CN107848005A - Bending follows method for planning track, apparatus and system - Google Patents

Bending follows method for planning track, apparatus and system Download PDF

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Publication number
CN107848005A
CN107848005A CN201580080148.3A CN201580080148A CN107848005A CN 107848005 A CN107848005 A CN 107848005A CN 201580080148 A CN201580080148 A CN 201580080148A CN 107848005 A CN107848005 A CN 107848005A
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bending
tcp
robot
bending machine
track
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CN107848005B (en
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张志明
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Shenzhen A&E Intelligent Technology Institute Co Ltd
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Shenzhen A&E Intelligent Technology Institute Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/06—Bending sheet metal along straight lines, e.g. to form simple curves by drawing procedure making use of dies or forming-rollers, e.g. making profiles
    • 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
    • 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

Abstract

A kind of bending follows method for planning track, device (20) and system, wherein, this method includes：Obtain bender (41) and bending robot (34,42) machined parameters (S10) of Bending Processing are carried out to sheet material, the machined parameters bending robot (34,42) tool center point TCP and mould central point under the bender (41) including the movement velocity v of mould, the width L of lower mould on bender (41) and when starting processing distance d；The flip angle (S11) of sheet material is calculated according to the width L of the movement velocity v of mould and lower mould on the bender (41)；The TCP and the bender (41) position relationship (S12) are determined according to the flip angle and the distance d；Follow track to plan bending according to the position relationship of the flip angle, the TCP and the bender (41), track (S13) is followed with the bending after being planned.The accuracy of movement locus can be ensured, and go for other robots.

Description

Bending following trajectory planning method, device and system [ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of numerical control machining, in particular to a bending following track planning method, device and system.
[ background of the invention ]
The existing bending machine can bend in a robot-assisted mode during working, as shown in fig. 1, the lower die of the bending machine is in a shape of a triangle which is sunken downwards, when a plate is placed on the lower die of the bending machine, an upper die of the bending machine moves downwards to extrude the plate to be deformed, the plate is bent downwards from central points on two sides of the lower die in a sunken mode, and the bending angle of the plate is determined by the descending distance of the upper die. In the process of pressing the plate down by the upper die, the edge of the plate is tilted, and the robot moves along the tilting track of the edge of the plate to assist in bending. The robot-assisted bending motion is decomposed into motions in the directions of an x axis, a y axis, a z axis and an AC axis, the x axis is aligned with the bending machine, the y axis is displacement of a plate in the horizontal direction, the z axis is displacement of the plate in the vertical direction, and the AC axis is the plate reversing direction, so that bending following is achieved by the robot.
Although the bending track can be followed by the gantry robot in the prior art, the bending track and the speed planning of the existing robot are difficult to confirm the motion track because the speed of the existing robot needs to follow the working speed of the bending machine, so that the descending speed of the lower die and the ascending speed of the plate are difficult to ensure the accuracy of the descending speed and the ascending speed of the plate, and the following bending track planning is only suitable for robots which are straight in each axis and are not coupled with each other, such as the gantry robot, but not suitable for other robots.
[ summary of the invention ]
The invention mainly solves the technical problem of providing a bending following track planning method, device and system, which can ensure the accuracy of a motion track and can be suitable for other robots.
In order to solve the technical problems, the first technical scheme adopted by the invention is as follows: a bending following trajectory planning method is provided, and the method comprises the following steps: the method comprises the steps that processing parameters of a bending machine and a bending robot for bending a plate are obtained, wherein the processing parameters comprise the movement speed v of an upper die of the bending machine, the width L of a lower die and the distance d between the tool center point TCP of the bending robot and the lower die center point of the bending machine when the bending robot starts to process; calculating the turnover angle of the plate according to the movement speed v of the upper die and the width L of the lower die of the bending machine; determining the position relation between the TCP and the bending machine according to the turning angle and the distance d; and planning a bending following track according to the turning angle and the position relation of the TCP and the bending machine to obtain the planned bending following track.
The step of calculating the turnover angle of the plate according to the movement speed v of the upper die and the width L of the lower die of the bending machine is specifically to calculate the turnover angle of the plate at the time t according to the movement speed v of the upper die and the width L of the lower die of the bending machine by using a formula α (t) ═ arctan (2vt/L), wherein α is the turnover angle.
The step of determining the position relation between the TCP and the bending machine according to the turning angle and the distance d is specifically to determine the positions of the TCP on the x axis and the z axis in the bending machine coordinate system at the time t according to a first formula and a second formula, wherein the first formula is X (t) -d-cos (α (t)), the second formula is Z (t) -d-sin (α (t)) -L-tan (α (t)), and X (t) and Z (t) are the positions of the TCP on the x axis and the z axis at the time t respectively.
Planning a bending following track according to the turning angle and the position relation between the TCP and the bending machine to obtain the planned bending following track specifically comprises the following steps: and determining an interpolation point at the time t by using the following formula according to the turning angle and the positions of the TCP on the x axis and the z axis:
wherein, P (t) is an interpolation point at the time t, is an initial value of the bending track, and is a track transformation quantity of the bending track at the time t; and determining a corresponding bending following track according to the interpolation points to obtain a planned bending following track.
In order to solve the above technical problems, the second technical solution adopted by the present invention is: a bending follow-up trajectory planning device is provided, the device comprising: the bending machine comprises a parameter acquisition module, a parameter processing module and a parameter processing module, wherein the parameter acquisition module is used for acquiring processing parameters of bending a plate by a bending machine and a bending robot, and the processing parameters comprise the movement speed v of an upper die of the bending machine, the width L of a lower die and the distance d between the tool center point TCP of the bending robot and the lower die center point of the bending machine when the processing is started; the angle calculation module is used for calculating the turnover angle of the plate according to the movement speed v of the upper die and the width L of the lower die of the bending machine; the position calculation module is used for determining the position relation between the TCP and the bending machine according to the turning angle and the distance d; and the planning module is used for planning the bending following track according to the turning angle and the position relation between the TCP and the bending machine so as to obtain the planned bending following track.
The angle calculation module is used for calculating the turnover angle of the plate at the time t according to the upper die movement speed v and the lower die width L of the bending machine by using a formula α (t) being arctan (2vt/L), wherein α is the turnover angle.
The position calculation module is used for determining the positions of the TCP on the x axis and the z axis in the bending machine coordinate system at the time t according to the overturning angle and the distance d by using a first formula (X) (t) -d-cos (α (t)), a second formula (Z (t) -d-sin (α (t)) -L-tan (α (t)), wherein X (t) and Z (t) are the positions of the TCP on the x axis and the z axis at the time t respectively.
The planning module is used for determining an interpolation point at the time t according to the turning angle and the positions of the TCP on the x axis and the z axis by using the following formula, and determining a corresponding bending following track according to the interpolation point to obtain a planned bending following track: wherein, p (t) is an interpolation point at time t, an initial value of the bending track, and a track transformation amount of the bending track at time t.
In order to solve the above technical problems, the third technical solution adopted by the present invention is: a bending robot system is provided, comprising a bending robot and a control device thereof, wherein the control device comprises a memory and a processor, and the processor is used for executing the bending following trajectory planning method.
The bending robot is a six-axis series robot.
In order to solve the technical problems, the fourth technical scheme adopted by the invention is as follows: the utility model provides a panel system of processing of bending, includes bender, bending robot and controlgear, the bender is used for treating the processing panel and bends and processes, the bending robot be used for realizing right the processing panel of treating is bent in the course of working of bending and is followed, controlgear is used for calculating bend and follows the orbit and control the bending robot is right the processing panel of treating is bent and is followed, controlgear includes: the bending machine comprises a parameter acquisition module, a parameter processing module and a parameter processing module, wherein the parameter acquisition module is used for acquiring processing parameters of bending a plate by a bending machine and a bending robot, and the processing parameters comprise the movement speed v of an upper die of the bending machine, the width L of a lower die and the distance d between the tool center point TCP of the bending robot and the lower die center point of the bending machine when the processing is started; the angle calculation module is used for calculating the turnover angle of the plate according to the movement speed v of the upper die and the width L of the lower die of the bending machine; the position calculation module is used for determining the position relation between the TCP and the bending machine according to the turning angle and the distance d; the planning module is used for planning a bending following track according to the turning angle and the position relation between the TCP and the bending machine so as to obtain the planned bending following track; and the control module is used for generating a corresponding control instruction according to the bending following track and controlling the bending robot to bend and follow the plate.
The invention provides a bending following track planning method, a bending following track planning device and a bending following track planning system, wherein a bending following track is planned according to the bending following track, the position relation between TCP and a bending machine is determined according to the upper die movement speed and the lower die width of the bending machine, the position relation between the TCP and the bending machine is determined according to the bending following track, and the bending following track is planned according to the bending following track and the position relation between the TCP and the bending machine, so that the bending following track is planned without being planned based on a straight line or an arc track, and is planned with the bending following track according to the synchronous interpolation point and the bending movement time, the accuracy of the movement track is improved, and the bending following track planning method is applicable to.
[ description of the drawings ]
Fig. 1 is a schematic structural diagram of a bending robot and a bending machine in the prior art;
FIG. 2 is a diagram illustrating a speed variation curve during a T-shaped curve acceleration/deceleration planning in the prior art;
FIGS. 3a-3c are schematic diagrams of acceleration, velocity and distance profiles for prior art S-curve acceleration and deceleration planning;
FIG. 4 is a schematic diagram of six-axis pose states of a robot according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the bending robot moving along with the tilting track of the edge of the plate;
FIG. 6 is a schematic flow chart of a bending following trajectory planning method according to an embodiment of the present invention;
figure 7 is a schematic view of a geometric model of the bending machine shown in figure 1;
FIG. 8 is a schematic flow chart of a method for planning a bending following trajectory according to a turning angle and a position relationship between TCP and a bending machine in an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a bending follow-up trajectory planning apparatus according to an embodiment of the present invention;
FIG. 10 is a schematic structural diagram of a bending robot system according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a plate bending processing system according to an embodiment of the present invention.
[ detailed description ] embodiments
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
In a bending robot system, in order to ensure that the robot does not generate impact, step loss, overtravel or oscillation during starting/stopping, a special acceleration and deceleration control algorithm is required to be adopted, so that the system can be smoothly and accurately stopped at a specified position under various conditions. In general, a T-curve acceleration/deceleration control algorithm or an S-curve acceleration/deceleration control algorithm may be used. These two algorithms are described separately below.
T-shaped curve acceleration and deceleration control algorithm aims to make the speed curve change linearly and continuously. As shown in fig. 2, the T-curve acceleration and deceleration control is divided into 3 time periods in total: uniform acceleration, uniform speed and uniform deceleration. The time lengths of these three time periods are respectively denoted as T1、T2、T3The length of the curve per time period is l1、l2、l3The time at the end of each time period is recorded as t1、t2、t3. Wherein the maximum value of acceleration amaxAnd a maximum deceleration value dmaxDetermined by the robot motor parameters. In addition, the user specifies the initial velocity f of the curvesTarget speed f, end point speed feAnd a curve length L. Thus, based on these conditions, T is calculated1～T3The T-shaped curve acceleration and deceleration planning can be completed. Thus, there are:
f-fs＝aT1
f-fe＝dT3
l2＝fT2
l1+l2+l3＝L
wherein, to ensure efficiency, generally, the value is taken as the same, and T can be calculated1～T3As shown in the following formula:
integrating the velocity results in a curve length for each segment, as shown in the following equation:
the S-curve acceleration/deceleration control algorithm is designed to linearly and continuously change the acceleration of the controlled curve trajectory, and is a curve of changes in acceleration, velocity, and distance under the S-curve acceleration/deceleration control, as shown in fig. 3.
And obtaining a speed-time equation according to the integral of the acceleration, and obtaining a distance-time equation according to the integral of the speed. The S-shaped curve acceleration and deceleration plan is divided into seven time periods: acceleration, uniform acceleration, deceleration acceleration, uniform speed, acceleration and deceleration, uniform deceleration and deceleration. The time lengths of the seven time periods are respectively marked as T1、T2、T3、T4、T5、T6、T7The time at the end of each time period is denoted as t1、t2、t3、t4、t5、t6、t7. The derivative of the acceleration (Jerk) is called Jerk, and is determined by the parameters of the robot motor itself. Furthermore, the maximum acceleration a and the maximum deceleration D are also given by the robot motor. In addition, the initial speed f of the curvesTarget speed f, end point speed f, curve length L. Based on these conditions, T is calculated1～T7The S-shaped curve acceleration and deceleration planning can be completed.
In general, let T1(duration of acceleration time) T3(reduced acceleration time length), T5(length of acceleration/deceleration time) T7(reducing the deceleration time length), thus obtaining:
Ja、Jdjerk, which is the acceleration and deceleration. The function of the distance acceleration with respect to the time t is obtained through the formula, and the function of the distance with respect to the time t is obtained through twice integration, so that the speed planning of the track is realized.
In a robot control system, cartesian-space continuous trajectory planning is performed on the motion of a Tool Center Point (TCP), and a trajectory is controlled in an interpolation form, and the motion trajectory of a robot can be regarded as a set of points. Wherein, every point contains the position and the attitude information of robot, and its expression form has:
three dimensional coordinates and Euler angles (x, y, z, a, b, c)
Wherein x, y and z are positions of the TCP in a three-dimensional coordinate system, and a, b and c are Euler angle information of the posture of the TCP.
Specifically, please refer to fig. 4, which is a schematic diagram illustrating a six-axis pose state of a robot according to an embodiment of the present invention, where a coordinate system composed of X-Y-Z represents the six-axis pose of the robot, a position of TCP in a base coordinate system (Xbase-Ybase-Zbase) may be represented as (X, Y, Z), and a flip in the base coordinate system represents a pose thereof, which is represented by euler angles (a, b, c). According to the sequence and the posture of the robot in the basic coordinate system, sequentially obtaining the following rotation transformation matrixes:
wherein X, Y, Z is that the robot overturns along the minor axis, and corresponding subscripts 1, 2, 3 represent the precedence order of the upset. For example, the robot is shown flipping angles a, b, c along axis Z, X, Y in sequence.
Further, because the motion of each axis of the tandem robot or the change of other positions is driven, a robot kinematic model needs to be established, and the above formula representing the translation and rotation of the coordinate system is represented by a uniform homogeneous transformation matrix through the rotation angle of each joint and the arm length and offset information of each rigid body segment, which is specifically represented by the following formula:
formula (1):
wherein p isx、py、pzXa, Xb, Xc, Ya, Yb, Yc, Za, Zb, Zc represent the position of TCP in three-dimensional coordinates, for example Xb represents the angle of rotation b of TCP along the X-axis.
Referring to fig. 5, when a plate is placed on the lower die of the bending machine, the upper die of the bending machine moves downward to extrude the plate to be deformed, and the bending robot moves along the tilting track of the edge of the plate in the process of pressing the plate downward. Therefore, in a robot system, the bending trajectory is generally formed by the angle of rotation and the distance of movement of the TCP along x, z. Further, the homogeneous transformation matrix of each axis can be obtained by a connecting rod coordinate system, and the change relation is as follows:
formula (2):
wherein the angle is αi-1For TCP moving a distance a along the x-axisi-1For TCP rotation angle theta around z-axisiFor TCP by a distance d along the z-axisiαi-1Is zi-1And ziAngle of flip between, ai-1Is zi-1And ziLength of between, thetaiIs ai-1And aiAngle of rotation between, diIs ai-1And aiThe distance between them.
Further, the corresponding rotation transformation matrix according to equation (1) and as described above can be obtained:
formula (3):
formula (4):
formula (5):
formula (6):
therefore, substituting equations (3) - (6) into equation (2) results in a transformation matrix for TCP flipping and translating in the base coordinate system as:
formula (7):
fig. 6 is a schematic flow chart of a bending following trajectory planning method according to an embodiment of the present invention. The method comprises the following steps:
and step S10, obtaining processing parameters of the bending machine and the bending robot for bending the plate. The processing parameters comprise the movement speed v of an upper die of the bending machine, the width L of a lower die and the distance d between the tool center point TCP of the bending robot and the lower die center point of the bending machine when the bending machine starts to process.
And step S11, calculating the turnover angle of the plate according to the movement speed v of the upper die and the width L of the lower die of the bending machine.
Further, please refer to fig. 7, which is a schematic diagram of a geometric model of the bending machine, and a plan view of an X-Z plane is obtained from the horizontal direction of the bending machine. In an X-Z coordinate system, an X axis is arranged along the lower portion of the plate along the horizontal direction, the positive direction of the X axis is the direction far away from the robot, and a Z axis is arranged along the vertical direction of the center point of the lower die.
When the turnover angle of the plate is calculated, an angle OBC, namely an angle α, is calculated by BO side length and OC side length of the right-angled triangle OBC, and the method specifically comprises the following steps:
according to the movement speed of the upper die and the width of the lower die of the bending machine, and by using a formula (8), calculating the turnover angle of the plate at the time t:
α (t) is arctan (2 vt/L);
wherein α is the turnover angle, v is the upper die movement speed of the bending machine, L is the width of the lower die of the bending machine, the length of the BO side is L/2, and the length of the OC side is vt.
And step S12, determining the position relation between the TCP and the bending machine according to the turning angle and the distance d.
The position relation is the position of the TCP of the bending robot on the x-axis and the z-axis in the coordinate system of the bending machine. And the TCP when t is 0 is the origin of the coordinate system of the bending machine.
When calculating the length of point A (TCP) on the X-axis in the X-Z coordinate system, the length is determined by the right triangle AAyA of CySide length and angle A of CyAC (Angle α) gives AAySide length, i.e., the length of TCP on the X-axis in the X-Z coordinate system. The specific calculation is as follows:
when t is 0, x (t) is 0, and when t is 0, the length of the TCP on the x-axis is d.
When t ≠ 0, AyC side length is d · sin (α (t)), OC side length is L · tan (α (t)), and the x and z axis positions of the TCP at time t in the bending machine coordinate system are calculated by equations (9) and (10), respectively, based on the turning angle and the distance between the TCP of the bending robot and the bending machine:
formula (9) x (t) d-d · cos (α (t));
formula (10) z (t) d · sin (α (t)) -L · tan (α (t));
where x (t), z (t) and d are the positions of the TCP on the x and z axes at time t, respectively, and the distance from the TCP to the center point of the lower die at the start of machining (t 0).
And step S13, planning the bending following track according to the turning angle and the position relation between the TCP and the bending machine to obtain the planned bending following track.
Referring to fig. 8, step S13 is to plan a bending following trajectory according to the turning angle and the positional relationship between the TCP and the bending machine, so as to obtain a planned bending following trajectory, and is specifically implemented by the following steps:
and step S130, obtaining an interpolation point at the time t according to the formula (7) and the positions of the TCP on the x axis and the z axis according to the overturning angle.
Since the bending following trajectory of the robot rotates only in the y-axis direction and the rotation angle is α, the euler angles (0, ∠α, 0) are converted into a rotation matrix, and the homogeneous matrix obtained according to equation (7) is:
therefore, the interpolation points at time t are:
wherein, p (t) is an interpolation point at time t, an initial value of the bending track, and a track transformation amount of the bending track at time t.
And S131, determining a corresponding bending following track according to the interpolation points to obtain a planned bending following track.
Specifically, the interpolation points of t at each moment are obtained by using the homogeneous matrix, and each interpolation point is reversely solved to the joint space to control the motion of the robot, so that the interpolation points at different moments are integrated to form a bending following track.
As described above, the existing method for planning the trajectory in the cartesian space of the tandem robot is to try to teach a straight line or an arc in the space, set a desired velocity, and then plan a T-type or S-type velocity for a following trajectory, where the S-type velocity planning is divided into 7 stages (acceleration, uniform acceleration, deceleration, uniform velocity, acceleration and deceleration, uniform deceleration, deceleration). If the bending motion of the bending machine is planned to be followed by the original track, the track is complex, and the following of the speed is difficult to realize. According to the bending following track planning method in the embodiment of the invention, planning is not needed based on a straight line or a circular arc, speed planning is not needed again for following in the bending process, and only the point and the parameter t of bending motion need to be synchronously interpolated.
Referring to fig. 9, which is a schematic structural diagram of a bending following trajectory planning apparatus according to an embodiment of the present invention, the apparatus 20 includes a parameter obtaining module 24, an angle calculating module 21, a position calculating module 22, and a planning module 23.
The parameter obtaining module 24 is configured to obtain processing parameters of bending a sheet by using a bending machine and a bending robot, where the processing parameters include a moving speed v of an upper die of the bending machine, a width L of a lower die, and a distance d between a tool center point TCP of the bending robot and a lower die center point of the bending machine when the bending robot starts to process.
The angle calculation module 21 is configured to calculate a turning angle of the plate according to the movement speed v of the upper die and the width L of the lower die of the bending machine.
Referring again to FIG. 7, when the time begins from the time when the upper die is lowered to contact the sheet material, point A represents the TCP position of the robot at time t, point B represents the intersection point of the sheet material with the edge of the lower die, and point C represents the bending center point of the sheet material, when the flip angle of the sheet material is calculated, the angle OBC, namely angle α, is calculated from the BO side length and the OC side length of the right triangle OBC, and the specific calculation is as follows:
the angle calculation module 21 calculates the turning angle of the plate at the time t according to the upper die movement speed and the lower die width of the bending machine by using a formula 1:
formula 1: α (t) ═ arctan (2 vt/L);
wherein α is the turnover angle, v is the upper die movement speed of the bending machine, L is the width of the lower die of the bending machine, the length of the BO side is L/2, and the length of the OC side is vt.
The position calculation module 22 is configured to determine a position relationship between the TCP and the bending machine according to the turning angle and the distance d.
The position relation is the position of the TCP of the bending robot on the x-axis and the z-axis in the coordinate system of the bending machine. And the TCP when t is 0 is the origin of the coordinate system of the bending machine.
When the position calculation module 22 calculates the length of point A (TCP) on the X-axis in the X-Z coordinate system, it is represented by right triangle AAyA of CySide length and angle A of CyAC (Angle α) gives AAySide length, i.e., the length of TCP on the X-axis in the X-Z coordinate system. The specific calculation is as follows:
when t is 0, x (t) is 0, and when t is 0, the length of the TCP on the x-axis is d.
When t ≠ 0, AyC side length d · sin (α (t)), OC side length L · tan (α (t)), the position calculation module 22 calculates the position of the x and z axes of the TCP at time t in the bending machine coordinate system using equations 2 and 3, respectively, based on the flip angle and the distance between the TCP of the bending robot and the bending machine:
formula 2, x (t) d-d · cos (α (t));
formula 3, z (t) d · sin (α (t)) -L · tan (α (t));
where x (t), z (t) and d are the positions of the TCP on the x and z axes at time t, respectively, and the distance from the TCP to the center point of the lower die at the start of machining (t 0).
The planning module 23 is configured to plan a bending following trajectory according to the turning angle calculated by the angle calculation module 21 and the position relationship between the TCP and the bending machine determined by the position calculation module 22, so as to obtain the planned bending following trajectory.
Specifically, the planning module 23 determines an interpolation point at time t by using a formula 4 according to the turning angle and the positions of the TCP on the x and z axes, and determines a corresponding bending following track according to the interpolation point to obtain a planned bending following track:
equation 4:
wherein, p (t) is an interpolation point at time t, an initial value of the bending track, and a track transformation amount of the bending track at time t.
Optionally, the control device further comprises a control module, configured to generate a corresponding control instruction according to the bending following trajectory, and control the bending robot to bend and follow the plate.
Referring to fig. 10, a structural diagram of a bending robot system according to an embodiment of the present invention is shown, in which the bending robot system includes a bending robot 34 and a control device 30 thereof. The bending robot 34 may be a six-axis tandem robot. The control device 30 comprises a memory 31, a processor 32, wherein the memory 31 stores a computer program. The processor 32 runs the computer program, executes bending following trajectory planning to generate a bending following trajectory, and generates a corresponding control instruction to control the bending robot to bend and follow the plate.
The processor 32 runs a computer program to execute a bend following trajectory planning process, such as the flow of the bend following trajectory planning method shown in fig. 6, and the method steps are shown in fig. 6 and corresponding text.
Fig. 11 is a schematic structural diagram of a plate bending system according to an embodiment of the present invention. In the present embodiment, the plate bending processing system includes a bending machine 41, a bending robot 42, and a control device 43 thereof. The structure between the bending machine 41 and the bending robot 43 can be as shown in fig. 1.
The bending machine 41 is used for bending a plate to be processed.
The bending robot 42 is used for bending and following the plate to be processed in the bending process.
The control device 43 is configured to calculate the bending following trajectory and control the bending robot to bend and follow the plate to be processed.
The control device 43 includes a control module and a module of the bending following trajectory planning apparatus shown in fig. 9, and the module functions of the control module refer to fig. 9 and corresponding descriptions, where the control module is configured to generate a corresponding control instruction according to the bending following trajectory, and control the bending robot to bend and follow the plate.
In the above embodiment, the control apparatus may also be provided in the bending robot.
The invention provides a bending following track planning method, a bending following track planning device and a bending following track planning system, wherein a bending following track is planned according to the bending following track, the position relation between TCP and a bending machine is determined according to the upper die movement speed and the lower die width of the bending machine, the position relation between the TCP and the bending machine is determined according to the bending following track, and the bending following track is planned according to the bending following track and the position relation between the TCP and the bending machine, so that the bending following track is planned without being planned based on a straight line or an arc track, and is planned with the bending following track according to the synchronous interpolation point and the bending movement time, the accuracy of the movement track is improved, and the bending following track planning method is applicable to.

Claims (11)

  1. A bend following trajectory planning method, wherein the method comprises:
    the method comprises the steps that processing parameters of a bending machine and a bending robot for bending a plate are obtained, wherein the processing parameters comprise the movement speed v of an upper die of the bending machine, the width L of a lower die and the distance d between the tool center point TCP of the bending robot and the lower die center point of the bending machine when the bending robot starts to process;
    calculating the turnover angle of the plate according to the movement speed v of the upper die and the width L of the lower die of the bending machine;
    determining the position relation between the TCP and the bending machine according to the turning angle and the distance d;
    and planning a bending following track according to the turning angle and the position relation of the TCP and the bending machine to obtain the planned bending following track.
  2. The bending following trajectory planning method according to claim 1, wherein the step of calculating the turnover angle of the plate according to the movement speed v of the upper die and the width L of the lower die of the bending machine specifically comprises:
    according to the upper die movement speed v and the lower die width L of the bending machine, calculating the turnover angle of the plate at the time t by using the following formula:
    α(t)＝arctan(2vt/L)；
    wherein α is the flip angle.
  3. A bending following trajectory planning method according to claim 2, wherein the step of determining the positional relationship between the TCP and the bending machine according to the turning angle and the distance d specifically includes:
    according to the turning angle and the distance d, the positions of the TCP on the x axis and the z axis in the bending machine coordinate system at the time t are respectively determined by the following formula I and formula II:
    formula I, X (t) d-d cos (α (t));
    formula two, Z (t) d.sin (α (t)) -L.tan (α (t));
    wherein, X (t) and Z (t) are the positions of the TCP on the x and z axes at the time t respectively.
  4. The bending following trajectory planning method according to claim 3, wherein the step of planning the bending following trajectory according to the turning angle and the position relationship between the TCP and the bending machine to obtain the planned bending following trajectory specifically comprises:
    and determining an interpolation point at the time t by using the following formula according to the turning angle and the positions of the TCP on the x axis and the z axis:
    wherein, P (t) is an interpolation point at the time t, is an initial value of the bending track, and is a track transformation quantity of the bending track at the time t;
    and determining a corresponding bending following track according to the interpolation points to obtain a planned bending following track.
  5. A bend following trajectory planning device, wherein the device comprises:
    the bending machine comprises a parameter acquisition module, a parameter processing module and a parameter processing module, wherein the parameter acquisition module is used for acquiring processing parameters of bending a plate by a bending machine and a bending robot, and the processing parameters comprise the movement speed v of an upper die of the bending machine, the width L of a lower die and the distance d between the tool center point TCP of the bending robot and the lower die center point of the bending machine when the processing is started;
    the angle calculation module is used for calculating the turnover angle of the plate according to the movement speed v of the upper die and the width L of the lower die of the bending machine;
    the position calculation module is used for determining the position relation between the TCP and the bending machine according to the turning angle and the distance d;
    and the planning module is used for planning the bending following track according to the turning angle and the position relation between the TCP and the bending machine so as to obtain the planned bending following track.
  6. A bending following trajectory planning device according to claim 5, wherein the angle calculation module is configured to calculate the turnover angle of the plate at time t according to an upper die movement speed v and a lower die width L of the bending machine by using the following formula:
    α(t)＝arctan(2vt/L)；
    wherein α is the flip angle.
  7. A bending following trajectory planning device according to claim 6, wherein the position calculation module is configured to determine, according to the turning angle and the distance d, positions of the TCP at time t on x and z axes in the bending machine coordinate system by using the following formula I and formula II, respectively:
    formula I, X (t) d-d cos (α (t));
    formula two, Z (t) d.sin (α (t)) -L.tan (α (t));
    wherein, X (t) and Z (t) are the positions of the TCP on the x and z axes at the time t respectively.
  8. The bending following trajectory planning device according to claim 7, wherein the planning module is configured to determine an interpolation point at time t according to the flip angle and the positions of the TCP on the x and z axes by using the following formula, and determine a corresponding bending following trajectory according to the interpolation point, so as to obtain a planned bending following trajectory:
    wherein, p (t) is an interpolation point at time t, an initial value of the bending track, and a track transformation amount of the bending track at time t.
  9. A bending robot system, comprising a bending robot and a control device thereof, wherein the control device comprises a memory and a processor, and the processor is used for executing the following method:
    the method comprises the steps that processing parameters of a bending machine and a bending robot for bending a plate are obtained, wherein the processing parameters comprise the movement speed v of an upper die of the bending machine, the width L of a lower die and the distance d between the tool center point TCP of the bending robot and the lower die center point of the bending machine when the bending robot starts to process;
    calculating the turnover angle of the plate according to the movement speed v of the upper die and the width L of the lower die of the bending machine;
    determining the position relation between the TCP and the bending machine according to the turning angle and the distance d;
    planning a bending following track according to the turning angle and the position relation between the TCP and the bending machine to obtain the planned bending following track;
    and generating a corresponding control instruction according to the bending following track, and controlling the bending robot to bend and follow the plate.
  10. The bending robot of claim 9, wherein the bending robot is a six-axis tandem robot.
  11. The utility model provides a panel system of processing of bending, wherein, includes bender, bending robot and controlgear thereof, the bender is used for treating processing panel and bends and process, bending robot is used for realizing right the panel of treating processing is bent in the course of working of bending and is followed, controlgear is used for calculating bend and follows the orbit and control bending robot is right the panel of treating processing is bent and is followed, controlgear includes:
    the bending machine comprises a parameter acquisition module, a parameter processing module and a parameter processing module, wherein the parameter acquisition module is used for acquiring processing parameters of bending a plate by a bending machine and a bending robot, and the processing parameters comprise the movement speed v of an upper die of the bending machine, the width L of a lower die and the distance d between the tool center point TCP of the bending robot and the lower die center point of the bending machine when the processing is started;
    the angle calculation module is used for calculating the turnover angle of the plate according to the movement speed v of the upper die and the width L of the lower die of the bending machine;
    the position calculation module is used for determining the position relation between the TCP and the bending machine according to the turning angle and the distance d;
    the planning module is used for planning a bending following track according to the turning angle and the position relation between the TCP and the bending machine so as to obtain the planned bending following track;
    and the control module is used for generating a corresponding control instruction according to the bending following track and controlling the bending robot to bend and follow the plate.
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CN109590355A (en) * 2019-01-30 2019-04-09 福建渃博特自动化设备有限公司 A kind of method and terminal that workpiece takes out
CN110815219A (en) * 2019-11-07 2020-02-21 上海新时达机器人有限公司 Trajectory tracking method and device, electronic equipment and storage medium
CN111842556A (en) * 2020-07-14 2020-10-30 深圳市汇川技术股份有限公司 Bending machine spindle speed control method, bending machine and readable storage medium
CN113843803A (en) * 2021-10-20 2021-12-28 上海景吾智能科技有限公司 Method and system for planning overturning real-time following track of overturning object
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CN114261081A (en) * 2021-12-22 2022-04-01 苏州希盟科技股份有限公司 Bending track calculation method and bending equipment

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CN113843803A (en) * 2021-10-20 2021-12-28 上海景吾智能科技有限公司 Method and system for planning overturning real-time following track of overturning object
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