CN112118918B - Bending following track planning method, bending system, robot and storage device - Google Patents
Bending following track planning method, bending system, robot and storage device Download PDFInfo
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- CN112118918B CN112118918B CN201980017452.1A CN201980017452A CN112118918B CN 112118918 B CN112118918 B CN 112118918B CN 201980017452 A CN201980017452 A CN 201980017452A CN 112118918 B CN112118918 B CN 112118918B
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- 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
- B21D5/06—Bending sheet metal along straight lines, e.g. to form simple curves by drawing procedure making use of dies or forming-rollers, e.g. making profiles
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Abstract
The application discloses a bending following track planning method, a bending processing system, a robot and a storage device. The method comprises the following steps: obtaining processing parameters for bending the plate, wherein the processing parameters comprise the width of a notch of a lower die, the radius of a knife edge of an upper die, the thickness of the plate, the descending distance of the upper die at each moment, and the distance from a reference point of auxiliary supporting equipment to the central line of the notch of the lower die at the initial bending moment; iteratively calculating the turnover angle of the plate at each moment according to the descending distance of the lower upper die, the knife edge radius of the upper die, the thickness of the plate and the width of the notch of the lower die at each moment; determining the distance between the reference point of the auxiliary supporting equipment and the lower die at each moment according to the turning angle and the distance between the reference point of the auxiliary supporting equipment and the central line of the notch 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 of the plate.
Description
Technical Field
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
The lower die of the bending machine is generally in a shape of a triangle which is sunken 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 be deformed so as to bend 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.
Disclosure of 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 that this application provided is for providing a processing robot bends. The robot comprises a memory, a processor, a communication circuit, a driving mechanism and an end executing mechanism, wherein the communication circuit is used for communicating with a bending machine for performing 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.
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 sheet material to the various parts 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
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 obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to 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 sheet material that is tilted up using the auxiliary support apparatus for following and supporting the portion of the sheet material located outside the upper and lower dies during the bending process, thereby maintaining the support and fixation of the sheet material. Assuming that a point on the sheet material comes into contact with the auxiliary support device at the beginning of bending, it is desirable that the auxiliary support device 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 which comes into contact with the auxiliary support device at the beginning of bending can be determined throughout the bending operation, 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 support 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 a turnover angle of the sheet material at a time before the time t, and α (0) of the sheet material at an initial bending time 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 repeated herein.
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 part 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 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 (7)
1. 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 relative to the bending initial moment 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 an expected distance m (t) between a reference point of the auxiliary supporting equipment in contact with the plate and the lower die at each moment t according to the turning angle alpha (t) at each moment t and a distance L from the reference point of the auxiliary supporting equipment in contact with the plate to the notch center line of the lower die at the initial bending moment; 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 in contact with the plate and the lower die at each moment t and the overturning angle alpha (t) of the plate;
the step of iteratively calculating the turnover angle of the plate at each moment t in the machining process comprises the following steps of:
calculating the turnover angle alpha (t) of the plate at each moment t by using the following formula:
the processing parameters further include a neutral layer coefficient co of the sheet material, and the step of determining a desired distance m (t) between a reference point of the auxiliary support device contacting the sheet material and the lower die at each time t includes:
determining the extension degree L (t) of the lower surface of the plate at each time t according to the neutral layer coefficient co of the plate; and
determining a desired distance m (t) between a reference point of the auxiliary supporting equipment in contact with the plate and the lower die at each moment t according to the turning angle alpha (t) at each moment t, the distance L between the reference point of the auxiliary supporting equipment in contact with the plate and the center line of the notch of the lower die at the initial bending moment and the extension L of the lower surface of the plate;
the step of determining the expected distance m (t) between the reference point of the auxiliary supporting equipment contacted with the plate and the lower die at each time t comprises the following steps:
wherein the expected distance m (t) is the distance from a reference point of the auxiliary supporting equipment contacting with the plate to the notch edge of the lower die.
2. The method according to 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 in contact with the sheet material 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 Tool Center Point (TCP) of the auxiliary support device at each moment t according to a desired distance m (t) between a reference point of the auxiliary support device in contact with the sheet material and the lower die, the turnover angle alpha (t) of the sheet material and the position relation between the reference point of the auxiliary support device in contact with the sheet material and the TCP at each moment t.
3. The method according to claim 2, 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:
4. 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.
5. A bending processing system comprising 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 relative movement of the upper die and the lower die, an auxiliary support device adapted to follow and support the portion of the plate material located outside the upper die and the lower die, a memory storing program instructions, and a processor capable of loading the program instructions and executing the bending following trajectory planning method according to any one of claims 1 to 4.
6. A bending processing robot is characterized by comprising a memory, a processor, a communication circuit, a driving mechanism and an end executing mechanism, wherein the communication circuit is used for communicating with a bending machine for bending processing; the memory stores program instructions that are loadable by the processor and operative to perform a bend-following trajectory planning method according to any of claims 1 to 4.
7. An apparatus having a storage function, characterized by storing program instructions which can be loaded and execute a bending following trajectory planning method according to any one of claims 1 to 4, 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.
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2019/074881 WO2020163997A1 (en) | 2019-02-12 | 2019-02-12 | Bending following trajectory planning method, bending system, robot, and storage device |
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| SE463701B (en) * | 1980-12-09 | 1991-01-14 | Amada Co Ltd | PROVIDED TO PERFORM A V-SHAPED BENDING IN A PRESS AND DEVICE FOR ADJUSTING A SUPPORT ELEMENT IN A PRESS |
| JP4280333B2 (en) * | 1998-08-14 | 2009-06-17 | 株式会社アマダ電子 | Bending angle control method and apparatus for bending machine |
| JP4761886B2 (en) * | 2005-08-19 | 2011-08-31 | 株式会社アマダ | Robot bending system and bending method |
| US8683834B1 (en) * | 2009-07-16 | 2014-04-01 | Robert Macaulay | Determining and exporting K-factors and bend allowance based on measured bend radius |
| CN101644921B (en) * | 2009-08-05 | 2011-07-20 | 无锡信捷电气有限公司 | Improved method for designing numerical control bending of plate |
| CN102172681B (en) * | 2010-12-31 | 2015-08-19 | 江苏亚威机床股份有限公司 | A kind of bender lower die anti-deflection device and processing method thereof |
| CN103778322B (en) * | 2014-01-03 | 2017-01-25 | 东南大学 | Method for controlling depth of sliding block of upper die of bending machine |
| CN105127251B (en) * | 2015-09-22 | 2017-05-31 | 广船国际有限公司 | A kind of bender and its operation method |
| CN105234213B (en) * | 2015-11-25 | 2017-04-19 | 福建骏鹏通信科技有限公司 | Method for robot bending free interpolation |
| WO2017113219A1 (en) * | 2015-12-30 | 2017-07-06 | 深圳配天智能技术研究院有限公司 | Method, apparatus and system for planning bending following trajectory |
| CN106001196B (en) * | 2016-05-25 | 2017-12-15 | 广西田阳至恒门业有限公司 | Bender |
| CN106295055A (en) * | 2016-08-22 | 2017-01-04 | 南京埃斯顿自动化股份有限公司 | A kind of bender bending method that upper mold depth is carried out bending springback compensation |
| JP6920064B2 (en) * | 2017-01-13 | 2021-08-18 | 株式会社アマダ | Robot hand and articulated robot |
| JP7007812B2 (en) * | 2017-05-15 | 2022-01-25 | 株式会社アマダ | Positioning system and positioning method |
| CN108132648B (en) * | 2017-12-29 | 2021-03-19 | 南京埃斯顿机器人工程有限公司 | Robot bending precision compensation method based on sheet material tensile deformation |
| CN108838246B (en) * | 2018-03-16 | 2020-05-22 | 武汉科技大学 | Method for accurately obtaining bending angle of robot |
| CN109271754B (en) * | 2018-12-06 | 2022-11-04 | 甘肃金科脉草业有限责任公司 | Metal plate bending workpiece blanking size calculation method |
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