CN111940548B - Rear material blocking, positioning and correcting system and method - Google Patents

Rear material blocking, positioning and correcting system and method Download PDF

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Publication number
CN111940548B
CN111940548B CN202010803700.XA CN202010803700A CN111940548B CN 111940548 B CN111940548 B CN 111940548B CN 202010803700 A CN202010803700 A CN 202010803700A CN 111940548 B CN111940548 B CN 111940548B
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Prior art keywords
metal plate
sheet metal
sensor
bending
coordinate system
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CN111940548A (en
Inventor
黄万永
王财先
戴智洋
吴钰屾
刘坤
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Shanghai Fanuc Robotics Co Ltd
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Shanghai Fanuc Robotics 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
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/004—Bending sheet metal along straight lines, e.g. to form simple curves with program control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • 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
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/002—Positioning devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Abstract

The invention discloses a rear material blocking, positioning and correcting system and a method, which relate to the field of mechanical casting industry and comprise the following steps: the sheet metal plate bending device comprises a collecting end, a moving device and bending equipment, wherein the moving device is used for adjusting the real-time position of a sheet metal plate, and the bending equipment is used for bending the sheet metal plate; the acquisition end specifically comprises: a first sensor; a second sensor; the mobile device comprises a control unit, a processing unit and an execution unit; the moving device is further connected with the bending equipment, and when the control unit indicates that the sheet metal plate is currently located at a preset standard bending position, the moving device stops moving, and then sends a control instruction to the bending equipment so as to control the bending equipment to bend the sheet metal plate. The beneficial effects of the invention are as follows: the algorithm can automatically search the standard bending position of the metal plate without acquiring the information of the position detection device; the teaching work of the coordinate system is greatly simplified; the algorithm also sets the upper limit of the translation distance, and the problem of interference between the robot and the bending machine is avoided.

Description

Rear material blocking positioning correction system and method
Technical Field
The invention relates to the field of mechanical casting industry, in particular to a rear material blocking positioning correction system and method.
Background
In the existing bending machine, a rear material blocking and positioning device is an indispensable auxiliary mechanism and is used for ensuring the bending and feeding length of a metal plate. The automatic bending of robot needs to rely on back material stop positioner to adjust panel beating pay-off length to the settlement scope, except mechanical mechanism, still need can only realize automatically with the help of the location of high accuracy correction algorithm.
In the prior art, due to the limitation of a correction algorithm, a robot can convert a rotation matrix and a translation matrix to obtain a standard bending position only under the condition of acquiring information of a position detection device, at least 1 tool coordinate system and 2 user coordinate systems need to be taught manually, and the teaching workload of the coordinate systems is large; when the position of the first rear material blocking positioning device is searched by the translation matrix, the upper limit of the translation distance is not set, and the robot and the bending machine are easy to collide.
Disclosure of Invention
According to the problems in the prior art, a rear blocking positioning correction system and a rear blocking positioning correction method are provided, and the problems that the process of acquiring a metal plate bending standard position by a robot is complex, the teaching workload of a coordinate system is large, and the robot and a bending machine are easy to collide are solved.
The technical scheme specifically comprises the following steps:
the rear material blocking, positioning and correcting system is characterized by comprising a collecting end, a moving device and bending equipment, wherein the moving device is used for adjusting the real-time position of a sheet metal plate, and the bending equipment is used for bending the sheet metal plate;
the collection end is used for gathering the real-time position information of a panel beating panel to specifically include:
the first sensor is arranged at a rear material blocking and positioning device of the bending equipment and used for limiting the displacement upper limit position of one side of the sheet metal plate, and when the moving device places the sheet metal plate at a pre-bending position, the first sensor outputs first real-time position information;
the second sensor is arranged at the other rear material blocking and positioning device of the bending equipment and used for limiting the upper limit displacement position of the other side of the sheet metal plate, and when the moving device places the sheet metal plate at the pre-bending position, the second sensor outputs second real-time position information;
the mobile device comprises a control unit, a processing unit and an execution unit;
the control unit is used for judging the contact states between the sheet metal plate and the first sensor and between the sheet metal plate and the second sensor respectively according to the first real-time position information and the second real-time position information and outputting the contact states to the processing unit;
the processing unit is respectively connected with the control unit and the execution unit and is used for forming an adjustment instruction according to the contact state and sending the adjustment instruction to the execution unit;
the execution unit is used for controlling the mobile terminal to adjust the real-time position of the sheet metal plate according to the adjustment instruction;
the moving device is further connected with the bending equipment, when the control unit indicates that the sheet metal plate is located at a preset standard bending position, the moving device stops moving, and then a control instruction is sent to the bending equipment so as to control the bending equipment to bend the sheet metal plate.
Preferably, a user coordinate system is formed through pre-teaching;
in the user coordinate system, defining the origin of the coordinate system as the intersection point of the central line of the upper surface of the lower die and the perpendicular bisector of the first sensor and the second sensor, defining the positive direction of the Y axis of the coordinate system as pointing to the mobile device from the bending equipment, defining the positive direction of the Z axis of the coordinate system as being vertical upward, and determining the positive direction of the X axis of the coordinate system according to the right-hand rule;
and after the sheet metal plate is placed on the upper surface of the lower die of the bending equipment by adopting the moving device, dynamically generating a tool coordinate system of the moving device according to the user coordinate system, wherein the tool coordinate system is superposed with the user coordinate system.
Preferably, the first sensor and the second sensor are both displacement sensors;
taking reading information of the first sensor when contacted as the first real-time position information; and
and adopting the reading information when the second sensor is contacted as the second real-time position information.
Preferably, the contact state includes a first contact state in which the sheet metal plate does not contact the first sensor and the second sensor;
the processing unit specifically comprises a first processing module, when the sheet metal plate is in the first contact state, the first processing module forms a first moving instruction and sends the first moving instruction to the execution unit, and the execution unit controls the moving device to translate until the sheet metal plate contacts the first sensor and/or the second sensor.
Preferably, the processing unit further comprises:
the counting module is used for counting the times of the translation instruction output by the first processing module;
and the alarm module is connected with the counting module, and outputs an alarm prompt if the count of the counting module exceeds a preset movement time threshold value, and simultaneously outputs a zero clearing signal to the counting unit to clear the count of the counting unit.
Preferably, the contact state includes a second contact state in which the sheet metal plate is in contact with the first sensor or the second sensor;
the processing unit specifically comprises a second processing module, when the sheet metal plate is in the second contact state, the second processing module forms a second moving instruction and sends the second moving instruction to the execution unit, and the execution unit controls the moving device to translate and rotate in an angle until the sheet metal plate simultaneously contacts the first sensor and the second sensor.
Preferably, the contact state includes a third contact state in which the sheet metal plate simultaneously contacts the first sensor and the second sensor;
the processing unit specifically comprises a third processing module, when the sheet metal plate is in the third contact state, the third processing module forms a third moving instruction and sends the third moving instruction to the execution unit, and the execution unit controls the moving device to perform translation and angular rotation until the sheet metal plate is moved to the standard bending position.
Preferably, the moving device is a robot, and the tool coordinate system is a coordinate system of an end effector of the robot.
The above technical solution further includes:
a rear material blocking positioning correction method is characterized by being applied to a rear material blocking positioning correction system;
the rear material blocking positioning and correcting method specifically comprises the following steps:
step S1: pre-teaching to form a user coordinate system;
the origin of the coordinate system of the user coordinate system is the intersection point of the center line of the upper surface of the lower die of the bending equipment and the perpendicular bisector of the first sensor and the second sensor;
the Y axis of the user coordinate system points to the mobile device from the bending equipment in the positive direction;
the positive direction of the Z axis of the user coordinate system is vertical upward;
the positive direction of the X axis of the user coordinate system is determined according to a right-hand rule;
step S2: the moving device places the sheet metal plate on the upper surface of a lower die of the bending equipment, and then a tool coordinate system of the moving device is dynamically generated and is superposed with the user coordinate system;
step S3: the collecting end collects the real-time position information of the sheet metal plate and outputs the real-time position information to the mobile device;
step S4, the mobile device judges the contact state of the sheet metal plate and the acquisition end according to the real-time position information, forms an adjustment instruction according to the contact state, and then controls the mobile terminal to adjust the real-time position of the sheet metal plate according to the adjustment instruction until the sheet metal plate is adjusted to a preset standard bending position;
step S5: and the moving device stops moving, and then sends a control instruction to the bending equipment so as to control the bending equipment to bend the sheet metal plate.
Preferably, the step S4 specifically includes:
step S41, the mobile device continuously obtains the real-time position information of the sheet metal plate, and continuously judges to obtain the contact state between the sheet metal plate and the collection end:
if the sheet metal plate is in a first contact state without contacting the first sensor and the second sensor, turning to step S42;
if the sheet metal plate is in a second contact state contacting the first sensor or the second sensor, turning to step S43;
if the sheet metal plate is in a third contact state of contacting the first sensor and the second sensor, turning to step S44;
step S42, the moving device performs a first moving operation to translate the sheet metal plate, and then returns to the step S41;
step S43, the moving device performs a second moving operation to translate and angularly rotate the sheet metal plate, and then returns to the step S41;
and step S44, the moving device performs a third moving operation to translate and rotate the sheet metal plate at an angle until the sheet metal plate reaches a preset standard bending position.
The technical scheme of the invention has the beneficial effects that: the algorithm can automatically search the standard metal plate bending position without acquiring the information of the position detection device; according to the algorithm, translation and rotation of the metal plate can be realized only by manually teaching a bending user coordinate system, the standard bending position of the metal plate is automatically searched, and the teaching work of the coordinate system is greatly simplified; the algorithm also sets the upper limit of the translation distance, and the problem of interference between the robot and the bending machine is avoided.
Drawings
Embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings. The drawings are, however, to be regarded as illustrative and explanatory only and not as restrictive of the scope of the invention.
FIG. 1 is a block diagram of a positioning and correction system for a backing material according to an embodiment of the present invention;
FIG. 2 is a structural diagram of a collection end according to an embodiment of the present invention;
FIG. 3 is a block diagram of a mobile device according to an embodiment of the present invention;
FIG. 4 is a block diagram of a processing unit according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating a method for positioning and correcting a backing material according to an embodiment of the present invention;
FIG. 6 is a schematic flow chart of step 4 of the method for positioning and correcting a backing material according to the present invention;
FIG. 7 is a position relationship diagram of the sheet metal plate not contacting the collecting end in the embodiment of the invention;
FIG. 8 is a diagram of the position relationship when the sheet metal plate contacts only the first sensor according to the embodiment of the present invention;
FIG. 9 is a diagram illustrating the position relationship of the sheet metal in the embodiment of the present invention when it contacts only the second sensor;
FIG. 10 is a diagram illustrating a positional relationship between a metal plate and a first sensor when the metal plate contacts the first sensor and a second sensor according to an embodiment of the present invention;
fig. 11 is a schematic position diagram of a metal plate in a standard bending position according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
A rear material blocking, positioning and correcting system is characterized by comprising a collecting end 1, a moving device 2 and a bending device 3, wherein the moving device 2 is used for adjusting the real-time position of a sheet metal plate Q, and the bending device 3 is used for bending the sheet metal plate Q;
gather end 1 and be used for gathering sheet metal plate Q's real-time positional information to specifically include:
the sensor 11 is arranged at a rear material blocking positioning device of the bending equipment 3 and used for limiting the upper limit displacement position of one side of the sheet metal plate Q, and when the moving device 2 places the sheet metal plate Q at the pre-bending position P3, the sensor 11 outputs real-time position information A1;
the sensor 12 is arranged at the other rear material blocking positioning device of the bending equipment 3 and used for limiting the upper limit displacement position of the other side of the sheet metal plate Q, and when the moving device 2 places the sheet metal plate Q at the pre-bending position P3, the sensor 12 outputs real-time position information A2;
the mobile device 2 comprises a control unit 21, a processing unit 22, an execution unit 23;
the control unit 21 is used for judging the contact states between the sheet metal plates Q and the sensors 11 and 12 respectively according to the real-time position information a1 and the real-time position information a2 and outputting the contact states to the processing unit 22;
the processing unit 22 is respectively connected with the control unit 21 and the execution unit 23, and the processing unit 22 is configured to form an adjustment instruction A3 according to the contact state and issue an adjustment instruction A3 to the execution unit 23;
the execution unit 23 is configured to control the mobile terminal 2' to adjust the real-time position of the sheet metal plate Q according to the adjustment instruction a 3;
the moving device 2 is further connected to the bending apparatus 3, and when the control unit 21 indicates that the sheet metal Q is currently located at the preset standard bending position P0, the moving device 2 stops moving, and then sends a control command a4 to the bending apparatus 3 to control the bending apparatus 3 to perform a bending operation on the sheet metal Q.
In a preferred embodiment, a user coordinate system is formed by pre-teaching;
in a user coordinate system, defining a coordinate system origin 0 as an intersection point of a central line of the upper surface of the lower die of the bending equipment 3 and a perpendicular bisector of the sensor 11 and the sensor 12, defining a positive direction of a Y axis of the coordinate system as pointing from the bending equipment 3 to the mobile device 2, defining a positive direction of a Z axis of the coordinate system as being vertically upward, and determining a positive direction of an X axis of the coordinate system according to a right-hand rule;
after the sheet metal plate Q is placed on the upper surface of the lower die of the bending apparatus 3 by using the moving device 2, a tool coordinate system of the moving device 2 is dynamically generated according to the user coordinate system, and the tool coordinate system coincides with the user coordinate system.
Specifically, the position reading of the sensor 11 on the X-axis of the user coordinate system is L1, and the position reading of the sensor 12 on the X-axis of the user coordinate system is L2.
Specifically, the sensor 11 sets an upper displacement limit of K1, and the sensor 12 sets an upper displacement limit of K2.
In a preferred embodiment, sensor 11 and sensor 12 are both displacement sensors;
the reading information when the sensor 11 is touched is adopted as the real-time position information a 1; and
the read information at the time when the sensor 12 is touched is used as the real-time position information a 2.
Specifically, the real-time position information a1 is a reading K1 'of the length of the sheet metal Q in contact with the sensor 11, and the real-time position information a2 is a reading K2' of the length of the sheet metal Q in contact with the sensor 12.
In a preferred embodiment, the contact state includes a contact state B1 in which the sheet metal material Q is not in contact with the sensors 11 and 12;
the processing unit 22 specifically includes a processing module 221, when the sheet metal plate Q is in the contact state B1, the processing module 221 forms a moving instruction S1 and issues the moving instruction to the execution unit 23, and the execution unit 23 controls the moving device 2 to translate until the sheet metal plate Q contacts the sensor 11 and/or the sensor 12.
In a preferred embodiment, the processing unit 22 further comprises:
the counting module 222, the counting module 222 is configured to count the number of times that the processing module 221 outputs the moving instruction S1;
the alarm module 223 is connected to the counting module 222, and if the count of the counting module 222 exceeds the preset moving time threshold K, the alarm module 223 outputs an alarm prompt a5, and simultaneously outputs a zero clearing signal a6 to the counting module 222 to clear the count of the counting module 222.
Specifically, the preset moving time threshold K is 5 times.
In a preferred embodiment, the contact state includes a contact state B2 in which the sheet metal material Q contacts the sensor 11 or the sensor 12;
the processing unit 22 specifically includes a processing module 224, when the sheet metal Q is in the contact state B2, the processing module 224 forms a moving command S2 and issues the moving command S2 to the execution unit 23, and the execution unit 23 controls the moving device 2 to perform translation and angular rotation until the sheet metal Q simultaneously contacts the sensor 11 and the sensor 12.
In a preferred embodiment, the contact state includes a contact state B3 in which the sheet metal material Q is simultaneously in contact with the sensor 11 or the sensor 12;
the processing unit 22 specifically includes a processing module 225, when the sheet metal Q is in the contact state B3, the processing module 225 forms a moving command S3 and issues the command to the execution unit 23, and the execution unit 23 controls the moving device 2 to perform translation and angular rotation until the sheet metal Q is moved to the standard bending position P0.
In a preferred embodiment, the mobile device 2 is a robot and the tool coordinate system is the coordinate system of the robot's end effector.
Specifically, the content of the move command S1 is:
taking the inverse number of one half of a smaller value of the displacement upper limit K1 and the displacement upper limit K2 to obtain a translation distance M1;
the moving device 2 moves along the Y-axis of the tool coordinate system by the length of the translation distance M1, and the sheet metal material Q moves with the moving device 2.
Specifically, the content of the move command S2 is:
if the sheet metal plate is only in contact with the sensor 11:
subtracting the displacement upper limit K1 from the reading K1' to obtain a difference value delta 1, and obtaining the inverse number of a smaller value in the difference value delta 1 and the displacement upper limit K2, so that the mobile device 4 obtains the translation distance M2;
subtracting the displacement upper limit K2 from the reading K2' to obtain a difference value delta 2, subtracting the absolute value of the difference value delta 2 from the absolute value of the difference value delta 1 to obtain a difference value delta 3, subtracting the position reading L1 from the position reading L2 to obtain a difference value delta 4, and according to an arctangent function obtained by dividing the difference value delta 3 by the difference value delta 4, moving the device 2 to obtain a rotation angle N1;
the moving device 2 moves the translation distance M1 along the Y axis of the tool coordinate system, and rotates by the rotation angle N1 along the Z axis of the tool coordinate system, and the sheet metal material Q moves along with the moving device 2.
If the sheet metal panel Q is in contact with the sensor 12 only:
then the inverse number of a smaller value is taken from the displacement upper limit K1 and the difference value delta 2, and the mobile device 2 obtains the translation distance M3;
the mobile device 2 obtains a rotation angle N2 according to the arctan function obtained by dividing the difference Δ 3 by the difference Δ 4;
the moving device 2 moves the translation distance M3 along the Y axis of the tool coordinate system, and rotates by the rotation angle N2 along the Z axis of the tool coordinate system, and the sheet metal material Q moves along with the moving device 2.
Specifically, the content of the move command S3 is:
subtracting the product of the position reading L1 and the difference delta 2 from the product of the position reading L2 and the difference delta 1 to obtain a difference delta 5, and dividing the difference delta 5 and the difference delta 4 to obtain a translation distance M4;
the mobile device 2 obtains a rotation angle N3 according to the arctan function obtained by dividing the difference Δ 3 by the difference Δ 4;
the moving device 2 moves the translation distance M4 along the Y axis of the tool coordinate system, and rotates by the rotation angle N3 along the Z axis of the tool coordinate system, so that the sheet metal material Q moves along with the moving device 2.
In a preferred embodiment, the moving device 2 is a robot and the tool coordinate system is the coordinate system of the end effector of the robot.
The technical scheme of the invention also comprises a rear stopping material positioning and correcting method which is characterized by being applied to a rear stopping material positioning and correcting system;
the rear blocking positioning and correcting method specifically comprises the following steps:
step S1: pre-teaching to form a user coordinate system;
a coordinate system origin O of the user coordinate system is an intersection point of a center line of the upper surface of the lower die of the bending device 3 and the perpendicular bisector of the sensor 11 and the sensor 12;
the Y-axis of the user coordinate system points from the bending device 3 to the mobile device 2 in the forward direction;
the positive direction of the Z axis of the user coordinate system is vertical upward;
determining the positive direction of an X axis of a user coordinate system according to a right-hand rule;
step S2: the moving device 2 places the sheet metal plate Q on the upper surface of a lower die of the bending equipment 3, and then a tool coordinate system of the moving device 2 is dynamically generated and is superposed with a user coordinate system;
step S3: the collecting end 1 collects real-time position information of the sheet metal plate Q and outputs the real-time position information to the moving device 2;
step S4, the mobile device 2 judges the contact state of the sheet metal plate Q and the acquisition end 1 according to the real-time position information, an adjustment instruction A 'is formed according to the contact state, and then the mobile terminal 2' is controlled to adjust the real-time position of the sheet metal plate Q according to the adjustment instruction A until the sheet metal plate Q is adjusted to a preset standard bending position P0;
step S5: the moving device 2 stops moving, and then sends a control command a ″ to the bending equipment 3 to control the bending equipment 3 to perform bending operation on the sheet metal material.
10. The backstop positioning correction method according to claim 9, wherein the step S4 specifically comprises:
step S41, the mobile device 2 continuously obtains the real-time position information of the sheet metal plate Q, and continuously judges the contact state between the sheet metal plate Q and the collection end 1:
if the sheet metal plate Q is in the contact state B1 where the sensor 11 and the sensor 12 are not in contact, the process goes to step S42;
if the sheet metal plate Q is in the contact state B2 of contacting the sensor 11 or the sensor 12, the process goes to step S43;
if the sheet metal plate Q is in the contact state B3 where the sensor 11 and the sensor 12 are in contact, the process goes to step S44;
step S42, the moving device 2 performs moving operation S1 to translate the sheet metal plate Q, and then returns to the step S41;
step S43, the moving device 2 performs moving operation S2 to translate and angularly rotate the sheet metal plate Q, and then returns to the step S41;
in step S44, the moving device 2 performs moving operation S3 to translate and angularly rotate the sheet metal Q until the sheet metal Q reaches the preset standard bending position P0.
The technical scheme of the invention has the beneficial effects that: the algorithm can automatically search the standard bending position of the metal plate without acquiring the information of the position detection device; according to the algorithm, translation and rotation of the metal plate can be realized only by manually teaching a bending user coordinate system, the standard bending position of the metal plate is automatically searched, and the teaching work of the coordinate system is greatly simplified; the algorithm also sets the upper limit of the translation distance, and the problem of interference between the robot and the bending machine is avoided.
While the specification concludes with claims defining exemplary embodiments of particular structures for practicing the invention, it is believed that other modifications will be made in the spirit of the invention. While the above invention sets forth presently preferred embodiments, these are not intended as limitations.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the spirit and scope of the invention.

Claims (5)

1. The rear material blocking, positioning and correcting system is characterized by comprising a collecting end, a moving device and bending equipment, wherein the moving device is used for adjusting the real-time position of a sheet metal plate, and the bending equipment is used for bending the sheet metal plate;
the collection end is used for gathering the real-time position information of a panel beating panel to specifically include:
the first sensor is arranged at a first preset position and used for limiting the displacement upper limit position of one side of the sheet metal plate, and when the moving device places the sheet metal plate at a pre-bending position, the first sensor outputs first real-time position information;
the second sensor is arranged at a second preset position and used for limiting the displacement upper limit position of the other side of the sheet metal plate, and when the moving device places the sheet metal plate at the pre-bending position, the second sensor outputs second real-time position information;
the mobile device comprises a control unit, a processing unit and an execution unit;
the control unit is used for judging the contact states between the sheet metal plate and the first sensor and between the sheet metal plate and the second sensor respectively according to the first real-time position information and the second real-time position information and outputting the contact states to the processing unit;
the processing unit is respectively connected with the control unit and the execution unit and is used for forming an adjustment instruction according to the contact state and sending the adjustment instruction to the execution unit;
the execution unit is used for controlling the mobile device to adjust the real-time position of the sheet metal plate according to the adjustment instruction;
the mobile device is also connected with the bending equipment, and when the control unit indicates that the sheet metal plate is currently at a preset standard bending position, the mobile device stops moving and then sends a control instruction to the bending equipment so as to control the bending equipment to bend the sheet metal plate;
the contact state comprises a first contact state that the sheet metal plate is not in contact with the first sensor and the second sensor;
the processing unit specifically comprises a first processing module, when the sheet metal plate is in the first contact state, the first processing module forms a first moving instruction and sends the first moving instruction to the execution unit, and the execution unit controls the moving device to translate until the sheet metal plate contacts the first sensor and/or the second sensor;
the processing unit further includes:
the counting module is used for counting the times of outputting the first moving instruction by the first processing module;
the alarm module is connected with the counting module, and outputs an alarm prompt if the count of the counting module exceeds a preset movement time threshold, and simultaneously outputs a zero clearing signal to the counting module to clear the count of the counting module;
the contact state comprises a second contact state that the sheet metal plate is in contact with the first sensor or the second sensor;
the processing unit specifically comprises a second processing module, when the sheet metal plate is in the second contact state, the second processing module forms a second movement instruction and sends the second movement instruction to the execution unit, and the execution unit controls the moving device to perform translation and angular rotation until the sheet metal plate simultaneously contacts the first sensor and the second sensor;
the contact state comprises a third contact state that the sheet metal plate is simultaneously contacted with the first sensor and the second sensor;
the processing unit specifically comprises a third processing module, when the sheet metal plate is in the third contact state, the third processing module forms a third moving instruction and sends the third moving instruction to the execution unit, and the execution unit controls the moving device to perform translation and angular rotation until the sheet metal plate is moved to the standard bending position.
2. The backstop positioning correction system according to claim 1, characterized in that after the sheet metal plate is placed on the upper surface of the lower die of the bending device by the moving device, a tool coordinate system of the moving device is dynamically generated at first, and the tool coordinate system is overlapped with a predefined user coordinate system;
in the user coordinate system, defining the origin of the coordinate system as the intersection point of the central line of the upper surface of the lower die and the perpendicular bisector of the first sensor and the second sensor, defining the positive direction of the Y axis of the coordinate system as pointing to the mobile device from the bending equipment, defining the positive direction of the Z axis of the coordinate system as being vertical upward, and determining the positive direction of the X axis of the coordinate system according to the right-hand rule;
the first preset position is a coordinate value of the first sensor on an X axis of the user coordinate system; and
the second preset position is a coordinate value of the second sensor on an X axis of the user coordinate system.
3. The back stop positioning correction system according to claim 1, wherein the first sensor and the second sensor are both displacement sensors;
reading information when the first sensor is contacted is adopted as the first real-time position information; and
and adopting the reading information when the second sensor is contacted as the second real-time position information.
4. The backstop positioning correction system according to claim 2 wherein said moving means is a robot and said tool coordinate system is the coordinate system of the end effector of said robot.
5. A back stock positioning correction method, which is characterized in that the method is applied to the back stock positioning correction system of any one of claims 1-4;
the rear material blocking positioning correction method specifically comprises the following steps:
step S1: the moving device places the sheet metal plate on the upper surface of a lower die of the bending equipment;
step S2: the mobile device dynamically generates a tool coordinate system of the mobile device, wherein the tool coordinate system is superposed with a predefined user coordinate system;
step S3: the collecting end collects real-time position information of the sheet metal plate and outputs the real-time position information to the mobile device;
step S4, the mobile device judges the contact state of the sheet metal plate and the acquisition end according to the real-time position information:
if the sheet metal plate is not in contact with the first sensor and the second sensor, the moving device performs a first moving operation, translates the sheet metal plate until the sheet metal plate is in contact with the first sensor and/or the second sensor, and repeats step S4;
if the sheet metal is in contact with the first sensor or the second sensor, the moving device performs a second moving operation, performs translation and angular rotation on the sheet metal plate until the sheet metal plate is in contact with the first sensor and the second sensor at the same time, and repeats step S4;
if the metal plate simultaneously contacts the first sensor and the second sensor, the moving device carries out third moving operation, and the metal plate is translated and rotated in an angle until the metal plate reaches a preset standard bending position.
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CN113607066B (en) * 2021-08-16 2023-09-12 上海发那科机器人有限公司 Calibration method of optical axis coordinate system of laser displacement sensor

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