CN115415370A - Path optimization system and method for sheet metal part bending process - Google Patents

Path optimization system and method for sheet metal part bending process Download PDF

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Publication number
CN115415370A
CN115415370A CN202211038541.4A CN202211038541A CN115415370A CN 115415370 A CN115415370 A CN 115415370A CN 202211038541 A CN202211038541 A CN 202211038541A CN 115415370 A CN115415370 A CN 115415370A
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bending
sheet metal
robot
metal part
path
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荣银
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Wuxi Danuo Precision Sheet Metal Co ltd
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Wuxi Danuo Precision Sheet Metal Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
    • B21D5/0209—Tools therefor
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Abstract

The invention relates to a path optimization system and a path optimization method for a sheet metal part bending process, which belong to the field of sheet metal processes, and are used for simulating the bending process by utilizing a barrier detection unit according to a selected bending point before bending work and detecting whether the bending process conflicts with other parts or not; secondly, selecting an optimal follow-up track by the bending machine according to the selected optimal bending path by using a follow-up path selection unit during bending; the invention can detect whether interference occurs on parts and whether the bending part interferes with other parts of the sheet metal part when the sheet metal part, the bending robot and the machine tool work, thereby preventing the problem of damage to workpieces and equipment caused by interference.

Description

Path optimization system and method for sheet metal part bending process
Technical Field
The invention relates to a path optimization system and method for a sheet metal part bending process, and belongs to the field of sheet metal processes.
Background
The sheet metal machining is widely applied to the fields of various manufacturing industries such as transportation, aerospace, communication and the like, and occupies an important position in modern manufacturing industry. The main processes of sheet metal processing include cutting, stamping, bending and the like. The metal plate bending processing is a key forming process in most metal plate part process flows, and has very important influence on the forming of the appearance and the accuracy of the size of the metal plate part. Under the prior art, the sheet metal bending process is mainly realized through a numerical control bending machine, an upper die and a lower die which accord with the bending process are configured on the numerical control bending machine, an upper die slider of a machine tool drives the upper die to move, and the sheet metal part is bent by utilizing the extrusion action of the upper die and the lower die.
At present, the bending operation of a metal plate bending machine on a metal plate is mainly divided into two modes of manual bending and robot bending. The manual bending needs a craftsman to manually take materials, set tools, bend and the like for the bent plate, the labor consumption is large, potential safety hazards exist, the robot bending can reduce safety accidents, the labor is saved, and the bending processing of large plates is supported. In order to improve the production efficiency of metal plate bending processing and reduce human resources, relevant application research of robot metal plate bending automation technology is developed at home and abroad one after another.
The automatic bending of robot utilizes the robot to bend the during operation of sheet metal component, it presss from both sides the work piece and puts into the bender through the robot and carries out the work of bending, when bending, the robot need carry panel to follow the motion of mould on the bender and do the bending and follow the motion (or bend the follow-up), if follow the motion trajectory and have too big error or motion process asynchronous, probably lead to processing panel to produce great deformation and scrap even, simultaneously because the particularity of work occasion, and the difference of the data of bending, the collision of bending or interference can appear sometimes, can lead to unable completion work of bending like this, or the collision appears between the part, influence work.
Disclosure of Invention
The invention aims to: the system and the method for optimizing the path of the sheet metal part bending process are provided, and the problems are solved.
The technical scheme is as follows:
in a first aspect, a path optimization system for a sheet metal part bending process includes: the bending point selecting unit is used for selecting an optimal bending stress point according to the bending width, the bending angle, the bending radius, the material and the thickness of the bending workpiece;
the obstacle detection unit simulates a bending process according to the selected bending point and detects whether the selected bending point conflicts with other parts;
the bending path selection unit is used for calculating and selecting an optimal bending path according to the obstacle points;
and the follow-up path selection unit selects an optimal follow-up track according to the optimal bending path.
In a further embodiment, the bending point selecting unit completes the bending deformation of the sheet metal under the combined action of the upper die and the lower die of the bending machine, so as to establish a mathematical model of the sheet metal body and the upper die and the lower die of the bending machine, and establish a coordinate system with the O point as a coordinate origin, wherein the directions of the x axis and the y axis are respectively a linear axis of the sheet metal body and an axis of the upper die of the bending machine; the bending process of different angles can be simulated according to the established mathematical model, and the lengths of the two non-bending areas are shortened while the bending area is enlarged according to the difference of bending selection points and the difference of bending angles, so that the accurate bending point can be obtained only by inputting bending data including the lengths of the two non-bending areas and the bending angles.
In a further embodiment, the obstacle detection unit is used for detecting whether interference on parts occurs or not and whether interference exists between the bending part and other parts of the sheet metal part or not when the sheet metal part, the bending robot and the machine tool work;
the obstacle detection unit includes: the method comprises the following steps of robot movement detection, upper and lower die detection of a bending machine and workpiece detection.
In a further embodiment, the bending path selection unit selects a movement path of the planning robot according to the condition that the sheet metal part, the bending robot and the machine tool do not interfere with each other and the bending part does not interfere with other parts of the sheet metal part; the robot bending processing 1 complete working cycle comprises 4 stages of material taking, centering, bending and stacking; therefore, under the working instruction of one bending, path selection needs to be carried out once, and when a bending piece or bending data is replaced, path selection needs to be carried out again.
In a further embodiment, the follow-up path selecting unit captures the movement position of the slider of the bending machine in real time when the robot clamps the sheet metal part for bending, so that the follow-up track of the robot is adjusted, and the synchronism and high precision of the movement track are achieved.
In a second aspect, a path optimization method for a sheet metal part bending process includes the following steps:
s1, selecting by a robot according to bending data of a bent piece;
s2, detecting whether the bent part interferes with other parts or not by the robot according to the bending data;
s3, selecting a movement path of the planning robot according to the interference data;
and S4, clamping a bent piece by the robot, putting the bent piece into the bending piece for bending, and bending according to the movement position of the bent piece. And adjusting the follow-up track of the robot.
And S5, finishing blanking of the bent piece, and repeating the work.
In a further embodiment, in step S4, the specific steps are as follows:
s41, firstly, a robot clamps a bending piece to prepare for bending, and after a bending command is sent to a bending machine, a sliding block of the bending machine starts to move from a top dead center position;
s42, when the slide block reaches the clamping point position, the tool nose of the upper die contacts the plate, and the bending machine sends a bending follow-up starting command to the robot;
s43, controlling the robot to bend and follow the robot according to a path planning algorithm and the acquired real-time position of the sliding block;
and S44, finishing the bending movement of the bending robot after receiving the feedback information that the slide block reaches the bottom dead center.
In a further embodiment, in step S43, it is necessary to first find the movement positions of the axes of robot rotation a, Y and Z corresponding to the position of the slider of the bending machine, that is:
α[i]＝arctan(2(d[i]+s/cosα[i-1]-s)/w)
Y[i]＝L+w/2-Lcosα[i]-w/2-Lcosα[i]-Rsinα[i]
Z[i]＝R+Lsinα[i]-w/2tana[i]+w/2sinα-Rsinα[i]
in the above, α [ i ] represents the displacement of the A axis with respect to the home position, Z [ i ] represents the displacement of the Z axis with respect to the home position, Y [ i ] represents the displacement of the Y axis with respect to the home position, and s represents
The thickness of a bent plate, R represents the distance between the plate and the axis of the shaft A, L represents the distance between a reference original point of the plate and the center of the bending groove, and w represents the width of the bending groove; taking the position of the tool nose of the upper die of the slider of the bending machine at the clamping point as a zero point, and respectively taking the positions of the Y axis and the Z axis as reference original points; namely:
Figure BDA0003819829850000041
when the sliding block continues to move from the clamping point position for bending, the position of the sliding block is continuously increased until bottom dead center feedback information is received, i is increased from 1 to n, a corresponding cycle program is built according to the calculation equation, the calculated positions of all points are stored in a bending follow-up position point array, and the array is called when motion control is carried out, so that bending follow-up motion is realized.
In a further embodiment, in step S2, position interference detection between the robot and each component is required, firstly, a three-dimensional simulation environment model is established, and secondly, the pose of the end target of the robot operation task is calculated in the three-dimensional simulation environment model; the method comprises the following specific steps:
s21, firstly, obtaining the relative pose relationship between the relevant components of the operation task and the sheet metal part and the pose of the components in a world coordinate system according to sheet metal parameters and artificial teaching experience, and calculating the pose of the sheet metal part in the operation task;
s22, calculating the clamping relation between the robot clamp and the sheet metal part and the assembling relation between the robot clamp and the flange plate at the tail end of the robot, so as to obtain the pose of the flange plate at the tail end of the robot; namely:
T 1 ＝T 2 *T 3
T 4 ＝T 1 *T 5 *T 6
wherein, T 1 Showing the relative pose relationship of the related components and the sheet metal part, T 2 Representing the pose, T, of the component in the world coordinate system 3 Showing the relative position and attitude relationship of the sheet metal parts, T 4 Pose of end flange of robot, T 5 Shows the clamping relationship between the robot clamp and the sheet metal part, T 6 Showing the assembly relationship between the robot clamp and a flange plate at the tail end of the robot;
and S23, performing sheet metal part bending feeding and discharging interference detection, namely, clamping the sheet metal part by the robot, placing the sheet metal part to a bending machining point through feeding operation, and after the sheet metal part is bent, extracting the bent part from a bending machining area through discharging operation to detect whether the sheet metal part interferes with a machine tool and the bent part or not.
Has the advantages that: the invention relates to a path optimization system and a path optimization method for a sheet metal part bending process, which belong to the field of sheet metal processes, and are used for simulating the bending process by utilizing a barrier detection unit according to a selected bending point before bending work and detecting whether the bending process conflicts with other parts or not; secondly, selecting an optimal follow-up track by the bending machine according to the selected optimal bending path by using a follow-up path selection unit during bending; the invention can detect whether interference occurs on parts and whether the bending part interferes with other parts of the sheet metal part when the sheet metal part, the bending robot and the machine tool work, thereby preventing the problem of damage to workpieces and equipment caused by interference.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
FIG. 2 is a schematic of the process of the present invention.
Fig. 3 is a schematic diagram of a follow-up path selection unit of the present invention.
FIG. 4 is a schematic representation of the interferometric detection of the present invention.
FIG. 5 is a flow chart of the interference detection method of the present invention.
FIG. 6 is a flow chart of a follow-up trajectory method of the present invention.
Fig. 7 is a schematic diagram of the follow-up trajectory of the present invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details; in other instances, well-known features have not been described in order to avoid obscuring the present invention.
Example 1: as shown in fig. 1, a path optimization system for a sheet metal part bending process includes:
a path optimization system for a sheet metal part bending process, comprising: the bending point selecting unit is used for selecting an optimal bending stress point according to the bending width, the bending angle, the bending radius, the material and the thickness of the bending workpiece;
the obstacle detection unit simulates a bending process according to the selected bending point and detects whether the selected bending point conflicts with other parts;
the bending path selection unit is used for calculating and selecting an optimal bending path according to the obstacle points;
and the follow-up path selection unit is used for selecting an optimal follow-up track by the bending machine according to the optimal bending path.
In one embodiment, the bending point selecting unit completes the bending deformation of the sheet metal under the combined action of the upper die and the lower die of the bending machine, so as to establish a mathematical model of the sheet metal body and the upper die and the lower die of the bending machine, and establish a coordinate system with an O point as a coordinate origin, wherein the directions of an x axis and a y axis are respectively a linear axis of the sheet metal body and an axis of the upper die of the bending machine; the bending process of different angles can be simulated according to the established mathematical model, and the lengths of the two non-bending areas are shortened while the bending area is enlarged according to the difference of the bending selection points and the difference of the bending angles, so that the accurate bending point can be obtained only by inputting the bending data and including the lengths of the two non-bending areas and the bending angles.
Specifically, in the actual metal plate bending process, deformation is not completely carried out according to the established mathematical model, meanwhile, a lower die of the bending machine has a small fillet, error values of theoretical calculation and simulation results cannot be avoided, but the tail end sucking disc of the mechanical arm is not in rigid contact with the metal plate, and certain errors are allowed. Through comparison with a simulation result, the result error value of the horizontal coordinate and the vertical coordinate of the point A along with the working distance in the bending process is increased and then reduced, the overall error is within 1.5mm, the space trajectory result has better overlapping property, and therefore the correctness of the mathematical model and the calculation result is verified.
In one embodiment, the obstacle detection unit is used for detecting whether interference occurs on a part or not and whether interference occurs between a bending part and other parts of the sheet metal part or not when the sheet metal part, the bending robot and the machine tool work;
the obstacle detection unit includes: the method comprises the following steps of robot movement detection, upper and lower die detection of a bending machine and workpiece detection.
In one embodiment, the bending path selection unit selects the movement path of the planning robot according to the condition that the sheet metal part, the bending robot and the machine tool have no interference and the bending part has no interference with other parts of the sheet metal part; the robot bending processing 1 complete working cycle comprises 4 stages of material taking, centering, bending and stacking; therefore, under the working instruction of one bending, path selection needs to be carried out once, and when a bending piece or bending data is changed, path selection needs to be carried out again.
In one embodiment, the follow-up path selection unit captures the movement position of the slider of the bending machine in real time when the robot clamps the sheet metal part to perform bending work, so that the follow-up track of the robot is adjusted, and the synchronism and high precision of the movement track are achieved.
Example 2: as shown in fig. 2 to 7, a path optimization method for a sheet metal part bending process includes the following steps:
s1, selecting by a robot according to bending data of a bent piece;
s2, detecting whether the bent part interferes with other parts or not by the robot according to the bending data;
s3, selecting a movement path of the planning robot according to the interference data;
and S4, the robot clamps the bent piece and puts the bent piece into the bending piece for bending, and the follow-up track of the robot is adjusted according to the movement position of the bent piece.
And S5, finishing blanking of the bent piece, and repeating the work.
In one embodiment, in step S4, the specific steps are as follows:
step S41, firstly, a robot clamps a bending piece to prepare for bending, and after a bending command is sent to a bending machine, a sliding block of the bending machine starts to move from the position of an upper dead point;
s42, when the slide block reaches the clamping point position, the tool nose of the upper die contacts the plate, and the bending machine sends a bending follow-up starting command to the robot;
s43, controlling the robot to bend and follow the robot according to a path planning algorithm and the acquired real-time position of the sliding block;
and S44, finishing the bending movement of the bending robot after receiving the feedback information that the slide block reaches the bottom dead center.
In one embodiment, in step S43, the movement positions of the axes of the robot rotation a, Y and Z corresponding to the slider positions of the bending machine are first obtained, that is:
α[i]＝arctan(2(d[i]+s/cosα[i-1]-s)/w)
Y[i]＝L+w/2-Lcosα[i]-w/2-Lcosα[i]-Rsinα[i]
Z[i]＝R+Lsinα[i]-w/2tanα[i]+w/2sinα-Rsinα[i]
in the above, α [ i ] represents the displacement of the axis a with respect to the initial position, Z [ i ] represents the displacement of the axis Z with respect to the initial position, Y [ i ] represents the displacement of the axis Y with respect to the initial position, s represents the thickness of the bent sheet material, R represents the distance between the sheet material and the axis center of the axis a, L represents the distance between the reference origin of the sheet material and the center of the bending groove, and w represents the width of the bending groove; taking the position of the tool nose of the upper die of the slider of the bending machine at the clamping point as a zero point, and respectively taking the positions of the Y axis and the Z axis as reference original points; namely:
Figure BDA0003819829850000081
when the sliding block continues to move from the clamping point position for bending, the position of the sliding block is continuously enlarged until the feedback information of the bottom dead center is received, i is increased from 1 to n, a corresponding cyclic program is established according to the calculation equation, the calculated positions of all points are stored in a bending follow-up position point array, and the array is called when the movement control is carried out, so that the bending follow-up movement is realized.
In one embodiment, in step S2, position interference detection between the robot and each component is required, firstly, a three-dimensional simulation environment model is established, and secondly, an end target pose of the robot operation task is calculated in the three-dimensional simulation environment model; the method comprises the following specific steps:
s21, firstly, obtaining the relative pose relationship between the relevant components of the operation task and the sheet metal part and the pose of the components in a world coordinate system according to sheet metal parameters and artificial teaching experience, and calculating the pose of the sheet metal part in the operation task;
s22, calculating the clamping relation between the robot clamp and the sheet metal part and the assembling relation between the robot clamp and the flange plate at the tail end of the robot, so as to obtain the pose of the flange plate at the tail end of the robot; namely:
T 1 ＝T 2 *T 3
T 4 ＝T 1 *T 5 *T 6
wherein, T 1 Showing the relative pose relationship of the relevant components and the sheet metal part, T 2 Representing the pose, T, of the component in the world coordinate system 3 Showing the relative position and attitude relationship of the sheet metal parts, T 4 Robot tail end flange platePosition and attitude of (1), T 5 Shows the clamping relationship between the robot clamp and the sheet metal part, T 6 Showing the assembly relationship between the robot clamp and a flange plate at the tail end of the robot;
and S23, performing sheet metal part bending feeding and discharging interference detection, namely, clamping the sheet metal part by the robot, placing the sheet metal part to a bending machining point through feeding operation, and after the sheet metal part is bent, extracting the bent part from a bending machining area through discharging operation to detect whether the sheet metal part interferes with a machine tool and the bent part or not.
Specifically, the feeding and discharging problem can be simplified into the pose planning problem of the plate in three planar degrees of freedom. The basic idea of collision avoidance is to find 1 bend on the throat side of a plate machine tool to maximize the warping degree of a plate, adjust the position and the posture of the plate at a bending processing position, enable the projection of an envelope line on the throat side to be smaller than the opening height of the upper die and the lower die in the vertical direction, and enable a robot to feed and discharge materials along the envelope line position.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.

Claims (9)

1. A path optimization system for a sheet metal part bending process, comprising:
the bending point selecting unit is used for selecting an optimal bending stress point according to the bending width, the bending angle, the bending radius, the material and the thickness of the bending workpiece;
the obstacle detection unit simulates a bending process according to the selected bending point and detects whether the selected bending point conflicts with other parts;
the bending path selection unit is used for calculating and selecting an optimal bending path according to the obstacle points;
and the follow-up path selection unit selects an optimal follow-up track according to the optimal bending path.
2. A path optimization system for a sheet metal part bending process according to claim 1,
the bending point selecting unit completes the bending deformation of the sheet metal under the combined action of the upper die and the lower die of the bending machine, so that a mathematical model is established for the sheet metal body and the upper die and the lower die of the bending machine, a coordinate system taking the point O as a coordinate origin is established, and the directions of an x axis and a y axis are respectively a linear axis of the sheet metal body and an upper die axis of the bending machine; the bending process of different angles can be simulated according to the established mathematical model, and the lengths of the two non-bending areas are shortened while the bending area is enlarged according to the difference of bending selection points and the difference of bending angles, so that the accurate bending point can be obtained only by inputting bending data including the lengths of the two non-bending areas and the bending angles.
3. The path optimization system for the sheet metal part bending process according to claim 1, wherein the obstacle detection unit is used for detecting whether interference occurs on the part or not and whether interference occurs between the bent part and other parts of the sheet metal part or not when the sheet metal part, the bending robot and the machine tool work;
the obstacle detection unit includes: the method comprises the following steps of robot movement detection, upper and lower die detection of a bending machine and workpiece detection.
4. The path optimization system for the sheet metal part bending process according to claim 1, wherein the bending path selection unit performs the selection of the movement path of the planning robot according to the fact that when the sheet metal part, the bending robot and the machine tool do not interfere and the bending part does not interfere with other parts of the sheet metal part; the robot bending processing 1 complete working cycle comprises 4 stages of material taking, centering, bending and stacking; therefore, under the working instruction of one bending, path selection needs to be carried out once, and when a bending piece or bending data is changed, path selection needs to be carried out again.
5. The path optimization system for the sheet metal part bending process according to claim 1, wherein the follow-up path selection unit captures the movement position of the slider of the bending machine in real time when the robot clamps the sheet metal part for bending, so that the follow-up trajectory of the robot is adjusted to achieve the synchronism and high precision of the movement trajectory.
6. A path optimization method for a sheet metal part bending process is characterized by comprising the following steps:
s1, selecting by a robot according to bending data of a bent piece;
s2, detecting whether the bent part interferes with other parts or not by the robot according to the bending data;
s3, selecting a movement path of the planning robot according to the interference data;
s4, the robot clamps a bent piece and puts the bent piece into the bent piece for bending, and the follow-up track of the robot is adjusted according to the movement position of the bent piece;
and S5, finishing blanking of the bent piece, and repeating the work.
7. The path optimization method for the sheet metal part bending process according to claim 6, wherein in the step S4, the specific steps are as follows:
step S41, firstly, a robot clamps a bending piece to prepare for bending, and after a bending command is sent to a bending machine, a sliding block of the bending machine starts to move from the position of an upper dead point;
s42, when the slide block reaches the clamping point position, the tool nose of the upper die contacts the plate, and the bending machine sends a bending follow-up starting command to the robot;
s43, controlling the robot to bend and follow the robot according to a path planning algorithm and the acquired real-time position of the sliding block;
and S44, finishing the bending movement of the bending robot after receiving the feedback information that the slide block reaches the bottom dead center.
8. The method for optimizing the path of the sheet metal part bending process according to claim 7, wherein in step S43, the movement positions of the robot in the axes of rotation a, Y and Z corresponding to the position of the slider of the bending machine are determined, that is:
α[i]＝arctan(2(d[i]+S/cosα[i-1]-S)/w)
Y[i]＝L+w/2-Lcosα[i]-w/2-Lcosα[i]-Rsinα[i]
Z[i]＝R+Lsinα[i]-w/2tanα[i]+w/2sinα-Rsinα[i]
in the above, α [ i ] represents the displacement of the axis a with respect to the initial position, Z [ i ] represents the displacement of the axis Z with respect to the initial position, Y [ i ] represents the displacement of the axis Y with respect to the initial position, S represents the thickness of the bent sheet material, R represents the distance between the sheet material and the axis center of the axis a, L represents the distance between the reference origin of the sheet material and the center of the bending groove, and w represents the width of the bending groove; taking the position of the tool nose of the upper die of the slider of the bending machine at the clamping point as a zero point, and respectively taking the positions of the Y axis and the Z axis as reference original points; namely:
Figure FDA0003819829840000031
when the sliding block continues to move from the clamping point position for bending, the position of the sliding block is continuously increased until bottom dead center feedback information is received, i is increased from 1 to n, a corresponding cycle program is built according to the calculation equation, the calculated positions of all points are stored in a bending follow-up position point array, and the array is called when motion control is carried out, so that bending follow-up motion is realized.
9. The path optimization method for the sheet metal part bending process according to claim 6,
in the step S2, position interference detection between the robot and each part is required, firstly, a three-dimensional simulation environment model is established, and then the terminal target pose of the robot operation task is calculated in the three-dimensional simulation environment model; the method comprises the following specific steps:
s21, firstly, obtaining the relative pose relationship between the relevant components of the operation task and the sheet metal part and the pose of the components in a world coordinate system according to sheet metal parameters and artificial teaching experience, and calculating the pose of the sheet metal part in the operation task;
s22, calculating the clamping relation between the robot clamp and the sheet metal part and the assembling relation between the robot clamp and the flange plate at the tail end of the robot, so as to obtain the pose of the flange plate at the tail end of the robot; namely:
T 1 ＝T 2 *T 3
T 4 ＝T 1 *T 5 *T 6
wherein, T 1 Showing the relative pose relationship of the relevant components and the sheet metal part, T 2 Representing the pose, T, of the component in the world coordinate system 3 Showing the relative position and attitude relationship of the sheet metal parts, T 4 Pose of end flange of robot, T 5 Shows the clamping relationship between the robot clamp and the sheet metal part, T 6 Showing the assembly relationship between the robot clamp and a flange plate at the tail end of the robot;
and S23, performing sheet metal part bending feeding and discharging interference detection, namely, clamping the sheet metal part by the robot, placing the sheet metal part to a bending machining point through feeding operation, and after the sheet metal part is bent, extracting the bent part from a bending machining area through discharging operation to detect whether the sheet metal part interferes with a machine tool and the bent part or not.
CN202211038541.4A 2022-08-29 2022-08-29 Path optimization system and method for sheet metal part bending process Pending CN115415370A (en)

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