A Speed Planning Method for Synchronous Bending Follow-up of Bending Robot
A technology of bending machines and robots, which is applied in the field of bending synchronous tracking of bending robots, can solve problems such as leading or lagging the following position, whether following needs to be started in advance or delayed, and delaying a certain period of time before starting to follow, etc.
Active Publication Date: 2021-06-01
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 the bending synchronous follow-up of a bending robot. The bending follow adopts the method of tracking the user coordinate system of the bending machine, and accurately calculates the moving distance of the upper mold and the sheet material in one bending. The stretching length under compression, the following time of bending, and the following speed adopt a three-stage trapezoidal programming, and transform the bending user coordinate system in three directions. The bending following speed response of this method is fast, the synchronization performance is good, and the following trajectory is smooth, which can meet the accuracy requirements of actual bending on the bending forming angle.
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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IPC IPC(8): B21D5/02G06F17/16
CPCB21D5/02G06F17/16
Inventor 赵德杰王杰高
Owner NANJING ESTUN ROBOTICS CO LTD