CN109590356B - Bending following method and terminal - Google Patents
Bending following method and terminal Download PDFInfo
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- CN109590356B CN109590356B CN201910093101.0A CN201910093101A CN109590356B CN 109590356 B CN109590356 B CN 109590356B CN 201910093101 A CN201910093101 A CN 201910093101A CN 109590356 B CN109590356 B CN 109590356B
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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
- B21D5/01—Bending sheet metal along straight lines, e.g. to form simple curves between rams and anvils or abutments
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
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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
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/003—Positioning devices
-
- 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
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
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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
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/11—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers for feeding sheet or strip material
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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
- B21D5/004—Bending sheet metal along straight lines, e.g. to form simple curves with program control
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention relates to a bending following method and a terminal, and belongs to the field of data processing. When the upper die of the bending machine reaches a preset bending starting point, S1, controlling the upper die of the bending machine to move downwards by a preset displacement; s2, obtaining the distance between the upper die of the bending machine and the bending starting point in real time to obtain the current distance; s3, calculating a rotation angle corresponding to the current distance; the rotation angle is an included angle between a line segment formed by connecting a center point of the manipulator and an original point of a preset coordinate system and a Y axis of the coordinate system when the distance between the upper die of the bending machine and the bending starting point is the current distance; s4, controlling the manipulator to rotate to the rotation angle; and S5, repeating the steps from S1 to S4 until the upper die of the bending machine reaches a preset bending termination point. The bending precision is improved, and meanwhile, the reject ratio of bent products is reduced.
Description
Technical Field
The invention relates to a bending following method and a terminal, and belongs to the field of data processing.
Background
The in-process of bending the plate needs the workman to hold in the palm the plate and upwards lift up when bending at every turn, and this action is very hard, and intensity of labour is big, production efficiency is low, and people's lifting movement track can not be fine track the plate understand, and the effect of bending is difficult to guarantee.
In order to solve the technical problem, patent document No. 201510762377.5 discloses a robot bending speed matching adaptive method, wherein a hardware system related to the method comprises a grating ruler, a PLC and an upper computer, signal output ends of the grating ruler and the robot are respectively and electrically connected with the PLC, the upper computer monitors the PLC to obtain signals and time data, and the velocity data is transmitted to the robot after calculation; the above patent document uses an indirect method, using both the time of the bending process of the robot and the bending tool to ensure consistency. The bending action time of the bending cutter is automatically measured and calculated by utilizing the feedback of the grating ruler, the movement speed of the robot is measured and calculated accordingly, the most appropriate bending speed of the robot can be automatically found out after the robot automatically bends for 3 to 4 times, manual adjustment is avoided, and the adjusting method is scientific, reasonable, accurate and reliable.
However, the robot bending speed matching adaptive method adopted in the patent documents mentioned above is prone to cause plate members, low in product yield and high in product reject ratio.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: how to reduce the defective rate of the product of bending when improving the precision of bending.
In order to solve the technical problems, the invention adopts the technical scheme that:
the invention provides a bending following method which comprises a bending machine and a manipulator, wherein the bending machine comprises a bending machine upper die and a bending machine lower die; the upper die of the bending machine is parallel and opposite to the lower die of the bending machine; a groove is formed in the lower die of the bending machine; the manipulator is used for adjusting the bending angle of the plate;
when the upper die of the bending machine reaches the preset bending starting point,
s1, controlling the upper die of the bending machine to move downwards by a preset displacement;
s2, obtaining the distance between the upper die of the bending machine and the bending starting point in real time to obtain the current distance;
s3, calculating a rotation angle corresponding to the current distance; the rotation angle is an included angle between a line segment formed by connecting a center point of the manipulator and an original point of a preset coordinate system and a Y axis of the coordinate system when the distance between the upper die of the bending machine and the bending starting point is the current distance;
the coordinate system takes one end of a lower die of the bending machine as an original point, the direction from the one end to the other end of the lower die of the bending machine as a Y-axis forward direction, the upward moving direction of an upper die of the bending machine as a Z-axis forward direction, and the X-axis direction is determined by the Y-axis direction and the Z-axis direction according to a right-hand rule;
s4, controlling the manipulator to rotate to the rotation angle;
and S5, repeating the steps from S1 to S4 until the upper die of the bending machine reaches a preset bending termination point.
Preferably, the S3 is specifically:
calculating a rotation angle corresponding to the current distance according to a preset first formula; the preset first formula specifically comprises:
φ＝[(θ/2)/L11]*S
where φ is the rotation angle, L11And theta is a distance between the bending starting point and the bending ending point, theta is a target bending angle of the plate, and S is the current distance.
Preferably, before S5, the method further includes:
calculating the target displacement of the upper die of the bending machine according to a preset second formula;
the second formula is specifically:
Bending depth＝L12-h0+w0*tan(θ/2)-d0/sin(θ/2)
wherein the Bending depth is the target displacement, and L is12H is the distance between the lower edge of the upper die of the bending machine and the lower edge of the lower die of the bending machine0Is the height of the lower die of the bending machine, w0Is half of the groove width of the lower die of the bending machine, and d0Is the thickness of the plate, and theta is a target bending angle of the plate;
and setting the bending termination point as the position where the upper die of the bending machine descends from the highest point by the target displacement amount.
Preferably, before S5, the method further includes:
acquiring position information of an upper die of the bending machine at preset time intervals;
and when the position information acquired twice continuously is the same, sending alarm information.
The invention also provides a bending following terminal which comprises a bending machine and a manipulator, wherein the bending machine comprises an upper die of the bending machine and a lower die of the bending machine; the upper die of the bending machine is parallel and opposite to the lower die of the bending machine; a groove is formed in the lower die of the bending machine; the manipulator is used for adjusting the bending angle of the plate;
further comprising one or more processors and memory, the memory storing a program and configured to perform the following steps by the one or more processors:
when the upper die of the bending machine reaches the preset bending starting point,
s1, controlling the upper die of the bending machine to move downwards by a preset displacement;
s2, obtaining the distance between the upper die of the bending machine and the bending starting point in real time to obtain the current distance;
s3, calculating a rotation angle corresponding to the current distance; the rotation angle is an included angle between a line segment formed by connecting a center point of the manipulator and an original point of a preset coordinate system and a Y axis of the coordinate system when the distance between the upper die of the bending machine and the bending starting point is the current distance;
the coordinate system takes one end of a lower die of the bending machine as an original point, the direction from the one end to the other end of the lower die of the bending machine as a Y-axis forward direction, the upward moving direction of an upper die of the bending machine as a Z-axis forward direction, and the X-axis direction is determined by the Y-axis direction and the Z-axis direction according to a right-hand rule;
s4, controlling the manipulator to rotate to the rotation angle;
and S5, repeating the steps from S1 to S4 until the upper die of the bending machine reaches a preset bending termination point.
Preferably, the S3 is specifically:
calculating a rotation angle corresponding to the current distance according to a preset first formula; the preset first formula specifically comprises:
φ＝[(θ/2)/L11]*S
where φ is the rotation angle, L11And theta is a distance between the bending starting point and the bending ending point, theta is a target bending angle of the plate, and S is the current distance.
Preferably, before S5, the method further includes:
calculating the target displacement of the upper die of the bending machine according to a preset second formula;
the second formula is specifically:
Bending depth＝L12-h0+w0*tan(θ/2)-d0/sin(θ/2)
wherein the Bending depth is the target displacement, and L is12Is the said foldThe distance between the lower edge of the upper die of the bending machine and the lower edge of the lower die of the bending machine, h0Is the height of the lower die of the bending machine, w0Is half of the groove width of the lower die of the bending machine, and d0Is the thickness of the plate, and theta is a target bending angle of the plate;
and setting the bending termination point as the position where the upper die of the bending machine descends from the highest point by the target displacement amount.
Preferably, before S5, the method further includes:
acquiring position information of an upper die of the bending machine at preset time intervals;
and when the position information acquired twice continuously is the same, sending alarm information.
The invention has the following beneficial effects:
1. the invention provides a bending following method and a bending following terminal, which are different from the prior art that the bending speed of a robot is preset through multiple experiments, in the actual bending process, a bending cutter possibly has fault stagnation or does not advance according to a pre-planned mode, and at the moment, if the robot still bends a plate according to the preset speed, the plate is deformed, the product percent of pass is low, and the product reject ratio is increased. The bending machine upper die is stopped immediately after moving downwards by a certain displacement amount from a preset bending starting point, the rotation angle which the manipulator needs to reach at the moment is calculated according to the current distance between the bending machine upper die and the bending starting point, and after the manipulator rotates to a desired angle, the manipulator repeatedly executes a series of actions such as moving downwards the bending machine upper die, adjusting the rotation angle by the manipulator and the like until the bending machine upper die reaches the preset bending ending point to complete a bending task, so that the manipulator sequentially adjusts the rotation angle according to the real-time position of the bending machine upper die, and the bending machine upper die has high bending precision. According to the invention, the bending process is performed in a segmented manner, and the rotation angle required to be reached each time of the manipulator is calculated according to the real-time distance between the upper die and the bending starting point of the bending machine, so that the situation that the manipulator forcibly pulls the plate to cause the deformation of the plate can not occur even if the bending machine finds a fault. The bending precision is improved, and meanwhile, the reject ratio of bent products is effectively reduced.
2. Furthermore, according to the target bending angle theta of the plate, the final rotation angle theta/2 of the manipulator for completing the bending task is calculated, and then the rotation angle which the manipulator needs to reach when the upper die of the bending machine moves downwards for each unit is calculated, so that the rotation angle which the manipulator needs to reach can be calculated according to the real-time distance between the upper die of the bending machine and the bending starting point, the manipulator can accurately follow the upper die of the bending machine, and the quality of a bent product is improved.
3. Furthermore, the target displacement of the bending knife upper die which should descend is accurately calculated according to the target bending angle, and the bending precision is improved.
4. Further, when the position information of the upper die of the bending machine acquired twice continuously is the same, the bending machine is indicated to be in fault, and alarm information is sent to remind a worker to carry out emergency treatment so as to improve the bending efficiency.
Drawings
FIG. 1 is a block flow diagram of an embodiment of a bend following method provided by the present invention;
FIG. 2 is a schematic view of a bending machine;
FIG. 3 is a schematic view of a bending process;
FIG. 4 is a block diagram of a bend follower terminal according to an embodiment of the present invention;
description of reference numerals:
1. an upper die of a bending machine; 2. a bending machine lower die; 3. a groove; 4. a processor; 5. a memory; 6. a plate member.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments.
Referring to fig. 1 to 4 of the drawings,
the first embodiment of the invention is as follows:
as shown in fig. 1 and 2, the present embodiment provides a bending following method, including a bending machine and a manipulator 2, where the bending machine includes a bending machine upper die 1 and a bending machine lower die 2; the bending machine upper die 1 is parallel and opposite to the bending machine lower die 2; a groove 3 is formed in the lower die 2 of the bending machine; the manipulator is used for adjusting the bending angle of the plate;
when the upper die 1 of the bending machine reaches a preset bending starting point,
s1, controlling the upper die 1 of the bending machine to move downwards by a preset displacement;
the bending starting point is any point on the upper surface of the plate when the manipulator horizontally places the plate on the lower die of the bending machine. When the upper die of the bending machine reaches the bending starting point, the upper die of the bending machine, the lower die of the bending machine and the manipulator cooperate together to perform bending operation.
Preferably, the preset displacement amount is (w)0*tan(θ/2)-d0The distance between a bending starting point and a bending ending point is equally divided into 20 sections, wherein the displacement is divided into 20 sections through a plurality of tests considering the acceleration and deceleration time of the manipulator, the moving time of the manipulator and the like when the communication is used, so that the manipulator can stably operate, and the best effect of implementing following can be achieved.
And S2, acquiring the distance between the upper die 1 of the bending machine and the bending starting point in real time to obtain the current distance.
Wherein the current distance is a current bending depth. In order to complete the bending task, the target bending depth is the distance between the bending starting point and the bending ending point, and the upper die of the bending machine sequentially moves downwards by a certain displacement amount until the target bending depth is reached. In the embodiment, no matter how the target bending angle specified by the bending task changes, the bending starting point is always unchanged, and the bending task with different target bending angles is realized by adjusting the bending ending point.
Preferably, as shown in fig. 3, calculating a target displacement of the upper die of the bending machine according to a preset second formula;
the second formula is specifically:
Bending depth＝L12-h0+w0*tan(θ/2)-d0/sin(θ/2)
wherein the Bending depth is the target displacement, and L is12Is the lower edge of the upper die of the bending machine and the upper dieThe distance between the lower edges of the lower dies of the bending machine, h0Is the height of the lower die of the bending machine, w0Is half of the groove width of the lower die of the bending machine, and d0Is the thickness of the plate, and theta is a target bending angle of the plate;
and setting the bending termination point as the position where the upper die of the bending machine descends from the highest point by the target displacement amount.
Fig. 3 is a schematic diagram of a plate bending process, when the plate 6 is in a horizontal state, a bending operation has not been started, and when an upper die of the bending machine reaches an upper surface of the horizontally placed plate 6, bending is started. When the plate 6 is in the bending state in fig. 3 and the upper die of the bending machine reaches a preset bending termination point, the bending operation is completed. w is a0Tan (theta/2) is L in figure 30，d0,/sin (. theta./2) is L in FIG. 31. And the target displacement of the bending knife upper die which should descend is accurately calculated according to the target bending angle, so that the bending precision is improved.
S3, calculating a rotation angle corresponding to the current distance; the rotation angle is an included angle between a line segment formed by connecting a center point of the manipulator and an original point of a preset coordinate system and a Y axis of the coordinate system when the distance between the upper die of the bending machine and the bending starting point is the current distance;
the coordinate system takes one end of the bending machine lower die 2 as an original point, the direction from the one end to the other end of the bending machine lower die 2 as a Y-axis forward direction, the upward moving direction of the bending machine upper die 1 as a Z-axis forward direction, and the X-axis direction is determined by the Y-axis direction and the Z-axis direction according to a right-hand rule;
the S3 specifically includes:
calculating a rotation angle corresponding to the current distance according to a preset first formula; the preset first formula specifically comprises:
φ＝[(θ/2)/L11]*S
where φ is the rotation angle, L11And theta is a distance between the bending starting point and the bending ending point, theta is a target bending angle of the plate, and S is the current distance.
For example, if the target bending angle is 90 degrees, the manipulator must be raised up to 45 degrees from a horizontal position (i.e., the Y-axis of the coordinate system) to complete the bending task in accordance with the bending machine. The distance between the lower edge of the bending machine upper die and the lower edge of the bending machine lower die is 100mm, the height of the bending machine lower die is 45mm, half of the groove width of the bending machine lower die is 4mm, the thickness of the plate is 1mm, and according to a second formula, the target displacement of the corresponding bending machine upper die is 57.586. Therefore, every time the upper die of the bending machine moves down by a unit displacement, namely 2.879mm, the manipulator needs to be lifted up by 2.25 degrees. And according to the real-time bending depth, the rotation angle which the manipulator should reach at present can be calculated.
According to the embodiment, the final rotation angle theta/2 of the manipulator for completing the bending task is calculated according to the target bending angle theta of the plate, and then the rotation angle which the manipulator needs to reach when the upper die of the bending machine moves downwards for each unit is calculated, so that the rotation angle which the manipulator needs to reach can be calculated according to the real-time distance between the upper die of the bending machine and the bending starting point, the manipulator can accurately follow the upper die of the bending machine, and the quality of a bent product is improved.
And S4, controlling the manipulator 2 to rotate to the rotation angle.
And S5, repeating the steps from S1 to S4 until the upper die 1 of the bending machine reaches a preset bending termination point.
Preferably, position information of an upper die of the bending machine is acquired at a preset time interval from the start of the bending machine;
and when the position information acquired twice continuously is the same, sending alarm information.
The position information of the upper die of the bending machine is detected by using a grating ruler. No matter whether the upper die of the bending machine reaches the bending starting point or not, the position information of the upper die of the bending machine which is continuously twice is the same, the fact that the bending machine fails and stops is indicated, and alarm information is sent to remind workers to carry out emergency treatment, so that the bending efficiency is improved.
The embodiment provides a bending following method, which is different from the prior art that the bending speed of a robot is preset through multiple experiments, in the actual bending process, a bending tool may have a failure stagnation or the bending tool does not advance according to a pre-planned mode, and at the moment, if the robot still bends a plate according to the preset speed, the plate is deformed, the product percent of pass is low, and the product reject ratio is increased. In this embodiment, starting from a preset bending starting point, the upper die of the bending machine immediately stops after moving downward by a certain displacement amount, a rotation angle which the manipulator needs to reach at the moment is calculated according to a current distance between the upper die of the bending machine and the bending starting point, after the manipulator rotates to an expected angle, the upper die of the bending machine repeatedly moves downward, the manipulator adjusts the rotation angle and other series of actions until the upper die of the bending machine reaches the preset bending ending point, and a bending task is completed, so that the manipulator sequentially adjusts the rotation angle according to the real-time position of the upper die of the bending machine, and the bending precision is. Because the bending process of this embodiment is carried out in segments, and the rotation angle that the manipulator needs to arrive each time is calculated according to the real-time distance between the mould and the point of start of bending on the bender, even the bender finds the trouble, the condition that the manipulator pulls the plate by force and leads to the plate to warp can not appear. This embodiment effectively reduced the defective rate of product of bending when improving the precision of bending.
The second embodiment of the invention is as follows:
as shown in fig. 2 and 4, the present embodiment provides a bending following terminal, including a bending machine and a manipulator 2, where the bending machine includes a bending machine upper die 1 and a bending machine lower die 2; the bending machine upper die 1 is parallel and opposite to the bending machine lower die 2; a groove 3 is formed in the lower die 2 of the bending machine; the manipulator is used for adjusting the bending angle of the plate; further comprising one or more processors 4 and a memory 5, said memory 5 storing programs and being configured to perform the following steps by said one or more processors 4:
when the upper die 1 of the bending machine reaches a preset bending starting point,
s1, controlling the upper die 1 of the bending machine to move downwards by a preset displacement;
the bending starting point is any point on the upper surface of the plate when the manipulator horizontally places the plate on the lower die of the bending machine. When the upper die of the bending machine reaches the bending starting point, the upper die of the bending machine, the lower die of the bending machine and the manipulator cooperate together to perform bending operation.
Preferably, the preset displacement amount is (w)0*tan(θ/2)-d0The distance between a bending starting point and a bending ending point is equally divided into 20 sections, wherein the displacement is divided into 20 sections through a plurality of tests considering the acceleration and deceleration time of the manipulator, the moving time of the manipulator and the like when the communication is used, so that the manipulator can stably operate, and the best effect of implementing following can be achieved.
And S2, acquiring the distance between the upper die 1 of the bending machine and the bending starting point in real time to obtain the current distance.
Wherein the current distance is a current bending depth. In order to complete the bending task, the target bending depth is the distance between the bending starting point and the bending ending point, and the upper die of the bending machine sequentially moves downwards by a certain displacement amount until the target bending depth is reached. In the embodiment, no matter how the target bending angle specified by the bending task changes, the bending starting point is always unchanged, and the bending task with different target bending angles is realized by adjusting the bending ending point.
Preferably, as shown in fig. 3, calculating a target displacement of the upper die of the bending machine according to a preset second formula;
the second formula is specifically:
Bending depth＝L12-h0+w0*tan(θ/2)-d0/sin(θ/2)
wherein the Bending depth is the target displacement, and L is12H is the distance between the lower edge of the upper die of the bending machine and the lower edge of the lower die of the bending machine0Is the height of the lower die of the bending machine, w0Is half of the groove width of the lower die of the bending machine, and d0Is the thickness of the plate, and theta is a target bending angle of the plate;
and setting the bending termination point as the position where the upper die of the bending machine descends from the highest point by the target displacement amount.
Wherein, w0Tan (theta/2) is L in figure 30，d0,/sin (. theta./2) is L in FIG. 31. And the target displacement of the bending knife upper die which should descend is accurately calculated according to the target bending angle, so that the bending precision is improved.
S3, calculating a rotation angle corresponding to the current distance; the rotation angle is an included angle between a line segment formed by connecting a center point of the manipulator and an original point of a preset coordinate system and a Y axis of the coordinate system when the distance between the upper die of the bending machine and the bending starting point is the current distance;
the coordinate system takes one end of the bending machine lower die 2 as an original point, the direction from the one end to the other end of the bending machine lower die 2 as a Y-axis forward direction, the upward moving direction of the bending machine upper die 1 as a Z-axis forward direction, and the X-axis direction is determined by the Y-axis direction and the Z-axis direction according to a right-hand rule;
the S3 specifically includes:
calculating a rotation angle corresponding to the current distance according to a preset first formula; the preset first formula specifically comprises:
φ＝[(θ/2)/L11]*S
where φ is the rotation angle, L11And theta is a distance between the bending starting point and the bending ending point, theta is a target bending angle of the plate, and S is the current distance.
For example, if the target bending angle is 90 degrees, the manipulator must be raised up to 45 degrees from a horizontal position (i.e., the Y-axis of the coordinate system) to complete the bending task for the bending machine. The interval between the lower limb of mould and the lower limb of bender lower mould on the bender is 100mm, and the target angle of bending is 90 degrees, and the height of bender lower mould is 45mm, and half of the recess width of bender lower mould is 4mm, and the thickness of plate is 1mm, can know according to the second formula, and the target displacement volume of mould on the corresponding bender is 57.586. Therefore, every time the upper die of the bending machine moves down by a unit displacement, namely 2.879mm, the manipulator needs to be lifted up by 2.25 degrees. And according to the real-time bending depth, the rotation angle which the manipulator should reach at present can be calculated.
According to the embodiment, the final rotation angle theta/2 of the manipulator for completing the bending task is calculated according to the target bending angle theta of the plate, and then the rotation angle which the manipulator needs to reach when the upper die of the bending machine moves downwards for each unit is calculated, so that the rotation angle which the manipulator needs to reach can be calculated according to the real-time distance between the upper die of the bending machine and the bending starting point, the manipulator can accurately follow the upper die of the bending machine, and the quality of a bent product is improved.
And S4, controlling the manipulator 2 to rotate to the rotation angle.
And S5, repeating the steps from S1 to S4 until the upper die 1 of the bending machine reaches a preset bending termination point.
Preferably, position information of an upper die of the bending machine is acquired at a preset time interval from the start of the bending machine;
and when the position information acquired twice continuously is the same, sending alarm information.
The position information of the upper die of the bending machine is detected by using a grating ruler. No matter whether the upper die of the bending machine reaches the bending starting point or not, the position information of the upper die of the bending machine which is continuously twice is the same, the fact that the bending machine fails and stops is indicated, and alarm information is sent to remind workers to carry out emergency treatment, so that the bending efficiency is improved.
The embodiment provides a terminal is followed in bending, and it is through the speed of bending of the good robot of many times experiment to be different from prior art, and at the actual in-process of bending, the cutter of bending probably has the trouble stagnation, or the cutter of bending is not advanced according to the mode of planning in advance, and at this moment, if the robot still bends the plate according to the speed of having set up in advance, can cause the plate to warp, and the product percent of pass is low, and the product defective rate risees. The bending machine upper die is stopped immediately after moving downwards by a certain displacement amount from a preset bending starting point, the rotation angle which the manipulator needs to reach at the moment is calculated according to the current distance between the bending machine upper die and the bending starting point, and after the manipulator rotates to a desired angle, the manipulator repeatedly executes a series of actions such as moving downwards the bending machine upper die, adjusting the rotation angle by the manipulator and the like until the bending machine upper die reaches the preset bending ending point to complete a bending task, so that the manipulator sequentially adjusts the rotation angle according to the real-time position of the bending machine upper die, and the bending machine upper die has high bending precision. Because the bending process of this embodiment is carried out in segments, and the rotation angle that the manipulator needs to arrive each time is calculated according to the real-time distance between the mould and the point of start of bending on the bender, even the bender finds the trouble, the condition that the manipulator pulls the plate by force and leads to the plate to warp can not appear. This embodiment effectively reduced the defective rate of product of bending when improving the precision of bending.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (4)
1. A bending following method comprises a bending machine and a manipulator, wherein the bending machine comprises a bending machine upper die and a bending machine lower die; the upper die of the bending machine is parallel and opposite to the lower die of the bending machine; a groove is formed in the lower die of the bending machine; the manipulator is used for adjusting the bending angle of the plate; the method is characterized in that:
when the upper die of the bending machine reaches the preset bending starting point,
s1, controlling the upper die of the bending machine to move downwards by a preset displacement;
s2, obtaining the distance between the upper die of the bending machine and the bending starting point in real time to obtain the current distance;
s3, calculating a rotation angle corresponding to the current distance; the rotation angle is an included angle between a line segment formed by connecting a center point of the manipulator and an original point of a preset coordinate system and a Y axis of the coordinate system when the distance between the upper die of the bending machine and the bending starting point is the current distance;
the coordinate system takes one end of a lower die of the bending machine as an original point, the direction from the one end to the other end of the lower die of the bending machine as a Y-axis forward direction, the upward moving direction of an upper die of the bending machine as a Z-axis forward direction, and the X-axis direction is determined by the Y-axis direction and the Z-axis direction according to a right-hand rule;
s4, controlling the manipulator to rotate to the rotation angle;
s5, repeatedly executing the steps S1 to S4 until the upper die of the bending machine reaches a preset bending termination point;
the S3 specifically includes:
calculating a rotation angle corresponding to the current distance according to a preset first formula; the preset first formula specifically comprises:
φ＝[(θ/2)/L11]*S
where φ is the rotation angle, L11Calculating a distance between the bending start point and the bending end point, wherein theta is a target bending angle of the plate, and S is the current distance;
before S5, the method further includes:
calculating the target displacement of the upper die of the bending machine according to a preset second formula;
the second formula is specifically:
Bending depth＝L12-h0+w0*tan(θ/2)-d0/sin(θ/2)
wherein the Bending depth is the target displacement, and L is12H is the distance between the lower edge of the upper die of the bending machine and the lower edge of the lower die of the bending machine0Is the height of the lower die of the bending machine, w0Is half of the groove width of the lower die of the bending machine, and d0Is the thickness of the plate, and theta is a target bending angle of the plate;
and setting the bending termination point as the position where the upper die of the bending machine descends from the highest point by the target displacement amount.
2. The bend following method according to claim 1, wherein, before S5, the method further includes:
acquiring position information of an upper die of the bending machine at preset time intervals;
and when the position information acquired twice continuously is the same, sending alarm information.
3. A bending following terminal comprises a bending machine and a manipulator, wherein the bending machine comprises a bending machine upper die and a bending machine lower die; the upper die of the bending machine is parallel and opposite to the lower die of the bending machine; a groove is formed in the lower die of the bending machine; the manipulator is used for adjusting the bending angle of the plate; the method is characterized in that:
further comprising one or more processors and memory, the memory storing a program and configured to perform the following steps by the one or more processors:
when the upper die of the bending machine reaches the preset bending starting point,
s1, controlling the upper die of the bending machine to move downwards by a preset displacement;
s2, obtaining the distance between the upper die of the bending machine and the bending starting point in real time to obtain the current distance;
s3, calculating a rotation angle corresponding to the current distance; the rotation angle is an included angle between a line segment formed by connecting a center point of the manipulator and an original point of a preset coordinate system and a Y axis of the coordinate system when the distance between the upper die of the bending machine and the bending starting point is the current distance;
the coordinate system takes one end of a lower die of the bending machine as an original point, the direction from the one end to the other end of the lower die of the bending machine as a Y-axis forward direction, the upward moving direction of an upper die of the bending machine as a Z-axis forward direction, and the X-axis direction is determined by the Y-axis direction and the Z-axis direction according to a right-hand rule;
s4, controlling the manipulator to rotate to the rotation angle;
s5, repeatedly executing the steps S1 to S4 until the upper die of the bending machine reaches a preset bending termination point;
the S3 specifically includes:
calculating a rotation angle corresponding to the current distance according to a preset first formula; the preset first formula specifically comprises:
φ＝[(θ/2)/L11]*S
where φ is the rotation angle, L11Is the distance, θ, between the bending start point and the bending end pointThe target bending angle of the plate is set, and S is the current distance;
before S5, the method further includes:
calculating the target displacement of the upper die of the bending machine according to a preset second formula;
the second formula is specifically:
Bending depth＝L12-h0+w0*tan(θ/2)-d0/sin(θ/2)
wherein the Bending depth is the target displacement, and L is12H is the distance between the lower edge of the upper die of the bending machine and the lower edge of the lower die of the bending machine0Is the height of the lower die of the bending machine, w0Is half of the groove width of the lower die of the bending machine, and d0Is the thickness of the plate, and theta is a target bending angle of the plate;
and setting the bending termination point as the position where the upper die of the bending machine descends from the highest point by the target displacement amount.
4. The bend-following termination of claim 3, wherein prior to S5, further comprising:
acquiring position information of an upper die of the bending machine at preset time intervals;
and when the position information acquired twice continuously is the same, sending alarm information.
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| CN113254853B (en) * | 2021-06-03 | 2023-07-18 | 北京汽车集团越野车有限公司 | Bending method, bending device, electronic setting and readable storage medium |
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| JP6091065B2 (en) * | 2012-02-24 | 2017-03-08 | 株式会社アマダホールディングス | GUAGING METHOD, GUAGING DEVICE, AND BENDING DEVICE |
| 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 |
| CN105215097B (en) * | 2015-10-10 | 2017-04-12 | 山东斯诺自动化设备有限公司 | Automatic bending system and method for robot |
| CN105334801B (en) * | 2015-11-11 | 2017-10-13 | 福建骏鹏通信科技有限公司 | A kind of robot bending speeds match adaptive approach |
| WO2017113219A1 (en) * | 2015-12-30 | 2017-07-06 | 深圳配天智能技术研究院有限公司 | Method, apparatus and system for planning bending following trajectory |
| 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 |
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