CN109772944B - Sheet metal machining robot follow-up bending control method - Google Patents
Sheet metal machining robot follow-up bending control method Download PDFInfo
- Publication number
- CN109772944B CN109772944B CN201811527563.0A CN201811527563A CN109772944B CN 109772944 B CN109772944 B CN 109772944B CN 201811527563 A CN201811527563 A CN 201811527563A CN 109772944 B CN109772944 B CN 109772944B
- Authority
- CN
- China
- Prior art keywords
- bending
- axis
- robot
- bending machine
- slider
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The invention discloses a servo bending control method of a sheet metal machining robot, wherein the sheet metal machining robot is matched with a bending machine to perform servo bending, the displacement S and the speed V of a slider 1 of the bending machine in the process of downward bending are analyzed by a numerical control system of the bending machine to form linear change, and the linear change relation between the displacement S and the time T of the slider in the process is obtained by converting the time T = S/V in the process; the movement tracks from the positions before bending to the positions after bending of the Y axis, the Z axis and the R axis of the robot are equally divided into N equal parts, the curved movement tracks are realized by using N linear tracks, and the metal plate five-axis robot is matched with a bending machine to perform follow-up bending by adopting a displacement and time relation control mode. The invention realizes the simplified fusion of the numerical control bending machine and the sheet metal machining robot, optimizes the whole process flow, improves the production efficiency of equipment, and realizes the industrial mode of intelligent sheet metal manufacturing integrating the processes of material grabbing, follow-up bending, finished product stacking and the like.
Description
Technical Field
The invention relates to a sheet metal machining method, in particular to a control method for a sheet metal machining robot to bend in a follow-up mode by matching with a bending machine.
Background
Along with the continuous upgrading of the automatic demand of the domestic metal plate industry, the traditional working mode of single bender + artificial material conveying is far from meeting the user demand, and to the metal plate machining characteristics and the actual production needs, more and more customers select the working mode of advanced bender + metal plate machining robot, and this mode integrates the processes of material grabbing, follow-up bending, finished product stacking and the like, and the industrial mode that the metal plate adopts intelligent manufacturing is fully realized.
At present, some sheet metal processing robots appearing on the market realize the Follow-up bending function, a Follow-up bending mode (i.e. a main shaft is followed by a driven shaft) is generally adopted, a slider position information acquisition card is installed in an electric cabinet of a bending machine, a grating ruler pulse signal for displaying the position of a slider is sent to a robot controller through the acquisition card, the robot controller defines the slider of the bending machine as the main shaft, a Y shaft, a Z shaft and an R shaft for controlling the posture of a suction cup as driven shafts, when the slider of the bending machine descends to the position of a sheet clamping point, the driven shafts carry out corresponding position following according to respective motion tracks according to the change of the descending position of the slider, and finally realize the Follow-up bending process of the sheet, in the Follow-up process, the robot controller needs to monitor the slider position information in real time, the accuracy requirement on the position information is high, and the position information acquisition card is, and has strict requirements on the installation environment, so that some old bending machines cannot realize intelligent and unmanned transformation of equipment.
Disclosure of Invention
The invention aims to provide a control method for realizing follow-up bending of a five-axis robot by only simple I/O (input/output) interaction signals without installing a slide block position acquisition card.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a servo bending control method for a sheet metal machining robot is provided, the sheet metal machining robot is matched with a bending machine to perform servo bending, and the method specifically comprises the following steps:
analyzing by a bending machine numerical control system to obtain that the displacement S and the speed V of a slider 1 of a bending machine linearly change in the downward bending process, and converting the time T = S/V of the process to obtain the linear change relation between the slider displacement S and the time T of the process;
step (2) bending by a bending machineThe control time of respective operation of the Y axis, the Z axis and the R axis of the five-axis metal plate robot is T, and the process of descending the sliding block of the bending machine is equally divided into N equal parts, namely S1…SnThen each displacement time of the slider of the bending machine, i.e. T1… Tn, the Y axis, the Z axis and the R axis of the robot are also displaced and changed according to the corresponding movement tracks in the descending process of the slider of the bending machine, the time required from the initial point to the end point is also T, the movement tracks from the positions before bending to the positions after bending of the Y axis, the Z axis and the R axis of the robot are equally divided into N equal parts, the N linear tracks are used for realizing the curvilinear movement tracks, and the displacement and time relation control mode is adopted to realize the follow-up bending of the five-axis sheet metal robot matched with the bending machine.
Compared with the prior art, the invention has the beneficial effects that: the invention simplifies and integrates the numerical control bending machine and the sheet metal machining robot, realizes the follow-up bending follow-up effect of the sheet metal robot, optimizes the whole process flow, can realize the intelligent and unmanned upgrading and transformation of equipment without greatly changing the bending machine, greatly improves the production efficiency, and is suitable for an industrial mode of intelligent sheet metal manufacturing integrating the processes of material grabbing, follow-up bending, finished product stacking and the like.
Drawings
FIG. 1 is a schematic diagram of the positions of a sheet metal working robot and a bending machine according to the present invention;
FIG. 2 is a schematic diagram of the movement track of the sheet metal processing robot of the present invention;
FIG. 3 is a schematic diagram of the position of the bending follow-up motion trajectory of the present invention.
In the figure: 1. the bending machine comprises a bending machine sliding block, 2, a bending machine lower die, 3, a steel plate bending front position, 4, a steel plate bending rear position, 5, a robot gripper bending front position, 6, a robot gripper bending rear position, 7, BP position points, 8, PP position points, 9, a robot R axis motion direction, 10, a robot Y axis and Z axis motion direction, 11, a bending machine main body, 12, a steel plate, 13, a vacuum chuck device and 14, and a robot main body.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the control main body of the present invention includes a bending machine main body 11, a bending machine slider 1, a steel plate 12, a vacuum chuck device 13, a robot main body 14, and the like, wherein the X-axis, the Y-axis, and the Z-axis are linearly moved along corresponding directions, the R-axis is rotated about a rotation center as a center of a circle and rotated at a maximum of 180 °, and the vacuum chuck device 13 is mounted on a robot gripper on the R-axis.
As shown in fig. 3, analysis software of a bending machine numerical control system shows that a slider 1 of the bending machine runs from a BP position point 7 to a PP position point 8 in a downward bending process, displacement S and speed V of the slider in the process are linearly changed, and the displacement S and time T of the slider in the process are linearly changed through conversion of T = S/V.
Establishing a Y-axis, Z-axis and R-axis motion control connection point of a bending machine bending and five-axis metal plate robot, namely: the bending operation time T of the bending machine is equal to the operation time T of the Y-axis, the Z-axis and the R-axis of the five-axis metal plate robot, and the synchronous motion positioning of the Y-axis, the Z-axis and the R-axis of the robot is realized by adopting a PT (displacement and time relation) motion control mode. The method comprises the following specific steps: because the follow-up motion tracks of the Y axis, the Z axis and the R axis of the robot are not linear but are curvilinear motion tracks, the time T is equally divided into N equal parts, namely T1… Tn, the descending track of the slider of the bending machine is also equally divided into N equal parts, namely S1…SnThe curved motion tracks of the Y axis, the Z axis and the R axis of the robot can be approximately equally divided into N sections of linear motion tracks through the connection, and then the servo motors of the Y axis, the Z axis and the R axis are driven through the PT motion control instruction of control software, so that the effect that the five-axis metal plate robot is matched with a bending machine to bend in a follow-up mode is achieved.
Examples
After the five-axis sheet metal machining robot places a sheet material on a lower die position of a bending machine through a vacuum sucker on an R-axis robot gripper, a robot controller (motion controller) sends a bending action command to a bending machine control system, a bending machine sliding block starts to move downwards, and when the sliding block moves downwards to a BP position point 7 (the BP position point is a sliding block position point where the bending machine sliding block just touches the upper surface of the sheet material), the bending machine control system sends an I/O signal to the robot controllerAnd at the moment, the robot controller stores the current position values of the Y axis, the Z axis and the R axis and triggers the timer to start recording the descending time of the sliding block. When the slider of the bending machine continuously moves downwards at a PP position point (the PP position point is the slider position point when the bending of the plate is finished), the control system of the bending machine sends another I/O signal to the robot controller, at the moment, the robot controller measures the time T required by the bending of the plate, the speed of the slider is found to be approximately uniform motion by observing and analyzing the motion track curve of the slider from the BP point to the PP point in the bending process, the linear relation between the position of the slider and the time is obtained by conversion, and the process of the downward displacement change of the slider of the bending machine is equally divided into N equal parts, namely S1…SnThen the time corresponding to each section of the displacement of the slider is T1… Tn. Because the Y axis, the Z axis and the R axis of the robot also generate displacement change according to the corresponding motion tracks in the descending process of the sliding block, but the time required from the initial point to the end point is also T, the motion tracks from the bending front positions to the bending rear positions of the Y axis, the Z axis and the R axis of the robot are equally divided into N equal parts according to the characteristic, namely Y is equally divided into N equal parts1…Yn, Z1… Zn and R1… Rn, the position values of the Y-axis, the Z-axis and the R-axis in any time period can be calculated by the following formula, namely
In the formula: w is the distance of the opening of the lower die of the bending machine;
r is the distance from the rotating center point of the R shaft to the surface of the plate;
l- - -the distance from the rotating center point of the R shaft to the center line of the lower die;
A[i]-the amount of change in sheet bending angle;
and storing the calculated position parameters and time parameters of each time period into a PT (displacement and time relation) motion control command of the robot controller, and finally realizing the follow-up bending actions of the Y axis, the Z axis and the R axis by the robot controller through executing the command.
Claims (1)
1. The metal plate machining robot servo bending control method is characterized in that the metal plate machining robot is matched with a bending machine to perform servo bending: the method specifically comprises the following steps:
analyzing by a bending machine numerical control system to obtain that the displacement S and the speed V of a slider of a bending machine linearly change in the downward bending process, and converting the time T = S/V of the process to obtain the linear change relation between the displacement S and the time T of the slider of the process;
and (2) respectively controlling the operation time of the Y axis, the operation time of the Z axis and the operation time of the R axis of the bending machine and the five-axis sheet metal robot to be T, and equally dividing the process of descending the slider of the bending machine into N equal parts, namely S1…SnThen each displacement time of the slider of the bending machine, i.e. T1… Tn, the Y axis, the Z axis and the R axis of the robot are also displaced and changed according to the corresponding movement tracks in the descending process of the slider of the bending machine, the time required from the initial point to the end point is also T, the movement tracks from the positions before bending to the positions after bending of the Y axis, the Z axis and the R axis of the robot are equally divided into N equal parts, the N linear tracks are used for realizing the curvilinear movement tracks, and the displacement and time relation control mode is adopted to realize the follow-up bending of the five-axis sheet metal robot matched with the bending machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811527563.0A CN109772944B (en) | 2018-12-13 | 2018-12-13 | Sheet metal machining robot follow-up bending control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811527563.0A CN109772944B (en) | 2018-12-13 | 2018-12-13 | Sheet metal machining robot follow-up bending control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109772944A CN109772944A (en) | 2019-05-21 |
| CN109772944B true CN109772944B (en) | 2020-04-28 |
Family
ID=66496925
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811527563.0A Active CN109772944B (en) | 2018-12-13 | 2018-12-13 | Sheet metal machining robot follow-up bending control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109772944B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110153239A (en) * | 2019-06-12 | 2019-08-23 | 上海发那科机器人有限公司 | A kind of bending follow-up method and metal plate bending process based on robot additional shaft |
| CN111151603B (en) * | 2020-02-12 | 2021-11-16 | 徐州达一锻压设备有限公司 | Supporting mechanism for bending sheet material |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103329054A (en) * | 2010-12-17 | 2013-09-25 | 特鲁普机械奥地利有限公司及两合公司 | Control and adjustment device for bending press |
| CN104475504A (en) * | 2014-11-04 | 2015-04-01 | 上海新时达电气股份有限公司 | Real time following method for robot bend and device thereof |
| CN105911955A (en) * | 2016-06-23 | 2016-08-31 | 广州纽蓝客精密机床有限公司 | Bending machine numerical control system device with embedded robot for control and method thereof |
| CN106393066A (en) * | 2016-10-19 | 2017-02-15 | 上海发那科机器人有限公司 | Method for achieving bending tracking through robot |
-
2018
- 2018-12-13 CN CN201811527563.0A patent/CN109772944B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103329054A (en) * | 2010-12-17 | 2013-09-25 | 特鲁普机械奥地利有限公司及两合公司 | Control and adjustment device for bending press |
| CN104475504A (en) * | 2014-11-04 | 2015-04-01 | 上海新时达电气股份有限公司 | Real time following method for robot bend and device thereof |
| CN105911955A (en) * | 2016-06-23 | 2016-08-31 | 广州纽蓝客精密机床有限公司 | Bending machine numerical control system device with embedded robot for control and method thereof |
| CN106393066A (en) * | 2016-10-19 | 2017-02-15 | 上海发那科机器人有限公司 | Method for achieving bending tracking through robot |
Non-Patent Citations (4)
| Title |
|---|
| "折弯机器人折弯随动路径规划与运动控制";刘荣等;《机械科学与技术》;20150930;第34卷(第09期);第1333-1339页 * |
| 开放式折弯机器人控制系统及其折弯跟随技术研究;金钰飞等;《制造业自动化》;20131225;第35卷(第24期);第23-25、29页 * |
| 折弯单元折弯机器人跟随折弯运动模型研究;谢敏等;《机械制造与自动化》;20131020;第42卷(第05期);第148页第1节-第211页第1节 * |
| 自动折弯生产线中逆跟随折弯回正运动模型研究;王涛等;《工业控制计算机》;20131225;第26卷(第12期);第51-53页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109772944A (en) | 2019-05-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109483556B (en) | Robot polishing system and method based on teaching learning | |
| CN102866665B (en) | Multi-axial synchronous control system and method for all-electric bending machine | |
| CN109772944B (en) | Sheet metal machining robot follow-up bending control method | |
| CN104588453A (en) | Simple numerically-controlled bending machine with dual driving systems | |
| CN102566511A (en) | Five-shaft numerical control system cutter center point interpolation path interpolation method | |
| CN105921558A (en) | Robot servo bending system | |
| CN205272018U (en) | Modularization six -degree -of -freedom manipulator | |
| CN202720488U (en) | PLC based automatic control system for bending machine | |
| CN105234213A (en) | Method for robot bending free interpolation | |
| CN109732024B (en) | Hydraulic horizontal forging machine control system and method capable of selecting forming station | |
| CN105204441A (en) | Hand-push teaching type five-axis polishing grinding robot | |
| CN202803847U (en) | Multi-shaft synchronous control system for all-electric bending machine | |
| CN204525461U (en) | A kind of novel three freedom degree manipulator | |
| CN102862094A (en) | Hydraulic servo system controlled by numerical control system | |
| CN206029863U (en) | Polishing cartesian robot | |
| CN205032859U (en) | Automatic focusing laser cutting head | |
| CN204602935U (en) | A kind of variable curvature large radius steel tube bending device | |
| US4682280A (en) | Simulation arrangement for determining desired values for the transport of workpieces of a multistage press | |
| CN113110287A (en) | Back plate combining non-circular turning control system and control method thereof | |
| CN104826901A (en) | Curvature-variable large-radius steel pipe bending forming device and manufacturing method for steel pipe bending forming device | |
| CN111069359A (en) | Speed planning method applied to bending synchronous following of bending robot | |
| CN217097806U (en) | Automatic feeding manipulator | |
| CN202715948U (en) | Full-automatic controlling system of plasma cutting machine | |
| CN203853213U (en) | Driving system of paint coating robot | |
| CN201485105U (en) | Automatic feeding device for punching of plastic belt |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |