A robot-based automatic bending method, system and storage medium

Abstract

The application provides a kind of robot automatic bending method, system and storage medium, method includes: raw material area in the part to be processed is placed on centering table, it is judged whether the part to be processed is contacted with the lower side of centering table, if yes, the part type of part to be processed is obtained, and the initial processing position associated with the part type, the part to be processed is placed at initial processing position and is bent, and semi-processed part is obtained;Semi-processed part is placed on the face turning frame, it is judged whether one side of semi-processed part is contacted with the support one end of face turning frame, if not, semi-processed part is moved to the support one end of face turning frame;Otherwise, the reprocessing position representing semi-processed part waiting for processing is obtained, semi-processed part is placed at reprocessing position and is bent, and processed part is obtained, and processed part is placed in finished product area.This application can improve the work efficiency problem based on robot automatic bending at low cost.

Description

Technical Field

[0001] This application relates to the field of machining technology, and in particular to a robot-based automatic bending method, system, and storage medium. Background Technology

[0002] A bending machine is a processing device that can bend thin plates. Traditionally, bending operations are generally performed by workers. However, when bending larger and heavier parts, such as parts that make up a forklift fuel tank, multiple people are needed to complete the task, resulting in low efficiency, high labor intensity, and safety hazards. Therefore, robotic bending equipment has emerged. Robots replace manual labor by moving the parts to be processed from the raw material area to the bending machine for bending and then moving the bent parts to the finished product area.

[0003] Existing robotic bending workstations include a raw material area, a centering table, a robot, a bending machine, a flipping section, a finished product area, a control unit, and a vision recognition device. The vision recognition device identifies the position of the part to be processed to obtain recognition data, which is then sent to the control unit. The control unit retrieves the corresponding program based on the received recognition data and controls the bending machine and robot to process the part in the raw material area. However, on the one hand, the cost of components in existing robotic bending workstations is high due to the high price of vision recognition devices used in industry; on the other hand, after acquiring the image of the part to be processed, the vision recognition device needs to undergo a series of processing steps and feature extraction to obtain the corresponding recognition data. Based on this recognition data, it determines the angular offset value and adjusts the robot's gripping angle compensation, which undoubtedly increases time costs and reduces the working efficiency of the robotic bending workstation. Summary of the Invention

[0004] In order to improve the working efficiency of a robotic bending workstation at a low cost, embodiments of this application provide a robotic automatic bending method, system, and storage medium.

[0005] Firstly, this embodiment provides a robot-based automatic bending method, the method comprising:

[0006] Place the part to be processed in the raw material area on the centering table, determine whether the part to be processed is in contact with the lower side of the centering table, if so, obtain the part type of the part to be processed and the initial processing position associated with the part type, place the part to be processed at the initial processing position and bend it to obtain a semi-processed part.

[0007] The semi-processed part is placed on the flipping frame. It is determined whether one side of the semi-processed part is in contact with one end of the support of the flipping frame. If not, the semi-processed part is moved to one end of the support of the flipping frame; otherwise, the reprocessing position of the semi-processed part is obtained, and the semi-processed part is placed at the reprocessing position and bent to obtain the processed part. The processed part is then placed in the finished product area.

[0008] In some embodiments, placing the part to be processed at the initial processing position before bending includes:

[0009] Determine whether the number of parts to be processed is one. If yes, place the part to be processed at the initial processing position and bend it; otherwise, stop placing the part to be processed at the initial processing position and bending it.

[0010] In some embodiments, placing the part to be processed at the initial processing position for bending includes:

[0011] The robot obtains a preset gripping position at the centering platform and a preset preliminary processing trajectory from the preset gripping position to the preliminary processing position, and places the part to be processed at the preliminary processing position based on the preset preliminary processing trajectory.

[0012] Based on the part type, a preliminary processing instruction is obtained, and the bending machine bends the part to be processed according to the preliminary processing instruction.

[0013] In some embodiments, placing the processed part in the finished product area includes:

[0014] Obtain the starting position, ending position, and intermediate position of the processed parts in the finished product area. Starting from the intermediate position, place the processed parts sequentially according to a preset first posture. The intermediate position is located between the starting position and the ending position, and the distance between the intermediate position and the starting position is the thickness of the processed part.

[0015] Determine whether the end position has been placed with processed parts. If so, starting from the starting position, place the processed parts in sequence according to the preset second posture.

[0016] In some embodiments, the centering platform is provided with a plurality of ventilation holes, and the step of determining whether the part to be processed is in contact with the lower side of the centering platform further includes:

[0017] If the part to be processed comes into contact with the lower side of the centering platform, air is drawn through the vent to fix the position of the part to be processed on the centering platform;

[0018] If the part to be processed does not contact the lower side of the centering platform, the part to be processed moves toward the lower side of the centering platform.

[0019] In some embodiments, placing the semi-finished part at the reprocessing location for bending includes:

[0020] The robot determines the re-grabbing position on the flipping frame to re-grab the semi-processed part based on the part type.

[0021] Obtain a preset reprocessing trajectory from the re-grabbing position to the reprocessing position, and place the semi-processed part at the reprocessing position based on the reprocessing trajectory;

[0022] Based on the part type, a reprocessing instruction is obtained, and the bending machine bends the semi-processed part according to the reprocessing instruction.

[0023] Secondly, this embodiment provides a robot-based automatic bending system, which includes a robot module, a centering platform module, a bending machine module, a flipping frame module, a finished product area module, and a control module; wherein,

[0024] The robot module is used to place the parts to be processed in the raw material area onto the centering table;

[0025] The centering platform module is used to determine whether the part to be processed is in contact with the lower side of the centering platform;

[0026] The control module is used to obtain the part type of the part to be processed and the initial processing position associated with the part type when the part to be processed contacts the lower side of the centering platform, and send the initial processing position to the robot module.

[0027] The robot module is also used to place the part to be processed at the initial processing position;

[0028] The bending machine module is used to bend the part to be processed to obtain a semi-processed part;

[0029] The robot module is also used to place the semi-processed part on the flipping frame;

[0030] The flipping frame module is used to determine whether one side of the semi-processed part is located at one end of the support of the flipping frame;

[0031] The control module is also used to obtain a reprocessing position that indicates the semi-processed part is waiting to be processed when one side of the semi-processed part is located at one end of the support of the flipping frame, and send the reprocessing position to the robot module.

[0032] The robot module is also used to move the semi-processed part to one end of the support of the flipping frame when one side of the semi-processed part is not located at one end of the support of the flipping frame; and to place the semi-processed part at the reprocessing position.

[0033] The bending machine module is also used to bend the semi-processed part to obtain the processed part;

[0034] The robot module is also used to place the processed parts in the finished product area;

[0035] The finished product area module is used to place processed parts.

[0036] In some embodiments, the middleware module is also used to determine whether the number of parts to be processed is one;

[0037] The robot module is also used to place the part to be processed at the initial processing position for bending when there is only one part to be processed; otherwise, it stops placing the part to be processed at the initial processing position for bending.

[0038] In some embodiments, the centering platform is provided with a plurality of ventilation holes. The centering platform module is also used to draw air through the ventilation holes and fix the position of the workpiece on the centering platform if the workpiece to be processed is in contact with the lower side of the centering platform; if the workpiece to be processed is not in contact with the lower side of the centering platform, the workpiece to be processed moves to the lower side of the centering platform.

[0039] Thirdly, embodiments of this application provide a storage medium storing a computer program that can run on a processor, wherein the computer program, when executed by the processor, implements a robot-based automatic bending method as described in the first aspect.

[0040] By employing the above method, sensors are used to accurately position the parts to be processed and the semi-processed parts, ensuring that the bending position of the parts to be processed and the re-bending position of the processed parts can accurately reach the bending machine mold. This not only yields qualified bent parts, but also eliminates the need to use a camera to capture the position of the parts to be processed, saving the process of image processing into data, saving waiting time, improving work efficiency, and obtaining qualified semi-processed parts simply and quickly.

[0041] In addition, the centering platform is equipped with ventilation holes. If the part to be processed comes into contact with the lower side of the centering platform, air is drawn through the ventilation holes to fix the position of the part to be processed on the centering platform, so as to prevent the part to be processed from moving accidentally due to external factors and improve the stability of the positioning of the part to be processed.

[0042] It also detects the thickness of the parts to be processed, which not only prevents parts without suction from falling during the subsequent handling and movement, thus avoiding safety hazards to surrounding equipment and workers, but also prevents the thickness of the material to be processed from being inconsistent with the thickness that the bending machine can withstand, avoiding damage to the molds in the bending machine. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the environment for bending work based on a robot, as provided in this embodiment.

[0044] Figure 2 This is a flowchart of a robot-based automatic bending method provided in this embodiment.

[0045] Figure 3 This is a framework diagram of a robot-based automatic bending system provided in this embodiment.

[0046] Explanation of reference numerals in the attached diagram: 1. Raw material area; 2. Alignment platform; 3. Bending machine; 4. Turning frame; 5. Finished product area; 6. Robot; 61. Robot end effector; 7. Control device; 8. Safety fence. Detailed Implementation

[0047] To better understand the purpose, technical solutions, and advantages of this application, it has been described and illustrated below with reference to the accompanying drawings and embodiments. However, those skilled in the art should understand that this application can be implemented without these details. It will be apparent to those skilled in the art that various modifications can be made to the embodiments disclosed in this application, and the general principles defined in this application can be applied to other embodiments and application scenarios without departing from the principles and scope of this application. Therefore, this application is not limited to the illustrated embodiments, but is consistent with the broadest scope claimed in this application.

[0048] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0049] Each finished product is generally formed by bending several parts into their approximate shape using a bending machine, followed by welding. Depending on the actual needs, parts can be bent into any shape using robots and bending machines. This application uses the bending of forklift fuel tank parts as an example. For instance, a forklift fuel tank is formed by bending two different types of parts using a bending machine, followed by welding. When bending different types of parts, each part needs to undergo multiple bending operations, and each part, after bending, takes the shape of a "U".

[0050] Figure 1This is a schematic diagram of the environment for robot-based bending operations provided in this embodiment. For example... Figure 1 As shown, the environment in which the robot performs bending work includes a raw material area 1, a centering table 2, a bending machine 3, a flipping frame 4, a finished product area 5, a robot 6, a control device 7, and a safety fence 8. Throughout the robot-based bending process, the positions of the raw material area 1, the centering table 2, the bending machine 3, the flipping frame 4, the finished product area 5, the base of the robot 6, and the safety fence 8 remain fixed. First, the robot's end effector 61 places the part to be processed from the raw material area 1 onto the centering table 2, completing the positioning of the part before the initial bending. Then, the robot's end effector 61 transfers the part to be processed from the centering table 2 to the bending machine 3 for processing, obtaining a pre-processed part and completing the first bending operation.

[0051] During the bending process, due to process requirements, the robot end effector 61 needs to adjust the position of the gripper holding the part to be processed. This requires the use of the flipping frame 4. Therefore, the robot end effector 61 places the partially processed part on the flipping frame 4, re-grips the partially processed part, and places it in the bending machine to complete the re-bending operation, obtaining the processed part. Finally, the robot end effector 61 places the processed part in the finished product area, completing the bending operation of the part to be processed. The control device 7 sends control commands to the robot 6, causing the robot end effector 61 to perform corresponding movements. When the dimensions of the two parts to be processed are different, as well as the required bending dimensions, their part types are also different. For example, the two parts that make up the forklift fuel tank belong to different part types. Throughout the entire bending process based on the robot, for the same type of workpiece, the movement position of the robot end effector 61 is a preset fixed position. However, for different types of workpieces, the preset fixed position of the robot end effector 61 is not the same when performing the same action. For example, when placing the two workpieces that make up the forklift tank from the centering table 2 onto the bending machine, the position of the robot end effector 61 at the centering table 2 and the position at the bending machine 3 are different.

[0052] Figure 2 This is a flowchart of a robot-based automatic bending method provided in this embodiment. Figure 2 As shown, the process includes the following steps:

[0053] Step S201: Place the part to be processed in the raw material area on the centering table, determine whether the part to be processed is in contact with the lower side of the centering table, if so, obtain the part type of the part to be processed and the initial processing position associated with the part type, place the part to be processed at the initial processing position and bend it to obtain a semi-processed part.

[0054] Raw material area 1 contains parts to be bent. These parts can be placed manually or by mobile devices such as carts; the method of placement is not limited. The position of the parts in raw material area 1 is relatively arbitrary, but they occupy at least half of the area, and their orientation is consistent. However, the robot end effector 61 always picks up a part from the center of raw material area 1, making its position relative to the part inconsistent. Therefore, the parts need to be positioned on the centering table 2 for positioning. The robot end effector 61 then places the parts on the centering table 2 in a fixed position, always at the center of the table, and the orientation remains consistent.

[0055] When there are parts to be processed in the raw material area 1, the control device 7 will be triggered to send a motion command to the robot 6. The motion command includes the motion trajectory of the robot end effector 61, so that the robot 6 places the parts to be processed in the raw material area 1 on the centering table.

[0056] The centering platform 2 is an inclined platform with its upper side higher than its lower side. The left and right sides are at the same horizontal level. Several protruding pillars are provided on the lower side of the centering platform 2, with their upper surfaces parallel to the inclined surface. These pillars intercept the parts to be processed, preventing them from falling off the platform. Additionally, each pillar is equipped with a first sensor to detect whether the part to be processed is in contact with the lower side of the centering platform 2.

[0057] The centering platform 2 is provided with several ventilation holes. The determination of whether the part to be processed is in contact with the lower side of the centering platform also includes: if the part to be processed is in contact with the lower side of the centering platform, air is drawn through the ventilation holes to fix the position of the part to be processed on the centering platform; if the part to be processed is not in contact with the lower side of the centering platform, the part to be processed moves to the lower side of the centering platform.

[0058] When the part to be processed is not in contact with any of the columns, it indicates that the part to be processed is not in contact with the lower side of the centering platform 2 and the part to be processed has not yet reached the designated position. The part to be processed needs to continue to move towards the lower side of the centering platform 2. At this time, it can move only under the action of its own weight, or it can introduce gas moving towards the lower side of the centering platform into the ventilation hole of the centering platform 2 to accelerate the speed at which the part to be processed moves towards the lower side of the centering platform 2 and accelerate the completion of the positioning work of the part to be processed.

[0059] When the workpiece comes into contact with one of the pillars, it indicates that the workpiece is in contact with the lower side of the centering platform 2. The first sensor sends a first signal to the control device 7, indicating that the workpiece has reached the designated position and the positioning of the workpiece is complete. After receiving the first signal, the control device 7 sends a suction signal to the centering platform 2 to draw air through the vent to fix the position of the workpiece on the centering platform 2, preventing accidental movement of the workpiece due to external factors and improving the stability of the positioning operation.

[0060] In addition, after the air is drawn through the vent to fix the position of the part to be processed on the platform 2, the platform 2 also determines whether the number of parts to be processed is one. If so, the part to be processed is placed at the initial processing position for bending; otherwise, the bending of the part to be processed at the initial processing position is stopped.

[0061] The middle platform 2 is also equipped with a dual-material detection device, which can automatically detect the thickness of the parts to be processed. Once it is determined that there is only one part to be processed, a detection signal is sent to the control device. By determining the number of parts to be processed, on the one hand, since the robot end effector 61 can only have an adsorption effect on one part to be processed, it can prevent parts that are not adsorbed by the robot end effector 61 from falling off during subsequent movement of the robot end effector 61, thus avoiding safety hazards to surrounding equipment and workers. On the other hand, it can prevent the thickness of the material to be processed by the robot end effector 61 from being inconsistent with the thickness that the bending machine 3 can withstand, thereby avoiding damage to the mold in the bending machine 3.

[0062] Placing the part to be processed at the initial processing position for bending includes: obtaining the robot's preset gripping position on the centering platform, and the preset initial processing trajectory from the preset gripping position to the initial processing position; placing the part to be processed at the initial processing position based on the preset initial processing trajectory; obtaining the initial processing instruction based on the part type; and bending the part to be processed according to the initial processing instruction.

[0063] The part types of the aforementioned parts to be processed are obtained manually and input into the control device. The initial processing position indicates the position where the robot end effector 61 first places the part to be processed on the bending machine 3 for bending. The preset gripping position of the robot 6 on the centering table 2 indicates the position where the robot end effector 61 picks up the part to be processed from the centering table 2. The initial processing position, preset gripping position, and preset initial processing trajectory are all tied to the part type, and different part types correspond to different initial processing positions, preset gripping positions, and preset initial processing trajectories. The initial processing position, preset gripping position, and preset initial processing trajectory are all preset and stored in the control device 7.

[0064] After receiving the detection signal from the control station 2, the control device 7 matches a corresponding preset preliminary processing trajectory based on the part type of the part to be processed, and sends an initial control signal to the robot 6 to control the robot's movement according to the preset preliminary processing trajectory, placing the part to be processed at the preliminary processing position. Upon reaching the preliminary processing position, the robot 6 sends a preliminary success signal back to the control device 7. Then, the control device 7 sends a preliminary processing command to the bending machine 3 based on the part type, causing the bending machine 3 to bend the part to be processed according to the preliminary processing command, obtaining a semi-finished part.

[0065] In this process, for the same part type, the bending position of the part to be processed is parallel to the lower side of the centering platform 2, and the posture of the part to be processed on the centering platform 2 is consistent. The preset gripping position of the robot end effector 61 gripping the part to be processed from the centering platform 2 is fixed, ensuring that the distance between the robot end effector 61 and the bending position in the part to be processed is fixed, as is the distance from the initial processing position. The centering platform 2 ensures that the bending position of the part to be processed is fixed and precise, guaranteeing that the bending position of the part to be processed can accurately reach the bending die of the bending machine, thereby obtaining a qualified semi-finished part. In addition, during the process of obtaining the semi-finished part, there is no need to use a camera device to grasp the position of the part to be processed, saving the process of processing images into data, saving waiting time, and improving work efficiency. Moreover, it can ensure that the part to be processed can accurately reach the designated position every time, without the need to compensate for the angle of robot gripping, thus obtaining a qualified semi-finished part simply and quickly.

[0066] Step S202: Place the semi-processed part on the flipping frame and determine whether one side of the semi-processed part is in contact with one end of the support of the flipping frame. If not, move the semi-processed part to one end of the support of the flipping frame; otherwise, obtain the reprocessing position that represents the semi-processed part waiting to be processed, place the semi-processed part at the reprocessing position and bend it to obtain the processed part, and place the processed part in the finished product area.

[0067] After the initial processing of the workpiece is completed, the resulting semi-finished part is L-shaped. The semi-finished part needs to be placed on the flipping rack, and the position of the robot end effector 61 in gripping the semi-finished part needs to be readjusted. During the process of placing the semi-finished part from the flipping rack 4 to the reprocessing position, for the same type of workpiece, the position where the robot end effector 61 grips the semi-finished part on the flipping rack 4 is fixed, and the reprocessing position is also fixed. Therefore, when the robot end effector 61 re-grips the semi-finished part from the flipping rack 4, the semi-finished part needs to be accurately positioned on the flipping rack 4.

[0068] The flipping frame 4 is equipped with several flipping rods, one end of which is connected to the base and the other end is suspended in the air. The length of each flipping rod is the same. A second sensor is installed on the suspended end of each rod to determine whether the bent side of the semi-processed part is in contact with the suspended end of the flipping frame 4.

[0069] When the robot end effector 61 places the semi-processed part onto the flipping frame 4, the bent end of the semi-processed part is close to the suspended end, and the unbent end is far from the suspended end. The semi-processed part is positioned on the flipping frame 4, with the protruding portion close to the bottom of the flipping frame 4, and the semi-processed part occupies at least half of the flipping frame 4. When the bent side of the semi-processed part is not in contact with the suspended end, it indicates that the semi-processed part has not yet reached the designated position, and the semi-processed part needs to continue moving until the bent side of the semi-processed part contacts the suspended end. At this point, the semi-processed part can be moved using the robot 6 or manually.

[0070] When the bent side of the semi-finished part contacts the suspended end, it indicates that the semi-finished part has reached the fixed position. The flipping frame 4 sends an arrival signal to the control device 7, indicating that the semi-finished part has reached the designated position, completing the positioning work of the semi-finished part.

[0071] Placing a semi-processed part at a reprocessing position for bending includes: determining the re-grabbing position of the robot on the flipping frame based on the part type; obtaining a preset reprocessing trajectory from the re-grabbing position to the reprocessing position; placing the semi-processed part at the reprocessing position based on the reprocessing trajectory; obtaining a reprocessing instruction based on the part type; and bending the semi-processed part according to the reprocessing instruction.

[0072] The reprocessing position indicates the location where the robot end effector 61 needs to place the semi-processed part on the bending machine 3 for the second time to perform the bending operation; the gripping position of the robot 6 on the flipping frame 4 indicates the position where the robot end effector 61 grips the semi-processed part from the flipping frame 4; the reprocessing position, the gripping position, and the preset reprocessing trajectory are all tied to the part type, and the reprocessing position, gripping position, and preset reprocessing trajectory are different for different part types. The reprocessing position, gripping position, and preset reprocessing trajectory are all preset and stored in the control device 7. The part type was obtained in step S201.

[0073] After receiving the arrival signal from the flipping frame 4, the control device 7 matches the corresponding preset reprocessing trajectory based on the part type of the semi-processed part, and sends a re-control signal to the robot 6 according to the preset reprocessing trajectory, which controls the movement of the robot 6, placing the semi-processed part at the reprocessing position. Upon reaching the reprocessing position, the robot 6 sends a reprocessing success signal back to the control device. Then, the control device 7 sends a reprocessing command to the bending machine 3 based on the part type, causing the bending machine 3 to bend the semi-processed part according to the reprocessing command, obtaining the processed part, which is then placed in the finished product area.

[0074] Similarly, for the same part type, the bending position of the semi-processed part is parallel to the suspended end of the flipping frame 4, and the posture of the semi-processed part on the flipping frame is consistent. The re-grabbing position of the robot end effector 61 from the flipping frame 4 is fixed, making the distance between the robot end effector 61 and the re-bending position of the semi-processed part fixed, as well as the distance from the re-processing position. This ensures that the re-bending position of the semi-processed part can accurately reach the bending die of the bending machine, thereby obtaining a qualified processed part. In addition, during the process of obtaining the processed part, there is no need to use a camera device to grasp the position of the semi-processed part, improving work efficiency and allowing for simple and quick acquisition of qualified processed parts.

[0075] The process of placing the processed parts in the finished product area includes: obtaining the starting position, ending position, and intermediate position of the processed parts in the finished product area; starting from the intermediate position, placing the processed parts in sequence according to a preset first posture, wherein the intermediate position is located between the starting position and the ending position, and the distance between the intermediate position and the starting position is the thickness of the processed part; determining whether the ending position is to be placed with processed parts, and if so, starting from the starting position, placing the processed parts in sequence according to a preset second posture.

[0076] The first preset posture is "u posture," and the second preset posture is "n posture." The finished product area has several sub-finished product areas, each holding only one type of processed part. Each sub-finished product area can hold several layers of processed parts. This embodiment uses one sub-finished product area as an example. When placing processed parts in the first layer, placement starts from the middle position according to the "u posture." When the processed parts reach the end position, it indicates that the first layer placement of the sub-finished product area is complete. Next, the processed parts are placed in the second layer, starting from the beginning position according to the "n posture." Each layer can hold the same number of processed parts. Subsequently, placement alternates between the "u posture" and "n posture" according to the above standards. Specifically, single layers are placed according to the first layer placement standard, and double layers are placed according to the second layer placement standard. Using this placement method not only allows for the placement of more processed parts in limited storage space, saving storage space, but also increases the stability of the processed part placement by using a coupling method between single and double layers.

[0077] Figure 3 This is a framework diagram of a robot-based automatic bending system provided in this embodiment. Figure 3 As shown, a robot-based automatic bending system includes a robot module, a centering platform module, a bending machine module, a flipping frame module, and a control module.

[0078] The robot module is used to place the parts to be processed in the raw material area onto the centering table.

[0079] The centering module is used to determine whether the part to be processed is in contact with the lower side of the centering platform.

[0080] The control module is used to obtain the part type of the part to be processed and the preliminary processing position associated with the part type when the part to be processed contacts the lower side of the centering platform, and send the preliminary processing position to the robot module.

[0081] The robot module is also used to place the parts to be processed in the initial processing position.

[0082] The bending machine module is used to bend the parts to be processed to obtain semi-finished parts.

[0083] The robot module is also used to place semi-finished parts on the flipping rack.

[0084] The flipping frame module is used to determine whether one side of the semi-processed part is located at one end of the flipping frame support.

[0085] The control module is also used to obtain the reprocessing position of the semi-processed part when one side of the semi-processed part is located at one end of the support of the flipping frame, and send the reprocessing position to the robot module.

[0086] The robot module is also used to move the semi-processed part to one end of the support of the flipping frame when one side of the semi-processed part is not located at one end of the support of the flipping frame; and to place the semi-processed part in the reprocessing position.

[0087] The bending machine module is also used to bend semi-finished parts to obtain finished parts.

[0088] The robot module is also used to place processed parts in the finished product area.

[0089] The finished product area module is used to place processed parts.

[0090] The middleware module is also used to determine whether the number of parts to be processed is one.

[0091] The robot module is also used to place the part to be processed at the initial processing position for bending when there is only one part; otherwise, it stops placing the part to be processed at the initial processing position for bending.

[0092] The centering platform is equipped with several ventilation holes. The centering platform module is also used to draw air through the ventilation holes when the part to be processed is in contact with the lower side of the centering platform, thereby fixing the position of the part to be processed on the centering platform; if the part to be processed is not in contact with the lower side of the centering platform, the part to be processed moves to the lower side of the centering platform.

[0093] This application provides a computer-readable storage medium storing a computer program that, when run on a computer, enables the computer to execute the relevant content in the aforementioned method embodiments.

[0094] It should be understood that although the steps in the flowcharts in the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order requirement for the execution of these steps, and they can be performed in other orders.

[0095] The above description is only a partial embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A robot-based automatic bending method, characterized in that, The method includes: Place the part to be processed in the raw material area on the centering table, determine whether the part to be processed is in contact with the lower side of the centering table, if so, obtain the part type of the part to be processed and the initial processing position associated with the part type, place the part to be processed at the initial processing position and bend it to obtain a semi-processed part. The semi-processed part is placed on the flipping frame. It is determined whether one side of the semi-processed part is in contact with one end of the support of the flipping frame. If not, the semi-processed part is moved to one end of the support of the flipping frame; otherwise, the reprocessing position of the semi-processed part is obtained, and the semi-processed part is placed at the reprocessing position and bent to obtain the processed part. The processed part is then placed in the finished product area. Before placing the part to be processed at the initial processing position for bending, the following steps are included: Determine whether the number of parts to be processed is one. If yes, place the part to be processed at the initial processing position and bend it; otherwise, stop placing the part to be processed at the initial processing position and bending it. The centering platform is provided with a plurality of ventilation holes, and the step of determining whether the part to be processed is in contact with the lower side of the centering platform further includes: If the part to be processed comes into contact with the lower side of the centering platform, air is drawn through the vent to fix the position of the part to be processed on the centering platform; If the part to be processed does not contact the lower side of the centering platform, the part to be processed moves to the lower side of the centering platform; The centering platform is an inclined platform with the upper side higher than the lower side. The left and right sides are at the same level. The lower side of the centering platform is provided with several protruding columns. The upper surface of the columns is parallel to the inclined surface of the centering platform and is used to intercept the parts to be processed to prevent them from falling off the centering platform. The columns are equipped with a first sensor to detect whether the parts to be processed are in contact with the lower side of the centering platform. The platform is also equipped with a dual-material detection device, which can automatically detect the thickness of the parts to be processed; When the part to be processed is not in contact with any of the columns, gas moving towards the lower side of the centering platform is introduced into the vent of the centering platform, which accelerates the speed at which the part to be processed moves towards the lower side of the centering platform, thus speeding up the positioning of the part to be processed.

2. The method according to claim 1, characterized in that, The step of placing the part to be processed at the initial processing position and bending it includes: The robot obtains a preset gripping position at the centering platform and a preset preliminary processing trajectory from the preset gripping position to the preliminary processing position, and places the part to be processed at the preliminary processing position based on the preset preliminary processing trajectory. Based on the part type, a preliminary processing instruction is obtained, and the bending machine bends the part to be processed according to the preliminary processing instruction.

3. The method according to claim 1, characterized in that, The step of placing the processed parts in the finished product area includes: Obtain the starting position, ending position, and intermediate position of the processed parts in the finished product area. Starting from the intermediate position, place the processed parts sequentially according to a preset first posture. The intermediate position is located between the starting position and the ending position, and the distance between the intermediate position and the starting position is the thickness of the processed part. Determine whether the end position has been placed with processed parts. If so, starting from the starting position, place the processed parts in sequence according to the preset second posture.

4. The method according to claim 1, characterized in that, The step of placing the semi-processed part at the reprocessing location and bending it includes: The robot determines the re-grabbing position on the flipping frame to re-grab the semi-processed part based on the part type. Obtain a preset reprocessing trajectory from the re-grabbing position to the reprocessing position, and place the semi-processed part at the reprocessing position based on the reprocessing trajectory; Based on the part type, a reprocessing instruction is obtained, and the bending machine bends the semi-processed part according to the reprocessing instruction.

5. A robot-based automatic bending system, characterized in that, The system includes: a robot module, a centering platform module, a bending machine module, a flipping rack module, a finished product area module, and a control module; wherein, The robot module is used to place the parts to be processed in the raw material area onto the centering table; The centering platform module is used to determine whether the part to be processed is in contact with the lower side of the centering platform; The control module is used to obtain the part type of the part to be processed and the initial processing position associated with the part type when the part to be processed contacts the lower side of the centering platform, and send the initial processing position to the robot module. The robot module is also used to place the part to be processed at the initial processing position; The bending machine module is used to bend the part to be processed to obtain a semi-processed part; The robot module is also used to place the semi-processed part on the flipping frame; The flipping frame module is used to determine whether one side of the semi-processed part is located at one end of the support of the flipping frame; The control module is also used to obtain a reprocessing position that indicates the semi-processed part is waiting to be processed when one side of the semi-processed part is located at one end of the support of the flipping frame, and send the reprocessing position to the robot module. The robot module is also used to move the semi-processed part to one end of the support of the flipping frame when one side of the semi-processed part is not located at one end of the support of the flipping frame; and to place the semi-processed part at the reprocessing position. The bending machine module is also used to bend the semi-processed part to obtain the processed part; The robot module is also used to place the processed parts in the finished product area; The finished product area module is used to place processed parts; The platform module is also used to determine whether the number of the parts to be processed is one. The robot module is also used to place the part to be processed at the initial processing position for bending when there is only one part to be processed; otherwise, it stops placing the part to be processed at the initial processing position for bending. The centering platform is provided with a number of ventilation holes. The centering platform module is also used to draw air through the ventilation holes and fix the position of the work to be processed on the centering platform if the work to be processed is in contact with the lower side of the centering platform; if the work to be processed is not in contact with the lower side of the centering platform, the work to be processed moves to the lower side of the centering platform. The centering platform is an inclined platform with the upper side higher than the lower side. The left and right sides are at the same level. The lower side of the centering platform is provided with several protruding columns. The upper surface of the columns is parallel to the inclined surface of the centering platform and is used to intercept the parts to be processed to prevent them from falling off the centering platform. The columns are equipped with a first sensor to detect whether the parts to be processed are in contact with the lower side of the centering platform. The platform is also equipped with a dual-material detection device, which can automatically detect the thickness of the parts to be processed; When the part to be processed is not in contact with any of the columns, gas moving towards the lower side of the centering platform is introduced into the vent of the centering platform, which accelerates the speed at which the part to be processed moves towards the lower side of the centering platform, thus speeding up the positioning of the part to be processed.

6. A computer-readable storage medium having a computer program stored thereon that can run on a processor, characterized in that, When the computer program is executed by the processor, it implements a robot-based automatic bending method as described in any one of claims 1 to 4.

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