Speed planning method applied to bending synchronous following of bending robot
A bending machine and robot technology, applied in the field of bending robot bending synchronous follow-up, can solve the problems of restarting the follow-up after a certain time in advance, delaying the follow-up after a certain time, leading or lagging the follow-up position, etc.
Active Publication Date: 2020-04-28
NANJING ESTUN ROBOTICS CO LTD
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Problems solved by technology
Aiming at the problem of leading or lagging the following position during the bending following process, the method of the present invention sends the bending following start signal a certain time in advance before the bending robot sends the work advance signal to the bending machine, or the bending robot After sending the work-in signal to the bending machine, delay for a certain period of time and then send the bending follow start signal. The bending follow needs to be started in advance or delayed according to the observation of whether the plate is convex or concave when it starts to deform under pressure. To decide, if it is a convex deformation, it means that the bending follow start is ahead of time, and it needs to be delayed for a certain period of time before starting to follow.
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[0031] The method of the present invention will be described in further detail below in conjunction with specific embodiments and accompanying drawings.
[0032] The flow chart of the whole bending synchronous follow is attached figure 1 .
[0033] Step 1: See the attached schematic diagram for the user coordinate system of the teaching bending machine figure 2 . The teaching position of P1 point is (2200, 0, 900), the position of P2 point is (2200, -200, 900), the position of P3 point is (2210, -100, 900,), the width of the V port of the lower mold of the bending machine The Width is 5.5mm, the Height is 140mm, the chamfer radius Radius is 0.5mm, and the V-port Angle is 28 degrees. The coordinate system Frame calculated according to the three points P1, P2, and P3 taught is (2200,0,900,0,0,-90), after the translation transformation matrix T:
[0034]
[0035] The final calculated bending machine user coordinate system BenderFrame is (2203.14,0,760,0,0,-90).
[0036] ...
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The invention discloses a speed planning method applied to bending synchronous following of a bending robot. The manner of tracking the user coordinate system of a bending machine is adopted in bending following, the moving distance of an upper mold, the pressed stretching length of a plate and the bending following time in one bending are calculated accurately, the following speed is planned through a three-segment trapezoid, and the bending user coordinate system is converted in three directions. By means of the method, the bending following speed response is rapid, synchronous performance is good, the following tract is flexible, and the requirement of actual bending for the precision of bending forming angles can be met.
Description
technical field [0001] The invention relates to a bending robot synchronously following method, in particular to a speed planning method applied to the bending robot synchronously following. Background technique [0002] The bending process of the bending machine means that the mold on the bending machine starts to move from the clamping point, and stops after moving to the bottom dead point. During this process, the sheet is deformed under compression, and the sheet is finally formed to have a certain angle and width. . Bending following is the core technical difficulty of bending robots, and the synchronization performance of bending following is an important factor to ensure the final bending angle of sheet metal parts. In the bending process of the bending machine, the bending following process of the bending robot must ensure that it matches with the bending process of the bending machine. Since the bending machine and the bending robot are two independent control syst...
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Login to View More IPC IPC(8): B21D5/02G06F17/16
CPCB21D5/02G06F17/16
Inventor 赵德杰王杰高
Owner NANJING ESTUN ROBOTICS CO LTD