CN111054842B - Bending loading and unloading robot track autonomous generation method - Google Patents

Bending loading and unloading robot track autonomous generation method Download PDF

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CN111054842B
CN111054842B CN201911380175.9A CN201911380175A CN111054842B CN 111054842 B CN111054842 B CN 111054842B CN 201911380175 A CN201911380175 A CN 201911380175A CN 111054842 B CN111054842 B CN 111054842B
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bending
robot
coordinate system
theoretical
track
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CN111054842A (en
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赵飞
运侠伦
龚陈威
李解
梅雪松
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Wuxi Chaotong Intelligent Manufacturing Technology Research Institute Co ltd
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Wuxi Chaotong Intelligent Manufacturing Technology Research Institute Co ltd
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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
    • B21D43/027—Combined feeding and ejecting 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Abstract

The invention relates to an automatic generation method for a bending loading and unloading robot track, which comprises the following steps:step a, measuring and obtaining the geometric dimension of the bending machine, including H1Height of die opening, H2The height of the mold is lifted, the width of the mold opening B is measured, and the parameter L of the plate length is obtained; b, operating the bending machine, acquiring a position signal of a movable die of the bending machine through a position signal input interface to acquire a displacement detection track of the movable die, and c, acquiring the pose (l) of the tail end of the robot at the bending starting point and under a bending coordinate systemr，H1，0，A0，B0，C0) Calculating a theoretical track of the robot; and d, correcting the position deviation between the theoretical grabbing center point and the actual center point of the robot. The invention does not need manual programming, self-training, precision and high efficiency.

Description

Bending loading and unloading robot track autonomous generation method
Technical Field
The invention relates to the technical field of metal plate bending, in particular to an autonomous generation method for a bending feeding and discharging robot track.
Background
The metal plate bending process is a common manufacturing process in the manufacturing industry and is applied to various industries such as automobiles, electronics, hardware and the like. Because the product variety that the panel beating was bent is various, consequently, higher to the adaptability requirement of unloading system in the automation. In addition, in the bending process, the metal is bent, deformed and the like, so that the size of the part is changed, and the part is difficult to accurately follow the movement of a certain point on the metal plate. The above factors bring great inconvenience to the realization of robot-assisted feeding and discharging.
The patent No. ZL201410614071.0 entitled "robot bending real-time following method and device" proposes a robot bending real-time following method, which realizes the trajectory generation of the bending process by calculating the tool location point to generate the joint angle of the robot, and the method is difficult to consider the influence of factors such as deformation in the bending process.
The patent number is ZL201711469231.7, and the name is a robot bending precision compensation method based on sheet material stretching deformation, and stretching deformation is obtained through approximate calculation, so that errors are compensated, and track generation precision is improved. Since the tensile deformation of each process is actually changed largely, the process adaptability of this method is not high.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an automatic bending loading and unloading robot track generation method which is free of manual programming, self-trains, precise and efficient.
The technical scheme for realizing the purpose of the invention is as follows: a bending loading and unloading robot track autonomous generation method comprises the following steps:
step a, measuring and obtaining the geometric dimension of the bending machine, including H1Height of die opening, H2The height of the mold is lifted, the width of the mold opening B is measured, and the parameter L of the plate length is obtained;
b, operating the bending machine, acquiring a position signal of the movable die of the bending machine through the position signal input interface to acquire a displacement detection track of the movable die,
step c, acquiring the pose (l) of the tail end of the robot at the bending starting point and under the bending coordinate systemr,H1,0,A0,B0,C0) Calculating a theoretical track of the robot;
and d, correcting the position deviation between the theoretical grabbing center point and the actual center point of the robot.
In the step c of the technical scheme, a bending coordinate system is determined according to three characteristics of the system, namely a bending machine bottom plane A, a robot base center point OR and a bending machine movable die contact line Lm; lm' is obtained by vertically projecting Lm on a plane A, and is taken as a perpendicular line of a central point OR of a robot base on the plane A and relative to the Lm
Figure BDA0002342022410000021
Is an X-axis, a vertical point is an origin, a vertical direction is a y-axis, and a coordinate system X is determined according to a right-hand ruleORA，lrThe distance from the tail end of the robot to the origin of the bending coordinate system at the bending starting moment, namely the coordinate of the bending starting point in the X direction of the bending coordinate system.
In the step c of the above technical solution, the position of the movable mold is determined according toAnd the geometric parameters of the length of the bending machine and the plate are calculated to obtain the loading and unloading central point P at the moment ttcpThe theoretical positions are as follows:
Figure BDA0002342022410000022
in the bending following process, the robot only rotates around the Z axis of the bending coordinate system by an angle alpha and does not rotate around the X and Y axes, wherein YmAnd (t) is the position of the upper die point of the movable die at the time t.
In the step d of the technical scheme, the pulling force is detected through a force sensor for measuring the force and moment change condition of the end effector in the following process, the theoretical position is corrected, and the deviation of the theoretical grabbing center point and the actual center point of the robot is reduced; the method specifically comprises the following steps:
measuring the tail end torque signal track in the bending process through a force sensor, wherein the theoretical grabbing central point, namely the rotation and translation between the origin of a theoretical tool coordinate system of the robot and the origin of an actual tool coordinate system, exists, and a coordinate transformation matrix between the theoretical tool coordinate system of the robot and the actual tool coordinate system is
Figure BDA0002342022410000023
The relationship between force/moment and deformation is F ═ Ktδ，M＝Krε
Wherein, Kt，KrThe rigidity of the metal plate in stretching and torsional deformation, F and M are contact forces in the bending process,
calculating the correction quantity of the measured contact force track F (t), M (t) at the t moment
Figure BDA0002342022410000031
And then realize the correction to the robot track point, the orbit after the correction is:
Figure BDA0002342022410000032
after the technical scheme is adopted, the invention has the following positive effects:
(1) the invention does not need manual programming, and can be trained automatically, thereby reducing the programming workload.
(2) The tangential pulling force between the mechanical arm and the plate is reduced, and the processing precision is improved. The precision is high-efficient, and the tensile deformation volume of bending is few.
(3) The process flexibility is good, and good bending effect can be achieved for plates of different types, materials and sizes.
(4) The early-stage workload of the process is reduced, the requirements on mechanical arm position placement, early-stage calibration, debugging and the like are low, and error self-adaptive compensation is realized.
(5) The stress information in the machining process is obtained, the machining effect can be further judged, the bending process method is improved, and the machining quality is improved.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the present disclosure taken in conjunction with the accompanying drawings, in which
FIG. 1 is a schematic view of an auxiliary loading and unloading system of a bending machine according to the present invention;
FIG. 2 is a schematic diagram of the relative position of the bending machine of the present invention;
FIG. 3 is a schematic diagram of the relationship between the theoretical coordinate system and the actual coordinate system of the bending machine of the present invention;
FIG. 4 is a flow chart of trajectory generation in accordance with the present invention.
Detailed Description
(example 1)
Referring to fig. 1 to 4, the bending loading and unloading robot system comprises a signal position signal input interface for accessing the position of a bending machine moving die and a torque sensor for measuring the force and torque change of an end effector in the following process.
A bending loading and unloading robot track autonomous generation method comprises the following steps:
step a, measuring and obtaining the geometric dimension of the bending machine, including H1Height of die opening, H2And (4) measuring the height of the mold lifting, the width of the mold opening B and the like to obtain parameters such as the length L of the plate.
And b, operating the bending machine, and acquiring a position signal of the movable die of the bending machine to obtain a displacement detection track of the movable die of the bending machine. And a grating ruler and the like can be used for collecting position signals of the bending machine moving die.
Step c, acquiring the pose (l) of the tail end of the robot under the bending coordinate system at the bending starting pointr,H1,0,A0,B0,C0) And calculating the theoretical track of the robot. The bending coordinate system is determined by three characteristics of the system, namely a bending machine bottom plane A, a robot base central point OR and a bending machine movable die contact line Lm. Lm' is obtained by vertically projecting Lm on a plane A, and is taken as a perpendicular line of a central point OR of a robot base on the plane A and relative to the Lm
Figure BDA0002342022410000042
Is an X-axis, a vertical point is an origin, a vertical direction is a y-axis, and a coordinate system X is determined according to a right-hand ruleORA。lrThe distance from the tail end of the robot to the origin of the bending coordinate system at the bending starting moment, namely the coordinate of the bending starting point in the X direction of the bending coordinate system.
According to the position of the movable mold, the bending machine, the plate length geometric parameters and the like, calculating to obtain a loading and unloading central point P at the time ttcpThe theoretical positions are as follows:
Figure BDA0002342022410000041
in the bending following process, the robot only rotates around the Z axis of the bending coordinate system by an angle alpha and does not rotate around the X and Y axes, wherein YmAnd (t) is the position of the upper die point of the movable die at the time t.
Step d, correcting PtcpThe theoretical position. The robot is fed and the bending machine is operated to ensure that the robot presses the theory PtcpAnd (4) track running. Because the robot base coordinate system and the coordinate system XORAThere is an error between them, the metal plate is bentThere is distortion. Meanwhile, the acceleration and deceleration characteristics of the robot and the bending machine have deviation. Due to the reasons, the metal plate is dragged by the robot, and the theoretical grabbing center point and the actual center point of the robot are deviated. The dragging force can be detected through the force sensor, the theoretical position is corrected, and the deviation between the theoretical grabbing center point and the actual center point of the robot is reduced.
And measuring the tail end moment signal track in the bending process through a force sensor. The theoretical grabbing center point, i.e. the origin of the theoretical tool coordinate system of the robot, and the origin of the actual tool coordinate system have rotation and translation, as shown in fig. 4. The coordinate transformation matrix between the theoretical tool coordinate system and the actual tool coordinate system of the robot is
Figure BDA0002342022410000051
The relationship between force/moment and deformation is F ═ Ktδ，M＝Krε
Wherein, Kt，KrIs the tensile and torsional deformation stiffness of the metal sheet. F and M are contact forces in the bending process.
Calculating the correction quantity of the measured contact force track F (t), M (t) at the t moment
Figure BDA0002342022410000052
And then realize the correction to the robot track point, the orbit after the correction is:
Figure BDA0002342022410000053
the above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (2)

1. A bending feeding and discharging robot track autonomous generation method is characterized by comprising the following steps:
step a, measuring and obtaining the geometric dimension of the bending machine, including H1Height of die opening, H2The height of the mold is lifted, the width of the mold opening B is measured, and the parameter L of the plate length is obtained;
b, operating the bending machine, acquiring a position signal of the movable die of the bending machine through the position signal input interface to acquire a displacement detection track of the movable die,
step c, acquiring the pose (l) of the tail end of the robot at the bending starting point and under the bending coordinate systemr,H1,0,A0,B0,C0) Calculating a theoretical track of the robot;
d, correcting the position deviation between the theoretical grabbing central point and the actual central point of the robot;
in the step c, a bending coordinate system is determined according to three characteristics of the system, namely a bending machine bottom plane A, a robot base center point OR and a bending machine movable die contact line Lm; lm' is obtained by vertically projecting Lm on a plane A, and is taken as a perpendicular line of a central point OR of a robot base on the plane A and relative to the Lm
Figure FDA0002878584300000011
Is an X-axis, a vertical point is an origin, a vertical direction is a y-axis, and a coordinate system X is determined according to a right-hand ruleORA，lrThe distance between the tail end of the robot and the origin of a bending coordinate system at the bending starting moment, namely the coordinate of the bending starting point in the X direction of the bending coordinate system;
according to the position of the movable mold and the geometric parameters of the bending machine and the plate length, calculating to obtain a loading and unloading central point P at the time ttcpThe theoretical positions are as follows:
Figure FDA0002878584300000012
at the bent heelIn the following process, the robot only rotates around the Z axis of the bending coordinate system by an angle alpha and does not rotate around the X and Y axes, wherein YmAnd (t) is the position of the upper die point of the movable die at the time t.
2. The method for autonomously generating the trajectory of the bending loading and unloading robot according to claim 1, characterized in that: in the step d, the pulling force is detected through a force sensor used for measuring the force and moment change conditions of the end effector in the following process, the theoretical position is corrected, and the deviation between the theoretical grabbing center point and the actual center point of the robot is reduced; the method specifically comprises the following steps:
measuring the tail end torque signal track in the bending process through a force sensor, wherein the theoretical grabbing central point, namely the rotation and translation between the origin of a theoretical tool coordinate system of the robot and the origin of an actual tool coordinate system, exists, and a coordinate transformation matrix between the theoretical tool coordinate system of the robot and the actual tool coordinate system is
Figure FDA0002878584300000021
The relationship between force/moment and deformation is
F＝Ktδ，M＝Krε
Wherein, Kt，KrThe rigidity of the metal plate in stretching and torsional deformation, F and M are contact forces in the bending process,
calculating the correction quantity of the measured contact force track F (t), M (t) at the t moment
Figure FDA0002878584300000022
And then realize the correction to the robot track point, the orbit after the correction is:
Figure FDA0002878584300000023
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4594870A (en) * 1982-11-25 1986-06-17 Shin-Meiwa Industry Co., Ltd. Automatic bending apparatus
JP2633155B2 (en) * 1992-11-10 1997-07-23 株式会社アマダメトレックス Plate bending system
CN100391639C (en) * 2006-12-12 2008-06-04 武汉理工大学 Plate forming mill being convenient for digital control
CN102385386B (en) * 2011-09-24 2013-10-16 广东工业大学 Line-heating intelligent robot path planning method
CN108132648B (en) * 2017-12-29 2021-03-19 南京埃斯顿机器人工程有限公司 Robot bending precision compensation method based on sheet material tensile deformation

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