CN107848005B - Bending follows method for planning track, apparatus and system - Google Patents
Bending follows method for planning track, apparatus and system Download PDFInfo
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- CN107848005B CN107848005B CN201580080148.3A CN201580080148A CN107848005B CN 107848005 B CN107848005 B CN 107848005B CN 201580080148 A CN201580080148 A CN 201580080148A CN 107848005 B CN107848005 B CN 107848005B
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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
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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
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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
Abstract
A kind of bending follows method for planning track, device (20) and system, wherein, this method comprises: obtaining bending machine (41) and bending robot (34,42) machined parameters (S10) of Bending Processing are carried out to plate, the machined parameters include the movement velocity v of bending machine (41) upper mold, the width L of lower die and bending robot (34,42) the tool center point TCP and bending machine (41) lower die central point distance d when starting processing；The flip angle (S11) of plate is calculated according to the movement velocity v of the bending machine (41) upper mold and width L of lower die；The positional relationship (S12) of the TCP Yu the bending machine (41) are determined according to the flip angle and the distance d；It follows track to plan bending according to the positional relationship of the flip angle, the TCP and the bending machine (41), track (S13) is followed with the bending after being planned.It can guarantee the accuracy of motion profile, and can be adapted for other robots.
Description
Technical field
The present invention relates to Computerized Numerical Control processing technology fields more particularly to bending to follow method for planning track, apparatus and system.
Background technique
Present bending machine at work can be by robot assisted bending, as shown in Figure 1, the lower die shape of bending machine
For to the triangle of lower recess, when plate is placed on bender lower die, the upper mold of bending machine is moved downward with extrusion plate
Deformation, makes plate by lower die both sides central point concave downward curvature, bending angle is determined by the dropping distance of upper mold.In upper mold
During pushing plate, sheet edge can be made to tilt, the track movement that robot then follows sheet edge to tilt, auxiliary folding
It is curved.It is the movement of x-axis, y-axis, z-axis and AC axis direction by robot assisted bending Kinematic Decomposition, x-axis is aligned with bending machine, y-axis
For the displacement of plate horizontal direction, z-axis is the displacement of plate vertical direction, and AC axis is plate reverse directions, thus by robot
Realize that bending follows.
Although the prior art can follow bending track by gantry robot, since its speed need to follow bending machine work
Make speed, so the bending path of existing robot and speed planning are difficult to confirm motion profile, so that the speed of lower die decline
Degree and the speed that raises up of plate are difficult to ensure its accuracy, and it is this follow bending trajectory planning be only applicable to each axis straight line and
The robot not coupled mutually, for example, gantry robot, and other robot can not be suitable for.
Summary of the invention
The invention mainly solves the technical problem of providing bendings to follow method for planning track, apparatus and system, Neng Goubao
The accuracy of motion profile is demonstrate,proved, and can be adapted for other robots.
In order to solve the above technical problems, first technical solution that the present invention uses is: providing a kind of bending and follow track
Planing method, which comprises the machined parameters that bending machine and bending robot carry out Bending Processing to plate are obtained, it is described
Machined parameters include the movement velocity v of upper die of bending machine, lower die width L and start processing when bending robot tool in
The heart point TCP and bender lower die central point distance d；According to the movement velocity v of the upper die of bending machine and lower die
The flip angle of width L calculating plate；The TCP and the bending machine are determined according to the flip angle and the distance d
Positional relationship；Track is followed to advise bending according to the positional relationship of the flip angle, the TCP and the bending machine
It draws, track is followed with the bending after being planned.
Wherein, the flip angle that plate is calculated according to the movement velocity v of the upper die of bending machine and the width L of lower die
The step of spending specifically: calculate t according to the upper mold movement velocity v of the bending machine and lower die width L, and using following formula
The flip angle of plate described in moment: α (t)=arctan (2vt/L)；Wherein, α is the flip angle.
Wherein, described to determine that the position of the TCP and the bending machine is closed according to the flip angle and the distance d
The step of being specifically: according to the flip angle and the distance d, determine t moment institute respectively using following formula one, two
State TCP in the bending machine coordinate system x, z-axis position: formula one: X (t)=d-dcos (α (t))；Formula two: Z (t)
=dsin (α (t))-Ltan (α (t))；Wherein, X (t), Z (t) are respectively TCP described in t moment in x, the position of z-axis.
Wherein, the positional relationship according to the flip angle, the TCP and the bending machine follows track to bending
The step of being planned, track followed with the bending after being planned specifically: according to the flip angle, the TCP in x, z
The position of axis determines the interpolated point of t moment using following formula:
Wherein, when P (t) is t
The interpolated point at quarter,For the initial value of bending track,
For bending track t moment track converted quantity；Determine that corresponding bending follows track according to the interpolated point, after obtaining planning
Bending follow track.
In order to solve the above technical problems, second technical solution that the present invention uses is: providing a kind of bending and follow track
Device for planning, described device include: parameter acquisition module, are added for obtaining bending machine and bending robot to plate progress bending
The machined parameters of work, the machined parameters include the movement velocity v of upper die of bending machine, lower die width L and starting to process
When the bending robot tooling center points TCP and bender lower die central point distance d；Angle calculation module is used for basis
The movement velocity v of the upper die of bending machine and width L of lower die calculates the flip angle of plate；Position computation module is used for
The positional relationship of the TCP Yu the bending machine are determined according to the flip angle and the distance d；Planning module is used for
Track is followed to plan bending according to the positional relationship of the flip angle, the TCP and the bending machine, to be advised
Bending after drawing follows track.
Wherein, the angle calculation module is used for upper mold movement velocity v and lower die width L according to the bending machine,
And the flip angle of plate described in t moment: α (t)=arctan (2vt/L) is calculated using following formula；Wherein, α is described turns over
Gyration.
Wherein, the position computation module is used to utilize following formula according to the flip angle and the distance d
One, two respectively determine t moment described in TCP in the bending machine coordinate system x, z-axis position: formula one: X (t)=d-d
cos(α(t))；Formula two: Z (t)=dsin (α (t))-Ltan (α (t))；Wherein, X (t), Z (t) are respectively t moment institute
TCP is stated in x, the position of z-axis.
Wherein, the planning module is used to utilize following public affairs in x, the position of z-axis according to the flip angle, the TCP
Formula determines the interpolated point of t moment, and determines that corresponding bending follows track according to the interpolated point, with the bending after being planned with
With track:Wherein, when P (t) is t
The interpolated point at quarter,For the initial value of bending track,
For bending track t moment track converted quantity.
In order to solve the above technical problems, the third technical solution that the present invention uses is: providing a kind of system, bending robot
System, including bending robot and its control equipment, the control equipment include memory and processor, the processor is for holding
Row bending as described above follows method for planning track.
Wherein, the artificial six axis serial manipulator of the bending machine.
In order to solve the above technical problems, the 4th technical solution that the present invention uses is: providing a kind of sheet metal bending processing
System, including bending machine, bending robot and its control equipment, the bending machine are used to add plate to be processed progress bending
Work, the bending robot follow for realizing to bending of the plate to be processed during Bending Processing, the control
Equipment follows track for calculating the bending and controls the bending robot and carry out bending to the plate to be processed and follows,
The control equipment includes: parameter acquisition module, carries out Bending Processing to plate for obtaining bending machine and bending robot
Machined parameters, the machined parameters include the movement velocity v of upper die of bending machine, the width L of lower die and the folding when starting processing
The curved robot tooling center points TCP and bender lower die central point distance d；Angle calculation module, for according to
The movement velocity v of the upper die of bending machine and width L of lower die calculates the flip angle of plate；Position computation module is used for basis
The flip angle and the distance d determine the positional relationship of the TCP Yu the bending machine；Planning module is used for basis
The flip angle, the TCP and the bending machine positional relationship follow track to plan bending, after obtaining planning
Bending follow track；Control module controls bending machine for following track to generate corresponding control instruction according to the bending
Device people carries out bending to the plate and follows.
The present invention provides bending and follows method for planning track, device and system, by being moved according to the upper mold of bending machine
Speed, lower die width determine the flip angle of plate, and according to the flip angle, the TCP of bending robot and bending machine away from
Bending is followed from the positional relationship for determining TCP and bending machine, and according to the positional relationship of flip angle and TCP and bending machine
Track is planned that the bending after being planned follows the technical solution of track, realizes bending and track is followed to be not needed upon
Straight line or arc track are planned, but synchronous interpolated point and the time of bending campaign follow track to plan bending,
To improve the accuracy of motion profile, and it is applicable to other robot (such as six axis serial manipulators).
Detailed description of the invention
Fig. 1 is the structural schematic diagram of bending robot and bending machine in the prior art；
When Fig. 2 is T-type curve deceleration planning in the prior art, the schematic diagram of speed change curves；
When Fig. 3 a-3c is S type curve deceleration planning in the prior art, acceleration, speed and distance change curve
Schematic diagram；
Fig. 4 is six axle position appearance status diagram of robot in embodiment of the present invention；
Fig. 5 is that bending robot follows sheet edge to tilt track movement schematic diagram；
Fig. 6 is the flow diagram that a kind of bending follows method for planning track in embodiment of the present invention；
Fig. 7 is the geometrical model schematic diagram of bending machine shown in FIG. 1；
Fig. 8 be in embodiment of the present invention according to the positional relationship of flip angle and TCP and bending machine to planning bending with
With the flow diagram of the method for track；
Fig. 9 is the structural schematic diagram that a kind of bending follows trajectory planning device in embodiment of the present invention；
Figure 10 is a kind of structural schematic diagram of bending robot system in embodiment of the present invention；
Figure 11 is a kind of structural schematic diagram of sheet metal bending system of processing in embodiment of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in embodiment of the present invention, the technical solution in embodiment of the present invention is carried out clear
Chu is fully described by.
In bending robot system, to guarantee that robot does not generate impact, step-out, the excess of stroke or vibration in starting/stopping
It swings, needs to allow system smooth in all cases using special acceleration/deceleration control algorithm and be accurately parked in finger
Positioning is set.Under normal conditions, T-type curve acceleration/deceleration control algorithm or S type curve acceleration/deceleration control algorithm can be used.In the following,
Both algorithms are introduced respectively.
T-type curve acceleration/deceleration control algorithm, it is therefore an objective to keep rate curve linear and consecutive variations.As shown in Fig. 2, T-type is bent
Line feed speed control one is divided into 3 periods: even acceleration, at the uniform velocity with the even decelerating phase.The time span of these three periods
It is denoted as T respectively1、T2、T3, the length of curve of each period is l1、l2、l3, each point time period end is denoted as t1、t2、t3。
Wherein, acceleration maximum value amaxAnd maximum deceleration value dmaxIt is determined by robot motor's parameter.In addition, user's assignment curve
Initial velocity fs, target velocity f, terminal velocity feAnd length of curve L.In this way, calculating T according to these conditions1~T3Value, i.e.,
Achievable T-type curve deceleration planning.Then have:
f-fs=aT1
f-fe=dT3
l2=fT2
l1+l2+l3=L
Wherein,For guaranteed efficiency, generally takeIt is possible to which T is calculated1~T3,
It is shown below:
Every section available to rate integrating of length of curve, is shown below:
S type curve acceleration/deceleration control algorithm, it is therefore an objective to keep the acceleration of the curvilinear path controlled linear and continuous change
Change, as shown in figure 3, for acceleration, speed and distance change curve under S type curve feed speed control.
The equation of Velocity-time is obtained according to the integral of acceleration, the equation of distance verses time is obtained by the integral of speed.S
Type curve deceleration planning one is divided into seven periods: accelerate, it is even accelerate, subtract accelerations, at the uniform velocity, acceleration and deceleration, it is even slow down and
Slow down.The time span of this seven periods is denoted as T respectively1、T2、T3、T4、T5、T6、T7, the time of each period end point
It is denoted as t1、t2、t3、t4、t5、t6、t7.Wherein, the derivative (Jerk) of acceleration is known as acceleration, is by robot motor itself
Parameter determine.In addition, peak acceleration A and maximum deceleration D are also provided by robot motor.In addition, the initial speed of curve
Spend fs, target velocity f, terminal velocity f, length of curve L.According to these conditions, T is calculated1~T7Value, S type curve can be completed
Deceleration planning.
Under normal circumstances, if T1(adding acceleration time length)=T3(subtracting acceleration time length), T5(Acceleration and deceleration time length)
=T7(subtracting deceleration time length), therefore obtain:
Ja、JdFor the acceleration of acceleration and deceleration.Letter of the range acceleration about time t is obtained by above formula
Number, integral obtains function of the distance about time t twice, realizes the speed planning of track.
In robot control system, cartesian space can be carried out to the movement of tool center point (English abbreviation: TCP)
Continuous path planning, with the form control track of interpolation, the motion profile of robot can be regarded as set a little.Wherein, often
A point includes that the position of robot and posture information, the form of expression have:
Three-dimensional coordinate and Eulerian angles (x, y, z, a, b, c)
Wherein, x, y, z is position of the TCP in three-dimensional system of coordinate, and a, b, c are Euler's angle information of its posture.
Specifically, referring to Fig. 4, for six axle position appearance status diagram of robot in embodiment of the present invention, by X-Y-Z group
At coordinate system indicate six axle position appearance of robot, position of the TCP in base coordinate system (Xbase-Ybase-Zbase) can indicate
For (x, y, z), the overturning in base coordinate system indicates its posture, is indicated with Eulerian angles (a, b, c).According to robot on basis
The sequencing and posture overturn in coordinate system, successively obtains rotational transformation matrix as follows:
Wherein, X, Y, Z are the overturning of Robot secondary axes, and corresponding subscript 1,2,3 indicates the sequencing of overturning.Example
Such as,Indicate robot successively along Z, X, Y-axis flip angle a, b, c.
Further, due to the movement of each axis of serial manipulator or the variation of drive other positions, so needing to establish machine
Device people's kinematics model will be indicated as described above by the rotation angle in each joint and the brachium and offset information of each rigid body section
The formula of translation and the rotation of coordinate system is showed by unified homogeneous transform matrix, formula specific as follows:
Formula (1):
Wherein, px、py、pzThe position for being TCP in three-dimensional coordinate, Xa, Xb, Xc, Ya, Yb, Yc, Za, Zb, Zc indicate it
Posture, for example, Xb indicates that TCP rotates angle b along X-axis.
Please refer to Fig. 5, when plate is placed on bender lower die, upper die of bending machine is moved downward, and extrusion plate becomes
Shape, and during pushing plate above, bending robot follows sheet edge to tilt track movement.Therefore, in machine
In people's system, bending track is usually formed by TCP along x, z angle rotated and moving distance.Further, each axis is neat
Secondary transformation matrix can obtaining by link rod coordinate system, variation relation formula are as follows:
Formula (2):
Wherein,Angle [alpha] is rotated around x axis for TCPi-1Transformation matrix,Distance a is moved along the x-axis for TCPi-1's
Transformation matrix,Angle, θ is rotated around z-axis for TCPiTransformation matrix,It is TCP along z-axis moving distance diTransformation square
Battle array.αi-1For zi-1With ziBetween flip angle, ai-1For zi-1With ziBetween length, θiFor ai-1With aiBetween flip angle
Degree, diFor ai-1With aiThe distance between.
Further, it can be respectively obtained according to formula (1) and corresponding rotational transformation matrix as described above:
Formula (3):
Formula (4):
Formula (5):
Formula (6):
Therefore, formula (3)-(6) are substituted into formula (2), to obtain the change that TCP overturns and translated in base coordinate system
Change matrix are as follows:
Formula (7):
Referring to Fig. 6, following the flow diagram of method for planning track for bending a kind of in embodiment of the present invention.The party
Method includes:
Step S10 obtains the machined parameters that bending machine and bending robot carry out Bending Processing to plate.Wherein, described
Machined parameters include the movement velocity v of upper die of bending machine, lower die width L and start processing when bending robot tool in
The heart point TCP and bender lower die central point distance d.
Step S11 calculates the flip angle of plate according to the movement velocity v of the upper die of bending machine and width L of lower die
Degree.
Further, please refer to Fig. 7, it is the geometrical model schematic diagram of bending machine, is obtained by bending machine horizontal direction
The plan view of X-Z plane.In X-Z coordinate system, X-axis is horizontally disposed under plate, and positive direction is far from robot
Direction, Z axis along lower die central point vertical direction be arranged.
The timing since upper mold decline touches plate, point A indicate the position TCP of t moment robot, and point B indicates plate
With the intersection point at lower die edge, point C indicates sheet metal bending central point.When calculating the flip angle of plate, by right angled triangle OBC
BO side length, OC side length angle OBC is calculated, that is, angle α.Specific calculating is as follows:
According to the width of the movement velocity of the upper mold of bending machine and lower die, and formula (8) are utilized, calculates t moment plate
Flip angle:
Formula (8): α (t)=arctan (2vt/L)；
Wherein, α is flip angle, and v is the upper mold movement velocity of bending machine, and L is the width of the lower die of bending machine.BO side length
For L/2, OC side length is vt.
Step S12 determines that the position of the TCP and the bending machine is closed according to the flip angle and the distance d
System.
Wherein, above-mentioned positional relationship be bending robot TCP in the bending machine coordinate system x, z-axis position.And
TCP when t=0 is the origin of the bending machine coordinate system.
When calculating point A (TCP) length of x-axis in X-Z coordinate system, by right angled triangle AAyThe A of CyC side length, angle
AyAC (angle α) obtains AAySide length, that is, the length of TCP x-axis in X-Z coordinate system.Specific calculating is as follows:
As t=0, X (t)=0, and, in t=0, TCP is d in the length of x-axis.
As t ≠ 0, AyC side length=dsin (α (t)), OC side length=Ltan (α (t)).According to the flip angle with
And the TCP of bending robot calculates separately t moment TCP in the bending machine using formula (9), (10) at a distance from the bending machine
The position of x in coordinate system, z-axis:
Formula (9): X (t)=d-dcos (α (t))；
Formula (10): Z (t)=dsin (α (t))-Ltan (α (t))；
Wherein, it is that TCP is arrived when starting to process (t=0) that X (t), Z (t), which are respectively t moment TCP in x, the position of z-axis, d,
The distance of lower die central point.
Step S13 follows track to plan bending according to the positional relationship of the flip angle, TCP and bending machine, with
Bending after being planned follows track.
Referring to Fig. 8, step S13, that is, follow rail to bending according to the positional relationship of the flip angle, TCP and bending machine
The step of mark planned, follows track with the bending after being planned, realizes especially by following steps:
Step S130 obtains the interpolation of t moment according to formula (7) according to the flip angle, TCP in x, the position of z-axis
Point.
Since the bending of robot follows track only to rotate along the y-axis direction, and rotation angle is α.Therefore, by Eulerian angles
(0, ∠ α, 0) is converted to spin matrix, the homogeneous matrix obtained according to formula (7) are as follows:
Therefore the interpolated point of t moment are as follows:
Wherein, P (t) is the interpolated point of t moment,For the initial value of bending track,For bending track t moment track converted quantity.
Step S131 determines that corresponding bending follows track according to interpolated point, follows track with the bending after being planned.
Specifically, t is obtained in the interpolated point at each moment using homogeneous matrix as described above, and anti-solution arrives by each interpolated point
Linkspace control robot motion, so that gathering the composition bending of different moments interpolated point follows track.
As described above, existing serial manipulator is pilot teaching space line or circle in the method for cartesian space trajectory planning
Arc is set after desired speed for following track to do T-type or S type speed planning, and S type speed planning is divided into 7 stages and (adds
Accelerate, it is even accelerate, subtract accelerations, at the uniform velocity, acceleration and deceleration, it is even slow down, deceleration).If following bending machine to roll over original trajectory planning
Curved movement, track can be more complicated and following for speed are difficult to realize.Bending in embodiment of the present invention follows rail
Mark planing method does not have to plan based on straight line or circular arc, simultaneously for following without progress speed rule again for bending process
It draws, need to only synchronize the parameter t of interpolated point Yu bending campaign.
Referring to Fig. 9, following the structural schematic diagram of trajectory planning device, the dress for bending a kind of in embodiment of the present invention
Setting 20 includes parameter acquisition module 24, angle calculation module 21, position computation module 22 and planning module 23.
The parameter acquisition module 24 is used to obtain the processing that bending machine and bending robot carry out Bending Processing to plate and joins
Number, the machined parameters include the movement velocity v of upper die of bending machine, the width L of lower die and the bending machine when starting processing
The people's tool center point TCP and bender lower die central point distance d.
The angle calculation module 21 is used to be calculated according to the movement velocity v of the upper die of bending machine and the width L of lower die
The flip angle of plate.
Referring to Fig. 7, the timing since upper mold decline touches plate, point A indicates the position TCP of t moment robot
It sets, point B indicates that the intersection point of plate and lower die edge, point C indicate sheet metal bending central point.When calculating the flip angle of plate,
Angle OBC is calculated by the BO side length of right angled triangle OBC, OC side length, that is, angle α.Specific calculating is as follows:
The angle calculation module 21 is counted according to the upper mold movement velocity and lower die width of the bending machine, and using formula 1
Calculate the flip angle of t moment plate:
Formula 1: α (t)=arctan (2vt/L)；
Wherein, α is flip angle, and v is the upper mold movement velocity of bending machine, and L is the width of the lower die of bending machine.BO side length
For L/2, OC side length is vt.
The position computation module 22 is used to determine the TCP and the folding according to the flip angle and the distance d
The positional relationship of bender.
Wherein, above-mentioned positional relationship be bending robot TCP in the bending machine coordinate system x, z-axis position.And
TCP when t=0 is the origin of the bending machine coordinate system.
When the position computation module 22 calculates point A (TCP) length of x-axis in X-Z coordinate system, by right angled triangle
AAyThe A of CyC side length, angle AyAC (angle α) obtains AAySide length, that is, the length of TCP x-axis in X-Z coordinate system.It is specific to calculate such as
Under:
As t=0, X (t)=0, and, in t=0, TCP is d in the length of x-axis.
As t ≠ 0, AyC side length=dsin (α (t)), OC side length=Ltan (α (t)).The position computation module 22
According to the TCP of the flip angle and bending robot at a distance from the bending machine, t moment TCP is calculated separately using formula 2,3
In the bending machine coordinate system x, z-axis position:
Formula 2:X (t)=d-dcos (α (t))；
Formula 3:Z (t)=dsin (α (t))-Ltan (α (t))；
Wherein, it is that TCP is arrived when starting to process (t=0) that X (t), Z (t), which are respectively t moment TCP in x, the position of z-axis, d,
The distance of lower die central point.
The flip angle and the position that the planning module 23 is used to be calculated according to the angle calculation module 21 calculate
The positional relationship of TCP and the bending machine that module 22 determines, follow track to plan bending, with the bending after being planned
Follow track.
Specifically, the planning module 23 is according to the flip angle, the TCP in x, the position of z-axis, t determining using formula 4
The interpolated point at quarter, and determine that corresponding bending follows track according to the interpolated point, track is followed with the bending after being planned:
Formula 4:
Wherein, P (t) is the interpolated point of t moment,For the initial value of bending track,For bending track t moment track converted quantity.
Optionally, which further includes control module, for following track to generate corresponding control according to the bending
System instruction, control bending robot carry out bending to the plate and follow.
Referring to Fig. 10, for a kind of structural schematic diagram of bending robot system in embodiment of the present invention, in this implementation
In mode, bending robot system includes bending robot 34 and its control equipment 30.The bending robot 34 can be six axis strings
Join robot.The control equipment 30 includes memory 31, processor 32, wherein the memory 31 is stored with computer program.It should
Processor 32 runs the computer program, executes bending and follows trajectory planning and generate bending and follow track, and generates corresponding
Control instruction, control bending robot carry out bending to the plate and follow.
Wherein, the processor 32 operation computer program execute bending follow trajectory planning bending as shown in FIG. 6 with
With the process of method for planning track, method and step refers to Fig. 6 and corresponding explanatory note.
Figure 11 is please referred to, is a kind of structural schematic diagram of sheet metal bending system of processing in embodiment of the present invention.In this reality
It applies in mode, sheet metal bending system of processing includes bending machine 41, bending robot 42 and its control equipment 43.Wherein, the bending
Structure can be as shown in Figure 1 between machine 41 and bending robot 43.
The bending machine 41 is used to carry out Bending Processing to plate to be processed.
The bending robot 42 follows for realizing to bending of the plate to be processed during Bending Processing.
The control equipment 43 follows track and controls the bending robot to described to be processed for calculating the bending
Plate carries out bending and follows.
Wherein, which includes the module that control module and bending as shown in Figure 9 follow trajectory planning device,
Its functions of modules refers to Fig. 9 and corresponding explanatory note, which is used to follow track to generate phase according to the bending
The control instruction answered, control bending robot carry out bending to the plate and follow.
In the embodiment above, which may also be arranged in bending robot.
The present invention provides bending and follows method for planning track, apparatus and system, by moving speed according to the upper mold of bending machine
Degree, lower die width determine the flip angle of plate, and according to the flip angle, bending robot TCP at a distance from bending machine
It determines the positional relationship of TCP and bending machine, and rail is followed to bending according to the positional relationship of flip angle and TCP and bending machine
Mark is planned that the bending after being planned follows the technical solution of track, realizes bending and track is followed to be not needed upon directly
Line or arc track are planned, but synchronous interpolated point and the time of bending campaign follow track to plan bending, with
The accuracy of motion profile is improved, and is applicable to other robot (such as six axis serial manipulators).
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (11)
1. a kind of bending follows method for planning track, which is characterized in that the described method includes:
The machined parameters that bending machine and bending robot carry out Bending Processing to plate are obtained, the machined parameters include bending machine
The movement velocity v of upper mold, the width L of lower die and bending robot tooling center points TCP and the bending when starting processing
The distance d of machine lower die central point；
The flip angle of plate is calculated according to the movement velocity v of the upper die of bending machine and width L of lower die；
The positional relationship of the TCP Yu the bending machine are determined according to the flip angle and the distance d；
Track is followed to plan bending according to the positional relationship of the flip angle, the TCP and the bending machine, with
Bending after to planning follows track.
2. bending according to claim 1 follows method for planning track, which is characterized in that described according on the bending machine
The step of movement velocity v of mould and the width L of lower die calculate the flip angle of plate specifically:
Plate described in t moment is calculated according to the upper mold movement velocity v of the bending machine and lower die width L, and using following formula
The flip angle of material:
α (t)=arctan (2vt/L)；
Wherein, α is the flip angle.
3. bending according to claim 2 follows method for planning track, which is characterized in that described according to the flip angle
And the distance d determines the step of positional relationship of the TCP with the bending machine specifically:
According to the flip angle and the distance d, determine TCP described in t moment described respectively using following formula one, two
The position of x in bending machine coordinate system, z-axis:
Formula one: X (t)=d-dcos (α (t))；
Formula two: Z (t)=dsin (α (t))-Ltan (α (t))；
Wherein, X (t), Z (t) are respectively TCP described in t moment in x, the position of z-axis.
4. bending according to claim 3 follows method for planning track, which is characterized in that described according to the flip angle
Degree, the TCP and the bending machine positional relationship follow track to plan bending, followed with the bending after being planned
The step of track specifically:
According to the flip angle, the TCP in x, the position of z-axis, the interpolated point of t moment is determined using following formula:
Wherein, P (t) is the interpolated point of t moment,For the initial value of bending track,For bending track t moment track converted quantity；
It determines that corresponding bending follows track according to the interpolated point, track is followed with the bending after being planned.
5. a kind of bending follows trajectory planning device, which is characterized in that described device includes:
Parameter acquisition module carries out the machined parameters of Bending Processing for obtaining bending machine and bending robot to plate, described
Machined parameters include the movement velocity v of upper die of bending machine, lower die width L and start processing when bending robot tool in
The heart point TCP and bender lower die central point distance d；
Angle calculation module, for calculating turning over for plate according to the movement velocity v of the upper die of bending machine and the width L of lower die
Gyration；
Position computation module, for determining the position of the TCP Yu the bending machine according to the flip angle and the distance d
Set relationship；
Planning module, for following track to bending according to the positional relationship of the flip angle, the TCP and the bending machine
It is planned, track is followed with the bending after being planned.
6. bending according to claim 5 follows trajectory planning device, which is characterized in that the angle calculation module is used for
Plate described in t moment is calculated according to the upper mold movement velocity v of the bending machine and lower die width L, and using following formula
Flip angle:
α (t)=arctan (2vt/L)；
Wherein, α is the flip angle.
7. bending according to claim 6 follows trajectory planning device, which is characterized in that the position computation module is used for
According to the flip angle and the distance d, determine TCP described in t moment in the bending respectively using following formula one, two
The position of x in machine coordinate system, z-axis:
Formula one: X (t)=d-dcos (α (t))；
Formula two: Z (t)=dsin (α (t))-Ltan (α (t))；
Wherein, X (t), Z (t) are respectively TCP described in t moment in x, the position of z-axis.
8. bending according to claim 7 follows trajectory planning device, which is characterized in that the planning module is used for basis
The flip angle, the TCP are determined the interpolated point of t moment using following formula in x, the position of z-axis, and are inserted according to described
Complement point determines that corresponding bending follows track, follows track with the bending after being planned:
Wherein, P (t) is the interpolated point of t moment,For the initial value of bending track,For bending track t moment track converted quantity.
9. a kind of bending robot system, which is characterized in that including bending robot and its control equipment, the control equipment packet
Memory and processor are included, the processor is for executing following method:
The machined parameters that bending machine and bending robot carry out Bending Processing to plate are obtained, the machined parameters include bending machine
The movement velocity v of upper mold, the width L of lower die and bending robot tooling center points TCP and the bending when starting processing
The distance d of machine lower die central point；
The flip angle of plate is calculated according to the movement velocity v of the upper die of bending machine and width L of lower die；
The positional relationship of the TCP Yu the bending machine are determined according to the flip angle and the distance d；
Track is followed to plan bending according to the positional relationship of the flip angle, the TCP and the bending machine, with
Bending after to planning follows track；
Follow track to generate corresponding control instruction according to the bending, control bending robot to the plate carry out bending with
With.
10. bending robot system according to claim 9, which is characterized in that the artificial six axis series connection of bending machine
Robot.
11. a kind of sheet metal bending system of processing, which is characterized in that described including bending machine, bending robot and its control equipment
Bending machine is used to carry out Bending Processing to plate to be processed, and the bending robot is being rolled over for realizing to the plate to be processed
Bending in curved process follows, and the control equipment follows track and control the bending machine for calculating the bending
People carries out bending to the plate to be processed and follows, and the control equipment includes:
Parameter acquisition module carries out the machined parameters of Bending Processing for obtaining bending machine and bending robot to plate, described
Machined parameters include the movement velocity v of upper die of bending machine, lower die width L and start processing when bending robot tool in
The heart point TCP and bender lower die central point distance d；
Angle calculation module, for calculating turning over for plate according to the movement velocity v of the upper die of bending machine and the width L of lower die
Gyration；
Position computation module, for determining the position of the TCP Yu the bending machine according to the flip angle and the distance d
Set relationship；
Planning module, for following track to bending according to the positional relationship of the flip angle, the TCP and the bending machine
It is planned, track is followed with the bending after being planned；
Control module controls bending robot to described for following track to generate corresponding control instruction according to the bending
Plate carries out bending and follows.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2015/099949 WO2017113219A1 (en) | 2015-12-30 | 2015-12-30 | Method, apparatus and system for planning bending following trajectory |
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| CN107848005B true CN107848005B (en) | 2019-06-18 |
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| CN108273881A (en) * | 2018-01-18 | 2018-07-13 | 天津莱茵克拉电梯有限公司 | A kind of door of elevator production bender |
| CN109332433A (en) * | 2018-08-20 | 2019-02-15 | 湄洲湾职业技术学院 | A kind of bending robot control method and control system based on numerical control |
| 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 |
| CN109590355B (en) * | 2019-01-30 | 2020-03-31 | 福建渃博特自动化设备有限公司 | Method and terminal for taking out plate |
| CN109590356B (en) * | 2019-01-30 | 2020-06-16 | 福建渃博特自动化设备有限公司 | Bending following method and terminal |
| CN112118918B (en) * | 2019-02-12 | 2022-08-16 | 深圳配天智能技术研究院有限公司 | Bending following track planning method, bending system, robot and storage device |
| CN110815219B (en) * | 2019-11-07 | 2023-01-06 | 上海新时达机器人有限公司 | Trajectory tracking method and device, electronic equipment and storage medium |
| CN111842556B (en) * | 2020-07-14 | 2022-04-26 | 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 |
| CN112198065A (en) * | 2020-08-27 | 2021-01-08 | 京东方科技集团股份有限公司 | Bending test equipment and bending test method for flexible screen |
| CN113126565B (en) * | 2021-04-14 | 2022-09-20 | 新代科技(苏州)有限公司 | Bending center edge changing track planning method |
| CN113479353B (en) * | 2021-07-14 | 2022-09-06 | 贵州航天林泉电机有限公司 | Satellite turntable path planning method based on speed planning |
| CN113635301B (en) * | 2021-07-29 | 2023-02-28 | 中国地质大学（武汉） | Six-axis mechanical arm movement speed control improvement method |
| CN114115113B (en) * | 2021-10-15 | 2023-11-21 | 上海发那科机器人有限公司 | Intelligent pipe bending track generation method based on double-robot pipe bending system |
| 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 |
| CN114261081B (en) * | 2021-12-22 | 2023-08-29 | 苏州希盟科技股份有限公司 | Calculation method of bending track and bending equipment |
| CN114227655A (en) * | 2021-12-30 | 2022-03-25 | 深圳市英威腾电气股份有限公司 | Method and device for determining planned path, SCARA robot and medium |
| CN114603539B (en) * | 2022-01-26 | 2024-01-30 | 哈尔滨工业大学 | Rope-driven snake-shaped mechanical arm path planning head-to-tail motion following method and device |
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| JPH07261821A (en) * | 1994-03-16 | 1995-10-13 | Fanuc Ltd | Robot track planning method taking deflection due to load into consideration |
| JPH07265958A (en) * | 1994-03-31 | 1995-10-17 | Nisshinbo Ind Inc | Method for controlling robot for bending machine |
| US5835684A (en) * | 1994-11-09 | 1998-11-10 | Amada Company, Ltd. | Method for planning/controlling robot motion |
| AU2002951099A0 (en) * | 2002-08-23 | 2002-09-12 | The University Of Queensland | A method of designing a concrete railway sleeper |
| US8184756B2 (en) * | 2008-12-18 | 2012-05-22 | Viasat, Inc. | Symbol timing acquisition using early-late interpolation |
| JP2014023054A (en) * | 2012-07-20 | 2014-02-03 | Nikon Corp | Image processing apparatus, imaging apparatus, and image processing program |
| JP2014151385A (en) * | 2013-02-07 | 2014-08-25 | Amada Co Ltd | Robot control device, and robot control method |
| CN103707299B (en) * | 2013-12-18 | 2016-01-13 | 南京埃斯顿机器人工程有限公司 | A kind of method realizing the bending of bending robot and follow in real time |
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