CN113477755A - Full-electric bending machine system with grating ruler for compensating bending depth - Google Patents
Full-electric bending machine system with grating ruler for compensating bending depth Download PDFInfo
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- CN113477755A CN113477755A CN202110742951.6A CN202110742951A CN113477755A CN 113477755 A CN113477755 A CN 113477755A CN 202110742951 A CN202110742951 A CN 202110742951A CN 113477755 A CN113477755 A CN 113477755A
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- bending
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/004—Bending sheet metal along straight lines, e.g. to form simple curves with program control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/006—Bending sheet metal along straight lines, e.g. to form simple curves combined with measuring of bends
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- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention discloses an all-electric bending machine system with a grating ruler for compensating bending depth, belonging to the technical field of all-electric bending machines, and comprising S1, wherein two parameters, namely delta and time, are added in each servo step; s2, editing steps (bending depth H, correction depth C, bending width L and bending force F, and the bending force F is changed), wherein time is 0, electrifying or calling another program, and each step is 0; time _ now is Tmax; tmax can be set for 5min or other empirical time, S3, starting, reading current step parameters, and continuously updating the compensation value to eliminate accumulated errors during bending by increasing the delta compensation value when the bending machine continuously bends, so as to ensure higher bending precision under continuous work, achieve in-place one-time bending, save compensation time and improve processing efficiency.
Description
Technical Field
The invention relates to the technical field of all-electric bending machines, in particular to an all-electric bending machine system with a grating ruler for compensating bending depth.
Background
A full-electric (servo) bending machine is characterized in that two high-power servo motors are arranged on two sides of the machine, and a belt pulley drives a screw rod to rotate, so that a sliding block moves up and down synchronously, a workpiece is bent, and a product is processed. Because a large pressure is needed during plate folding, the machine frame deforms or the belt deforms in a stretching mode, the position of the Y-axis servo encoder reaches a given bending position, the actual position of the sliding block does not reach, and because the deformation amount has a plurality of influence factors, the influence factors are difficult to calculate through theories, namely the influence factors are difficult to predict, the Y-axis servo encoder cannot be in place at one time
According to the two existing schemes, a two-section bending method and a compensation bending method are adopted, the two-section bending method is switched to the other section when approaching a target, the speed is reduced very low (if the speed is not reduced very low, the speed is reduced and stopped in place, overshoot is generated), and the efficiency is reduced. If the grating ruler is damaged in the bending process, the sliding block can be pressed downwards all the time to cause safety risks, the compensation bending method firstly judges that servo positioning is completed, then position comparison is carried out for compensation, stopping feeling can be caused, time can be prolonged, and efficiency is reduced.
Disclosure of Invention
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a full electric bender system of grating chi compensation depth of bending, includes following step:
s1, increasing two parameters, delta and time, in each step of servo;
s2, editing steps (bending depth H, correction depth C, bending width L and bending force F, and the bending force F is changed), wherein time is 0, electrifying or calling another program, and each step is 0; time _ now is Tmax; tmax can be set to 5min or other empirical time;
s3, starting, reading the current step parameter;
s4, if the time _ now-time is less than Tmax, the step is bent in place for one time, the compensation value delta of the step is directly used for bending in place for one time, if the time _ now-time is more than or equal to Tmax, the step is not bent for a long time, the step of bending in place for the last time is searched for, and H, C, L, F is the same as the step value, the compensation value delta of the searched step is used for bending in place for one time;
s5, after bending in place once, the delta is delta + H + C-grating position, and delta is updated to eliminate the accumulated error of continuous work;
s6, if the step of bending in the short time and with the same parameters cannot be found in S5, a two-section bending method or a compensation bending method is used, and after the bending is completed, the current position of the Y axis is equal to (H + C);
s7, if the load torque-bending force torque is less than A and delta is less than delta max, the plate which is actually folded is relatively close, delta and time are stored in the current step parameter, an error delta is prevented from being stored due to empty folding or material misplacement, A can be set to be 5% or other empirical values, and delta max is the maximum error of the bending machine and defaults to be 2.00 mm;
s8, repeating the steps S3-S7.
Preferably, Δ in S1 is a compensation value, time is the last bending completion time, and time _ now is the current time.
Preferably, in the two-stage bending method in S6, when the position of the Y-axis servo encoder is close to the target position, the interpolation is continuously switched to another stage, the downward speed of the slider is reduced, and the slider is slowly close to the target position until the actual position of the slider detected by the grating ruler reaches the target position, and the servo is rapidly stopped; the compensation bending method is that the servo is operated to a set target position L, s1 is equal to the target position-the position of a grating ruler (the actual position of a detection slide block), if s1 is less than-0.02, the servo continues to downwards position L + s1, s2 is equal to the target position-the position of the grating ruler, if s2 is less than-0.02, the servo continues to downwards position L + s1+ s2, and the precision range can be reached by compensating for one to two times.
Compared with the prior art, the invention relates to an all-electric bending machine system with a grating ruler for compensating bending depth, which eliminates accumulated errors during bending by increasing a delta compensation value and continuously updating the compensation value when a bending machine is continuously bent, ensures higher bending precision and in-place one-time bending under continuous work, saves compensation time and improves processing efficiency.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
As shown in fig. 1, starting a servo, editing a step, powering on or calling another program, wherein each step time is 0; time _ now is Tmax; setting 5min or other empirical time, starting, reading a current step parameter, judging the value between the time _ now-time and the Tmax, if the time _ now-time is less than the Tmax, indicating that the step is bent before, directly using a compensation value delta of the step to perform in-place bending once, if the time _ now-time is more than or equal to the Tmax, indicating that the step is not bent for a long time, searching the step of bending before, using the compensation value delta of the searched step to perform in-place bending once, after the in-place bending once, using delta + H + C-raster position, updating delta to eliminate continuous working accumulated errors, using a two-section bending method or a compensation bending method if the step of bending before and with the same parameter cannot be found after the in-place bending once, and after the Tmax is in-place, using a two-section bending method or a compensation bending method, after the Tmax is bent in-place, wherein the current position of the Y axis is- (H + C), if the load torque-bending force torque is less than A and delta is less than delta max, the plates which are actually bent are relatively close, delta and time are stored in the current step parameter as time _ now, an error delta is prevented from being stored due to empty bending or misplacement, 5% or other empirical values can be set for A, delta max is the maximum error of the bending machine, the default is 2.00mm, and finally the process is repeated to perform multiple bending operations.
Where Δ is a compensation value, time is the last bending completion time, and time _ now is the current time.
The two-section bending method comprises the steps that when the position of a Y-axis servo encoder is close to a target position, interpolation is continuously switched to another section, the descending speed of a sliding block is reduced, the sliding block is slowly close to the target position until the actual position of a grating ruler detection sliding block reaches the target position, and servo is rapidly stopped; the compensation bending method is that the servo is operated to a set target position L, s1 is equal to the target position-the position of a grating ruler (the actual position of a detection slide block), if s1 is less than-0.02, the servo continues to downwards position L + s1, s2 is equal to the target position-the position of the grating ruler, if s2 is less than-0.02, the servo continues to downwards position L + s1+ s2, and the precision range can be reached by compensating for one to two times.
In conclusion, the compensation value is continuously updated to eliminate the accumulated error during bending by increasing the delta compensation value when the bending machine is continuously bent, so that the bending precision is high under continuous work, one-time bending is in place, the compensation time is saved, and the processing efficiency is improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
While the invention has been described above with reference to an embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the various features of the embodiments disclosed herein may be used in any combination, provided that there is no structural conflict, and the combinations are not exhaustively described in this specification merely for the sake of brevity and conservation of resources. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (3)
1. The utility model provides a full electric bender system of grating chi compensation depth of bending which characterized in that: the method comprises the following steps:
s1, increasing two parameters, delta and time, in each step of servo;
s2, editing steps (bending depth H, correction depth C, bending width L and bending force F, and the bending force F is changed), wherein time is 0, electrifying or calling another program, and each step is 0; time _ now is Tmax; tmax can be set to 5min or other empirical time;
s3, starting, reading the current step parameter;
s4, if the time _ now-time is less than Tmax, the step is bent in place for one time, the compensation value delta of the step is directly used for bending in place for one time, if the time _ now-time is more than or equal to Tmax, the step is not bent for a long time, the step of bending in place for the last time is searched for, and H, C, L, F is the same as the step value, the compensation value delta of the searched step is used for bending in place for one time;
s5, after bending in place once, the delta is delta + H + C-grating position, and delta is updated to eliminate the accumulated error of continuous work;
s6, if the step of bending in the short time and with the same parameters cannot be found in S4, a two-section bending method or a compensation bending method is used, and after the bending is completed, the current position of the Y axis is equal to (H + C);
s7, if the load torque-bending force torque is less than A and delta is less than delta max, the plate which is actually folded is relatively close, delta and time are stored in the current step parameter, an error delta is prevented from being stored due to empty folding or material misplacement, A can be set to be 5% or other empirical values, and delta max is the maximum error of the bending machine and defaults to be 2.00 mm;
s8, repeating the steps S3-S7.
2. The full-electric bending machine system with the grating ruler compensating bending depth as claimed in claim 1, wherein: in S1, Δ is a compensation value, time is the last bending completion time, and time _ now is the current time.
3. The full-electric bending machine system with the grating ruler compensating bending depth as claimed in claim 1, wherein: the two-section bending method in the S6 is that when the position of the Y-axis servo encoder is close to the target position, the interpolation is switched to another section continuously, the descending speed of the slide block is reduced, the slide block is slowly close to the target position until the actual position of the slide block detected by the grating ruler reaches the target position, and the servo is stopped quickly; the compensation bending method is that the servo is operated to a set target position L, s1 is equal to the target position-the position of a grating ruler (the actual position of a detection slide block), if s1 is less than-0.02, the servo continues to downwards position L + s1, s2 is equal to the target position-the position of the grating ruler, if s2 is less than-0.02, the servo continues to downwards position L + s1+ s2, and the precision range can be reached by compensating for one to two times.
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5857366A (en) * | 1994-07-08 | 1999-01-12 | Amada Company, Ltd. | Method of bending workpiece to target bending angle accurately and press brake for use in the same method |
| US6571589B1 (en) * | 1999-10-07 | 2003-06-03 | Murata Kikai Kabushiki Kaisha | Bending machine and its operation method |
| 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 |
| US20180117653A1 (en) * | 2016-11-01 | 2018-05-03 | Metal Industries Research & Development Centre | Springback compensation method for on-line real-time metal sheet roll bending |
| CN108435856A (en) * | 2018-04-13 | 2018-08-24 | 吉林长光启元自动化控制有限公司 | Slider of bender location compensation method, system, equipment and digital control system |
| CN109332434A (en) * | 2018-12-05 | 2019-02-15 | 安徽力源数控刃模具制造有限公司 | A kind of bending machine workbench longitudinal direction apparatus for compensating mechanical flexibility and preparation method thereof |
| US10217237B1 (en) * | 2018-06-21 | 2019-02-26 | 3D Med Ag | Systems and methods for forming a desired bend angle in an orthodontic appliance |
| CN112916669A (en) * | 2021-01-20 | 2021-06-08 | 无锡市华德尔自动化控制技术有限公司 | Full-electric servo bending machine numerical control system |
-
2021
- 2021-07-01 CN CN202110742951.6A patent/CN113477755B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5857366A (en) * | 1994-07-08 | 1999-01-12 | Amada Company, Ltd. | Method of bending workpiece to target bending angle accurately and press brake for use in the same method |
| US6571589B1 (en) * | 1999-10-07 | 2003-06-03 | Murata Kikai Kabushiki Kaisha | Bending machine and its operation method |
| 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 |
| US20180117653A1 (en) * | 2016-11-01 | 2018-05-03 | Metal Industries Research & Development Centre | Springback compensation method for on-line real-time metal sheet roll bending |
| CN108435856A (en) * | 2018-04-13 | 2018-08-24 | 吉林长光启元自动化控制有限公司 | Slider of bender location compensation method, system, equipment and digital control system |
| US10217237B1 (en) * | 2018-06-21 | 2019-02-26 | 3D Med Ag | Systems and methods for forming a desired bend angle in an orthodontic appliance |
| CN109332434A (en) * | 2018-12-05 | 2019-02-15 | 安徽力源数控刃模具制造有限公司 | A kind of bending machine workbench longitudinal direction apparatus for compensating mechanical flexibility and preparation method thereof |
| CN112916669A (en) * | 2021-01-20 | 2021-06-08 | 无锡市华德尔自动化控制技术有限公司 | Full-electric servo bending machine numerical control system |
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