A CN 107081761A
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Prior art keywords
metal plate
long
bending
axles
robot
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CN201710513061.1A
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CN107081761B (en
Inventor
敬淑义
刘加磊
陈赣东
王杰高
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Nanjing Estun Robotics Co Ltd
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Nanjing Estun Robotics Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • G05B2219/39094—Interference checking between robot and fixture
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Abstract

The invention discloses it is a kind of be used for automatic bending when metal plate and the non-interference robot of body, be 6 joint industrial robots.It is characterized in that：Forearm element stems length and long long Y=2~3 of the big armed levers of sum X/ of wrist part bar, bender lower die edge height swivel base J2 wheelbases from the ground apart from H=500~600mm, swivel base J2 wheelbases set metal plate maximal side forearm element stems length and the long Y of the long big armed levers of sum X of wrist part bar from J1 axles distance Z=robots arm opens up/.The distance of offset control between J4 axles and J1 axles, J3 spindle motors are arranged on the outside of large arm.The present invention passes through the long proportion relation of rational bar, for large scale metal plate bending, metal plate and body will not Xiang Hu Gan Wataru, many drawback of the popular industrial machine people in bending application is evaded, such as padded bender, digging melt pit, metal plate and robot body interference region are big, client's workshop structure need not largely be transformed, reduce more flat adjustment difficulty of the bender in installation process, reduce total project cost.

Description

It is a kind of to be used for metal plate and body non-interference robot during automatic bending
Technical field
The present invention relates to a kind of robot, specifically a kind of robot available for the automatic bending of metal plate is related generally to Meet the long proportion relation of robot bar of metal plate bending requirement.
Background technology
As metal plate automates developing rapidly for industry, the automatic bending of metal plate gradually replaces past help by hand to operate, So as to substantially increase production efficiency, and the personal safety of producers is further ensured.
At present, using it is most be to coordinate bender combine following bending using 6 joint popular industrial machine people, with The extension of metal plate size（200mm×200mm→2500mm×1250mm）, popular industrial machine people is increasingly difficult to take into account Metal plate bending field, the particularly long parameters adjusting of each axostylus axostyle of robot are not reasonable, cause popular industrial machine people should in bending Many drawbacks are occurred in that in, such as padded bender, digging melt pit, metal plate and robot body interference region are big, it has to right The workshop of client carries out a certain amount of transformation, makes the overall cost increase of project more；In addition, also a kind of bending auxiliary equipment is adopted It is use in trabeation, factory also more, but the equipment occupation space volume is big, inconvenience of removing.
In view of many drawback of the popular industrial machine people in bending application, only seeks one kind and effectively evades automatic bending When the long matching method of bar interfered of metal plate and robot body, can be while meeting the needs of customers, not to client Workshop is transformed or transformation amount is smaller, and project totle drilling cost can be reduced again.
Generally, 6 joint industrial robots include base, swivel base, large arm, small arm member and wrist part etc. substantially Part, the articulated arm that the physical dimension of each several part together constitutes robot is long.
In metal plate bending application, the drawbacks of general 6 joint industrial robot is maximum is that each axostylus axostyle length proportioning is not reasonable, Its forearm element stems length and the ratio between the long sum of wrist part bar and big armed lever length are generally between 1~1.3.
By taking the large scale metal plate that a 50KG loads popular industrial machine people bending 2500mm × 1250mm × 2mm as an example, Sketch two kind common drawbacks of the bar length proportioning in automation bending application：
Each axle length parameters of robot are as shown in figure 1, the wherein small bar length of arm member 8 and the long sum of the bar of wrist part 9（Effective bar is long 11）It is 977.4/850 ≈ 1.15 with the ratio between the bar length of large arm 7.In bending large scale metal plate（2500mm×1250mm×2mm）When 2, If robot 1 and bender 3 are all fixed using ground, then, large scale metal plate（2500mm×1250mm×2mm）It would become hard to Avoid interfering with robot body, as shown in Fig. 2 mark 12 is interference region in figure.Therefore, using most in practical work A kind of many schemes are that melt pit is dug below robot, and robot base 5 is arranged at into melt pit bottom, to reduce robot Mode adapt to bender, as shown in Figure 3.The drawbacks of program is：1. it is larger to client's shop quantities, improve Project cost；2. the stacking of metal plate finished parts is highly substantially reduced, and the pallet number of turnover additionally increases.Another conventional scheme is Padded bender, bearing 4 is provided below in bender, and robot is adapted in the way of increasing bender height, such as Fig. 4 institutes Show.The drawbacks of program is：1. bender is added（3）Mounting and adjusting workload, improve project cost；2. folding is increased Bender（3）Lower die cutter open height, be not easy to manually help bending.
The content of the invention
It is an object of the present invention to overcome the defect that prior art is present, it is proposed that one kind is used for metal plate during automatic bending The non-interference robot with body, by rationally designing its each long proportion relation of axostylus axostyle, reaches for large scale metal plate bending When metal plate and body do not collide interference purpose.
The basic ideas of the present invention：In order to evade many drawback of the popular industrial machine people in bending application, it is necessary to send out A kind of method of each axostylus axostyle length proportioning of bright robot, wherein forearm element stems length and the long sum of wrist part bar and big armed lever length it Than needing emphasis to consider.Each long code name of axostylus axostyle is set as shown in figure 5, the bar length of small arm member 8 is set to the long sum of the bar of wrist part 9 X, the bar length of large arm 7 is set to Y, and the J2 wheelbases of swivel base 6 are set from Z, the distance of the liftoff plane of J2 wheelbases of swivel base 6 is set to a distance from J1 axles It is set to H.
The long matching principle of bar：1st, body construction（Geometry）Do not interfere；2nd, in bending application space, it is to avoid refined gram of robot Than the singularity of matrix, i.e., space boundary and 2 class Singularities of interior volume are mainly avoided, while pursuing Jacobian matrix bar The minimum of number of packages.
By further analyzing, it is necessary to avoid body interference in bending process starting point, pass through diagram method and build geometry mould Type.Bending process reference attitude is as shown in Figure 6：
Op is forearm lengths for 1/2, GW of plate catercorner length, and correspondence constraint need to be：
i. QUOTE ；
Ii. correspond under bending reference attitude, G height and position should be less than op, i.e. QUOTE （When bender is not padded, the distance between lower die cutter mouthful and ground are typically in the range of 900~1000mm Between, average 950mm）, and now J2 axles corresponding angle should not to press close to negative sense spacing.C 2Represent cos (theata2),S 2Table Show sin (theata2), theata2For J2 shaft angle degree.
For space boundary and internal Singularity, Jacobian matrix constraint and joints axes collinear position row is respectively adopted Division is avoided.With reference to Fig. 5, bending, which terminates pose, should meet following constraint：
i. DET[J(Θ)]= QUOTE , and Jacobian matrix conditional number Should be as far as possible small；
ii.QUOTE , the constraint ensures bending knot Beam posture J6 axles and J4 axles be not conllinear.
In summary, by sunykatuib analysis and iterative calculation, during bending is followed, the proportioning of each axostylus axostyle length of robot Relation is as follows：
Ith, as the ratio between forearm element stems length and the long sum of wrist part bar and big armed lever length X/Y ≈ 2~3, can preferably it keep away Exempt from large scale metal plate（2500mm×1250mm×2mm）（2）Interfered with robot body；
IIth, swivel base J2 wheelbases from the ground apart from H by the bender lower die edge of a knife height（950mm）Determine, when both range differences When being maintained at 500~600mm, it can be ensured that robot is without singular point during bending is followed；
IIIth, swivel base J2 wheelbases are determined from J1 axle distance Z by robots arm's exhibition, and robots arm's exhibition depends on robot setting The maximal side size for rolling over metal plate（For 2500mm × 1250mm × 2mm metal plate, robots arm's exhibition ≈ 2500mm）.
When to sum up, for automatic bending, such as realize that metal plate is non-interference with body, then the long proportion relation of each axostylus axostyle of robot Following condition should be met：
X/Y=2~3；
Bender lower die edge height-H=500~600mm；
Z=robots arm's exhibition（Or the metal plate maximal side of setting）- X-Y.
Each axostylus axostyle length of robot only can just well adapt to bender, ability in the case where meeting said ratio relation Effectively evade many drawback of the popular industrial machine people in bending application.
The present invention is used for metal plate and body non-interference robot during automatic bending, is 6 joint industrial robots, including Base, swivel base, large arm, small arm member and wrist part；It is characterized in that：
Forearm element stems length and long long Y=2~3 of the big armed levers of sum X/ of wrist part bar；
Bender lower die edge height-swivel base J2 wheelbases from the ground apart from H=500~600mm；
Metal plate maximal side-forearm element stems length and wrist of the swivel base J2 wheelbases from J1 axles distance Z=robots arm's exhibition/setting The long Y of the long big armed levers of sum X- of element stems.
In order to ensure that small arm member and J3 spindle motor is not interfered with J1 spindle motors in J2 axle negative movements, by J4 axles Offset placement is used with J1 axles（J4 axles axis and J1 axle axis are non-coplanar）, offset limits according to structure space（Outsourcing servo Motor, physical dimension of reductor etc.）Depending on, while J3 spindle motors are arranged on the outside of large arm.
Relative to prior art, main advantages of the present invention and have the beneficial effect that：
The present invention is by the long proportion relation of rational bar, for large scale metal plate bending, and metal plate and body will not Xiang Hu Gan Wataru, rule Many drawback of the popular industrial machine people in bending application, such as padded bender, digging melt pit, metal plate and robot body are kept away Interference region is big etc., it is not necessary to which client's workshop structure is largely transformed, and reduces bender relatively putting down in installation process Adjustment difficulty, reduces total project cost.
Brief description of the drawings
Fig. 1 is existing robot architecture's schematic diagram.
Fig. 2 be existing robot in large scale metal plate bending, metal plate and body Xiang Hu Gan Wataru schematic diagrames.
Fig. 3 is the melt pit mounting means schematic diagram that existing machine artificially meets the bending of large scale metal plate and used.
Fig. 4 is the padded bender mounting means schematic diagram that existing machine artificially meets the bending of large scale metal plate and used.
Fig. 5 is that the present invention is used for metal plate and body non-interference robot architecture's sketch during automatic bending.
Fig. 6 is that the present invention is used for metal plate and body non-interference robot bending process reference attitude during automatic bending Figure.
Fig. 7 is that the present invention is used for metal plate and body non-interference robot architecture's schematic diagram during automatic bending.
Fig. 8 is Fig. 7 top view.
Fig. 9 is that the present invention is used for metal plate and body non-interference robot motion space schematic diagram during automatic bending.
Figure 10 is Fig. 9 top views.
Figure 11 is that the present invention is used for metal plate and body non-interference robot during automatic bending and is used for large scale metal plate folding Curved working state schematic representation（Bending start bit）.
Figure 12 is that the present invention is used for metal plate and body non-interference robot during automatic bending and is used for large scale metal plate folding Curved working state schematic representation（In bending process）.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the present invention is described in further detail.
6 joint industrial robots include the basic composition portion such as base 5, swivel base 6, large arm 7, small arm member 8 and wrist part 9 Point, the articulated arm that the physical dimension of each several part together constitutes robot is long.Each long code name of axostylus axostyle is set as shown in figure 5, forearm The bar length of part 8 and the long sum of the bar of wrist part 9 are set to X, and the bar length of large arm 7 is set to Y, and the J2 wheelbases of swivel base 6 with a distance from J1 axles from setting Z is set to, the distance of the liftoff plane of J2 wheelbases of swivel base 6 is set to H.
In order to realize goal of the invention, the present invention is used for metal plate and the non-interference robot of body, each axle during automatic bending The long proportion relation of bar is as follows：
Forearm element stems length and long long Y=2~3 of the big armed levers of sum X/ of wrist part bar；
Bender lower die edge height-swivel base J2 wheelbases from the ground apart from H=500~600mm；
Swivel base J2 wheelbases set metal plate maximal side-forearm element stems length and wrist portion from J1 axles distance Z=robots arm opens up/ The long Y of the long big armed levers of sum X- of part bar.
For 2500mm × 1250mm × 2mm large scale metal plate, when X=1455mm, Y=610mm, Z=500mm, H= During 356mm, actual use can be preferably met.
In addition, in order to ensure that small arm member 8 and J3 spindle motors 11 do not occur to do with J1 spindle motors in J2 axle negative movements Relate to, it is necessary to J4 axles and J1 axles be used into offset placement, offset is limited according to structure space（Outsourcing servomotor, reductor Physical dimension etc.）Depending on, while J3 spindle motors are arranged on the outside of large arm（Side where J1 axles is inner side）, final each axostylus axostyle length ginseng Number and space are respectively as shown in Fig. 7, Fig. 8, Fig. 9 and Figure 10, and wherein J4 axles and J1 axles offset are 70mm.

Claims (2)

  1. It is 6 joint industrial robots 1. a kind of be used for metal plate and body non-interference bending special purpose robot during automatic bending, Including base, swivel base, large arm, small arm member and wrist part；It is characterized in that：
    Forearm element stems length and long long Y=2~3 of the big armed levers of sum X/ of wrist part bar；
    Bender lower die edge height-swivel base J2 wheelbases from the ground apart from H=500~600mm；
    Metal plate maximal side-X-Y of the swivel base J2 wheelbases from J1 axles distance Z=robots arm's exhibition or setting；Wherein：X is Forearm element stems length and the long sum of wrist part bar, Y are that big armed lever is long.
  2. 2. it is used for metal plate and body non-interference robot during automatic bending according to claim 1, it is characterized in that： J4 Offset or dish is set between axle and J1 axles, J3 spindle motors are arranged on the outside of large arm.
CN201710513061.1A 2017-06-29 2017-06-29 Robot for automatically bending metal plates and machine bodies without interference Active CN107081761B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10773393B2 (en) 2018-01-17 2020-09-15 Nanjing University Of Posts And Telecommunications Auxiliary bending robot capable of processing two workpieces simultaneously

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0911164A (en) * 1995-06-30 1997-01-14 Amada Co Ltd Six-shaft vertical multi-joint type robot for bending
CN106625627A (en) * 2017-02-08 2017-05-10 上海新时达电气股份有限公司 Bending robot
CN207155800U (en) * 2017-06-29 2018-03-30 南京埃斯顿机器人工程有限公司 It is a kind of to be used for metal plate and body non-interference robot during automatic bending
CN207578401U (en) * 2017-06-14 2018-07-06 南京埃斯顿机器人工程有限公司 A kind of 6DOF joint type bending special purpose robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0911164A (en) * 1995-06-30 1997-01-14 Amada Co Ltd Six-shaft vertical multi-joint type robot for bending
CN106625627A (en) * 2017-02-08 2017-05-10 上海新时达电气股份有限公司 Bending robot
CN207578401U (en) * 2017-06-14 2018-07-06 南京埃斯顿机器人工程有限公司 A kind of 6DOF joint type bending special purpose robot
CN207155800U (en) * 2017-06-29 2018-03-30 南京埃斯顿机器人工程有限公司 It is a kind of to be used for metal plate and body non-interference robot during automatic bending

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10773393B2 (en) 2018-01-17 2020-09-15 Nanjing University Of Posts And Telecommunications Auxiliary bending robot capable of processing two workpieces simultaneously
DE112018000026B4 (en) 2018-01-17 2022-02-03 Jiangsu Jianke Civil Engineering Technology Co., Ltd. No.44 Auxiliary bending robot for bending large-format metal sheets

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Inventor after: Liu Jialei

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