Method of implementing real-time bending follow of bending robot

A robot and bending machine technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as inability to follow bending in real time, achieve the effects of improving following accuracy and bending quality, reducing time, and improving debugging efficiency

Active Publication Date: 2014-04-09
NANJING ESTUN ROBOTICS CO LTD
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Problems solved by technology

[0004] The invention provides a method for realizing the real-time bending tracking of the bending robot, which solves the problem that the bending robot cannot follow the bending in real time

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  • Method of implementing real-time bending follow of bending robot
  • Method of implementing real-time bending follow of bending robot
  • Method of implementing real-time bending follow of bending robot

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Embodiment Construction

[0023] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0024] figure 1 The device for realizing the real-time following method of bending by a bending robot includes a robot 1, a robot gripper 2, a plate 3, a bending machine and a communication cable 6, and the bending machine includes a body 4 and a bending controller 5. Among them, robot 1 is a general-purpose six-joint series industrial robot, which has general-purpose industrial robot functions: the coordinate system includes joint coordinate system, Cartesian coordinate system, tool coordinate system and external coordinate system, and can establish and set the external coordinate system. It can use the four-point method to establish the tool coordinate system, and has the characteristic of keeping the position and posture unchanged under the current coordinate system during normal operation, and can manually and automatically contro...

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Abstract

The invention provides a method of implementing real-time bending follow of a bending robot. According to the method, an external coordinate system is established using a groove edge of a bending machine as an axis; any two points of a groove of the bending machine are selected, a line of the points and the groove edge are overlapped; a third point is set, and coordinates of the third point are: x3=x2, y3=y2 and z3=z2+100; the third point is defined as a point in a plane of the external coordinate system, an axial vector x' of the external coordinate system is defined as the first point pointing to the second point, and the axial vector x' and an axial vector y' of the external coordinate system are calculated according to corresponding formulas; when the bending machine starts to bend, a robot coordinate system is switched to the external coordinate system, a bending angle is calculated in real time, and the axes of the external coordinate system are rotated according to the bending angle; the robot rotates with the axes in order to maintain unchanged self-position in the external coordinate system, and real-time bending follow is achieved. Through the application of the method, real-time following and automatic bending techniques for the robotic bending process are achieved, follow debugging takes a shorter time for a debugging operator, debugging efficiency is improved, and following precision and bending quality are improved.

Description

technical field [0001] The invention relates to bending robot technology, in particular to a method for realizing the real-time bending tracking of a bending robot, which belongs to the field of industrial robots. Background technique [0002] With the continuous increase of labor costs, the application of industrial robots in the field of bending is becoming more and more popular. In the application of large plate bending, manual bending is time-consuming and labor-intensive and the effect is not good, while robot bending has great advantages; in the case of large bending plates, robots also show great advantages. The main difficulty of the bending robot is that the path of the robot needs to be recalculated after each bending due to the change of the shape of the plate and the bending direction. Therefore, the bending following technology of industrial robots is a key technology for the bending application of industrial robots. [0003] The paper "Bending Robot" on pages...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B21D5/00
CPCB25J9/16
Inventor 严律邓文强王杰高韩邦海
Owner NANJING ESTUN ROBOTICS CO LTD
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