CN112118918A

CN112118918A - Bending following track planning method, bending system, robot and storage device

Info

Publication number: CN112118918A
Application number: CN201980017452.1A
Authority: CN
Inventors: 张志明
Original assignee: Shenzhen A&E Intelligent Technology Institute Co Ltd
Current assignee: Shenzhen A&E Intelligent Technology Institute Co Ltd
Priority date: 2019-02-12
Filing date: 2019-02-12
Publication date: 2020-12-22
Anticipated expiration: 2039-02-12
Also published as: WO2020163997A1; CN112118918B

Abstract

A bending following trajectory planning method is characterized in that processing parameters of bending processing of a plate by a bending machine (303) and auxiliary supporting equipment (304) are obtained, and the processing parameters comprise notch width W of a lower die, knife edge radius r of an upper die, thickness S of the plate, descending distance d (t) of the upper die at each moment t, and distance L from a reference point of the auxiliary supporting equipment in contact with the plate to a notch central line of the lower die at the initial bending moment; iteratively calculating the turnover angle alpha (t) of the plate at each moment t according to the descending distance d (t) of the upper die at each moment t, the knife edge radius r of the upper die, the thickness S of the plate and the notch width W of the lower die; determining the distance between the reference point of the auxiliary supporting equipment and the lower die at each moment t according to the turning angle alpha (t) and the distance L from the reference point of the auxiliary supporting equipment to the notch center line of the lower die at the initial bending moment; and planning the movement of the auxiliary supporting equipment according to the distance between the reference point of the auxiliary supporting equipment and the lower die and the turnover angle alpha (t) of the plate. A bending processing system comprises a bending machine (303), an auxiliary supporting device (304), a memory (302) and a processor (301), wherein the processor (301) loads program instructions and executes a bending following trajectory planning method. A robot includes a memory (302), a processor (301), a communication circuit (403), a drive mechanism (404), and an end effector (405), plans a motion of the end effector (405), and controls the motion of the end effector (405) according to the obtained motion plan. A storage device stores program instructions that can be loaded and execute a bend following trajectory planning method. The motion accuracy of the auxiliary supporting equipment in the bending process can be improved, and the production quality of the bending process is improved.

Description

Bending following track planning method, bending system, robot and storage device

[ technical field ] A method for producing a semiconductor device

The application relates to the technical field of robot control, in particular to a bending following track planning method, a bending processing system, a robot and a storage device.

[ background of the invention ]

The lower die of the bending machine is generally in a shape of a triangle which is concave downwards, and after a plate is placed on the lower die of the bending machine, the upper die of the bending machine can move downwards to extrude the plate to deform so that the plate is bent downwards. In pressing down the sheet, which may cause the sheet edge to tilt, a suitable auxiliary support device (e.g. a robot) may be used to support the edge of the sheet (or other parts outside the upper and lower dies of the bending machine) during the bending operation, and therefore the auxiliary support device needs to be able to follow the movement of the part it supports. In this process, the auxiliary support device needs to follow the movement of the sheet precisely, otherwise it affects the shape and size of the sheet obtained after bending, and even the quality of the sheet. Therefore, improving the accuracy of the movement of the auxiliary support device is important to the quality of the bending process.

[ summary of the invention ]

The application provides a bending following track planning method, a bending processing system, a robot and a storage device, which are used for improving the movement accuracy of auxiliary supporting equipment in a bending process.

In order to solve the technical problem, the application provides a technical scheme for providing a bending following trajectory planning method. The method is used for a bending system comprising a bending machine and an auxiliary supporting device, wherein the bending machine comprises an upper die and a lower die and is used for bending and deforming the part of a plate material between the upper die and the lower die through the relative movement of the upper die and the lower die, and the auxiliary supporting device is used for following and supporting the part of the plate material outside the upper die and the lower die; the method comprises the following steps: obtaining processing parameters of bending the plate by the bending machine and the auxiliary supporting equipment, wherein the processing parameters comprise the width W of a notch of the lower die, the radius r of a knife edge of the upper die, the thickness S of the plate, the descending distance d (t) of the upper die relative to the bending initial time at each moment, and the distance L from a reference point of the auxiliary supporting equipment, which is in contact with the plate, to the central line of the notch of the lower die at the bending initial time; iteratively calculating the turnover angle alpha (t) of the plate at each moment in the machining process according to the descending distance d (t) of the upper die, the knife edge radius r of the upper die, the thickness S of the plate and the notch width W of the lower die at each moment; determining an expected distance m (t) between the reference point of the auxiliary supporting equipment and the lower die at each moment according to the turning angle alpha (t) at each moment and the distance L from the reference point of the auxiliary supporting equipment to the notch center line of the lower die at the initial bending moment; and planning the movement of the auxiliary supporting equipment according to the expected distance m (t) between the reference point of the auxiliary supporting equipment and the lower die at each moment and the overturning angle alpha (t) of the plate.

In order to solve the technical problem, another technical scheme provided by the application is to provide a bending processing system. The system comprises a bending machine, an auxiliary supporting device, a memory and a processor, wherein the bending machine comprises an upper die and a lower die and is used for bending and deforming the part, located between the upper die and the lower die, of a sheet material through relative movement of the upper die and the lower die, the auxiliary supporting device is used for following and supporting the part, located outside the upper die and the lower die, of the sheet material, the memory stores program instructions, and the processor can load the program instructions and execute a bending following trajectory planning method, and the method comprises the following steps of: obtaining processing parameters of bending the plate by the bending machine and the auxiliary supporting equipment, wherein the processing parameters comprise the width W of a notch of the lower die, the radius r of a knife edge of the upper die, the thickness S of the plate, the descending distance d (t) of the upper die relative to the bending initial time at each moment, and the distance L from a reference point of the auxiliary supporting equipment, which is in contact with the plate, to the central line of the notch of the lower die at the bending initial time; iteratively calculating the turnover angle alpha (t) of the plate at each moment in the machining process according to the descending distance d (t) of the upper die, the knife edge radius r of the upper die, the thickness S of the plate and the notch width W of the lower die at each moment; determining an expected distance m (t) between the reference point of the auxiliary supporting equipment and the lower die at each moment according to the turning angle alpha (t) at each moment and the distance L from the reference point of the auxiliary supporting equipment to the notch center line of the lower die at the initial bending moment; and planning the movement of the auxiliary supporting equipment according to the expected distance m (t) between the reference point of the auxiliary supporting equipment and the lower die at each moment and the overturning angle alpha (t) of the plate.

In order to solve the technical problem, another technical scheme provided by the application is to provide a bending processing robot. The robot comprises a memory, a processor, a communication circuit, a driving mechanism and a tail end executing mechanism, wherein the communication circuit is used for communicating with a bending machine for carrying out the bending process, the bending machine comprises an upper die and a lower die and is used for bending and deforming the part, located between the upper die and the lower die, of a plate through the relative movement of the upper die and the lower die; the memory stores program instructions that the processor can load and execute: obtaining processing parameters of bending the plate by the bending machine and the tail end executing mechanism, wherein the processing parameters comprise the width W of a notch of the lower die, the radius r of a knife edge of the upper die, the thickness S of the plate, the descending distance d (t) of the upper die relative to the bending initial time at each moment, and the distance L from a reference point of the tail end executing mechanism in contact with the plate to the central line of the notch of the lower die at the bending initial time; iteratively calculating the turnover angle alpha (t) of the plate at each moment in the machining process according to the descending distance d (t) of the upper die, the knife edge radius r of the upper die, the thickness S of the plate and the notch width W of the lower die at each moment; determining an expected distance m (t) between the reference point of the tail end executing mechanism and the lower die at each moment according to the turning angle alpha (t) at each moment and the distance L from the reference point of the tail end executing mechanism to the notch center line of the lower die at the bending initial moment; planning the movement of the tail end executing mechanism according to the expected distance m (t) between the reference point of the tail end executing mechanism and the lower die at each moment and the overturning angle alpha (t) of the plate; and controlling the movement of the end executing mechanism according to the obtained movement plan so as to follow and support the part of the plate outside the upper die and the lower die.

In order to solve the above technical problem, the present application provides a storage device. The bending machine comprises an upper die and a lower die, and is used for bending and deforming the part of a plate positioned between the upper die and the lower die through the relative movement of the upper die and the lower die, and an auxiliary supporting device used for following and supporting the part of the plate positioned outside the upper die and the lower die; the method comprises the following steps: obtaining processing parameters of bending the plate by the bending machine and the auxiliary supporting equipment, wherein the processing parameters comprise the width W of a notch of the lower die, the radius r of a knife edge of the upper die, the thickness S of the plate, the descending distance d (t) of the upper die relative to the bending initial time at each moment, and the distance L from a reference point of the auxiliary supporting equipment, which is in contact with the plate, to the central line of the notch of the lower die at the bending initial time; iteratively calculating the turnover angle alpha (t) of the plate at each moment in the machining process according to the descending distance d (t) of the upper die, the knife edge radius r of the upper die, the thickness S of the plate and the notch width W of the lower die at each moment; determining an expected distance m (t) between the reference point of the auxiliary supporting equipment and the lower die at each moment according to the turning angle alpha (t) at each moment and the distance L from the reference point of the auxiliary supporting equipment to the notch center line of the lower die at the initial bending moment; and planning the movement of the auxiliary supporting equipment according to the expected distance m (t) between the reference point of the auxiliary supporting equipment and the lower die at each moment and the overturning angle alpha (t) of the plate.

The beneficial effect of this application is: the turnover angle alpha (t) of the plate at each moment in the machining process is calculated in an iterative mode according to the descending distance d (t) of the lower upper die at each moment, the knife edge radius r of the upper die, the thickness S of the plate and the notch width W of the lower die, so that the obtained turnover angle alpha (t) of the plate is more accurate, the motion plan of the obtained auxiliary supporting equipment is closer to the actual motion of a corresponding point on the plate, the accuracy of the tracking track of the auxiliary supporting equipment is improved, the motion accuracy of the equipment is improved, and the bending machining quality is improved.

[ description of the drawings ]

Fig. 1 is a schematic diagram of a bending machine with an auxiliary support device.

Fig. 2 is a schematic flow chart of an embodiment of a bending following trajectory planning method according to the present application.

Fig. 3 is a schematic flow chart of another embodiment of the bending following trajectory planning method according to the present application.

Figure 4 shows the relationship of the position of the sheet material and the various components of the bending machine and the auxiliary support device during bending.

Fig. 5 is a schematic structural diagram of an embodiment of the bending system of the present application.

Fig. 6 is a schematic structural diagram of an embodiment of the bending robot of the present application.

[ detailed description ] embodiments

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.

Auxiliary support devices may be used in the bending process. As shown in fig. 1, the lower die of the bending machine has a groove, a plate is placed on the lower die of the bending machine, and the upper die of the bending machine is moved downward by a servo motor and a transmission mechanism, so as to press the plate to deform the plate, i.e., to bend and deform a portion of the plate located between the upper die and the lower die by the relative movement of the upper die and the lower die. At the moment, the plate is bent and deformed downwards at the contact point of the plate and the upper die of the bending machine (corresponding to the position of the center line of the lower die of the bending machine), and the two sides of the plate are tilted upwards. Therefore, it is necessary to follow the movement of the portion of the panel that is turned up using the auxiliary support apparatus for keeping the support and fixation of the panel during the bending process, that is, the auxiliary support apparatus for following and supporting the portion of the panel located outside the upper and lower dies. Assuming that a point on the sheet material comes into contact with the auxiliary support device at the very beginning of bending, it is desirable that the auxiliary support device also always comes into contact with the point and supports the sheet material in the subsequent bending operation, and therefore, as long as the movement of the point on the sheet material in contact with the auxiliary support device at the very beginning of bending throughout the bending operation can be determined, the planned movement of the auxiliary support device in the bending operation can be known. The auxiliary support device may be implemented by using a robot (e.g., an articulated robot), for example, an end actuator of the robot may be used to follow and support the sheet material.

Referring to fig. 2, fig. 2 is a schematic flow chart illustrating an embodiment of a bending following trajectory planning method according to the present application. The method comprises the following steps:

s101: and acquiring processing parameters of bending the plate by the bending machine and the auxiliary supporting equipment. The processing parameters comprise the width W of the notch of the lower die, the radius r of the knife edge of the upper die, the thickness S of the plate, the descending distance d (t) of the upper die relative to the bending initial time at each time t, and the distance L from the reference point of the auxiliary supporting equipment in contact with the plate to the central line of the notch of the lower die at the bending initial time.

The processing parameters of the bending machine and the auxiliary supporting equipment for bending the plate can be preset according to the structure of the equipment and the processing requirements. Among these parameters, the notch width W of the lower die and the edge radius r of the upper die are inherent dimensions of the bending machine, and may be stored in the control system in advance. The thickness S of the plate is changed along with the difference of the plate to be bent, and the plate can be obtained in a manual input mode. And the descending distance d (t) of the upper die relative to the bending initial time at each moment can be calculated according to the descending speed of the upper die, wherein the bending initial time refers to the moment when the upper die is just contacted with the plate, the plate is not deformed at the moment, and the point of the auxiliary supporting equipment contacted with the plate at the bending initial time is taken as a reference point. Fig. 4 shows the positional relationship of the plate and the bending machine components and the auxiliary support device during bending to help understand the physical significance of the above parameters, and in fig. 4, the reference point of the auxiliary support device is denoted as P. It should be understood that fig. 4 only shows the position relationship of the plate and the bending machine components and the auxiliary support device in the x-axis and y-axis directions (as shown in fig. 4) during bending, and in actual practice, the movement of the auxiliary support device in the z-axis direction (the direction perpendicular to the x-axis and the y-axis) needs to be controlled. Since the position of the plate material in the z-axis during the bending process can be regarded as being substantially unchanged, the position of the auxiliary supporting device in the z-axis can be kept unchanged or adjusted according to the needs of other processes, as long as the auxiliary supporting device can be kept consistent or substantially consistent with the plate material, and the auxiliary supporting device is not limited herein.

It should be understood that various process parameters mentioned in the present application may be substituted with other parameters associated therewith without departing from the principles and spirit of the present application. For example, the distance from the reference point to the center line of the notch of the lower die can be replaced by the distance from the reference point to the edge of the notch of the lower die, and only half of the width of the notch of the lower die needs to be added in the related calculation process.

S102: and (3) iteratively calculating the turnover angle alpha (t) of the plate at each moment t in the machining process according to the descending distance d (t) of the upper die, the knife edge radius r of the upper die, the thickness S of the plate and the notch width W of the lower die at each moment.

The diagonal face edge of the turning angle is half of the groove width, and the opposite edge is the length of the line segment from the lower surface of the plate to the straight edge extension line of the plate, namely:

since the descending process is continuous, it can be considered that the turnover angle is continuously changed. Thus, the turnover angle α (t) of the sheet material at each time t can be iteratively calculated using the following formula:

wherein α (t-1) represents the turnover angle of the plate at the moment before the moment t, and the turnover angle α (0) of the plate at the initial bending moment is equal to zero.

In this embodiment, it is considered that the edge of the upper die has a certain radius in the actual bending operation, and therefore the lower surface of the plate material does not have a sharp broken line (or folded surface) shape, but has an arc (or arc surface) with a certain curvature. Iterative calculation is carried out by introducing the knife edge radius r of the upper die, so that the calculation accuracy of the turnover angle alpha (t) of the plate at each moment can be improved.

S103: and determining the expected distance m (t) between the reference point of the auxiliary supporting equipment at each moment t and the lower die according to the turning angle alpha (t) at each moment t and the distance L from the reference point of the auxiliary supporting equipment at the initial bending moment to the central line of the notch of the lower die.

The expected distance m (t) between the reference point of the auxiliary supporting device and the lower die at each moment is equal to the distance L between the reference point at the initial moment and the central line of the notch of the lower die minus the length of the plate entering the notch. Therefore, the desired distance m (t) from the reference point of the lower auxiliary support apparatus to the lower mold at each time can be calculated using the following formula:

wherein m (t) refers to the distance from the reference point of the auxiliary supporting equipment to the edge of the notch of the lower die at each moment.

S104: and planning the movement of the auxiliary supporting equipment according to the expected distance m (t) between the reference point of the auxiliary supporting equipment and the lower die at each moment and the overturning angle alpha (t) of the plate.

M (t) and alpha (t) are obtained, namely the position relation between the position where the reference point of the auxiliary supporting equipment should reach at each moment and the lower die is known. Since the lower mold is fixed, coordinates in a reference coordinate system that the reference point of the auxiliary supporting device should reach at each moment can be obtained, wherein the reference coordinates can be a world coordinate system, a base coordinate system of the robot, or other coordinate systems fixed relative to the lower mold, and are not limited herein. Further, the movement of the auxiliary support device can be planned so that the reference point of the auxiliary support device can reach the desired coordinates at each moment of the bending operation. The specific planning method depends on the actual structure of the auxiliary support device, for example, if the auxiliary support device is an end effector of a multi-axis robot, the movements of the axes of the multi-axis robot need to be planned so that the reference points on the end effector can reach the specified coordinate positions at various times. Planning the movement of each axis of the multi-axis robot based on the expected movement of the known end effector is a conventional technique in the art and will not be described herein.

According to the embodiment, the turnover angle alpha (t) of the plate at each moment in the machining process is calculated in an iterative manner according to the descending distance d (t) of the lower upper die at each moment, the knife edge radius r of the upper die, the thickness S of the plate and the notch width W of the lower die, so that the obtained turnover angle alpha (t) of the plate is more accurate, the motion plan of the obtained auxiliary supporting equipment is closer to the actual motion of a corresponding point on the plate, the accuracy of the tracking track of the auxiliary supporting equipment is improved, the motion accuracy of the equipment is improved, and the bending machining quality is improved.

Referring to fig. 3, fig. 3 is a schematic flow chart illustrating another embodiment of the bending following trajectory planning method according to the present application. The method comprises the following steps:

s201: and acquiring processing parameters of bending the plate by the bending machine and the auxiliary supporting equipment. The processing parameters comprise the width W of the notch of the lower die, the radius r of the knife edge of the upper die, the thickness S of the plate, the descending distance d (t) of the lower die relative to the bending initial time at each moment, the distance L from the reference point of the auxiliary supporting equipment in contact with the plate to the central line of the notch of the lower die at the bending initial time and the neutral layer coefficient co of the plate.

Unlike step S101, the neutral layer coefficient co of the plate material is considered in the present embodiment. The lower surface of the plate can be stretched to a certain degree in the bending process, and errors can be brought to subsequent calculation if the stretching amount is not considered. The neutral layer coefficient is the position where the bending outside tensile stress is equal to the inside compressive stress, determined by the mechanical properties of the sheet, expressed as a percentage of the material thickness, measured from the inside bending radius, and has a value ranging between 0 and 1. The neutral layer coefficient can be used to calculate the amount of stretch (i.e., elongation) of the lower surface of the sheet in a subsequent step.

S202: and (3) iteratively calculating the turnover angle alpha (t) of the plate at each moment in the machining process according to the descending distance d (t) of the upper die, the knife edge radius r of the upper die, the thickness S of the plate and the notch width W of the lower die at each moment.

Step S202 is similar to step S102, and is not described herein again.

S203: and determining the elongation delta L (t) of the lower surface of the plate at each moment according to the neutral layer coefficient co of the plate.

Through the neutral layer coefficient co obtained in step S201, the elongation Δ l (t) of the lower surface of the plate at each time in the bending process can be determined, and the specific formula is as follows:

ΔL(t)＝α(t)(r+co*S)

s204: and determining the expected distance m (t) between the reference point of the auxiliary supporting equipment and the lower die at each moment according to the turning angle alpha (t) at each moment, the distance L from the reference point of the auxiliary supporting equipment to the central line of the notch of the lower die at the initial bending moment and the elongation delta L (t) of the lower surface of the plate.

Further, on the basis of obtaining the extension Δ l (t) of the lower surface of the plate material at each time in the bending process, the calculation method of the expected distance m (t) between the reference point of the auxiliary supporting device and the lower die at each time in step S103 may be corrected. Specifically, the desired distance m (t) between the reference point of the auxiliary support apparatus and the lower die is calculated using the following formula:

s205: and determining expected coordinates of the tool center point of the auxiliary supporting equipment at each moment according to the expected distance m (t) between the reference point of the auxiliary supporting equipment and the lower die at each moment, the turnover angle alpha (t) of the plate and the position relation between the reference point of the auxiliary supporting equipment and the tool center point.

In some embodiments, the reference point of the auxiliary support device is not the same as its Tool Center Point (TCP), and the motion planning of the auxiliary support device is typically performed by planning the coordinates of its TCP point. Therefore, in step S205, the desired coordinates of the TCP point of the auxiliary supporting device at each time point can be further determined according to the position relationship between the reference point of the auxiliary supporting device and the TCP point.

For example, as shown in fig. 4, the extending direction of the plate material at the initial bending time is taken as an x-axis, the direction perpendicular to the plate material is taken as a y-axis, and at the initial bending time, the connecting line of the TCP point (point O in fig. 4) of the auxiliary supporting device and the reference point (point P in the figure) is parallel to the y-axis and the distance is h. During bending, the auxiliary support device moves along with the sheet, and the TCP point and the reference point move to the positions of the O 'point and the P' point shown in the figure respectively. In this case, the desired coordinates x (t) and y (t) of the TCP point of the auxiliary support device at each moment can be determined using the following equations:

wherein, X (0) and Y (0) are coordinates of a TCP point of the auxiliary supporting equipment at the initial bending moment.

After the expected coordinates of the TCP point of the auxiliary supporting equipment at each moment are obtained, the movement of the auxiliary supporting equipment can be planned according to the coordinates, so that the TCP point of the auxiliary supporting equipment can reach the expected coordinates at each moment of the bending operation.

S206: and planning the posture of the auxiliary supporting equipment according to the turning angle alpha (t) of the plate at each moment.

In some embodiments, the movement of the auxiliary support device may comprise, in addition to a translational movement, an overturning movement, so that the support surface of the auxiliary support device in contact with the sheet material can be kept parallel to the lower surface of the sheet material. Therefore, in step S206, the posture of the auxiliary supporting device may be further planned according to the turning angle α (t) of the sheet material at each time, so that the included angle between the tool coordinate system of the auxiliary supporting device and the reference coordinate system is equal to the turning angle α (t) of the sheet material at each time.

In this embodiment, on the basis of the previous embodiment, the neutral layer coefficient of the plate material is further considered, so that the extension amount of the lower surface of the plate material in the bending process can be obtained, and the calculation method of the expected distance between the reference point of the auxiliary supporting device and the lower die at each time is corrected by using the extension amount. Therefore, the embodiment can further improve the accuracy of the motion planning of the auxiliary equipment and improve the quality of the bending process.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a bending system 300 according to an embodiment of the present invention. The system 300 includes a processor 301, a memory 302, a bending machine 303, and an auxiliary support device 304. Bending machine 303 may include upper and lower dies for bending and deforming a portion of the sheet material located therebetween by relative movement of the upper and lower dies. The auxiliary supporting device 304 is used for following and supporting the portion of the plate material outside the upper die and the lower die, and the auxiliary supporting device 304 may be a robot having a separate controller and a driving device, and may also be controlled by the processor 301 of the system 300, which is not limited herein.

The memory 302 stores program instructions, and the program instructions can be loaded by the processor 301 and execute the bending following trajectory planning method according to any of the embodiments. It will be appreciated that in other embodiments, the memory 302 may be provided in the same physical device as the processor 301, and the method of any of the above embodiments may be performed by coupling the system 300 to a network. It is understood that system 300 may be a control system and associated devices built into bending machine 303 and/or auxiliary support device 304, or may be external devices and systems connected to bending machine 303 and/or auxiliary support device 304, such as a computer, industrial control device, etc.

After obtaining the motion plan of the auxiliary supporting device, the processor 301 and/or the processor built in the auxiliary supporting device 304 may drive the auxiliary supporting device 304 to move according to the motion plan through a certain driving mechanism, so as to maintain the support of the plate material during the bending process.

Referring to fig. 6, fig. 6 is a schematic structural diagram of a bending robot 400 according to an embodiment of the present invention. The robot 400 includes a processor 401, memory 402, communication circuitry 403, drive mechanism 404, and end effector 405. The communication circuit 403 is used for communicating with a bending machine that performs a bending process, and the bending machine includes an upper die and a lower die for bending and deforming a portion of the sheet material located between the upper die and the lower die by relative movement of the upper die and the lower die.

The memory 402 stores program instructions, and the program instructions can be loaded by the processor 401 and execute the bending following trajectory planning method according to any of the embodiments. It will be appreciated that in other embodiments, the memory 402 may be provided in the same physical device as the processor 401, and the robot 400 may be coupled to a network to perform the methods of any of the above embodiments. It is to be understood that robot 400 may be an accessory to a bending machine or may be a stand-alone product, as long as it is capable of communicating with the bending machine for convenient control by an operator.

After obtaining the motion plan of the end effector 405 of the robot, the processor 401 may send an instruction to the driving mechanism 404 to drive the end effector 405 to move according to the plan, so that the end effector 405 keeps supporting the plate during the bending process.

The functions described in the above embodiments, if implemented in software and sold or used as a separate product, may be stored in a device having a storage function, i.e., the present invention also provides a storage device storing a program. Program data in a storage device can be executed to implement the bending follow-up trajectory planning method in the above-described embodiment, and the storage device includes, but is not limited to, a usb disk, an optical disk, a server, or a hard disk.

The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims

A bending following trajectory planning method is characterized by being used for a bending system comprising a bending machine and auxiliary supporting equipment, wherein the bending machine comprises an upper die and a lower die and is used for bending and deforming the part, located between the upper die and the lower die, of a plate through the relative movement of the upper die and the lower die, and the auxiliary supporting equipment is used for following and supporting the part, located outside the upper die and the lower die, of the plate;

the method comprises the following steps:

obtaining processing parameters of bending the plate by the bending machine and the auxiliary supporting equipment, wherein the processing parameters comprise the width W of a notch of the lower die, the radius r of a knife edge of the upper die, the thickness S of the plate, the descending distance d (t) of the upper die relative to the bending initial time at each time t, and the distance L from a reference point of the auxiliary supporting equipment, which is in contact with the plate, to the central line of the notch of the lower die at the bending initial time;

iteratively calculating the turnover angle alpha (t) of the plate at each moment t in the machining process according to the descending distance d (t) of the upper die, the knife edge radius r of the upper die, the thickness S of the plate and the notch width W of the lower die at each moment t;

determining an expected distance m (t) between the reference point of the auxiliary supporting equipment and the lower die at each moment t according to the turning angle alpha (t) at each moment t and the distance L from the reference point of the auxiliary supporting equipment to the notch center line of the lower die at the initial bending moment; and

and planning the motion of the auxiliary supporting equipment according to the expected distance m (t) between the reference point of the auxiliary supporting equipment and the lower die at each moment t and the turnover angle alpha (t) of the plate.
The method of claim 1, wherein the step of iteratively calculating the flip angle of the sheet material at each time t during the process comprises:

calculating the turnover angle alpha (t) of the plate at each moment t by using the following formula:

wherein α (t-1) represents the turnover angle of the plate at the moment before the moment t, and the turnover angle α (0) of the plate at the initial bending moment is equal to zero.
The method of claim 1, wherein the processing parameters further include a neutral layer coefficient co of the sheet material, and wherein the step of determining a desired distance m (t) between a reference point of the auxiliary support apparatus and the lower die at each time t comprises:

determining the elongation delta L (t) of the lower surface of the plate at each moment t according to the neutral layer coefficient co of the plate; and

and determining an expected distance m (t) between the reference point of the auxiliary supporting equipment and the lower die at each moment t according to the turning angle alpha (t) at each moment t, the distance L from the reference point of the auxiliary supporting equipment to the central point of the lower die at the initial bending moment and the extension degree delta L of the lower surface of the plate.
A method as claimed in claim 3, wherein the step of determining the desired distance m (t) of the reference point of the auxiliary support apparatus from the lower mould at each time t comprises:

calculating the extension degree deltaL (t) of the lower surface of the plate material at each time t and the expected distance m (t) between the reference point of the auxiliary supporting device and the lower die by using the following formula:

ΔL(t)＝α(t)(r+co*S)

wherein m (t) is the distance from the reference point of the auxiliary supporting equipment to the edge of the notch of the lower die at each moment t.
The method of claim 1, wherein the step of planning the movement of the auxiliary support device according to the desired distance m (t) between the reference point of the auxiliary support device and the lower die at each time t and the turnover angle α (t) of the sheet material comprises:

and determining coordinates X (t) and Y (t) of a reference point (TCP) of the auxiliary supporting equipment at each time t according to the expected distance m (t) between the reference point of the auxiliary supporting equipment and the lower die, the turnover angle alpha (t) of the plate and the position relation between the reference point of the auxiliary supporting equipment and a Tool Center Point (TCP) at each time t.
The method according to claim 5, wherein the extending direction of the sheet material at the initial bending moment is taken as an x-axis, the direction perpendicular to the sheet material is taken as a y-axis, and the connecting line of the TCP of the auxiliary supporting device and the reference point is parallel to the y-axis at the initial bending moment;

the step of determining coordinates x (t) and y (t) of the TCP of the auxiliary support device at each time t comprises:

obtaining the distance h between the TCP and the reference point, and determining coordinates X (t) and Y (t) of the TCP of the auxiliary supporting equipment at each time t by using the following formulas:

wherein, X (0) and Y (0) are coordinates of the TCP of the auxiliary supporting equipment at the initial bending moment.
The method of claim 1, wherein the step of planning the movement of the auxiliary support apparatus comprises:

and planning the posture of the auxiliary supporting equipment according to the turning angle alpha (t) of the plate at each moment t.
A bending processing system, comprising a bending machine, an auxiliary support device, a memory and a processor, wherein the bending machine comprises an upper die and a lower die, and is used for bending and deforming a portion of a plate material located between the upper die and the lower die through relative movement of the upper die and the lower die, the auxiliary support device is used for following and supporting the portion of the plate material located outside the upper die and the lower die, the memory stores program instructions, and the processor is loaded with the program instructions and executes a bending following trajectory planning method, and the method comprises:

obtaining processing parameters of bending the plate by the bending machine and the auxiliary supporting equipment, wherein the processing parameters comprise the width W of a notch of the lower die, the radius r of a knife edge of the upper die, the thickness S of the plate, the descending distance d (t) of the upper die relative to the bending initial time at each time t, and the distance L from a reference point of the auxiliary supporting equipment, which is in contact with the plate, to the central line of the notch of the lower die at the bending initial time;

iteratively calculating the turnover angle alpha (t) of the plate at each moment t in the machining process according to the descending distance d (t) of the upper die, the knife edge radius r of the upper die, the thickness S of the plate and the notch width W of the lower die at each moment t;

determining an expected distance m (t) between the reference point of the auxiliary supporting equipment and the lower die at each moment t according to the turning angle alpha (t) at each moment t and the distance L from the reference point of the auxiliary supporting equipment to the notch center line of the lower die at the initial bending moment; and

and planning the motion of the auxiliary supporting equipment according to the expected distance m (t) between the reference point of the auxiliary supporting equipment and the lower die at each moment t and the turnover angle alpha (t) of the plate.
The system of claim 8, wherein the step of iteratively calculating the flip angle of the sheet material at each time t during the process comprises:

calculating the turnover angle alpha (t) of the plate at each moment t by using the following formula:

wherein α (t-1) represents the turnover angle of the plate at the moment before the moment t, and the turnover angle α (0) of the plate at the initial bending moment is equal to zero.
The system of claim 8, wherein the processing parameters further include a neutral layer coefficient co of the sheet material, and wherein the step of determining a desired distance m (t) between the reference point of the auxiliary support apparatus and the lower die at each time t comprises:

determining the elongation delta L (t) of the lower surface of the plate at each moment t according to the neutral layer coefficient co of the plate; and

and determining an expected distance m (t) between the reference point of the auxiliary supporting equipment and the lower die at each moment t according to the turning angle alpha (t) at each moment t, the distance L from the reference point of the auxiliary supporting equipment to the central point of the lower die at the initial bending moment and the extension degree delta L of the lower surface of the plate.
The system of claim 10, wherein the step of determining a desired distance m (t) of the reference point of the auxiliary support apparatus from the lower mold at each time t comprises:

calculating the extension degree deltaL (t) of the lower surface of the plate material at each time t and the expected distance m (t) between the reference point of the auxiliary supporting device and the lower die by using the following formula:

ΔL(t)＝α(t)(r+co*S)

wherein m (t) is the distance from the reference point of the auxiliary supporting equipment to the edge of the notch of the lower die at each moment t.
The system of claim 8, wherein the step of planning the movement of the auxiliary support device based on the desired distance m (t) between the reference point of the auxiliary support device and the lower die at each time t and the turnover angle α (t) of the sheet material comprises:

and determining coordinates X (t) and Y (t) of a reference point (TCP) of the auxiliary supporting equipment at each time t according to the expected distance m (t) between the reference point of the auxiliary supporting equipment and the lower die, the turnover angle alpha (t) of the plate and the position relation between the reference point of the auxiliary supporting equipment and a Tool Center Point (TCP) at each time t.
The system of claim 12, wherein the extending direction of the sheet material at the initial time of bending is taken as an x-axis, the direction perpendicular to the sheet material is taken as a y-axis, and the connection line of the TCP of the auxiliary support device and the reference point is parallel to the y-axis at the initial time of bending;

the step of determining coordinates x (t) and y (t) of the TCP of the auxiliary support device at each time t comprises:

obtaining the distance h between the TCP and the reference point, and determining coordinates X (t) and Y (t) of the TCP of the auxiliary supporting equipment at each time t by using the following formulas:

wherein, X (0) and Y (0) are coordinates of the TCP of the auxiliary supporting equipment at the initial bending moment.
The system of claim 8, wherein the step of planning the movement of the auxiliary support apparatus comprises:

and planning the posture of the auxiliary supporting equipment according to the turning angle alpha (t) of the plate at each moment t.
A bending processing robot is characterized by comprising a memory, a processor, a communication circuit, a driving mechanism and a tail end executing mechanism, wherein the communication circuit is used for communicating with a bending machine for bending processing; the memory stores program instructions that the processor can load and execute:

obtaining processing parameters of bending the plate by the bending machine and the terminal actuating mechanism, wherein the processing parameters comprise the width W of a notch of the lower die, the radius r of a knife edge of the upper die, the thickness S of the plate, the descending distance d (t) of the upper die relative to the bending initial time at each time t, and the distance L from a reference point of the terminal actuating mechanism in contact with the plate to the central line of the notch of the lower die at the bending initial time;

iteratively calculating the turnover angle alpha (t) of the plate at each moment t in the machining process according to the descending distance d (t) of the upper die, the knife edge radius r of the upper die, the thickness S of the plate and the notch width W of the lower die at each moment t;

determining an expected distance m (t) between the reference point of the tail end executing mechanism and the lower die at each moment t according to the turning angle alpha (t) at each moment t and the distance L from the reference point of the tail end executing mechanism to the notch center line of the lower die at the bending initial moment; and

planning the movement of the tail end executing mechanism according to the expected distance m (t) between the reference point of the tail end executing mechanism and the lower die at each moment t and the overturning angle alpha (t) of the plate;

and controlling the movement of the end executing mechanism according to the obtained movement plan so as to follow and support the part of the plate outside the upper die and the lower die.
A robot as claimed in claim 15, wherein said step of iteratively calculating the flip angle of said sheet material at each time t during the process comprises:

calculating the turnover angle alpha (t) of the plate at each moment t by using the following formula:

wherein α (t-1) represents the turnover angle of the plate at the moment before the moment t, and the turnover angle α (0) of the plate at the initial bending moment is equal to zero.
The robot of claim 15, wherein the processing parameters further include a neutral layer coefficient co of the sheet material, and wherein the step of determining a desired distance m (t) between the reference point of the end effector and the lower die at each time t comprises:

determining the elongation delta L (t) of the lower surface of the plate at each moment t according to the neutral layer coefficient co of the plate; and

and determining the expected distance m (t) between the reference point of the tail end actuating mechanism and the lower die at each moment t according to the turning angle alpha (t) at each moment t, the distance L from the reference point of the tail end actuating mechanism to the central point of the lower die at the bending initial moment and the elongation delta L of the lower surface of the plate.
The robot of claim 17, wherein said step of determining a desired distance m (t) of said end effector reference point from said lower mold at each time t comprises:

calculating the extension degree deltal (t) of the lower surface of the plate material at each time t and the desired distance m (t) between the reference point of the end effector and the lower die using the following formula:

ΔL(t)＝α(t)(r+co*S)

wherein m (t) is the distance from the reference point of the end actuating mechanism to the notch edge of the lower die at each moment t.
The robot of claim 15, wherein the step of planning the movement of the end effector based on the desired distance m (t) between the reference point of the end effector and the lower die at each time t and the angle of turnover α (t) of the sheet material comprises:

and determining coordinates X (t) and Y (t) of a reference point (TCP) of the end actuator at each time t according to the expected distance m (t) between the reference point of the end actuator and the lower die, the turnover angle alpha (t) of the plate material and the position relation between the reference point of the end actuator and a Tool Center Point (TCP) at each time t.
An apparatus having a storage function, characterized by storing program instructions that can be loaded and execute a bending following trajectory planning method for a bending system including a bending machine including an upper die and a lower die and adapted to bend and deform a portion of a plate material located between the upper die and the lower die by a relative movement of the upper die and the lower die, and an auxiliary support device adapted to follow and support the portion of the plate material located outside the upper die and the lower die;

the method comprises the following steps:

obtaining processing parameters of bending the plate by the bending machine and the auxiliary supporting equipment, wherein the processing parameters comprise the width W of a notch of the lower die, the radius r of a knife edge of the upper die, the thickness S of the plate, the descending distance d (t) of the upper die relative to the bending initial time at each time t, and the distance L from a reference point of the auxiliary supporting equipment, which is in contact with the plate, to the central line of the notch of the lower die at the bending initial time;

iteratively calculating the turnover angle alpha (t) of the plate at each moment t in the machining process according to the descending distance d (t) of the upper die, the knife edge radius r of the upper die, the thickness S of the plate and the notch width W of the lower die at each moment t;

determining an expected distance m (t) between the reference point of the auxiliary supporting equipment and the lower die at each moment t according to the turning angle alpha (t) at each moment t and the distance L from the reference point of the auxiliary supporting equipment to the notch center line of the lower die at the initial bending moment; and

and planning the motion of the auxiliary supporting equipment according to the expected distance m (t) between the reference point of the auxiliary supporting equipment and the lower die at each moment t and the turnover angle alpha (t) of the plate.