CN109465316A - The bending method of intelligent integrated equipment and application intelligent integrated equipment - Google Patents
The bending method of intelligent integrated equipment and application intelligent integrated equipment Download PDFInfo
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- CN109465316A CN109465316A CN201810978246.4A CN201810978246A CN109465316A CN 109465316 A CN109465316 A CN 109465316A CN 201810978246 A CN201810978246 A CN 201810978246A CN 109465316 A CN109465316 A CN 109465316A
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- workpiece
- bending
- bending part
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- integrated equipment
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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
- B21D5/006—Bending sheet metal along straight lines, e.g. to form simple curves combined with measuring of bends
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention discloses the bending methods of intelligent integrated equipment and application intelligent integrated equipment, and the intelligent integrated equipment includes visual unit, controller, handgrip, displacement sensor and manipulator；The present invention realizes the classification of automatic identification workpiece, can measure workpiece size and thickness of workpiece, and compensates the deviation of workpiece size automatically；Automation is carried out to the overall process of workpiece bending, meanwhile, by compensating the dimensional discrepancy of workpiece automatically and using two bending datum levels, to reduce dimensional discrepancy, two aspect of bending error influences the scale error at position among workpiece；Automatic molding can be achieved to change the length of lower mold assemblies to match the size at preprocessing position in workpiece；It can avoid the position that bending is not necessarily in bending workpieces.
Description
Technical field
The present invention relates to the foldings of brake techniques field more particularly to a kind of intelligent integrated equipment and application intelligent integrated equipment
Bending method.
Background technique
Currently, overall process to sheet metal bending could be completed by generally requiring human assistance when carrying out multiple bending to plate,
It needs manually to choose plate, recycles and manually plate is placed on bending equipment to plate progress bending, utilize manual control
Bending equipment carries out bending to plate, needs a large amount of manual labor in this way, the efficiency of bending is lower, passes through manual operation bending
Equipment inevitably has the case where maloperation, the underproof situation of bending usually occurs.
Existing bending equipment often uses a datum level to carry out bending to many places of plate, will cause plate folding in this way
Curved error can be accumulated to a position, meanwhile, if there is plate itself to have dimensional discrepancy, the deviation of size and the error of bending can
It can all accumulate to a position, the error for making the position is very big, and it is unqualified to may result in the product that bending comes out.And
When existing bending equipment is to workpiece bending, if in workpiece when the length difference at some positions, often using and length in workpiece
The lower mold assemblies that longer position matches；When making the shorter position of in bending workpieces length in this way, even it is not necessarily in workpiece
The position of bending also processes together；So a large amount of repair is also needed, and influences the beauty of workpiece.
Summary of the invention
For the above-mentioned deficiency of the prior art, technical problem to be solved by the present invention lies in propose intelligent integrated equipment
And the bending method of application intelligent integrated equipment.
The technical solution used to solve the technical problems of the present invention is that using the bending method of intelligent integrated equipment, feature
It is, comprising steps of
Identify workpiece classification；
Call lower mold assemblies corresponding with workpiece, bending parameter；
Grabbing workpiece aligns workbench to pre-；
Measure the length dimension of the first bending part, the second bending part in workpiece；
Increase and decrease lower die according to the length dimension of the first bending part of workpiece, the second bending part, makes the length of lower mold assemblies
Degree is matched with the length of the first bending part of workpiece, the second bending part；
Rear baffle is used to determine that multiple bending lines of the first bending part make the workpiece along the first bending part as datum level
Multiple bending lines in position are successively bent；Reverse end for end workpiece, use front refer to determined as datum level it is more in the second bending part
A bending line simultaneously successively bends multiple bending lines of the workpiece in the second bending part.
Preferably, it further comprises the steps of:
Detect the length dimension at intermediate position in workpiece；
Increase and decrease lower die according to the length dimension at position intermediate in workpiece, makes intermediate position in the length and workpiece of lower mold assemblies
Length dimension it is corresponding；
It uses rear baffle, front to refer to respectively to determine multiple bending lines in intermediate position as datum level and make the workpiece edge
Multiple bending lines in intermediate position are successively bent.
Preferably, it when identifying workpiece classification, takes pictures to workpiece progress infrared ray and then acquires workpiece features point and workpiece side
The linear classification to identify supplied materials workpiece of edge.
Preferably, it is using rear baffle, front to refer to as before datum level, is obtaining the dimensional discrepancy of workpiece, and according to workpiece
Dimensional discrepancy adjustment front refer to, the relative position of rear baffle and lower die.
Preferably, bending parameter includes bending pressure.
Intelligent integrated equipment, it is characterised in that；Include:
Visual unit, for identification classification；
Controller calls a variety of lower mold assemblies and a variety of bending parameters for controlling；
Handgrip for grabbing workpiece and pushes workpiece to pre- contraposition workbench；
Displacement sensor, for measuring the length dimension of the first bending part, the second bending part in workpiece；
Manipulator increases and decreases lower die for molding and then changes the length of lower mold assemblies；
There is bending equipment front to refer to and rear baffle, and be referred to using front, datum level determination of the rear baffle as workpiece bending
Multiple bending lines in first bending part and the second bending part, and keep workpiece multiple in the first bending part and the second bending part
Bending line bending.
Preferably, institute's displacement sensors are also used to measure the length dimension at intermediate position in workpiece.
Preferably, the visual unit includes camera, and the camera is used to take pictures to workpiece and then acquires work
The characteristic point and the edge of work of part are linear.
Preferably, the workpiece size parameter of setting is prestored in the controller, the controller receives displacement sensor
Measure workpiece size so that obtain workpiece dimensional discrepancy.
Preferably, the lower mold assemblies are formed by multiple lower die spellings.
The present invention realizes the thickness and shape of automatic identification workpiece, can measure workpiece size, and compensate workpiece size automatically
Deviation；Automation is carried out to the overall process of workpiece bending, meanwhile, by compensating the dimensional discrepancy of workpiece automatically and using two
A datum level, to reduce the influence of dimensional discrepancy, two aspect of bending error to workpiece critical size；Automatic molding can be achieved to change
Become the length of lower mold assemblies to match the size at preprocessing position in workpiece；It can avoid the position that bending is not necessarily in bending workpieces.
Detailed description of the invention
Fig. 1 is structure of the invention block diagram；
Fig. 2 is the structural schematic diagram of bending workpieces in the present invention；
Fig. 3 is the front view in the present invention after bending workpieces；
Fig. 4 is the side view in the present invention after bending workpieces.
Specific embodiment
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
Fig. 1-Fig. 4 is please referred to, the present invention discloses a kind of intelligent integrated equipment and the bending method using intelligent integrated equipment.
Embodiment 1
Using the bending method of intelligent integrated equipment, which is characterized in that comprising steps of
Identify 700 thickness of workpiece and shape；Specifically, the classification that workpiece 700 is identified by visual unit 100, passes through
Upper mold moves down give one initial pressure of workpiece after to detect the thickness of the workpiece 700, further confirm that the workpiece 700 has
Body is the workpiece 700 of which seed type, in this embodiment, intelligent integrated equipment is distinguishable 1.5,2.0,2.5,3.0,4.0,
5.0, the workpiece 700 of 6.0 different-thickness, and identify from the workpiece 700 of this different-thickness in six more than 200 kinds of different shapes,
The workpiece 700 of specification.
Call lower mold assemblies corresponding with workpiece 700, bending parameter；Controller 200 is for issuing instruction；When identifying
When workpiece 700 is specially any classification, lower mold assemblies corresponding with the workpiece 700, bending are called to join by controller 200
Number, lower mold assemblies include multiple lower dies 310；Specifically, lower mold assemblies are suitable for the thickness of the workpiece 700；In this implementation
Example；Controller 200 calls processing program corresponding with the workpiece 700 according to the workpiece 700 identified；The processing program includes
Procedure of processing and bending parameter.
Grabbing workpiece 700 aligns workbench to pre-；400 grabbing workpiece 700 of handgrip and be placed into workpiece 700 is preset
Position, specific way is exactly, using front refer to 330 or rear baffle 340 as datum level, so that workpiece 700 is touched datum level.
Measure the length dimension of the first bending part, the second bending part in workpiece 700；It is induced by displacement sensor
First bending component, the second bending part length dimension.
Increase and decrease lower die 310 according to the length dimension of the first bending part of workpiece 700, the second bending part, makes lower die group
The length of part is matched with the length of the first bending part of workpiece 700, the second bending part；Specifically, using under same set of
Each position of different length in membrane module bending workpieces 700.
Workpiece 700 in this embodiment include intermediate position, positioned at intermediate position two sides the first bending part, second
Bending part, is located at the second folding at two first connecting portions being connected near the first bending part both ends and with intermediate position
Two second connecting portions being connected near the both ends of turn of bilge position and with intermediate position.Two first connecting portions and the first bending part it
Between there is gap, two second connecting portion positions and the second bending part nearby have gap；In this embodiment, intermediate position
Having a size of critical size.
Rear baffle 340 is used to determine that multiple bending lines of the first bending part make the workpiece 700 along first as datum level
Multiple bending lines in bending part are successively bent；Workpiece 700 is reversed end for end, uses front to refer to 330 as datum level and determines the second folding
Multiple bending lines in turn of bilge position simultaneously successively bend multiple bending lines of the workpiece 700 in the second bending part.At this
In secondary embodiment, multiple bending lines of first bending part include the first bending line 710 and the second bending line 720；It is described
Multiple bending lines in second bending part include third bending line 730 and the 4th bending line 740；According to the processing journey of calling
Sequence, specific bending step are that the first bending part is made to touch 340 datum level of rear baffle, are determined in the first bending part
One bending line 710 makes workpiece 700 along 710 bending of the first bending line；According to processing program adjust rear baffle 340 and lower die 310 it
Between relative position (relative position between the workpiece 700 after adjusting first of bending and lower die 310)；Make the first bending part
The folded up portion of position is affixed with rear baffle 340；Make workpiece 700 along 720 bending of the second bending line.Handgrip is controlled according to processing program
The 400 mobile workpiece 700；The workpiece 700 is reversed end for end, and so that the first bending part of workpiece 700 is touched front and refers to 330
(bending part and the front i.e. after second bending refer to that 330 are affixed), determines third bending line 730, makes workpiece 700 along third
730 bending of bending line；Adjustment front refers to the relative position between 330 and lower die 310；Make the folded up portion of third road bending with it is described
Front refers to 330 contacts, determines the 4th bending line 740, makes workpiece 700 along 740 bending of the 4th bending line.
Preferably, it further comprises the steps of:
Detect the length dimension at intermediate position in workpiece 700；The length dimension at intermediate position and the first bending part, second
The length dimension of bending part detects together.
Increase and decrease lower die 310 according to the length dimension at position intermediate in workpiece 700, makes the length and workpiece 700 of lower mold assemblies
The length dimension at intermediate position is corresponding；
Rear baffle 340, front is used to refer to that 330 determine multiple bending lines in intermediate position as datum level and make described respectively
Multiple bending lines of the workpiece 700 in intermediate position are successively bent；Specifically, multiple bending lines at the intermediate position include
5th bending line 750 and the 6th bending line 760；According to processing program, the relative position that front refers to 330 Yu lower die 310 is adjusted, is made
Folded up portion after obtaining the 4th bending touch front and refers to 330, the 5th bending line 750 is determined, along 750 bending workpieces of the 5th bending line
700；Turn around workpiece 700, adjusts the relative position of rear baffle 340 and lower die 310, determines the 6th bending line 760；So that workpiece
700 turn up along the 6th bending line 760.
The length of die set is adjusted by molding；Make same cover die group can in bending workpieces 700 different length each portion
Position；Meanwhile realizing and intelligent control is passed through to all steps of 700 bending of workpiece, it is not necessarily to human assistance；Also, pass through setting
Front refer to 330 and 340 two datum levels of rear baffle determine all bending lines；Bending error is avoided to be added in workpiece 700
In the same position.
Preferably, when identifying the characteristic point and shape of workpiece 700, infrared ray is carried out to workpiece 700 and is taken pictures, workpiece is acquired
700 characteristic point and 700 edge of workpiece is linear, and specifically characteristic point is fabrication hole, mark point etc., different classes of workpiece
700 characteristic point is different.
Preferably, rear baffle 340, front is being used to refer to 330 as before datum level, obtaining the dimensional discrepancy of workpiece 700, and
The relative position that front refers to 330, rear baffle 340 Yu lower die 310 is adjusted according to the dimensional discrepancy of workpiece 700.Specifically, work as work
Part 700 has dimensional discrepancy, refers to the relative position of 330, rear baffle 340 and lower die 310 by adjusting front to compensate deviation, general
Deviation is transferred in the non-key size without stringent required precision, for example, having workpiece 700 devious, the two sides of the workpiece 700
Bending is needed, to guarantee the dimensional accuracy at position between two sides；Shelves refer to after adjustment and front refers between 330 and lower die 310
Relative position makes the deviation of workpiece 700 share the two sides of workpiece 700；The deviation of workpiece 700 is avoided to concentrate between two sides
Position.
Preferably, bending parameter includes bending pressure, the different bending pressure of needs not of the same race.
Embodiment 2
Intelligent integrated equipment, it is characterised in that；Include:
Visual unit 100, for identification classification of workpiece 700；The visual unit 100 has camera, the photograph
Machine is used for 700 photo of workpiece；Acquire workpiece 700 in characteristic point and shape, then with the feature of all kinds of workpiece 700 prestored
Point is compared with shape, then identifies the specific category of workpiece 700.
Controller 200 calls a variety of lower mold assemblies and a variety of bending parameters for controlling；Control handgrip is instructed with issuing
400, manipulator 600, upper mold 320 control entire bending process for setting processing program.A variety of bendings are pre-stored in intelligent integrated
In equipment, when identifying the specific type of workpiece 700, called for controller 200.
Handgrip 400 for grabbing workpiece 700 and pushes workpiece 700 to pre- contraposition workbench；
Displacement sensor 500, for measuring the length dimension of the first bending part, the second bending part in workpiece 700；
Manipulator 600 increases and decreases lower die 310 for molding and then changes the length of lower mold assemblies；Lower mold assemblies include more
A detachable, spelling lower die 310.
There is front to refer to 330 and rear baffle 340, and refer to 330, rear baffle 340 as workpiece using front for bending equipment 300
The datum level of 700 bendings determines multiple bending lines in the first bending part and the second bending part, and makes workpiece 700 along the first bending
Multiple bending line bendings in portion and the second bending part.
Preferably, institute's displacement sensors 500 are also used to measure the length dimension at intermediate position in workpiece 700.Workpiece 700
The length at intermediate position can be with the first bending part in workpiece 700, the length dimension of the second bending part and workpiece 700
Dimensional discrepancy measures together.
Preferably, the visual unit 100 includes camera, and the camera is for taking pictures in turn to workpiece 700
Acquisition 700 edge of workpiece is linear and judges workpiece classification.
Preferably, 700 dimensional parameters of workpiece of setting, 200 received bit of controller are prestored in the controller 200
Displacement sensor 500 measure 700 size of workpiece so that obtain workpiece 700 dimensional discrepancy, obtain workpiece 700 dimensional discrepancy
Afterwards, the compensating parameter being pre-stored in controller 200 is called, front is adjusted according to compensating parameter and refers to 330, rear baffle 340 and lower die
310 relative position (i.e. adjust before shelves refer to, the relative position of rear baffle 340 and workpiece 700, change bending line on workpiece 700
Position), dimensional discrepancy is shared to the two outsides dimension precision requirement of outside (two not high) of workpiece 700, guarantees workpiece 700
The dimensional accuracy (i.e. the precision of critical size) at two positions between outside.
Preferably, the lower mold assemblies are formed by multiple 310 spellings of lower die.
The present invention realizes the thickness and shape of automatic identification workpiece 700, can measure 700 size of workpiece, and compensate work automatically
The deviation of 700 size of part；The bending angle of automatic straightening workpiece 700 carries out automation to the overall process of workpiece bending, meanwhile,
It is right to reduce dimensional discrepancy, two aspect of bending error by compensating the dimensional discrepancy of workpiece automatically and using two datum levels
The precision of critical size influences in workpiece 700；Automatic molding can be achieved to change the length of lower mold assemblies to match in workpiece 700
The size at preprocessing position；It can avoid the position that bending is not necessarily in bending workpieces 700.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (8)
1. the bending method of application intelligent integrated equipment, which is characterized in that comprising steps of
Identify the classification of workpiece；
Call lower mold assemblies corresponding with workpiece, bending parameter；
Grabbing workpiece aligns workbench to pre-；
Measure the length dimension of the first bending part, the second bending part in workpiece；
Increase and decrease lower die according to the length dimension of the first bending part of workpiece, the second bending part, make the length of lower mold assemblies with
The length matching of the first bending part, the second bending part of workpiece；
It uses rear baffle to determine multiple bending lines of the first bending part as datum level, makes the workpiece along the first bending part
Multiple bending lines successively bend；Workpiece is reversed end for end, front is used to refer to the multiple foldings determined in the second bending part as datum level
Curved line simultaneously successively bends multiple bending lines of the workpiece in the second bending part.
2. the bending method according to claim 1 using intelligent integrated equipment, it is characterised in that: further comprise the steps of:
Detect the length dimension at intermediate position in workpiece；
Increase and decrease lower die according to the length dimension at position intermediate in workpiece, makes the length at intermediate position in the length and workpiece of lower mold assemblies
Spend size matching；
It uses rear baffle, front to refer to respectively to determine multiple bending lines in intermediate position as datum level and make the workpiece along intermediate
Multiple bending lines in position are successively bent.
3. the bending method according to claim 2 using intelligent integrated equipment, it is characterised in that: identification workpiece classification
When, infrared ray is carried out to workpiece and is taken pictures, the characteristic point of workpiece is acquired and the edge of work is linear identifies workpiece classification.
4. the bending method according to claim 2 using intelligent integrated equipment, it is characterised in that: with rear baffle, preceding
Gear refers to as before datum level, adjusts by the dimensional discrepancy of displacement sensor acquisition workpiece, and according to the dimensional discrepancy of workpiece
Front refers to, the relative position of rear baffle.
5. intelligent integrated equipment, it is characterised in that；Include:
Visual unit, for identification classification of workpiece；
Controller calls a variety of lower mold assemblies and a variety of bending parameters for controlling；
Handgrip for grabbing workpiece and pushes workpiece to pre- contraposition workbench；
Displacement sensor, for measuring the length dimension of the first bending part in workpiece, the second bending part and intermediate position；
Manipulator increases and decreases lower die for molding and then changes the length of lower mold assemblies；
There is bending equipment front to refer to and rear baffle, and referred to using front, the datum level of rear baffle as workpiece bending determines first
Multiple bending lines in bending part and the second bending part, and make multiple bendings of the workpiece in the first bending part and the second bending part
Line bending.
6. intelligent integrated equipment according to claim 5, it is characterised in that: the visual unit is used to carry out workpiece red
Outside line takes pictures and then acquires workpiece features point and the linear classification to identify workpiece of the edge of work.
7. intelligent integrated equipment according to claim 5, it is characterised in that: prestore the workpiece of setting in the controller
Dimensional parameters, the controller receive the workpiece size of displacement sensor and then obtain the dimensional discrepancy of workpiece.
8. intelligent integrated equipment according to claim 5, it is characterised in that: the lower mold assemblies by multiple lower die spellings and
At.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810978246.4A CN109465316B (en) | 2018-08-27 | 2018-08-27 | Intelligent integrated equipment and bending method applying same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810978246.4A CN109465316B (en) | 2018-08-27 | 2018-08-27 | Intelligent integrated equipment and bending method applying same |
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| CN109465316A true CN109465316A (en) | 2019-03-15 |
| CN109465316B CN109465316B (en) | 2020-04-17 |
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| CN201810978246.4A Expired - Fee Related CN109465316B (en) | 2018-08-27 | 2018-08-27 | Intelligent integrated equipment and bending method applying same |
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Cited By (4)
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| CN110711800A (en) * | 2019-08-29 | 2020-01-21 | 郑子姣 | Measuring structure and measuring and controlling method for width error and splicing error of elevator car wall |
| CN110722070A (en) * | 2019-09-11 | 2020-01-24 | 佛山市德展精密科技有限公司 | Robot workstation of bending |
| CN112275847A (en) * | 2020-09-15 | 2021-01-29 | 大族激光科技产业集团股份有限公司 | Bending system and method for processing by using robot and machine vision |
| CN113894601A (en) * | 2021-09-28 | 2022-01-07 | 广东利泰丰科技有限公司 | Automatic grabbing and processing method for precision part |
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|---|---|
| CN109465316B (en) | 2020-04-17 |
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