CN109333521A - A kind of metal plate bending robot bending taught point coordinate intelligent generation method - Google Patents
A kind of metal plate bending robot bending taught point coordinate intelligent generation method Download PDFInfo
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- CN109333521A CN109333521A CN201811415119.XA CN201811415119A CN109333521A CN 109333521 A CN109333521 A CN 109333521A CN 201811415119 A CN201811415119 A CN 201811415119A CN 109333521 A CN109333521 A CN 109333521A
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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
-
- 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
- B21D5/004—Bending sheet metal along straight lines, e.g. to form simple curves with program control
-
- 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
- B21D5/006—Bending sheet metal along straight lines, e.g. to form simple curves combined with measuring of bends
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The present invention discloses a kind of metal plate bending robot bending taught point coordinate intelligent generation method, and step is to realize building for virtual metal plate Bending Processing environment identical with actual processing environment first with Parametric designing and Automated assembly technology；Secondly, realizing the automatic acquisition of sheet metal component bending technique information and the automatic planning of corresponding bending technique by sheet metal component bending technique planning technology；Then, by spelling knife technology automatically, knife is planned and spelled to the automatic of lathe lower die bending cutter during realizing Bending Processing；Finally, the intelligence for realizing metal plate bending robot bending taught point coordinate generates by bending campaign taught point coordinate intelligence generation technique.The present invention fundamentally reduces the manually intervention for metal plate bending process, overcomes the deficiency that traditional artificial on-line teaching obtains bending taught point, shortens the design cycle of metal plate Bending Processing, avoid repeated labor, ensure that product quality.
Description
Technical field
The present invention relates to metal plate Bending Processing off-line programing fields, and in particular to a kind of bending teaching of metal plate bending robot
Point coordinate intelligence generation technique.By to technical method optimization design and verifying its feasibility and practicability, it can reach real
A kind of life that the bending taught point coordinate that metal plate Bending Processing automates in the process intelligently generates is realized in the production requirement of border processing
Production mode.
Background technique
The realization of metal plate Bending Processing process relies primarily on bending robot identification bending taught point coordinate, is shown by bending
Religion point coordinate carries out optimum path planning, the final bending operation for realizing sheet metal component.
Current domestic medium and small panel beating enterprise mostly, relies primarily on operator people to the acquisition of bending taught point coordinate
Work guides bending end effector of robot or operation guiding mechanical simulation apparatus, carries out in the initial state to bending machine device people
Artificial teaching is to obtain bending taught point coordinate；
Traditional artificial on-line teaching operation obtains the mode of bending taught point coordinate, and there are following problems:
1. on-line teaching mode of operation is not easy, worker labour productivity is low；
2. non-cutting time (artificial teaching, process planning spell knife design) is longer, it is unable to satisfy the need of automated production mode
It asks；
3. Bending Processing scene needs whole line to shut down teaching when replacement operation task, the processing duration of machine, enterprise are wasted
Production efficiency is low；
4. live on-line teaching operation, is unfavorable for staff's inherently safe under the bad border of workshop.
In conclusion being directed to the research of metal plate bending robot bending taught point coordinate intelligence generation technique, it is intended to maximum
The production method for solving the problems, such as that traditional artificial on-line teaching obtains bending taught point coordinate of limit exists, not only theoretically
There is innovation, and has very important realistic meaning in terms of reducing enterprise's production cost and improving throughput rate.
Summary of the invention
The purpose of the invention is to overcome traditional artificial on-line teaching to obtain existing for the mode of bending taught point coordinate
Drawback realizes that bending robot bending taught point coordinate intelligently generates during metal plate Bending Processing, and provides a kind of metal plate
Bending robot bending taught point coordinate intelligent generation method.
In order to achieve the above objectives, the technical solution adopted by the present invention is that:
A kind of metal plate bending robot bending taught point coordinate intelligent generation method, comprising the following steps:
1, by the Parametric designing and Automated assembly to the bending components model such as bending machine tool, sucker, suction cup carrier,
Virtual bending environment configurations are realized in three-dimensional software, construct the virtual bending ring consistent with practical metal plate Bending Processing environment
Border；
2, it is designed by sheet metal component bending technique, obtains bending side length, radius bend and bending angle in sheet metal component model
Basic bending information Deng including, establishes the bending technique database of sheet metal component model based on this bending information, remaining folding
Curved characteristic information such as withdrawing mode, bending nose angle etc. is believed according to the basic bending such as bending side length, radius bend and bending angle
Data characteristics relevance between breath is completed to determine and be planned, the final automatic planning and bending realized to sheet metal component bending technique
Technique table automatically generates, and obtains the bending technique data of sheet metal component；
3, by the sheet metal component bending technique data for having completed to plan and generate, according to the cutter in bending technique data
The tool-informations such as length and bending nose angle have bending tool in three-dimensional software and carry out parametric modeling, and modeling is completed
Bending cutter model automatic assembling on the designated position of bending machine tool in virtual bending environment, realize bending cutter parametrization from
It is dynamic to spell knife, and knife data are spelled according to bending cutter in the acquisition sheet metal component Bending Processing operation of knife result is spelled；
4, the sheet metal component bending technique data and bending that obtain in part are designed by Macro or mass analysis sheet metal component bending technique
Cutter spells knife data, obtains the corresponding position in per pass Bending Processing process between sheet metal component and bending machine tool, bending cutter and becomes
Change data, these corresponding position delta datas are combined with the movement position delta data of bending robot arm, calculates
And obtain sheet metal component pose result of variations in each Bending Processing process；
5, according to the virtual bending environment established in virtual bending environment configurations, metal plate bending robot bending fortune can be obtained
Dynamic space coordinate reference, will be on bending motion path in conjunction with sheet metal component pose delta data and the bending motion path planned
Corresponding space coordinate node changes generated coordinate node with each Bending Processing process sheet metal component pose and combines, and passes through
Analysis and calculating realize that the intelligence of bending taught point coordinate generates.
Further preferably, the particular content of Parametric designing described in step 1 and step are:
1. using the form of parametric modeling, set adjustable for the specific structure dimensional parameters of each bending component model
?；
2. by the base including sheet metal component bending side length, radius bend and bending angle for needing to carry out Bending Processing etc.
Plinth bending information is analyzed, and determines that Bending Processing operates required each bending component model；
3. determining the specific structure size of each bending component model by bending component model and to its supplemental characteristic
It is configured, completes the parametric modeling to bending machine tool, sucker, suction cup carrier and other bending components.
Further preferably, the particular content of Automated assembly described in step 1 and step are:
I configures parametrization into the support beam component with typical structure in virtual Bending Processing environment as father zero
Part, other bending components are sub- part；
II creates the mate-assist feature including such as auxiliary datum plane, auxiliary base axis, auxiliary base point on part, will
Cooperation benchmark of the mate-assist feature as mating feature；
Corresponding dimension constraint association is established between III mate-assist feature and each bending component mating feature, is being assembled
Each part realizes the one-to-one correspondence of corresponding matching relationship, reaches part by the respective mate-assist feature of automatic identification in journey
Assemble the purpose being accurately positioned；
IV each bending component realizes Automated assembly, completes the configuration of the virtual bending environment of metal plate Bending Processing, each bending
The space coordinate of component present position can determine, by customized virtual bending environment space coordinate origin, establish bending ring
Border space coordinates intelligently generate for metal plate bending robot bending taught point coordinate and provide spatial coordinated information reference.
Further preferably, sheet metal component bending technique described in step 2 is automatically planned and bending technique table automatically generates
Particular content and step are:
1. extracting and obtaining includes metal plate bending in each Bending Processing process by carrying out production breakdown to sheet metal component model
Basic bending technique data including side length, radius bend and bending angle etc.；
2. establishing the bending technique data of this sheet metal component model using each basic bending technique data of acquisition as reference frame
Library determines to design by process conditions, realize in each Bending Processing process such as withdrawing mode, bending nose angle, bending tool it is long and
Whether manipulator the planning and design of other bending technique information such as overturns；
3. the sheet metal component bending technique result for completing planning to be saved to the bending technique table of sheet metal component model thus.
Further preferably, bending cutter described in step 3 spells knife result and automatically generates and parameterize the automatic tool for spelling knife
Hold in vivo and step be:
1. according to the sheet metal component bending technique data of planning are completed, to the tool-informations such as cutter length and bending nose angle into
Row induction-arrangement screens and deletes repetition tool-information；
2. having to bending tool according to the bending tool-information that filters out of arrangement and carrying out parametric modeling and automatic assembling is into void
It on bending machine tool designated position in quasi- bending environment, realizes and parameterizes automatic spelling knife, reduce artificial progress bending cutting tool choice
Error caused by judgement.
Further preferably, the variation of each Bending Processing process sheet metal component pose described in step 4 solves particular content and
Step is:
1. determining the relative position between sheet metal component and bending machine tool according to the long data of bending edges in bending technique table；
2. according to the bending tool-information in bending technique table, incorporating parametricization spell knife automatically as a result, determine sheet metal component with
Relative position between bending cutter；
3. determining bending robot arm according to bendings information such as radius bend, bending angles in bending technique table
Movement position variation；
4. the judgement of bending techniques whether is overturn etc. to withdrawing mode, manipulator according to procedure every in bending technique table,
Determine whether bending makes respective response movement variation with robot.
Further preferably, the intelligent generation method of the coordinate of bending taught point described in step 5 are as follows: according to virtual bending ring
The virtual bending environment established in the configuration of border, can be obtained metal plate bending robot bending space coordinate reference, in conjunction with metal plate
Part pose delta data and the bending motion path planned, by space coordinate node corresponding on bending motion path and respectively
Bending Processing process sheet metal component pose changes generated coordinate node and combines, and by analysis and calculates, realizes bending teaching
The intelligence of point coordinate generates.
Advantages and advantages of the invention:
The present invention is directed to fundamentally reduce the manually intervention for metal plate bending process.Firstly, robot can program
Continue to carry out Bending Processing production in the production line when operation, improves production efficiency and continuous production；Secondly, passing through analysis
With calculating, reasonable and correct bending taught point is obtained, ensure that the precision of Bending Processing, while wanting to the experience of operator
Reduction is asked, human cost is mitigated；Finally, the process for obtaining bending taught point is remote without manually live teaching operation, staff
From dangerous operating environment.
Detailed description of the invention
Fig. 1 is a kind of flow chart of metal plate bending robot bending taught point coordinate intelligent generation method；
Fig. 2 is the method flow diagram of virtual bending environment configurations；
Fig. 3 is the method flow diagram of sheet metal component bending technique design；
Fig. 4 is the method flow diagram that bending taught point coordinate intelligently generates.
Specific embodiment
This metal plate bending robot bending taught point coordinate intelligent generating system and method are made in conjunction with attached drawing further
It is described in detail:
It is shown in Figure 1, it is a kind of metal plate bending robot bending taught point coordinate intelligent generation method of the invention, tool
Steps are as follows for body:
Step 1: by virtual bending environment configurations, the virtual folding consistent with practical metal plate Bending Processing environment is constructed
Bending ring border realizes that the bending taught point coordinate finally intelligently generated can use in practical metal plate Bending Processing；
Firstly, enterprise would generally be rolled over according to sheet metal component classification to be processed in practical metal plate Bending Processing production
The adjustment in bending ring border, such as bending machine tool, suction cup carrier or sucker bending component model are replaced, inhomogeneity is directed to meet
The purpose of Bending Processing Optimum Operation can be achieved in other sheet metal component.Parametrization configures in virtual bending environmental process, using parameter
The form for changing modeling, sets adjustable item for the specific structure dimensional parameters of each bending component model.By to rolling over
The sheet metal component essential information of curved processing is analyzed, and determines that Bending Processing operates required each bending component model, true by model
The specific structure size of fixed each bending component model is simultaneously configured its supplemental characteristic, complete to bending machine tool, sucker,
The parametric modeling of suction cup carrier and other bending components avoids the repetition of conventional modeling procedure, simplifies modeling and configuration operated
Journey.
Secondly, starting to carry out each folding after each bending component completes parametric modeling according to sheet metal component type to be processed
The Automated assembly of turn of bilge part.Mounting technology is one of the important technology of current field of CAD research, but current three-dimensional CAD
Assembling function provided by software is all to rely on designer the assembly geometrical constraint between part is specified to complete to assemble by hand, is counted
Calculation machine cannot replace operator assemble automatically, and assembly efficiency is low, not meet the requirement quickly designed, and very complicated
Hand assembled certainly will will affect the integral level of CAD system, therefore how rapid automatized assembly is to improve the design of product
Efficiency has become a project urgently to be solved.
In conjunction with the assembling characteristics of each bending component in metal plate Bending Processing environment, design a kind of based on mate-assist feature
Automatized assembly method, by creating mate-assist feature such as auxiliary datum plane, auxiliary base axis, auxiliary base point on part
Deng each part realizes that the one of corresponding matching relationship is a pair of by the respective mate-assist feature of automatic identification in assembling process
It answers, achievees the purpose that component assembly is accurately positioned, finally realize the Automated assembly of each bending component, complete metal plate Bending Processing
The configuration of virtual bending environment.
Finally, after each bending component completes parametrization configuration and realizes Automated assembly, each bending component present position
Space coordinate can determine, by customized virtual bending environment space coordinate origin, establish bending environment space coordinate system,
It is intelligently generated for final metal plate bending robot bending taught point coordinate and space coordinate reference is provided.
Step 2: being designed by sheet metal component bending technique, realizes to sheet metal component bending technique and spell the automatic rule of knife result
It draws and generates, intelligently generation provides process data reference and bending cutter spells knife for metal plate bending robot bending taught point coordinate
Data reference；
After the completion of virtual bending environment configurations, system carries out the design of sheet metal component bending technique.Metal plate Bending Processing process
It carries out, relies primarily on bending robot according to corresponding bending technique data, carry out the judgement of flexing movement.Traditional metal plate bending adds
During work, the design that staff manually carries out sheet metal component bending technique is relied primarily on, then passes through manual operation for bender
Skill information input bending robot identifies it and carries out bending operation, and this method greatly reduces production efficiency.In metal plate
In bending robot bending taught point coordinate intelligent generating system and method, it is intended to by design, realize to sheet metal component bender
Skill automatically generates, and intelligently generates for metal plate bending robot bending taught point coordinate and provides process data reference.
Firstly, extracting and obtaining includes metal plate in each Bending Processing process by carrying out production breakdown to sheet metal component model
Basic bending technique data including bending side length, radius bend and bending angle etc..
Secondly, in actual production, process data decision condition based on the operation progress of metal plate Bending Processing, in addition to bending
It further include that withdrawing mode, bending nose angle, bending tool are long outside the bending technique information of the basis such as side length, radius bend and bending angle
And whether manipulator other bending technique data such as overturns.And during traditional sheet metal component Bending Processing, it is main according to operator
The experience of member, by the analytical judgment to the basic bending technique information such as bending edges length, radius bend, bending angle, realization is moved back
The generation for the bending techniques data such as knife mode, bending nose angle, bending tool are long and whether manipulator overturns.
In this method design, using each basic bending data of acquisition as reference frame, the bending of this sheet metal component model is established
Technological data bank is realized by decision condition to other bending technique information such as withdrawing mode, machinery in each Bending Processing process
Whether hand the planning and design of bendings characteristic information such as overturns, and result is saved to the bending technique table of sheet metal component model thus.
Meanwhile according to the bending technique data that planning is completed, realize that bending tool category, number of cutters etc. spell the Automatic sieve of knife mode
Choosing, parametric modeling and three-dimensional assembly effect preview；
Finally, obtaining corresponding sheet metal component bending technique table after the completion of the design of sheet metal component bending technique and bending cutter spelling knife
Sheet metal component bending technique data and bending cutter spelling knife data are provided as a result, intelligently generating for final bending taught point coordinate.
Step 3: by being rolled over to the sheet metal component obtained in virtual bending environment configurations and sheet metal component bending technique design process
Bending process data, bending cutter, which are spelled knife data and bending environment space coordinate information and conclude, to summarize and data analysis, real
Existing bending taught point coordinate intelligently generates；
During metal plate Bending Processing, main flow includes: that manipulator is drawn to raw material area to bending manipulator at work
Metal plate raw material；Raw material are sent on positioning table, sucker is unclamped, complete positioning；Raw material after positioning are picked up again；It will be former
Material is sent under the bending machine edge of a knife, and plate and rear baffle are by dead；Bending machine is acted, and manipulator moves with material and carries out bending；
Feeding, bending operation are repeated, until plate completes all bending processs；Bending terminates, and finished product feeding finished product is put area etc..
In currently practical production and processing, the operation of metal plate Bending Processing rely primarily on operator in actual processing ring
Human assistance on-line teaching obtains bending taught point in border and engineer's sheet metal component bending technique, bending robot pass through identification
The sheet metal component bending technique information of manual operation input and bending taught point coordinate, planning and designing bending path simultaneously carry out bending behaviour
Make, there are many deficiencies for such production method.In present invention design, it is intended to by design, according to sheet metal component bending technique number
The auxiliary informations such as knife data and bending environment space coordinate information are spelled according to, bending cutter, realize the bending of metal plate bending robot
The intelligence of taught point coordinate generates.
Firstly, spelling knife data by Macro or mass analysis sheet metal component bending technique data and bending cutter, corresponding sheet metal component is obtained
Bending technique data and cutter data corresponding to per pass bending process during Bending Processing.According to bending technique data and knife
Sheet metal component pose delta data corresponding to each Bending Processing process, i.e. sheet metal component and bending machine tool, folding is calculated in tool data
Relative position variation between tulwar tool；
Secondly, metal plate bending robot folding can be obtained according to the virtual bending environment established in virtual bending environment configurations
Curved space coordinate reference is designed by optimal bending motion path, final to realize folding in conjunction with sheet metal component pose delta data
The intelligence of curved taught point coordinate generates.
Compared with traditional artificial on-line teaching obtains the mode of taught point coordinate, metal plate bending robot bending taught point is sat
Intelligent generating system and method are marked, forms bending space coordinates by establishing virtual bending environment, in conjunction with the artificial progress of replacement
The sheet metal component bending technique of sheet metal component technological design automatically generates, and by the analysis and calculating to each data, final intelligence is generated
Bending robot bending taught point coordinate, it is not easy to solve on-line teaching mode of operation, and enterprises production efficiency is low and work people
The problem of member's inherently safe can not ensure, accelerates the development of enterprise automation production method.
It is shown in Figure 2, it is the method flow diagram of virtual bending environment configurations.As shown, virtual bending environment configurations
Specific implementation step is as follows:
(1) sheet metal component new each time processing, all as a new projects of enterprise, system is by adding different sheet metal components
Projects essential information in work project including O/No., name of product, part drawing number, customer name and Order Date
Typing is saved into order database, realizes the management more efficient to product information；
(2) it can directly be used in actual processing for the bending taught point coordinate that realization system finally intelligently generates, reference
Practical metal plate Bending Processing environment carries out virtual bending ring to the processing of this sheet metal component according to sheet metal component processing project essential information
The configuration in border constructs the virtual bending environment consistent with practical metal plate Bending Processing environment.
For most middle-size and small-size Bending Processing enterprise, in practical metal plate Bending Processing production, enterprise would generally be according to institute
The sheet metal component classification to be processed carries out the adjustment of bending environment, such as the type to bending machine tool, suction cup carrier or sucker bending component
It number is replaced, to meet the purpose that Bending Processing Optimum Operation can be achieved for different classes of sheet metal component.
(3) parametrization configures in virtual bending environmental process, using the form of parametric modeling, by each bending component model
Specific structure dimensional parameters be set as adjustable item.By dividing the sheet metal component essential information for needing to carry out Bending Processing
Analysis determines that Bending Processing operates required each bending component model, the specific structure ruler of each bending component model is determined according to model
Very little size is simultaneously configured its supplemental characteristic, completes the parametrization to bending machine tool, sucker, suction cup carrier and other bending components
Modeling.
Different model folding can be carried out for the processing of different dimension metal plate parts for the flexibility demand for meeting Bending Processing
The configuration of bender bed, positioning table slot, suction cup carrier and sucker, has lathe, positioning table slot, suction cup carrier and suction cup type according to enterprise
Or the existing standard in market is referred to, construct corresponding bending component type information database.Supplemental characteristic is carried out to each bending component to set
During setting, by connecting existing bending bending component type information database, the specific structure of each bending component model is determined
Size configures the bending component model parameterization of selected model into virtual Bending Processing environment；
(4) by each bending component Parametric designing and after configuring into virtual Bending Processing environment, start to carry out each bending
The Automated assembly of component.For the angle of assembly, the feature of part includes: body feature and mating feature.Wherein, cooperate
Feature includes size characteristic, the geometrical characteristic etc. of cooperation.Currently, in the assembly environment of most of 3 d modeling softwares, by part
Main mating feature of the geometrical characteristic of cooperation as component assembly.
In this method design, in conjunction with the assembling characteristics of each bending component in metal plate Bending Processing environment, propose that one kind is based on
The automatized assembly method of mate-assist feature.By creating auxiliary datum plane, auxiliary base axis or auxiliary base on part
Point etc. mate-assist features, other sub- parts on the basis of father's part automatic identification mate-assist feature and determine match contract
Beam achievees the purpose that part is accurately positioned, finally realizes the Automated assembly of each bending component in virtual Bending Processing environment.Tool
Body implementation method are as follows: will parametrization configure into the support beam component with typical structure in virtual Bending Processing environment as
Father's part, other bending components are sub- part.Corresponding mate-assist feature is created on each bending component mating feature, i.e., it is auxiliary
Datum level, auxiliary datum plane and auxiliary base point are helped, and using mate-assist feature as the cooperation benchmark of mating feature；Together
When, corresponding dimension constraint association is established between mate-assist feature and each bending component mating feature, guarantees that mate-assist is special
Sign and the size relationship of bending component mating feature correspond, these mate-assist features establish the pact of size with bending component
Shu Guanlian, when the size characteristic of bending component itself changes, the mate-assist feature of foundation also occurs to change accordingly.
In this way, even if system also can be realized each bending part in diversified virtual Bending Processing environment after bending component parametrization modification
The Automated assembly of part.
(5) after each bending component, which completes parametrization, to be configured and realize Automated assembly, each bending component present position
Space coordinate can determine, by customized virtual bending environment space coordinate origin, establish bending environment space coordinate system, be
Final metal plate bending robot bending taught point coordinate, which intelligently generates, provides spatial coordinated information reference.
It is shown in Figure 3, for the method flow diagram of sheet metal component bending technique design.It is designed by sheet metal component bending technique,
It obtains corresponding sheet metal component bending technique table and bending cutter is spelled knife and provided as a result, intelligently generating for final bending taught point coordinate
Sheet metal component bending technique data and bending cutter spell knife data.As shown, sheet metal component bending technique designs specific implementation step
It is as follows:
(1) firstly, in the Sheet Metal Design module of three-dimensional software, usually pass through long, radius bend and folding to bending edges
The basis such as bending angle bending feature is designed the bending design to realize conventional sheet metal component.Therefore, by import system
Sheet metal component model carries out production breakdown, can extract and obtains related bending technique information, bending corresponding to per pass bending process
Technique information content specifically includes that bending side length, radius bend, bending angle etc.；
(2) secondly, during sheet metal component Bending Processing, the corresponding bending side length of per pass bending process, radius bend, bending
The bending techniques information such as angle is the basic bending technique data that sheet metal component model can extract.In actual production, bending
Decision condition based on process operation progress, in addition to the basic bending technique number such as bending side length, radius bend and bending angle
It further include that withdrawing mode, bending nose angle, bending tool be long and other bending technique data such as whether manipulator overturns according to outer.
During traditional sheet metal component Bending Processing, the main experience according to operator passes through long, bending half to bending edges
The analytical judgment of the basis such as diameter, bending angle bending technique data realizes that withdrawing mode, bending nose angle, bending tool are long and mechanical
Whether hand the generation of bending techniques data such as overturns.
In this method design, using each basic bending data of acquisition as reference frame, the bending of this sheet metal component model is established
Technological data bank.The basis such as bending side length, radius bend, bending angle bending information is all to have extracted information, passes through characteristic
According to decision condition, it is associated with the basic bending information such as bending side length, radius bend, bending angle, is realized to each Bending Processing process
In other bending technique information bendings characteristic information such as example withdrawing mode, bending nose angle, bending tool are long and whether manipulator overturns
Planning and design, and by final bending technique data integration as a result, saving the bending technique table of sheet metal component model thus.
(3) finally, according to the sheet metal component bending technique data that planning is completed, bending tool category, number of cutters are realized
Deng automatic screening, parametric modeling and the three-dimensional assembly effect preview for spelling knife mode.In metal plate Bending Processing overall process, have
The cutter that uses of process may be identical, this be that parametrization spells the screening of knife and causes difficulty, therefore before parametrization spelling knife,
By carrying out induction-arrangement to the tool-informations such as cutter length and bending nose angle, screens and delete repetition tool-information, to bending
Cutter carries out parametric modeling and automatic assembling on the bending machine tool designated position in virtual bending environment, finally realizes parameter
Change automatic spelling knife, reduces and artificially carry out error caused by the judgement of bending cutting tool choice.
Method flow diagram shown in Figure 4, intelligently being generated for bending taught point coordinate.As shown, bending taught point
It is as follows that coordinate intelligently generates specific implementation step:
(1) firstly, designing the sheet metal component bending technique data obtained in part and bending tool according to sheet metal component bending technique
Tool spells knife data, realizes the solution changed to corresponding Bending Processing process sheet metal component pose.
Sheet metal component pose changes in solution procedure, determines sheet metal component according to the long data of bending edges in bending technique table first
Relative position between bending machine tool；Secondly, according to the bending tool-information in bending technique table, incorporating parametricization is spelled automatically
Knife is as a result, determine the relative position between sheet metal component and bending cutter；Finally, according to the radius bend in bending technique table, folding
The bendings information such as bending angle determines the movement position variation of bending robot arm.In the process, while according to bender
Whether every procedure overturns etc. the judgement of bending techniques to withdrawing mode, manipulator in skill table, determines that bending is with robot
It is no to make respective response movement variation.It can get sheet metal component pose delta data corresponding to per pass Bending Processing process as a result,.
(2) secondly, the sheet metal component pose spelling knife data according to sheet metal component bending technique data and bending cutter and obtaining becomes
Change data, be change in location of sheet metal component during Bending Processing between bending machine tool and bending cutter, and is actually adding
During work, the bending operation of specific bending process is a part of Bending Processing process.Realize that metal plate bending robot is complete
The bending taught point coordinate of integral Bending Processing movement includes: feeding point, (matches on anchor point on anchor point, under anchor point
Close use), descend fastly point, point of safes (the overturning point determined by safe distance), at a slow speed point (when working motion reduction of speed processing position
Point), bending preparation point (consider sheet metal component toughness can generate certain deformation), bending point 1 (bending angle is small), (folding of bending point 2
Bending angle is big, is used cooperatively with flange point) and tapping point etc..
Therefore, it while needing to solve the bending taught point coordinate except specific bending operation.According to virtual bending
Metal plate bending robot bending space coordinate reference can be obtained, in conjunction with metal plate in the virtual bending environment established in environment configurations
Golden part pose delta data and the bending motion path planned, by space coordinate node corresponding on bending motion path with
Each Bending Processing process sheet metal component pose changes generated coordinate node and combines, and by analysis and calculates, and realizes that bending is shown
The intelligence of religion point coordinate generates.
Claims (7)
1. a kind of metal plate bending robot bending taught point coordinate intelligent generation method, characterized in that the following steps are included:
(1) by the Parametric designing and Automated assembly to the bending components model such as bending machine tool, sucker, suction cup carrier, three
Virtual bending environment configurations are realized in dimension software, construct the virtual bending environment consistent with practical metal plate Bending Processing environment；
(2) it is designed by sheet metal component bending technique, obtains bending side length, radius bend and bending angle etc. in sheet metal component model and exist
Interior basic bending information, establishes the bending technique database of sheet metal component model based on this bending information, remaining bending is special
Reference ceases such as withdrawing mode, bending nose angle, according to the basis bending such as bending side length, radius bend and bending angle information it
Between data characteristics relevance complete to determine and planning, final realize plans and bending technique the automatic of sheet metal component bending technique
Table automatically generates, and obtains the bending technique data of sheet metal component；
(3) long according to the cutter in bending technique data by having completed the sheet metal component bending technique data planned and generated
The tool-informations such as degree and bending nose angle have bending tool in three-dimensional software and carry out parametric modeling, and the folding that modeling is completed
Curved cutter model automatic assembling is on the designated position of bending machine tool in virtual bending environment, realizing that bending cutter parametrization is automatic
Knife is spelled, and obtains bending cutter spelling knife data in the operation of sheet metal component Bending Processing according to knife result is spelled；
(4) the sheet metal component bending technique data obtained in part and bending cutter are designed by Macro or mass analysis sheet metal component bending technique
Knife data are spelled, the corresponding position variation number in per pass Bending Processing process between sheet metal component and bending machine tool, bending cutter is obtained
According to, these corresponding position delta datas are combined with the movement position delta data of bending robot arm, calculate and
The sheet metal component pose result of variations into each Bending Processing process；
(5) according to the virtual bending environment established in virtual bending environment configurations, the bending campaign of metal plate bending robot can be obtained
Space coordinate reference, in conjunction with sheet metal component pose delta data and the bending motion path planned, by institute on bending motion path
Corresponding space coordinate node changes generated coordinate node with each Bending Processing process sheet metal component pose and combines, by dividing
Analysis and calculating realize that the intelligence of bending taught point coordinate generates.
2. metal plate bending robot bending taught point coordinate intelligent generation method according to claim 1, it is characterized in that: step
(1) particular content and step of the Parametric designing described in are:
1. using the form of parametric modeling, adjustable item is set by the specific structure dimensional parameters of each bending component model；
2. by being rolled over to the basis including sheet metal component bending side length, radius bend and bending angle for needing to carry out Bending Processing etc.
Curved information is analyzed, and determines that Bending Processing operates required each bending component model；
3. determining the specific structure size of each bending component model by bending component model and being carried out to its supplemental characteristic
The parametric modeling to bending machine tool, sucker, suction cup carrier and other bending components is completed in setting.
3. metal plate bending robot bending taught point coordinate intelligent generation method according to claim 1, it is characterized in that: step
(1) particular content and step of the Automated assembly described in are:
I configures parametrization into the support beam component with typical structure in virtual Bending Processing environment as father's part,
Other bending components are sub- part；
II creates the mate-assist feature including such as auxiliary datum plane, auxiliary base axis, auxiliary base point on part, will assist
Cooperation benchmark of the mating feature as mating feature；
Corresponding dimension constraint association is established between III mate-assist feature and each bending component mating feature, in assembling process
Each part realizes the one-to-one correspondence of corresponding matching relationship, reaches component assembly by the respective mate-assist feature of automatic identification
The purpose of accurate positionin；
IV each bending component realizes Automated assembly, completes the configuration of the virtual bending environment of metal plate Bending Processing, each bending component
The space coordinate of present position can determine, by customized virtual bending environment space coordinate origin, it is empty to establish bending environment
Between coordinate system, intelligently generated for metal plate bending robot bending taught point coordinate and spatial coordinated information reference be provided.
4. metal plate bending robot bending taught point coordinate intelligent generation method according to claim 1, it is characterized in that: step
(2) particular content and step that the sheet metal component bending technique described in is planned automatically and bending technique table automatically generates are:
1. extracting and obtaining includes metal plate bending edges in each Bending Processing process by carrying out production breakdown to sheet metal component model
Basic bending technique data including long, radius bend and bending angle etc.；
2. the bending technique database of this sheet metal component model is established using each basic bending technique data of acquisition as reference frame,
Determine to design by process conditions, realize long and mechanical to such as withdrawing mode, bending nose angle, bending tool in each Bending Processing process
Whether hand the planning and design of other bending technique information such as overturns；
3. the sheet metal component bending technique result for completing planning to be saved to the bending technique table of sheet metal component model thus.
5. metal plate bending robot bending taught point coordinate intelligent generation method according to claim 1, it is characterized in that: step
(3) the bending cutter spelling knife result described in automatically generates and parameterize the automatic particular content for spelling knife and step is:
1. being returned according to the sheet metal component bending technique data that planning is completed to the tool-informations such as cutter length and bending nose angle
It receives arrangement, screens and delete repetition tool-information；
2. having progress parametric modeling according to the bending tool-information filtered out is arranged to bending tool and automatic assembling being rolled over into virtual
On bending machine tool designated position in bending ring border, realizes that parametrization is automatic and spell knife, reduction is artificial to carry out the judgement of bending cutting tool choice
Caused by error.
6. metal plate bending robot bending taught point coordinate intelligent generation method according to claim 1, it is characterized in that: step
(4) particular content and step that each Bending Processing process sheet metal component pose variation described in solves are:
1. determining the relative position between sheet metal component and bending machine tool according to the long data of bending edges in bending technique table；
2. incorporating parametricization spells knife automatically as a result, determining sheet metal component and bending according to the bending tool-information in bending technique table
Relative position between cutter；
3. determining the fortune of bending robot arm according to bendings information such as radius bend, bending angles in bending technique table
Dynamic change in location；
4. whether overturning etc. the judgement of bending techniques to withdrawing mode, manipulator according to procedure every in bending technique table, determine
Whether bending makes respective response movement variation with robot.
7. metal plate bending robot bending taught point coordinate intelligent generation method according to claim 1, it is characterized in that: step
(5) intelligent generation method of the bending taught point coordinate described in are as follows: according to the virtual folding established in virtual bending environment configurations
Metal plate bending robot bending space coordinate reference can be obtained, in conjunction with sheet metal component pose delta data and planning in bending ring border
Good bending motion path, by corresponding space coordinate node and each Bending Processing process sheet metal component position on bending motion path
Appearance changes generated coordinate node and combines, and by analysis and calculates, and realizes that the intelligent of bending taught point coordinate generates.
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