A robot bending system and method with fault tolerance function

Abstract

The present invention discloses a robot bending system and method with fault tolerance function. The robot bending system used includes a CNC bending machine and a bending robot. The CNC bending machine includes a rear stopper and a lower die. The method includes: detecting the length and width parameters of a standard sheet material; using a sheet material of standard size to perform teaching and debugging of the entire bending trajectory to obtain the reference position relationship between the rear stopper and the lower die; detecting the length and width parameters of the sheet material to be processed, and calculating the deviation value from the length and width of the standard sheet material; automatically adjusting the position relationship between the rear stopper and the lower die according to the deviation value, so as to obtain a bent sheet material of expected length and width. The robot bending system and method of the present invention can effectively solve the size fault tolerance problem of the sheet material to be processed, reduce the teaching when changing the workpiece, and improve production efficiency.

Description

Technical Field

[0001] The present invention relates to the field of industrial automation, and in particular to a bending robot system and method. Background Art

[0002] In recent years, robot technology has developed rapidly, and the application areas of products have been expanding. Due to the rising labor costs, the sheet metal processing industry has an increasing demand for robot equipment. Robots can replace manual sheet bending to save a lot of manpower, improve work efficiency, and ensure production quality.

[0003] At present, there are many small batch and diverse application scenarios in the sheet metal bending industry. There are many types of workpieces at customer sites, but the quantity is small. Therefore, the traditional method is to complete it through teaching robot trajectories. This will result in the need for teaching every time the customer switches to a workpiece of a certain specification, resulting in huge labor costs. Therefore, people need to reduce the teaching process and improve the efficiency of debugging while keeping the original bending process unchanged. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a more ingenious and reasonable robot bending method that is compatible with small batches and diversity. When bending sheets of different lengths and widths, the position of the rear stop finger of the bending machine can be automatically adjusted to obtain bent sheets of expected length and width.

[0005] In order to solve this technical problem, the technical solution adopted by the present invention is as follows:

[0006] A robot bending method with fault tolerance function, the robot bending system used in the method includes a CNC bending machine and a bending robot, the CNC bending machine includes a rear stopper and a lower die, and the steps include the following:

[0007] Detect the length and width parameters of standard sheet materials;

[0008] The bending robot uses the standard sheet material to perform teaching and debugging of the entire bending trajectory to obtain a standard position relationship between the rear stop finger and the lower die that matches the standard sheet material;

[0009] Detect and obtain the length and width parameters of the sheet material to be processed;

[0010] Calculating the deviation value of the length and width of the sheet material to be processed relative to the standard sheet material;

[0011] The positional relationship between the rear stop finger and the lower die is adjusted according to the deviation value, so as to obtain a bent sheet material of expected length and width.

[0012] Furthermore, the detection of the length and width parameters of the standard sheet material and the length and width parameters of the sheet material to be processed is completed through a gravity centering platform, and a limiting structure is set on each side of the length and width of the gravity centering platform as a reference side for the length and width detection of the sheet material, and the length and width parameters of the standard sheet material and the length and width parameters of the sheet material to be processed are detected by a distance measuring device.

[0013] Furthermore, the distance measuring device is two laser distance measuring sensors, and the two laser distance measuring sensors are respectively arranged on the outer sides of the long side edge and the wide side edge of the non-reference side of the sheet material on the gravity centering platform.

[0014] Specifically, the two laser distance measuring sensors respectively detect the distances to the long side and the wide side of the non-reference side of the standard sheet material, which are a0 and b0 respectively;

[0015] The two laser distance measuring sensors respectively detect the distances to the long side and the wide side of the non-reference side of the sheet material to be processed, which are a1 and b1 respectively;

[0016] The deviation values ​​of the length and width of the sheet material to be processed relative to the standard sheet material are △b= b1- b 0， △a= a1- a0;

[0017] The specific method for automatically adjusting the position relationship between the rear stop finger and the lower die according to the deviation value is:

[0018] If △a>0, the sheet material to be processed is smaller than the width of the standard sheet material, so when the long side is bent, the back stop moves a distance of △a in the direction of the lower die;

[0019] Or △b>0, the sheet material to be processed is smaller than the long side of the standard sheet material, so when the wide side is bent, the rear stop moves a distance of △b toward the lower die;

[0020] If △a<0, the sheet material to be processed is larger than the width of the standard sheet material, so when the long side is bent, the back stop moves away from the lower die by a distance of △a;

[0021] Or △b<0, the sheet material to be processed is larger than the long side of the standard sheet material, so when the wide side is bent, the back stop moves away from the lower die by a distance of △b;

[0022] If △a=0 or △b=0, the position of the rear finger remains unchanged during bending;

[0023] The bending correction position of the bending robot remains unchanged. After the rear finger of the CNC bending machine is adjusted into place, the bending robot goes to the correction point, performs correction and bending follow-up, and obtains the bent sheet material of the expected length and width.

[0024] Furthermore, after the bending robot obtains the detection data of the sheet material, it calculates the deviation value of the length and width of the sheet material to be processed relative to the standard sheet material, and instructs the CNC bending machine to adjust the position of the rear stop finger.

[0025] Furthermore, the table top of the gravity centering platform is in an inclined state, with the length and width directions respectively inclined toward the side where the limiting structure is set, so that when the standard sheet material or the sheet material to be processed is placed on the gravity centering platform, the length and width sides of the standard sheet material or the sheet material to be processed automatically slide down and are limited by the limiting structure.

[0026] At the same time, the present invention also provides a robot bending system with fault tolerance function, including a CNC bending machine, a bending robot, a loading table and a unloading table, the CNC bending machine includes a rear stopper and a lower die, and also includes a gravity centering table, and a limit structure is set on each side of the length and width of the gravity centering table as a reference side for the length and width detection of the sheet material; the gravity centering table is provided with a laser ranging sensor on the outer side of the long side edge and the wide side edge of the non-reference side of the sheet material, respectively used to detect the distance between the laser ranging sensor and the long side or the wide side edge of the non-reference side of the sheet material; the two laser ranging sensors of the gravity centering table respectively detect the distance to the long side and the wide side edge of the non-reference side of the standard sheet material, and the distance to the long side and the wide side edge of the non-reference side of the sheet material to be processed;

[0027] After obtaining the detection values ​​of the standard sheet material and the sheet material to be processed, the bending robot calculates the deviation value of the length and width of the sheet material to be processed relative to the standard sheet material, and instructs the CNC bending machine to adjust the position of the rear stop finger to obtain a bent sheet material of the expected length and width.

[0028] Furthermore, the table top of the gravity centering platform is in an inclined state, with the length and width directions respectively inclined toward the side where the limiting structure is set, so that when the standard sheet material or the sheet material to be processed is placed on the gravity centering platform, the length and width sides of the standard sheet material or the sheet material to be processed automatically slide down and are limited by the limiting structure.

[0029] Furthermore, the two laser distance measuring sensors respectively detect the distances to the long side and the wide side of the non-reference side of the standard sheet material, which are a0 and b0 respectively;

[0030] The two laser distance measuring sensors respectively detect the distances to the long side and the wide side of the non-reference side of the sheet material to be processed, which are a1 and b1 respectively;

[0031] The deviation values ​​of the length and width of the sheet material to be processed relative to the standard sheet material are △b= b1- b0 and △a= a1- a0 respectively;

[0032] The specific method of automatically adjusting the position relationship between the rear stop finger and the lower die according to the deviation value is as follows:

[0033] If △a>0, the sheet material to be processed is smaller than the width of the standard sheet material, so when the long side is bent, the back stop moves a distance of △a in the direction of the lower die;

[0034] Or △b>0, the sheet material to be processed is smaller than the long side of the standard sheet material, so when the wide side is bent, the rear stop moves a distance of △b toward the lower die;

[0035] If △a<0, the sheet material to be processed is larger than the width of the standard sheet material, so when the long side is bent, the back stop moves away from the lower die by a distance of △a;

[0036] Or △b<0, the sheet material to be processed is larger than the long side of the standard sheet material, so when the wide side is bent, the back stop moves away from the lower die by a distance of △b;

[0037] If △a=0 or △b=0, the position of the rear finger remains unchanged during bending.

[0038] The small batch variety robot bending system and method of the present invention effectively solves the size tolerance problem of the sheet material to be processed, reduces the teaching when changing the workpiece, and improves the production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein:

[0040] Figure 1 It is a structural schematic diagram of the robot bending system with fault tolerance function of the present invention.

[0041] Figure 2 It is a structural diagram of the gravity centering platform.

[0042] In the figure:

[0043] 1. CNC bending machine 2. Bending robot 3. Loading table

[0044] 4. Unloading table 5. Gravity centering table 6. Laser distance sensor

[0045] 7. Limiting structure DETAILED DESCRIPTION

[0046] The present invention is further described in detail below with reference to the accompanying drawings and embodiments:

[0047] Figure 1A robot bending system with fault tolerance function is shown, including a CNC bending machine 1, a bending robot 2, a loading platform 3, an unloading platform 4 and a gravity centering platform 5. The CNC bending machine 1 includes a rear stopper and a lower die, a gravity centering platform 5, and a limiting structure 7 is arranged on each side of the length and width of the gravity centering platform 5 as a reference side for sheet length and width detection; the gravity centering platform 5 is provided with a laser ranging sensor 6 on the outer side of the long side edge and the wide side edge of the non-reference side of the sheet material, respectively used to detect the distance between the laser ranging sensor 6 and the long side or wide side edge of the non-reference side of the sheet material; the two laser ranging sensors 6 of the gravity centering platform 5 respectively detect the distance to the long side and wide side edge of the non-reference side of the standard sheet material, and the distance to the long side and wide side edge of the non-reference side of the sheet material to be processed.

[0048] The table top of the gravity centering platform 5 is in an inclined state, and the length and width directions are respectively inclined toward the side where the limiting structure 7 is set, so that when the standard sheet material or the sheet material to be processed is placed on the gravity centering platform 5, the length and width sides of the standard sheet material or the sheet material to be processed automatically slide down and are limited to the limiting structure 7.

[0049] A robot bending method with fault tolerance function, the steps comprising:

[0050] Detecting the length and width parameters of the standard sheet material: The two laser distance measuring sensors respectively detect the distances to the long side and the wide side edges of the non-reference side of the standard sheet material, which are a0 and b0 respectively.

[0051] The bending robot uses the standard sheet material to perform teaching and debugging of the entire bending trajectory to obtain a standard position relationship between the rear stop finger and the lower die that matches the standard sheet material;

[0052] Detect and obtain the length and width parameters of the sheet material to be processed: the two laser distance measuring sensors respectively detect the distances to the long side and wide side edges of the non-reference side of the sheet material to be processed, which are a1 and b1 respectively.

[0053] After the bending robot 2 obtains the detection data of the sheet material to be processed, the deviation values ​​of the length and width of the sheet material to be processed relative to the length and width of the standard sheet material are calculated: the length deviation value △b= b1- b0, the width deviation value △a= a1- a0.

[0054] If △a>0, it means that the wide side of the sheet material to be processed is smaller than that of the standard sheet material; if △a<0, it means that the wide side of the sheet material to be processed is larger than that of the standard sheet material; if △a=0, it means that the wide side of the sheet material to be processed is the same as that of the standard sheet material; similarly, if △b>0, it means that the long side of the sheet material to be processed is smaller than that of the standard sheet material; if △b<0, it means that the long side of the sheet material to be processed is larger than that of the standard sheet material; if △b=0, it means that the long side of the sheet material to be processed is the same as that of the standard sheet material.

[0055] According to the deviation value, the bending robot 2 instructs the CNC bending machine 1 to automatically adjust the position relationship between the rear stop finger and the lower die, and the specific method is:

[0056] If △a>0, the sheet material to be processed is smaller than the width of the standard sheet material, so when the long side is bent, the back stop moves a distance of △a in the direction of the lower die;

[0057] Or △b>0, the sheet material to be processed is smaller than the long side of the standard sheet material, so when the wide side is bent, the rear stop moves a distance of △b toward the lower die;

[0058] If △a<0, the sheet material to be processed is larger than the width of the standard sheet material, so when the long side is bent, the back stop moves away from the lower die by a distance of △a;

[0059] Or △b<0, the sheet material to be processed is larger than the long side of the standard sheet material, so when the wide side is bent, the back stop moves away from the lower die by a distance of △b;

[0060] If △a=0 or △b=0, the position of the rear finger remains unchanged during bending;

[0061] The bending correction position of the bending robot 2 remains unchanged. After the rear finger of the CNC bending machine 1 is adjusted into place, the bending robot 2 goes to the correction point, performs correction and bending follow-up, and obtains the bent sheet material of the expected length and width.

[0062] Of course, the length and width parameters of the above-mentioned standard sheet material and the length and width parameters of the sheet material to be processed can be detected (when a laser ranging sensor is used as a ranging device, the length parameter is the distance value from the laser ranging sensor to the wide edge of the non-reference side of the sheet material, and the width parameter is the distance value from the laser ranging sensor to the long edge of the non-reference side of the sheet material). A camera can also be used as a ranging device to obtain the length and width parameters of the standard sheet material and the sheet material to be processed (when a camera is used as a ranging device, the length and width parameters are the length and width images of the sheet material captured by the camera, respectively). After the bending robot 2 obtains the captured image of the sheet material, it analyzes and obtains the length and width of the standard sheet material and the length and width of the sheet material to be processed, calculates the length and width deviation values, and instructs the CNC bending machine 1 to adjust the rear finger position accordingly.

[0063] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A robot bending method with fault tolerance function, the robot bending system used in the method includes a CNC bending machine, a bending robot and a gravity centering table, the CNC bending machine includes a rear stop finger and a lower die, characterized in that The steps include: Detect the length and width parameters of standard sheet materials; The bending robot uses the standard sheet material to perform teaching and debugging of the entire bending trajectory to obtain a standard position relationship between the rear stop finger and the lower die that matches the standard sheet material; Detect and obtain the length and width parameters of the sheet material to be processed; Calculating the deviation value of the length and width of the sheet material to be processed relative to the standard sheet material; Adjusting the positional relationship between the rear stop finger and the lower die according to the deviation value, so as to obtain a bent sheet material of expected length and width; The detection of the length and width parameters of the standard sheet material and the length and width parameters of the sheet material to be processed is completed by a gravity centering platform, and a limit structure is set on each side of the length and width of the gravity centering platform as a reference side for the length and width detection of the sheet material, and the length and width parameters of the standard sheet material and the length and width parameters of the sheet material to be processed are detected by a distance measuring device; Wherein, the distance measuring device is two laser distance measuring sensors, and the two laser distance measuring sensors are respectively arranged on the outer sides of the long side edge and the wide side edge of the non-reference side of the sheet material on the gravity centering platform.

2. The robot bending method according to claim 1, characterized in that Specifically: The two laser distance measuring sensors respectively detect the distances to the long side and the wide side of the non-reference side of the standard sheet material, which are a0 and b0 respectively; The two laser distance measuring sensors respectively detect the distances to the long side and the wide side of the non-reference side of the sheet material to be processed, which are a1 and b1 respectively; The deviation values ​​of the length and width of the sheet material to be processed relative to the standard sheet material are △b= b1- b0 and △a= a1- a0 respectively; The specific method for automatically adjusting the position relationship between the rear stop finger and the lower die according to the deviation value is: If △a>0, the sheet material to be processed is smaller than the width of the standard sheet material, so when the long side is bent, the back stop moves a distance of △a in the direction of the lower die; Or △b>0, the sheet material to be processed is smaller than the long side of the standard sheet material, so when the wide side is bent, the rear stop moves a distance of △b toward the lower die; If △a<0, the sheet material to be processed is larger than the width of the standard sheet material, so when the long side is bent, the back stop moves away from the lower die by a distance of △a; Or △b<0, the sheet material to be processed is larger than the long side of the standard sheet material, so when the wide side is bent, the back stop moves away from the lower die by a distance of △b; If △a=0 or △b=0, the position of the rear finger remains unchanged during bending; The bending correction position of the bending robot remains unchanged. After the rear finger of the CNC bending machine is adjusted into place, the bending robot goes to the correction point, performs correction and bending follow-up, and obtains the bent sheet material of the expected length and width.

3. The robot bending method according to any one of claims 1 to 2, characterized in that: After the bending robot acquires the detection data of the sheet material, the deviation value of the length and width of the sheet material to be processed relative to the standard sheet material is calculated, and the CNC bending machine is instructed to adjust the position of the rear stop finger.

4. The robot bending method according to claim 1 or 2, characterized in that: The table top of the gravity centering platform is in an inclined state, and the length and width directions are respectively inclined toward the side where the limiting structure is set, so that when the standard sheet material or the sheet material to be processed is placed on the gravity centering platform, the length and width sides of the standard sheet material or the sheet material to be processed automatically slide down and are limited to the limiting structure.

5. A robot bending system with fault tolerance function, comprising a CNC bending machine, a bending robot, a loading platform and a unloading platform, wherein the CNC bending machine comprises a rear stop finger and a lower die, and is characterized in that: It also includes a gravity centering platform, on each side of the length and width of the gravity centering platform, a limit structure is set as a reference side for the length and width detection of the sheet material; the gravity centering platform is provided with a laser distance measuring sensor on the outer side of the long side edge and the wide side edge of the non-reference side of the sheet material, respectively used to detect the distance between the laser distance measuring sensor and the long side or wide side edge of the non-reference side of the sheet material; the two laser distance measuring sensors of the gravity centering platform respectively detect the distance to the long side and wide side edge of the non-reference side of the standard sheet material, and the distance to the long side and wide side edge of the non-reference side of the sheet material to be processed; After obtaining the detection values ​​of the standard sheet material and the sheet material to be processed, the bending robot calculates the deviation value of the length and width of the sheet material to be processed relative to the standard sheet material, and instructs the CNC bending machine to adjust the position of the rear stop finger to obtain a bent sheet material of expected length and width.

6. The robot bending system according to claim 5, characterized in that: The table top of the gravity centering platform is in an inclined state, and the length and width directions are respectively inclined toward the side where the limiting structure is set, so that when the standard sheet material or the sheet material to be processed is placed on the gravity centering platform, the length and width sides of the standard sheet material or the sheet material to be processed automatically slide down and are limited to the limiting structure.

7. The robot bending system according to claim 5 or 6, characterized in that: The two laser distance measuring sensors respectively detect the distances to the long side and the wide side of the non-reference side of the standard sheet material, which are a0 and b0 respectively; The two laser distance measuring sensors respectively detect the distances to the long side and the wide side of the non-reference side of the sheet material to be processed, which are a1 and b1 respectively; The deviation values ​​of the length and width of the sheet material to be processed relative to the standard sheet material are △b= b1- b0 and △a= a1- a0 respectively; The specific method of automatically adjusting the position relationship between the rear stop finger and the lower die according to the deviation value is as follows: If △a>0, the sheet material to be processed is smaller than the width of the standard sheet material, so when the long side is bent, the back stop moves a distance of △a in the direction of the lower die; Or △b>0, the sheet material to be processed is smaller than the long side of the standard sheet material, so when the wide side is bent, the rear stop moves a distance of △b toward the lower die; If △a<0, the sheet material to be processed is larger than the width of the standard sheet material, so when the long side is bent, the back stop moves away from the lower die by a distance of △a; Or △b<0, the sheet material to be processed is larger than the long side of the standard sheet material, so when the wide side is bent, the back stop moves away from the lower die by a distance of △b; If △a=0 or △b=0, the position of the rear finger remains unchanged during bending.

Images