A high-precision robot sheet metal bending following method
A robot and high-precision technology, applied in the field of robot sheet metal bending, can solve problems such as the mismatch of the robot's follow-up action, the influence of the robot's follow-up action, and the mismatch between the feeding distance of the bending tool and the forming angle.
Active Publication Date: 2021-07-09
SHANGHAI FANUC ROBOTICS
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Problems solved by technology
[0005] (1) Many bending followers simplify the sheet metal into an ideal thin plate, ignoring the influence of the sheet metal thickness deformation on the sheet metal position during the bending process, resulting in a mismatch between the following action of the robot and the action of the bending machine;
[0006] (2) During the establishment of some bending models, different degrees of approximate calculation methods are used (for example, the length of a small arc is replaced by a corresponding straight line segment, etc.), and finally, an approximate model is established, resulting in the bending tool feed distance and The molding angle does not match, which affects the robot's following action
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[0063] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.
[0064] It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other under the condition of no conflict.
[0065] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but it is not intended to limit the present invention.
[0066] figure 1 It is a schematic diagram of the upper part of the geometric ana...
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The invention relates to a high-precision robot sheet metal bending following method, which uses a three-point method to establish a three-dimensional Cartesian coordinate system; the robot grabs the sheet metal and places it on the surface of the mold, and the sheet metal is located on the V-shaped groove of the model; the robot passes the program Automatically calculate the robot tool coordinate system and make it coincide with the three-dimensional Cartesian coordinate system; through the geometric analysis of the bending sheet metal model, the functional relationship of the tool feed distance Di=Di(a) is established, and the bending follow dynamic point is calculated , Automatically generate the robot bending following action program; when sheet metal is bent, the robot executes the bending following action program, so as to ensure that the following action of the robot completely matches the bending action of the bending machine. The invention considers the influence of many factors such as the thickness of the sheet metal, the width of the V-groove of the lower mold, the angle of the V-groove, etc., and establishes a high-precision robot sheet metal bending following model, which solves the problem of the robot following the robot during the sheet metal bending process. Problems that do not match the action of the press brake.
Description
technical field [0001] The invention relates to the field of robot sheet metal bending, in particular to a high-precision robot sheet metal bending following method. Background technique [0002] At present, automatic sheet metal bending with robots and bending machines has gradually replaced manual-assisted bending. Robot automatic bending not only ensures stable bending quality, but also greatly improves production efficiency, especially when bending large sheets. Automatic bending greatly reduces labor intensity and eliminates potential safety hazards. [0003] During bending, the sheet metal is rotated around its dynamic contact point with the tool, and the position of the center of rotation of the sheet metal changes constantly, which increases the difficulty for the robot to follow and grasp the sheet metal. The inaccurate and asynchronous follow-up action of the robot not only directly affects the quality of sheet metal bending, but also tends to cause problems such ...
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IPC IPC(8): B21D5/02
CPCB21D5/004B21D5/0281
Inventor 黄万永吴钰屾王财先孔萌童梁张涛
Owner SHANGHAI FANUC ROBOTICS