A fitting position algorithm based on the follow-up device of the bending machine

Abstract

The present invention discloses a fitting position algorithm based on a follower device of a bending machine. The algorithm applies a C-axis, a Z-axis and a follower platform, wherein the C-axis is connected to the Z-axis, and the follower platform is connected to the bottom of the C-axis, and comprises the following steps: 1) obtaining the bending angle and the bending depth; 2) calculating the target positions of the C-axis and the Z-axis according to a formula; 3) performing fitting, and importing the fitting results; 4) generating a motion planning file; 5) starting processing; wherein, the calculation formula for the target position of the C-axis is K=3.1415926*(π‑α)R / 360; the calculation formula for the target position of the Z-axis is H=tan[(π‑α) / 2]*{L‑tan[(π‑α) / 4]*h}‑x. A fitting position algorithm based on a follower device of a bending machine in the present invention can be calculated through the existing follower position, and on the basis of assisting large-angle bending, it can also assist in bending acute angles, thereby solving the problem of poor fitting between the follower device and the plate in control, and the problem that the follower device is limited to only being able to bend large angles.

Description

Technical Field

[0001] The invention relates to the field of bending machines, and in particular to a fitting position algorithm based on a following device of a bending machine. Background Art

[0002] Generally speaking, when a top-moving bending machine bends a long plate, due to the heavy weight of the plate, if the corresponding force is not given from the bottom of the plate to support the bent plate during the bending process, the plate at the end of the bending process will often be deformed due to the downward gravity, affecting the bending angle.

[0003] There are generally two ways to solve this problem on the market: one is to rely on manpower to hold the plate with hands. This method has obvious disadvantages, namely, serious manpower consumption, and when bending at a small angle, the plate is lifted too high and manpower cannot lift it to the corresponding height; the other way is to rely on a follow-up device for assistance. The advantage of this method is that it saves manpower, and only 1~2 people are needed to assist in placing the plate on the side, but the disadvantage is that the control calculation of following fit is more difficult.

[0004] At present, high-end bending follower devices on the market are controlled by two servo axes, of which the Z axis controls the plane vertically up and down, and the C axis controls the plane flip angle. The function of the bending follower device is to lift the follower platform to the corresponding angle position according to the bending angle. Most of the followers on the market have good followability for bending 180°~90° (i.e., the follower is lifted 0°~45°), but when bending 90°~30° (i.e., the follower is lifted 45°~75°), the fit followability will deteriorate, reducing the processing effect. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a fitting position algorithm based on a follower device of a bending machine.

[0006] According to one aspect of the present invention, a fitting position algorithm based on a follower device of a bending machine is provided, which uses a C-axis, a Z-axis and a follower platform, wherein the C-axis is connected to the Z-axis and the follower platform is connected to the bottom of the C-axis, and comprises the following steps:

[0007] 1) Get the bending angle and bending depth;

[0008] 2) Calculate the target positions of the C-axis and Z-axis according to the formula and perform fitting;

[0009] 3) Import the fitting results;

[0010] 4) Generate motion planning files;

[0011] 5) Start processing;

[0012] Among them, the calculation formula for the target position of the C axis is:

[0013] K= 3.1415926 *(π-α) R / 360;

[0014] The calculation formula for the target position of the Z axis is:

[0015] H=tan[(π-α) / 2]*{L-tan[(π-α) / 4]*h}-x

[0016] Among them, K is the length of the C-axis flip arc, α is the bending angle, R is the C-axis rotation radius, H is the Z-axis lifting amount, L is the horizontal distance between the rotation point of the follow-up platform and the bending point, h is the rotation height of the rotation point of the follow-up platform, and x is the bending depth.

[0017] The fitting position of the follower device of the bending machine in the present invention can be calculated through the existing follow-up position. On the basis of assisting large-angle bending, it can also assist in bending acute angles, thereby solving the problem of poor fitting between the follower device and the plate in control, and the problem that the follower device is limited to only bending at large angles.

[0018] In some embodiments, in step 1), the bending angle and the bending depth are obtained by a self-learning function. The benefit lies in that the method of obtaining the bending angle and the bending depth in the present algorithm is described.

[0019] In some embodiments, the C-axis rotation angle is: β=(π-α) / 2. The benefit of this is that the calculation method of the C-axis rotation angle is described.

[0020] In some embodiments, the relationship between the C-axis flip arc length and the C-axis rotation angle is: K=3.1415926*βR / 180. This is beneficial in that it describes the relationship between the C-axis flip arc length and the C-axis rotation angle.

[0021] In some embodiments, the horizontal rotation amount of the rotation point of the follower platform is: m=tan[(π-α) / 4]*h. The benefit of this is that it describes the calculation method of the horizontal rotation amount of the rotation point of the follower platform.

[0022] In some embodiments, in step 3), the fitting result is imported into the electronic cam. The benefit of this is that the operation method of the fitting result is described.

[0023] In some embodiments, in step 4), a motion planning file is obtained from the electronic cam. It is beneficial that a method for generating a motion planning file is described.

[0024] In some embodiments, in step 5), processing is started after planning is completed. This is beneficial in that the conditions for processing are described. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a flow chart of a fitting position algorithm based on a follower device of a bending machine according to one embodiment of the present invention;

[0026] Figure 2 for Figure 1 A schematic diagram of a calculation formula of a fitting position algorithm based on a follower device of a bending machine is shown;

[0027] Figure 3 for Figure 1 The figure shows a fitting result diagram of a fitting position algorithm based on a follower device of a bending machine. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0029] Figure 1 The figure schematically shows a process of a fitting position algorithm based on a follower device of a bending machine according to an embodiment of the present invention. Figure 1 As shown in FIG. 1 , the algorithm uses a specially designed follower device, which includes a main C-axis, a Z-axis and a follower platform, wherein the C-axis is connected to the Z-axis and the follower platform is connected to the bottom of the C-axis. The C-axis is horizontal under normal circumstances and can drive the follower platform to rotate around the connection point of the C-axis and the Z-axis, while the Z-axis is vertical and can move up and down and be raised when necessary.

[0030] The algorithm consists of several main steps, which are described below.

[0031] First, according to the processing conditions of the bending machine, the bending angle and bending depth (i.e. the depth of the bending machine) are obtained through the self-learning function. Here, the bending angle is α and the bending depth is x.

[0032] Then, according to the algorithm specially designed by the present invention, the target positions of the C-axis and the Z-axis are calculated.

[0033] Figure 2 Shows Figure 1 The principle of the calculation formula of the fitting position algorithm based on the bending machine follower device. Figure 2 As shown in the figure, when the follower device is in operation, if only the C-axis flips and the Z-axis does not, the rotation point A of the follower platform will be too low, causing over-fitting and making the bending angle too small. Therefore, while the C-axis flips, the Z-axis also needs to be raised and lowered synchronously.

[0034] Among them, taking the case where the C-axis is flipped to C1 at a certain angle, since the movement of the Z-axis itself also generates a Z-axis lift H, the C-axis is actually at C2. At this time, the bending point is set to point B, and the rotation point of the follow-up platform is point D.

[0035] The target position of the C-axis, specifically the calculation formula of the C-axis flip arc length K is as follows.

[0036] Assuming the bending angle is α, the C-axis rotation angle β is:

[0037] β = (π - α) / 2;

[0038] Assuming that the C-axis rotation radius is R, the relationship between the C-axis flip arc length K and the C-axis rotation angle β is (assuming π=3.1415926):

[0039] K = 3.1415926*βR / 180;

[0040] It can be seen that the C-axis flip arc length K is:

[0041] K= 3.1415926 *(π-α) R / 360.

[0042] The target position of the Z axis, specifically the calculation formula of the Z axis lifting amount H is as follows.

[0043] Assume that the rotation height of the rotating point of the follower platform is h, the rotation angle is γ, and the horizontal rotation amount is m, then:

[0044] γ=(π-α) / 4,

[0045] m=tan[(π-α) / 4]*h;

[0046] Assume that the horizontal distance between the rotation point of the follower platform and the bending point (i.e. the machine spacing) is L, and the bending depth is x, then:

[0047] H= tanβ*(L- m)-x= tan[((π-α) / 2]*{L-tan[(π-α) / 4]*h}-x

[0048] Then, fitting is performed to obtain fitting results, the fitting results are imported into the electronic cam, and the electronic cam is used to obtain a highly fitting motion planning file containing a motion program.

[0049] Figure 3 Shows Figure 1 A fitting result based on the fitting position algorithm of the bending machine follower. Figure 3 As shown, the fitting results show multiple sets of fitting tables and relationship diagrams, etc. The table contains items such as bending angle, lifting angle, Y position, Z axis theoretical position, C axis theoretical position, and bending depth.

[0050] The relationship diagram shows the relationship between the theoretical position of the Z axis and the bending depth. It can be seen that the two are not in a linear relationship throughout the entire process, but a trend change of a quadratic function. Specifically, before the lifting angle is 45°, the relationship between the two is approximately linear; while at 45°~75°, the change curve is nonlinear, which is why the general bending follower meets the requirements for follow-up fit when bending 180°~90°, but the fit becomes worse when bending at a small angle.

[0051] Finally, after planning is complete, the process is started and processed.

[0052] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the creative concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A method for calculating the fitting position based on a follower device of a bending machine, characterized in that: The C-axis, Z-axis and follow-up platform are used. The C-axis is connected to the Z-axis, and the follow-up platform is connected to the bottom of the C-axis. The C-axis can drive the follow-up platform to rotate around the connection point of the C-axis and the Z-axis, and the C-axis is horizontal before rotation. The following steps are included 1) Get the bending angle and bending depth; 2) Calculate the target positions of the C-axis and Z-axis according to the formula; 3) Perform fitting and import the fitting results; 4) Generate motion planning files; 5) Start processing; Among them, the calculation formula for the target position of the C axis is: K= 3.1415926 *(π-α) R / 360; The calculation formula for the target position of the Z axis is: H=tan[(π-α) / 2]*{L-tan[(π-α) / 4]*h}-x Among them, K is the length of the C-axis flip arc, α is the bending angle, R is the C-axis rotation radius, H is the Z-axis lifting amount, the point around which the following platform rotates is called the following platform rotation point, L is the horizontal distance between the following platform rotation point and the bending point, h is the rotation height of the following platform rotation point, that is, the height difference between the following platform rotation point and the C-axis in the vertical direction before the C-axis rotates, the following platform rotation point is the point around which the following platform rotates and the following platform rotation point is located below the C-axis, and x is the bending depth.

2. The method for calculating the fitting position based on the follower device of a bending machine according to claim 1, characterized in that: In step 1), the bending angle and bending depth are obtained through the self-learning function.

3. The method for calculating the fitting position based on the follower device of the bending machine according to claim 1, characterized in that: The C-axis rotation angle is β=(π-α) / 2。 4. The method for calculating the fitting position based on the follower device of the bending machine according to claim 3 is characterized in that: The relationship between the C-axis flip arc length and the C-axis rotation angle is: K=3.1415926*βR / 180.

5. The method for calculating the fitting position based on the follower device of the bending machine according to claim 1, characterized in that: In step 3), the fitting results are imported into the electronic CAM.

6. The method for calculating the fitting position based on the follower device of the bending machine according to claim 1, characterized in that: In step 4), the motion planning file is obtained from the electronic cam.

7. The method for calculating the fitting position based on the follower device of the bending machine according to claim 1, characterized in that: In step 5), processing is started after planning is completed.

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