CN114130862A - Bending system and automatic bending position adjusting method - Google Patents
Bending system and automatic bending position adjusting method Download PDFInfo
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- CN114130862A CN114130862A CN202111275481.3A CN202111275481A CN114130862A CN 114130862 A CN114130862 A CN 114130862A CN 202111275481 A CN202111275481 A CN 202111275481A CN 114130862 A CN114130862 A CN 114130862A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
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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
- B21D5/002—Positioning devices
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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
Abstract
The invention relates to the technical field of bending, aims to solve the problem of low bending precision, and provides a bending system and an automatic bending position adjusting method. The bending system comprises a bending machine and a robot, and further comprises a positioning platform, a displacement sensor and an upper computer. The positioning platform is used for preliminarily positioning the bent piece; the displacement sensor is arranged on the bending machine and used for acquiring state information of a bending piece gripped by the robot, wherein the state information comprises speed information and position information; and the upper computer is in communication connection with the displacement sensor and the robot respectively, and is used for receiving the state information acquired by the displacement sensor and obtaining a control instruction for indicating the robot to drive the bending piece to move to the bending position according to the state information. The invention has the beneficial effects that the bending piece can be conveniently and accurately driven to the bending position, and the accurate bending is realized, so that a product with more accurate size is obtained.
Description
Technical Field
The invention relates to the technical field of bending, in particular to a bending system and an automatic bending position adjusting method.
Background
Although the manufacturing and precision of the existing sheet metal equipment bending machine are greatly improved compared with the prior art, occasions with higher precision are still provided, and in the occasions, the actual requirements cannot be met only by the precision control of the bending machine.
Disclosure of Invention
The invention aims to provide a bending system and an automatic bending position adjusting method, so as to solve the problem of low bending precision.
The embodiment of the invention is realized by the following steps:
a bending system comprising a bending machine and a robot for grasping or moving a bending element, the bending machine being configured to perform an action to bend the bending element, the bending system further comprising:
the positioning platform is used for preliminarily positioning the bent piece;
the displacement sensor is arranged on the bending machine and used for acquiring state information of a bending piece gripped by the robot, wherein the state information comprises speed information and position information;
and the upper computer is in communication connection with the displacement sensor and the robot respectively, and is used for receiving the state information acquired by the displacement sensor and obtaining a control instruction for indicating the robot to drive the bending piece to move to the bending position according to the state information.
When the bending system in the scheme is used, the robot firstly grasps the bending piece and places the bending piece on the positioning platform for positioning, and then grasps the bending piece again and drives the bending piece to move towards the target position. In the process, a displacement sensor is adopted to obtain the position and speed information of the bent piece and transmit the information to an upper computer; the upper computer obtains a control instruction for controlling the robot to move so as to indicate the robot to drive the bending piece to move to the bending position, and then the bending machine executes bending action.
Through the process, the bending piece can be conveniently and accurately driven to the bending position, and accurate bending is realized, so that a product with more accurate size is obtained.
In an alternative embodiment:
the positioning platform comprises a platform plate and a positioning baffle;
the landing slab sets up with the higher, the lower form slope of opposite side in one side, positioning baffle connect in the lower one side of landing slab for stop and the location follow the location side of the gliding piece of buckling of landing slab.
In an alternative embodiment:
the bending machine comprises a plurality of rear stop fingers which are distributed in sequence along the transverse direction;
the positioning baffle is provided with a positioning surface used for blocking and positioning the positioning side edge of the bending piece, and the positioning surface is parallel to the distribution direction of the rear baffle fingers;
the displacement sensors are two in number and are respectively arranged on the two spaced rear stop fingers and used for respectively sensing the distance from the positioning side edge of the bending piece.
In an alternative embodiment:
the robot is provided with a clamp for grasping the bent piece, and the clamp is provided with a sensor for detecting whether the robot grasps the bent piece.
In an alternative embodiment:
the bending system further comprises a material placing platform and a material discharging platform, wherein the material placing platform is used for placing a workpiece to be bent, and the material discharging platform is used for placing the workpiece which is bent.
The embodiment of the present application further provides an automatic bending position adjusting method, which is based on the bending system, and the automatic bending position adjusting method includes the following steps:
the robot grasps the bending piece to the positioning platform, so that the bending piece is initially positioned on the positioning platform;
the robot grasps the bending piece again and drives the bending piece to move towards the bending machine; in the moving process, the displacement sensor acquires position information and speed information of the bending piece and transmits the position information and the speed information to the upper computer, the upper computer obtains a control instruction for indicating the robot to drive the bending piece to move to the bending position according to the position information and the speed information, and the robot receives the control instruction and adjusts the position and the posture of the bending piece to enable the bending piece to move to the bending position according to the control instruction;
the bending machine executes bending action to bend the bending piece.
In an alternative embodiment:
during the bending process of the bending machine, the robot keeps grasping the bending piece and adjusts the pose along with the deformation of the bending piece during the bending process.
In an alternative embodiment:
and after the bending action, the robot drives the bending piece to adjust the position and perform secondary bending.
The embodiment of the present application further provides an automatic bending position adjusting method, which is based on the bending system, and the automatic bending position adjusting method includes the following steps:
the robot grasps the bending piece to the positioning platform, so that the bending piece slides down along the platform plate and the positioning side edge of the bending piece is blocked and preliminarily positioned by the positioning baffle;
the robot grasps the bending piece again and drives the bending piece to move towards the bending machine; in the moving process, the two displacement sensors respectively acquire position information and speed information of the bending piece and transmit the position information and the speed information to the upper computer, the upper computer obtains a control instruction for indicating the robot to drive the bending piece to move to the bending position according to the position information and the speed information, and the robot receives the control instruction and drives the bending piece to move to the bending position according to the control instruction; when two rear stop finger sensors of the bending machine respectively sense a bent piece, the bent piece is shown to be in a bent position, and when only one rear stop finger sensor of the bending machine senses the bent piece, the robot drives the bent piece to rotate by taking the position of the rear stop finger sensor which detects the bent piece as a center to enable the positioning side edge of the bent piece to be parallel to a connecting line of the two rear stop finger sensors, so that the bent piece is in the bent position;
after the bending piece reaches the bending position, the bending machine executes bending action to bend the bending piece.
In an alternative embodiment:
and the robot, the displacement sensor and the upper computer are communicated through a TCP/IP protocol.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a three-dimensional view of a bending system in an embodiment of the present application;
FIG. 2 is an enlarged view of a robot in the bending system of FIG. 1;
FIG. 3 is an enlarged view of a portion of FIG. 2;
FIG. 4 is a cross-sectional view of the positioning stage;
fig. 5 is a three-dimensional view of the backstop finger.
Description of the main element symbols:
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| Bending machine | 11 |
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| Sensor with a |
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| Suction cup | 25 |
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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.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the present application are described in detail. In the following embodiments, features of the embodiments may be combined with each other without conflict.
Examples
Referring to fig. 1 in combination, the present embodiment provides a bending system 10, which includes a bending machine 11, a robot 12, a positioning platform 13, a displacement sensor 14, and an upper computer 15.
Therein, referring to fig. 2 and 3, the robot 12 is used to grasp the bending member 18 or to move the bending member 18. The robot 12 may be an industrial robot including six serial rotary joints, and the end of the robot is provided with a structure for grasping and holding the bending member 18, and the displacement of the end is adjusted by controlling each rotary joint, so as to achieve the effect of driving the bending member 18 to move. Optionally, the robot 12 has a gripper 23 for gripping the bending member 18, the gripper 23 having a sensor 24 thereon for detecting whether the robot 12 grips the bending member 18. Referring to fig. 3, the clamp 23 may be a clamp 23 having suckers 25 distributed on a surface thereof for sucking a surface of the bending piece 18; the sensor 24 is protruded on the surface where the suction cups 25 are distributed, so that after the suction cups 25 reliably suck the bent pieces 18, the sensor 24 will abut against the bent pieces 18, thereby judging whether the bent pieces 18 are caught by the clamp 23. Of course, in other embodiments, the robot 12 may take other forms.
The bending machine 11 may be selected from existing bending machines 11 for performing the bending operation. Optionally, the bending machine 11 may further include a discharge platform 26 and a discharge platform 27 in addition to the core structure for bending, the discharge platform 26 is used for placing the workpiece to be bent, and the discharge platform 27 is used for placing the workpiece after bending.
The positioning platform 13 is used to preliminarily position the bending member 18 so that the robot 12 grasps the exact position of the bending member 18. Alternatively, referring to fig. 4, the positioning platform 13 may be provided as a gravity platform, including a platform plate 16 and a positioning fence 17. The platform plate 16 is obliquely arranged in a mode that one side is higher and the other side is lower, and the positioning baffle 17 is connected to the lower side of the platform plate 16 and used for blocking and positioning the positioning side edge 19 of the bent piece 18 sliding down from the platform plate 16.
In this embodiment, the displacement sensor 14 is mounted to the bending machine 11 and is configured to acquire status information of the bending member 18 gripped by the robot 12, wherein the status information includes speed information and position information.
The upper computer 15 is in communication connection with the displacement sensor 14 and the robot 12 respectively, and is used for receiving the state information acquired by the displacement sensor 14 and obtaining a control instruction for instructing the robot 12 to drive the bending piece 18 to move to the bending position according to the state information.
When the bending system 10 in the present embodiment is used, the robot 12 first grasps the bending member 18 and places the bending member 18 on the positioning platform 13 for positioning, and then grasps the bending member 18 again and drives the bending member 18 to move toward the target position. In the process, the position and speed information of the bending piece 18 is obtained by the displacement sensor 14 and is transmitted to the upper computer 15; the upper computer 15 obtains a control instruction for controlling the robot 12 to move according to the instruction, so as to instruct the robot 12 to drive the bending piece 18 to move to the bending position, and then the bending machine 11 executes the bending action.
Through the process, the bending piece 18 can be conveniently and accurately driven to the bending position, and accurate bending is realized, so that a workpiece with a more accurate size is obtained.
In this embodiment, the bending machine 11 includes a plurality of backstop fingers 21 sequentially distributed along the transverse direction 20 (the backstop fingers 21 can be seen in fig. 5). The positioning flap 17 has a positioning face 22 (see fig. 2) for blocking and positioning the positioning side 19 of the bending element 18, the positioning face 22 being parallel to the direction of distribution of the rear stop fingers 21. The number of the displacement sensors 14 is two, and the two displacement sensors 14 are respectively arranged on two spaced backstop fingers 21 and are used for respectively sensing the distance from the positioning side edge 19 of the bending piece 18. Through the arrangement, the positioning side edge 19 of the primarily positioned bending piece 18 is basically parallel to the transverse direction 20 of the bending machine 11, and the robot 12 drives the bending piece 18 to translate, so that the positioning side edge 19 is conveniently sensed by the two displacement sensors 14, state information such as the position and the moving speed of the bending piece 18 is obtained, and the state information is used for processing and giving an accurate control instruction by the upper computer 15.
The embodiment of the present application further provides an automatic bending position adjusting method, which is based on the bending system 10, and the automatic bending position adjusting method includes the following steps:
the robot 12 grasps the bending piece 18 to the positioning platform 13, so that the bending piece 18 is preliminarily positioned on the positioning platform 13; for the positioning platform 13 set as a gravity platform, positioning can be realized according to the preliminary positioning manner so as to ensure the consistency of the positions of the bent pieces 18 which are grabbed each time;
the robot 12 again grasps the bending piece 18 and drives the bending piece 18 to move towards the bending machine 11; in the moving process, the displacement sensor 14 acquires position information and speed information of the bending piece 18 and transmits the position information and the speed information to the upper computer 15, the upper computer 15 obtains a control instruction for indicating the robot 12 to drive the bending piece 18 to move to the bending position according to the position information and the speed information, the robot 12 receives the control instruction and adjusts the position and the posture of the bending piece 18 to enable the bending piece 18 to move to the bending position (generally, the position where the displacement sensor 14 is triggered) according to the control instruction, and optionally, the robot 12, the displacement sensor 14 and the upper computer 15 are communicated through a TCP/IP protocol; for the embodiment adopting two displacement sensors 14, when two sensors 24 of the rear stop finger 21 of the bending machine respectively sense the bending piece 18, it indicates that the bending piece 18 has reached the bending position, and when only one sensor 24 of the rear stop finger 21 of the bending machine 11 senses the bending piece 18, the robot 12 drives the bending piece 18 to rotate by taking the position of the sensor 24 of the rear stop finger 21 which senses the bending piece 18 as the center to make the positioning side 19 of the bending piece rotate parallel to the connecting line of the two sensors 24 of the rear stop finger 21, so that the bending piece 18 reaches the bending position;
the bending machine 11 performs a bending action to bend the bending member 18. Alternatively, the robot 12 keeps grasping the bending piece 18 during bending of the bending machine 11, and adjusts the posture in accordance with the deformation of the bending piece 18 during bending.
For the bending member 18 that needs to be bent many times, after the bending operation, the robot 12 can drive the bending member 18 to adjust the position, and perform the second bending.
The bent bending piece 18 can be driven by the robot 12 to the discharging platform 27 for stacking.
In order to control the movement of the bending member 18, in this embodiment, the numerical relative position information of the moving object can be obtained by establishing a tool coordinate system and a user coordinate system respectively. The method specifically comprises the following steps:
establishing a tool coordinate system: establishing a robot 12 paw tool coordinate system RXYZ by a four-point method teaching method, wherein the RZ direction is a flange face terminal normal vector of the robot 12, the positive direction is a flange leading-out direction, the RY direction is the same as the Y direction of the robot 12, the RX direction is determined according to the right-hand rule, the origin R of the coordinate system is the intersection point of the flange center in the RZ direction and a workpiece grabbing plane, and the origin of the tool coordinate system of the robot 12 is moved to the central point of the clamp 23;
establishing a user coordinate system: establishing respective user coordinates OXYZ of two rear gear fingers provided with the displacement sensor 14 by a three-point teaching method, wherein: the X axis is parallel to the central line of a lower die of a bending machine, the Z axis is parallel to the moving direction of an upper die of the bending machine, the positive direction of the Z axis is the same as the downward moving direction of the upper slider, the Y axis is vertical to the X axis, the positive direction of the Y axis is the direction of a rear stop finger 21 pointing to the lower die of the bending machine, and the intersection point of the central line of the rear stop finger and the edge of the lower die is the original point O of a user coordinate system of the rear stop finger;
when the robot 12 translates, selecting a user coordinate system, and calculating a translation matrix of the robot 12 along the Y direction under the user coordinate system, wherein Y is a translation distance of the robot 12 under the user coordinate system; according to the correction translation matrix, the clamp 23 of the robot 12 performs translation motion, the upper computer 15 acquires information of the displacement sensors 14 in real time in the motion process, when one of the displacement sensors 14 is detected, the robot 12 is touched to interrupt an instruction, the robot 12 stops the translation motion, the upper computer 15 records the current posture position of the robot 12, and the deviation of the bending piece 18 from the position, the angle, the speed and the like of a rear gear finger is calculated;
and (3) data deviation feedback correction: the robot 12 receives the position deviation data fed back by the upper computer 15, and according to the correction rotation, the paw of the robot 12 rotates around the origin of the user coordinate system of the rear gear finger of the detected information position: if the information of the two rear stop finger sensors 24 is detected at the same time, the claw of the robot 12 is in a standard bending position; if only the information of one rear gear finger sensor 24 is detected and the deviation data of the other rear gear finger sensor 24 is not detected, the robot 12 continues to move in a translation manner in a safety area, a correction rotation matrix of the robot 12 in the user coordinate system of the rear gear finger 21 detected by the information of the displacement sensor 14 is calculated, the claw of the robot 12 rotates according to the correction rotation matrix, the claw of the robot 12 rotates by taking the origin of the user coordinate system of the rear gear finger detecting the information of the rear gear finger sensor 24 as the center, and the claw rotating action of the robot 12 is stopped until the other sensor 24 is detected; the robot 12 is now in the sheet metal workpiece bending position.
It should be noted that, in this embodiment, the accuracy of the robot 12 is as high as possible, and the higher the positioning accuracy of the robot 12 is, the better the locating accuracy is; and (5) checking and establishing a tool coordinate system and a working coordinate system. The higher the precision is, the better the subsequent bending precision is.
The faster the robot 12 moves, the more likely the bending member 18 is to cause deformation, and the larger the error is; the slower the speed is, the smaller the error is, and the higher the bending precision is;
the scheme that this application embodiment provided has realized that robot 12 is automatic accurate to look for the position of bending, has reduced the teaching degree of difficulty, and easily operation has improved the quality of bending, and especially 18 are various to buckle, and the shaping size is different, only needs the procedure of a demonstration product, just can satisfy the panel beating processing of different specifications, has reduced the maintenance cost, has improved production efficiency.
Although the present application has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the present application.
Claims (10)
1. A bending system, includes crib crimper and robot, the robot is used for grasping the piece of buckling or drives the piece of buckling and removes, crib crimper is used for carrying out the action of buckling, its characterized in that, the bending system still includes:
the positioning platform is used for preliminarily positioning the bent piece;
the displacement sensor is arranged on the bending machine and used for acquiring state information of a bending piece gripped by the robot, wherein the state information comprises speed information and position information;
and the upper computer is in communication connection with the displacement sensor and the robot respectively, and is used for receiving the state information acquired by the displacement sensor and obtaining a control instruction for indicating the robot to drive the bending piece to move to the bending position according to the state information.
2. The bending system according to claim 1, wherein:
the positioning platform comprises a platform plate and a positioning baffle;
the landing slab sets up with the higher, the lower form slope of opposite side in one side, positioning baffle connect in the lower one side of landing slab for stop and the location follow the location side of the gliding piece of buckling of landing slab.
3. The bending system according to claim 2, wherein:
the bending machine comprises a plurality of rear stop fingers which are distributed in sequence along the transverse direction;
the positioning baffle is provided with a positioning surface used for blocking and positioning the positioning side edge of the bending piece, and the positioning surface is parallel to the distribution direction of the rear baffle fingers;
the displacement sensors are two in number and are respectively arranged on the two spaced rear stop fingers and used for respectively sensing the distance from the positioning side edge of the bending piece.
4. The bending system according to claim 1, wherein:
the robot is provided with a clamp for grasping the bent piece, and the clamp is provided with a sensor for detecting whether the robot grasps the bent piece.
5. The bending system according to claim 1, wherein:
the bending system further comprises a material placing platform and a material discharging platform, wherein the material placing platform is used for placing a workpiece to be bent, and the material discharging platform is used for placing the workpiece which is bent.
6. An automatic bending position adjusting method based on the bending system of any one of claims 1 to 5, comprising the steps of:
the robot grasps the bending piece to the positioning platform, so that the bending piece is initially positioned on the positioning platform;
the robot grasps the bending piece again and drives the bending piece to move towards the bending machine; in the moving process, the displacement sensor acquires position information and speed information of the bending piece and transmits the position information and the speed information to the upper computer, the upper computer obtains a control instruction for indicating the robot to drive the bending piece to move to the bending position according to the position information and the speed information, and the robot receives the control instruction and adjusts the position and the posture of the bending piece to enable the bending piece to move to the bending position according to the control instruction;
the bending machine executes bending action to bend the bending piece.
7. The automatic bending position adjusting method according to claim 6, wherein:
during the bending process of the bending machine, the robot keeps grasping the bending piece and adjusts the pose along with the deformation of the bending piece during the bending process.
8. The automatic bending position adjusting method according to claim 6, wherein:
and after the bending action, the robot drives the bending piece to adjust the position and perform secondary bending.
9. An automatic bending position adjusting method based on the bending system of claim 3, comprising the steps of:
the robot grasps the bending piece to the positioning platform, so that the bending piece slides down along the platform plate and the positioning side edge of the bending piece is blocked and preliminarily positioned by the positioning baffle;
the robot grasps the bending piece again and drives the bending piece to move towards the bending machine; in the moving process, the two displacement sensors respectively acquire position information and speed information of the bending piece and transmit the position information and the speed information to the upper computer, the upper computer obtains a control instruction for indicating the robot to drive the bending piece to move to the bending position according to the position information and the speed information, and the robot receives the control instruction and drives the bending piece to move to the bending position according to the control instruction; when two rear stop finger sensors of the bending machine respectively sense a bent piece, the bent piece is shown to be in a bent position, and when only one rear stop finger sensor of the bending machine senses the bent piece, the robot drives the bent piece to rotate by taking the position of the rear stop finger sensor which detects the bent piece as a center to enable the positioning side edge of the bent piece to be parallel to a connecting line of the two rear stop finger sensors, so that the bent piece is in the bent position;
after the bending piece reaches the bending position, the bending machine executes bending action to bend the bending piece.
10. The automatic bending position adjusting method according to claim 9, wherein: and the robot, the displacement sensor and the upper computer are communicated through a TCP/IP protocol.
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| CN202111275481.3A CN114130862A (en) | 2021-10-29 | 2021-10-29 | Bending system and automatic bending position adjusting method |
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| CN107297399A (en) * | 2017-08-08 | 2017-10-27 | 南京埃斯顿机器人工程有限公司 | A kind of method of robot Automatic-searching bending position |
| CN110961495A (en) * | 2019-11-22 | 2020-04-07 | 天水锻压机床(集团)有限公司 | Bending robot plate positioning detection and alignment method |
| CN213530260U (en) * | 2020-06-30 | 2021-06-25 | 上饶中材机械有限公司 | Hopper bottom plate automatic molding special plane |
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