Bending machine and control method, device, medium and equipment thereof

Abstract

Embodiments of the present application provide a bending machine and a control method, device, medium and equipment thereof. The bending machine comprises a first motor, a second motor, a vertical shaft, an up-down moving shaft, a swing shaft, a bending piece and a sliding block. The vertical shaft is a shaft structure vertically installed and fixed in position. The up-down moving shaft is axially connected with the vertical shaft and is used to move up and down along the vertical shaft under the control of the first motor. The swing shaft is movably connected with the up-down moving shaft. The sliding block is used to slide up and down under the drive of the second motor and keeps contact with the back inclined surface of the bending piece during the sliding process. The bending piece is movably connected with the swing shaft and has a cutting edge. The bending piece is used to passively move under the action of the sliding block and the swing shaft so that the cutting edge bends the fixed plate. The flexibility of the embodiments of the present application is relatively high and the production efficiency is not affected.

Description

Technical Field

[0001] This invention relates to the field of industrial control technology, and in particular to a bending machine and its control method, device, medium, and equipment. Background Technology

[0002] Existing bending machines rely on matching dies for their bending function, which compress sheet metal into shape. When the target shape of the sheet metal changes, the corresponding matching die needs to be replaced, resulting in poor flexibility. Furthermore, frequent die replacements can negatively impact production efficiency. Summary of the Invention

[0003] The present invention provides a bending machine and its control method, device, medium, and equipment, which have strong flexibility.

[0004] According to a first aspect, an embodiment of the present invention provides a bending machine comprising: a first motor, a second motor, a vertical shaft, a vertical moving shaft, a swing shaft, a bending element, and a sliding block; wherein:

[0005] The vertical shaft is a shaft structure that is vertically installed and has a fixed position;

[0006] The vertical moving shaft is axially connected to the vertical shaft and is used to move up and down along the vertical shaft under the control of the first motor;

[0007] The swing axis is movably connected to the up-down moving axis;

[0008] The sliding block is used to slide up and down under the drive of the second motor, and maintains contact with the back slope of the bent part during the sliding process;

[0009] The bending member is movably connected to the swing shaft and has a cutting edge. The bending member is used to passively move under the action of the sliding block and the swing shaft so that the cutting edge bends the fixed plate.

[0010] According to a second aspect, an embodiment of the present invention provides a control method for a bending machine, the method being applied to the bending machine provided in the first aspect, the method comprising:

[0011] Determine the position distance corresponding to the sliding block in the bending machine; wherein, the position distance is the distance between the second position and the first position, the first position and the second position are the positions of the sliding block when the bending machine is in the first zero point posture and the second zero point posture, respectively. The first zero point posture is the posture of the bending machine when the swing axis swings to be perpendicular to the horizontal plane, and the second zero point posture is the posture when the vertex ball of the bending machine's blade is tangent to both the x-axis and y-axis of the first user coordinate system. The origin of the first user coordinate system is located at the vertex of the fixed pressure knife used to fix the plate, the positive direction of the x-axis is downward along the vertical direction, and the y-axis is along the horizontal direction.

[0012] Determine the current x and y axis distances of the tool edge coordinate system relative to the second user coordinate system, with the second zero-point attitude as the reference attitude; wherein, the current x and y axis distances include the current distances between the x-axis and between the y-axis; the origin of the tool edge coordinate system is located at the center of the vertex sphere of the tool edge, the positive x-axis is vertically downward, and the y-axis is horizontal; the origin of the second user coordinate system is located at the vertex of the fixed pressure tool, the x-axis is horizontal, and the positive y-axis is vertically upward;

[0013] Based on the positional distance and the current distance along the x and y axes, determine the target positions of the sliding block and the vertical movement axis, respectively.

[0014] The first motor is controlled according to the target position of the upper and lower moving axes, and the second motor is controlled according to the target position of the sliding block, so that the bending machine bends the fixed plate.

[0015] According to a third aspect, an embodiment of the present invention provides a bending machine control device, the device being applied to the bending machine provided in the first aspect, the device comprising:

[0016] The first determining module is used to determine the position distance corresponding to the sliding block in the bending machine; wherein, the position distance is the distance between the second position and the first position, the first position and the second position are the positions of the sliding block when the bending machine is in the first zero-point posture and the second zero-point posture, respectively, the first zero-point posture is the posture of the bending machine when the swing axis swings to be perpendicular to the horizontal plane, and the second zero-point posture is the posture when the vertex ball of the bending machine's blade is tangent to both the x-axis and y-axis of the first user coordinate system, the origin of the first user coordinate system is located at the vertex of the fixed pressure knife used to fix the plate, the positive direction of the x-axis is downward along the vertical direction, and the y-axis is along the horizontal direction;

[0017] The second determining module is used to determine the current x and y axis distances of the tool edge coordinate system relative to the second user coordinate system when the second zero-point attitude is used as the reference attitude; wherein, the current x and y axis distances include the current distances between the x-axis and between the y-axis; the origin of the tool edge coordinate system is located at the center of the vertex sphere of the tool edge, the positive direction of the x-axis is vertically downward, and the y-axis is horizontal; the origin of the second user coordinate system is located at the vertex of the fixed pressure tool, the x-axis is horizontal, and the positive direction of the y-axis is vertically upward;

[0018] The third determining module is used to determine the target positions of the sliding block and the vertical movement axis respectively based on the position distance and the current distance of the xy axis;

[0019] The motor control module is used to control the first motor according to the target position of the upper and lower moving shafts, and to control the second motor according to the target position of the sliding block, so that the bending machine can bend the fixed sheet metal.

[0020] According to a fourth aspect, one embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the method provided in the second aspect.

[0021] According to a fifth aspect, an embodiment of the present invention provides a computing device including a memory and a processor, wherein the memory stores executable code, and the processor executes the executable code to implement the method provided in the second aspect.

[0022] The bending machine and its control method, device, medium, and equipment provided in the embodiments of the present invention, individually or in combination, have at least the following technical effects:

[0023] (1) The bending component can move under the push of the sliding block and the drive of the swing shaft. During the movement, the cutting edge on the bending component will bend the fixed sheet metal, thereby achieving the purpose of bending the sheet metal. It can be seen that the movement of the bending component is formed by the push of the sliding block and the drive of the swing shaft. Therefore, it is only necessary to control the movement of the up and down moving shaft by the first motor and the movement of the sliding block by the second motor. When the target shape of the sheet metal changes, it is not necessary to change the corresponding matching mold. It is only necessary to control the movement of the up and down moving shaft by the first motor and the movement of the sliding block by the second motor. It has high flexibility and will not affect production efficiency.

[0024] (2) In one embodiment, the target position is determined by the method provided in the second aspect, the target position being determined with the second zero-point attitude as the reference attitude. The calibration of the second zero-point attitude is simpler and easier than the calibration of the first zero-point attitude. Moreover, the zero-point calibration of the method provided in the embodiments of the present invention is very convenient.

[0025] (3) In one embodiment, in addition to controlling based on the target position, the target velocity and / or target acceleration are also determined, and control is performed simultaneously based on the target position, target velocity and / or target acceleration. This not only satisfies the versatility of the controller, but also reduces latency. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the bending machine in one embodiment of the present invention;

[0028] Figure 2 This is a flowchart illustrating a bending machine control method in one embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the bending machine in the first zero-point posture in one embodiment of the present invention;

[0030] Figure 4a This is a schematic diagram of the bending machine in the second zero-point posture in one embodiment of the present invention;

[0031] Figure 4b This is an enlarged schematic diagram of the vertex ball of the lower blade and the fixed pressure knife when the bending machine is in the second zero point posture in one embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the second user coordinate system and the knife edge coordinate system in one embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram showing the distribution of three internal coordinate systems in one embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of parameter DZArm2 in one embodiment of the present invention;

[0035] Figure 8 This is a schematic diagram of parameters MWTcp12X and MWTcp12Y in one embodiment of the present invention;

[0036] Figure 9 This is a schematic diagram of parameters MWUX and MWUY in one embodiment of the present invention;

[0037] Figure 10 This is a structural block diagram of a bending machine control device in one embodiment of the present invention.

[0038] Figure label:

[0039]

[0040] Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0042] In a first aspect, embodiments of the present invention provide a bending machine, see [link to previous document]. Figure 1 The bending machine includes a first motor, a second motor, a vertical shaft 10, a vertical moving shaft 20, a swing shaft 30, a bending piece 40, and a sliding block 50; wherein:

[0043] The vertical shaft 10 is a shaft structure that is vertically installed and has a fixed position;

[0044] The vertical moving shaft 20 is axially connected to the vertical shaft 10 and is used to move up and down along the vertical shaft 10 under the control of the first motor.

[0045] The swing shaft 30 is movably connected to the up-down moving shaft 20;

[0046] The sliding block 50 is used to slide up and down under the drive of the second motor, and maintains contact with the back slope of the bending member 40 during the sliding process;

[0047] The bending member 40 is movably connected to the swing shaft 30 and has a cutting edge. The bending member 40 is used to passively move under the action of the sliding block 50 and the swing shaft 30 so that the cutting edge bends the fixed plate 80.

[0048] In other words, the axis of the vertical shaft 10 is vertical, and its position is fixed. Under the control of the first motor, the up-and-down moving shaft 20 moves up and down along the vertical shaft 10. The swing shaft 30 and the up-and-down moving shaft 20 are movably connected, meaning they are connected by a movable connecting component. When the up-and-down moving shaft 20 moves up and down, it drives the swing shaft 30 to move up and down. Simultaneously, the swing shaft 30 is restrained by the bending member 40, causing it to swing laterally. The bending member 40 is movably connected to the swing shaft 30, meaning they are connected by a movable connecting component. Therefore, the bending member 40 moves under the influence of the swing shaft 30. At the same time, the sliding block 50 slides up and down under the drive of the second motor. During this sliding process, the sliding block 50 maintains contact with the inclined back surface of the bending member 40, thus pushing the back surface of the bending member 40. As can be seen, the bending component 40 can move under the push of the sliding block 50 and the drive of the swing shaft 30. During the movement, the cutting edge on the bending component 40 will bend the fixed plate 80, thereby achieving the purpose of bending the plate.

[0049] Understandably, the target shape of the sheet metal 80 is related to the movement trajectory of the bending component 40, which is formed by the bending component 40 being pushed by the sliding block 50 and driven by the swing shaft 30. Therefore, it is only necessary to control the movement of the up-and-down moving shaft 20 through the first motor and the movement of the sliding block 50 through the second motor. When the target shape of the sheet metal 80 changes, it is not necessary to change the corresponding matching mold; it is only necessary to control the movement of the up-and-down moving shaft 20 through the first motor and the movement of the sliding block 50 through the second motor. This provides high flexibility and does not affect production efficiency.

[0050] The cutting edge on the bent part 40 can be divided into an upper cutting edge 41 and a lower cutting edge 42. The vertex of the lower cutting edge 42 is spherical, so the vertex of the lower cutting edge 42 can be called the vertex sphere.

[0051] Specifically, the plate 80 can be fixed between the movable pressure knife 71 and the fixed pressure knife 72.

[0052] The sliding block 50 can be specifically set on the vertical slide rail 60, so that the sliding block 50 can slide up and down along the vertical slide rail 60.

[0053] In one embodiment, the vertical shaft 10 may have a lead screw, and the vertical moving shaft 20 is connected to a nut on the lead screw. The nut is used to drive the vertical moving shaft 20 to move up and down along the lead screw under the drive of the first motor. That is, under the control of the first motor, the nut moves up and down along the lead screw, and since the vertical moving shaft 20 is connected to the nut, the vertical moving shaft 20 moves up and down along the lead screw under the drive of the nut.

[0054] The bending machine provided in this embodiment of the invention can be called a non-standard two-degree-of-freedom bending machine.

[0055] Secondly, embodiments of the present invention provide a control method for a bending machine, which is applied to the bending machine provided in the first aspect, see [link to relevant documentation]. Figure 2 The method may include the following steps S110 to S140:

[0056] S110. Determine the position distance corresponding to the sliding block in the bending machine; wherein, the position distance is the distance between the second position and the first position, the first position and the second position are the positions of the sliding block when the bending machine is in the first zero point posture and the second zero point posture, respectively, the first zero point posture is the posture of the bending machine when the swing axis swings to be perpendicular to the horizontal plane, the second zero point posture is the posture when the vertex ball of the cutting edge of the bending machine is tangent to both the x-axis and y-axis of the first user coordinate system, the origin of the first user coordinate system is located at the vertex of the fixed pressure knife used to fix the plate, the positive direction of the x-axis is downward along the vertical direction, and the y-axis is along the horizontal direction;

[0057] It is understood that the method provided in the embodiments of the present invention can be executed by a controller.

[0058] See Figure 3 The axis of the swing shaft is perpendicular to the horizontal plane, at which point the bending machine is in the first zero-point posture. When the bending machine is in the first zero-point posture, the position of the sliding block is called the first position.

[0059] See Figure 4a and Figure 4b A first user coordinate system U0 is set at the vertex 721 of the fixing pressure knife used to fix the plate. The x-axis of the first user coordinate system U0 is vertically downward, and the y-axis and z-axis are horizontal. For example, in Figure 4b The y-axis points horizontally to the left, and the z-axis points horizontally inward. When the vertex ball 421 of the lower blade of the bending machine is tangent to both the x-axis and y-axis of the first user coordinate system U0, the bending machine is in its second zero-point posture. When the bending machine is in its second zero-point posture, the position of the sliding block is its second position.

[0060] The aforementioned distance is the distance between the second position and the first position.

[0061] The first user coordinate system is a coordinate system exposed outside the bending machine.

[0062] Understandably, the aforementioned positional distances represent the distances between the positions of the sliding blocks when the bending machine is in different zero-point orientations. These positional distances can be used when converting between calculations using the first zero-point orientation as the reference orientation and calculations using the second zero-point orientation as the reference orientation.

[0063] S120. Determine the current x and y axis distances of the tool edge coordinate system relative to the second user coordinate system, with the second zero-point attitude as the reference attitude; wherein, the current x and y axis distances include the current distances between the x-axis and between the y-axis; the origin of the tool edge coordinate system is located at the center of the vertex sphere of the tool edge, the positive direction of the x-axis is downward along the vertical direction, and the y-axis is horizontal; the origin of the second user coordinate system is located at the vertex of the fixed pressure tool, the x-axis is horizontal, and the positive direction of the y-axis is upward along the vertical direction;

[0064] See Figure 4b A coordinate system, namely the knife edge coordinate system Tcp2, is set at the center of the vertex sphere 421 of the lower knife edge. The knife edge coordinate system Tcp2 is a coordinate system exposed outside the bending machine. (See also...) Figure 4b In the knife-edge coordinate system Tcp2, the x-axis points downwards vertically, the y-axis points to the left horizontally, and the z-axis points inwards horizontally.

[0065] See Figure 5 The apex of the fixed pressure knife is also equipped with a coordinate system, namely the second user coordinate system U1. The second user coordinate system U1 is a coordinate system exposed outside the bending machine. The x-axis of the second user coordinate system U1 is horizontally to the right, the y-axis is vertically upward, and the z-axis is horizontally inward.

[0066] Understandably, both the first and second user coordinate systems are user-oriented. The x, y, and z axes of the first user coordinate system, the bending machine's tool edge coordinate system, and all internal coordinate systems are consistent, facilitating calculations. The second user coordinate system is set from the user's perspective, making it more convenient to use than the first. Therefore, in some calculations, calculations can be performed first based on the first user coordinate system and then converted to the second user coordinate system.

[0067] The current distance between the x-axis and y-axis is the distance between the x-axis of the tool-edge coordinate system and the x-axis of the second user coordinate system, with the second zero-point attitude as the reference attitude.

[0068] Specifically, since the x, y, and z axes of the knife-edge coordinate system and the second user coordinate system are in different directions, the current x and y axis distances of the knife-edge coordinate system relative to the first user coordinate system can be calculated first, and then a coordinate system transformation can be performed to convert the current x and y axis distances of the knife-edge coordinate system relative to the first user coordinate system into the current x and y axis distances of the knife-edge coordinate system relative to the second user coordinate system.

[0069] S130. Determine the target positions of the sliding block and the vertical movement axis based on the position distance and the current distance of the xy axis;

[0070] In other words, after obtaining the position distance and the current distance of the xy axis through S110 and S120, the target position of the sliding block and the target position of the up and down movement axis are obtained through certain calculations based on the position distance and the current distance of the xy axis.

[0071] In one embodiment, the method provided by the present invention may further include: determining the length of the swing axis, the radius of the vertex ball, and the angle between the back slope and the vertical direction; and determining the target position of the sliding block and the target position of the up-down movement axis based on the position distance, the current distance of the xy axis, the length of the swing axis, the radius of the vertex ball, and the angle between the back slope and the vertical direction.

[0072] In other words, when determining the target position of the sliding block and the vertical moving axis, since some dimensions, angles and other parameters of different bending machines are different, the location of the swing axis, the radius of the vertex ball, and the angle between the back slope of the bent part and the vertical direction should also be considered when calculating the target position, so that the calculated target position is more suitable for the current bending machine.

[0073] Furthermore, the target position can be calculated using the following target position calculation formula:

[0074]

[0075] Wherein, Axis1 is the target position of the vertical movement axis, Axis2 is the target position of the sliding block, R is the radius of the vertex sphere, U1Tcp2Y is the distance between the y axes in the current xy-axis distance, U1Tcp2X is the distance between the x axes in the current xy-axis distance, U1 is the symbol for the second user coordinate system, Tcp2 is the symbol for the knife-edge coordinate system, Arm3 is the length of the swing axis, DZArm5 is the position distance, and α is the angle between the back slope and the vertical direction.

[0076] S140. The first motor is controlled according to the target position of the upper and lower moving shafts, and the second motor is controlled according to the target position of the sliding block, so that the bending machine bends the fixed plate.

[0077] In other words, the first motor is controlled according to the target position of the upper and lower moving axes, thereby causing the upper and lower moving axes to move to the corresponding target position. The second motor is controlled according to the target position of the sliding block, thereby causing the sliding block to move to the corresponding target position. It can be seen that by controlling the two motors, the bending machine can bend the sheet metal fixed on the fixed pressure knife.

[0078] In one embodiment, the process of determining the target location calculation formula includes the following steps S1 to S7:

[0079] S1. Using the first zero-point posture as the reference posture, determine the xy-axis distance expression of the first internal coordinate system relative to the second internal coordinate system; wherein, the origin of the first internal coordinate system is located at the center of the movable connecting component between the swing axis and the bending component, the origin of the second internal coordinate system is located at the center of the end face of the vertical axis, and the positive direction of the x-axis of the first internal coordinate system and the second internal coordinate system is downward along the vertical direction, and the y-axis is along the horizontal direction;

[0080] That is, see Figure 6 A coordinate system, namely the first internal coordinate system Tcp1, is set at the center of the movable connecting component between the swing axis and the bending part. Another coordinate system, namely the second internal coordinate system W, is also set at the center of one end face of the vertical axis. Since the bending machine is enclosed, these two coordinate systems are internal coordinate systems and are not visible to the user. See also... Figure 6 In both coordinate systems, the x-axis points vertically downwards, the y-axis points horizontally to the left, and the z-axis points horizontally inwards.

[0081] First, using the first zero-point attitude as the reference attitude, determine the xy-axis distance expression of the first internal coordinate system relative to the second internal coordinate system, that is, the expression for the x-axis distance and the expression for the y-axis distance.

[0082] Specifically, S1 can include S11 to S15:

[0083] S11. Based on the length of the first arm, the length of the second arm, and the included angle between the first arm and the second arm, construct the joint transformation matrix for each of the first arm and the second arm; wherein, the length of the first arm is the sum of the lengths of the vertical axis and the vertical movement axis, and the length of the second arm is the length of the swing axis;

[0084] That is, the vertical axis and the up-and-down movement axis are considered as the first arm, with a length of L1. The swing axis is considered as the second arm, with a length of L2. The angle between the first and second arms is r2. Using the forward DH parameter method, the joint transformation matrix T1 of the first arm and the joint transformation matrix T2 of the second arm can be determined. The two joint transformation matrices are as follows:

[0085]

[0086] S12. Multiply the joint transformation matrix of the first arm and the joint transformation matrix of the second arm to obtain the matrix of the first internal coordinate system relative to the second internal coordinate system. Use the first row of the fourth column of the matrix as the x-axis distance expression of the first internal coordinate system relative to the second internal coordinate system, and use the second row of the fourth column of the matrix as the y-axis distance expression of the first internal coordinate system relative to the second internal coordinate system.

[0087] That is, multiplying T1 and T2 together yields the matrix WTcp1 of the first internal coordinate system relative to the second internal coordinate system, where the first internal coordinate system is denoted by Tcp1 and the second internal coordinate system by W.

[0088]

[0089] Using the first row of the fourth column in the matrix WTcp1 as the x-axis distance expression and the second row as the y-axis distance expression, the x-axis distance expression of the first internal coordinate system relative to the second internal coordinate system is denoted by WTcp1X, and the y-axis distance expression of the first internal coordinate system relative to the second internal coordinate system is denoted by WTcp1Y.

[0090] WTcp1X=L1+L2 cos(r2)

[0091] WTcp1Y=L2sin(r2)

[0092] S13. Determine the expression for the included angle between the first arm and the second arm, and denot it as the first expression;

[0093] During the sliding process, the vertical slide rail of the slider, the inclined back surface of the bent part, and the base of the slider form a triangle. This triangle is a right triangle, which can be called the first right triangle. The base of the slider is the shorter of the two legs of the first right triangle. During the movement of the swing axis, the angle between the swing axis and the vertical direction is r2. A right triangle is formed with the swing axis as the hypotenuse of the triangle. This right triangle can be called the second right triangle. The longer of the two legs of the second right triangle is along the vertical direction, and the shorter leg is along the horizontal direction. Through derivation, the change in the shorter leg of the first right triangle is equal to the change in the shorter leg of the second right triangle. Therefore, the expression for the angle r2 between the swing axis and the vertical direction can be obtained, i.e., the first expression is:

[0094]

[0095] Where r2 is the angle between the swing axis and the vertical direction, and Axis2 is the position of the slider when the first zero-point attitude is the reference attitude. Arm3 is the length of the swing axis, i.e., L2, and α is the angle between the back slope of the bent part and the vertical direction.

[0096] S14. Determine the relationship between the length of the first arm, the position of the up-down moving axis, and the reference distance, and denot it as the first relationship; wherein, the reference distance is the distance between the second internal coordinate system and the third internal coordinate system in the x-axis direction when the up-down moving axis is in the reference position, the origin of the third internal coordinate system is the center of the movable connecting component between the up-down moving axis and the swing axis, the positive direction of the x-axis is downward along the vertical direction, and the y-axis is along the horizontal direction;

[0097] A coordinate system is set at the center of the movable connecting component between the vertical movement axis and the swing axis. This coordinate system is invisible to the user and is therefore called the third internal coordinate system. See also Figure 6 In the third internal coordinate system F0, the x-axis points vertically downwards, the y-axis points horizontally to the left, and the z-axis points horizontally inwards. It can be seen that the z-axis, y-axis, and z-axis directions of the three internal coordinate systems, the knife-edge coordinate system, and the first user coordinate system are consistent.

[0098] The reference distance is the distance between the second and third internal coordinate systems along the x-axis when the first zero-point attitude is the reference attitude and the vertical movement axis is at the reference position. It can be represented by DZArm2. The reference position of the vertical movement axis is the initial position of the vertical movement axis.

[0099] In a real-world scenario, the relationship between the length of the first arm, the position of the vertical moving axis, and the reference distance is: L1 = Axis1 + DZArm2. Therefore, this relationship is called the first relationship.

[0100] S15. Based on the first expression and the first relationship, perform a formal transformation on the x-axis distance expression and y-axis distance expression of the first internal coordinate system relative to the second internal coordinate system.

[0101] That is, by substituting the first expression and the first relation into the expressions for WTcp1X and WTcp1Y above, we can obtain the transformed expressions:

[0102]

[0103] In the formula, Axis1 is the position of the vertical movement axis when the first zero point attitude is the reference attitude, DZArm2 is the reference distance, Arm3 is the length of the swing axis, i.e., L2, α is the angle between the back slope of the bent part and the vertical direction, and Axis2 is the position of the sliding block when the first zero point attitude is the reference attitude.

[0104] S2. Based on the offset between the knife-edge coordinate system and the first internal coordinate system and the xy-axis distance expression of the first internal coordinate system relative to the second internal coordinate system, determine the xy-axis distance expression of the knife-edge coordinate system relative to the second internal coordinate system.

[0105] Specifically, the xy-axis distance expression of the knife-edge coordinate system relative to the second internal coordinate system is as follows:

[0106]

[0107] Wherein, WTcp2X is the x-axis distance expression of the knife-edge coordinate system relative to the second internal coordinate system, and WTcp2Y is the y-axis distance expression of the knife-edge coordinate system relative to the second internal coordinate system; MWTcp12X is the x-axis distance between the knife-edge coordinate system Tcp2 and the first internal coordinate system Tcp1 when the first zero-point attitude is the reference attitude and the vertical movement axis is at the reference position; MWTcp12Y is the y-axis distance between the knife-edge coordinate system Tcp2 and the first internal coordinate system Tcp1 when the first zero-point attitude is the reference attitude and the vertical movement axis is at the reference position.

[0108] S3. Based on the offset between the second internal coordinate system and the first user coordinate system and the xy-axis distance expression of the knife-edge coordinate system relative to the second internal coordinate system, determine the xy-axis distance expression of the knife-edge coordinate system relative to the first user coordinate system.

[0109] Specifically, the xy-axis distance expression of the knife-edge coordinate system relative to the first user coordinate system is:

[0110]

[0111]

[0112] Wherein, U0Tcp2X is the x-axis distance expression of the knife edge coordinate system relative to the first user coordinate system, U0Tcp2Y is the y-axis distance expression of the knife edge coordinate system relative to the first user coordinate system, MWUX is the distance between the x-axis of the second internal coordinate system and the first user coordinate system when the first zero-point attitude is the reference attitude and the vertical movement axis is at the reference position, and MWUY is the distance between the y-axis of the second internal coordinate system and the first user coordinate system when the first zero-point attitude is the reference attitude and the vertical movement axis is at the reference position.

[0113] S4. Determine the transformation matrix between the first user coordinate system and the second user coordinate system;

[0114] The transformation matrix is ​​represented by Rzyx.

[0115] Using the right-hand rule, first rotate the first user coordinate system around the Z-axis by -π / 2, then around the Y-axis by 0, and finally around the X-axis by π. The rotation matrices Rx (x-axis), Rey (y-axis), and Rz (z-axis) are as follows:

[0116]

[0117] Where w is the angular velocity of rotation and x is the rotation time.

[0118] Then, multiplying the three rotation matrices yields the transformation matrix Rzyx:

[0119]

[0120] S5. Based on the transformation matrix and the xy-axis distance expression of the knife-edge coordinate system relative to the first user coordinate system, determine the xy-axis distance expression of the knife-edge coordinate system relative to the second user coordinate system.

[0121] Specifically, the x-axis distance expression U0Tcp2X of the knife-edge coordinate system relative to the first user coordinate system, the y-axis distance expression U0Tcp2Y of the knife-edge coordinate system relative to the first user coordinate system, and 0 form a column vector. Multiplying the transformation matrix by this column vector Rzyx yields:

[0122]

[0123] In the formula, U1Tcp2XY is a 3x1 vector representing the distance between the knife-edge coordinate system and the second user coordinate system along the X and Y axes. Therefore, the expression for the distance between the knife-edge coordinate system and the second user coordinate system along the X and Y axes is obtained as follows:

[0124]

[0125] Wherein, U1Tcp2X is the x-axis distance expression of the knife-edge coordinate system relative to the second user coordinate system, and U1Tcp2Y is the y-axis distance expression of the knife-edge coordinate system relative to the second user coordinate system.

[0126] S6. Based on the position distance, the xy-axis distance expression of the knife edge coordinate system determined with the first zero-point attitude as the reference attitude relative to the second user coordinate system is converted into the xy-axis distance expression of the knife edge coordinate system with the second zero-point attitude as the reference attitude relative to the second user coordinate system.

[0127] The above derivation process S1 to S5 is based on the first zero-point attitude. However, the definition of the first zero-point attitude is relatively difficult. To ensure that the swing axis is perpendicular to the horizontal plane without the assistance of any sensors, it is necessary to manually measure that the sides of the swing axis and the vertical movement axis are on the same plane. Only then can it be said that the swing axis is perpendicular to the horizontal plane. However, the bending machine is enclosed, and only the upper and lower cutting edges of the bent part are exposed. Therefore, it is more convenient to use the second zero-point attitude as the reference attitude.

[0128] In S6, the position deviation of the sliding block between the first zero-point attitude and the second zero-point attitude, i.e., the position distance DZAmr5, can be substituted into the xy-axis distance expression of the tool edge coordinate system relative to the second user coordinate system to obtain the xy-axis distance expression of the tool edge coordinate system relative to the second user coordinate system with the second zero-point attitude as the reference attitude:

[0129]

[0130] Let M1 = -MWTcp12Y + MWUY, M2 = -DZArm2 - MWTcp12X + MWUX, then, with the second zero-point attitude as the reference attitude, the expression for the xy-axis distance between the tool edge coordinate system and the second user coordinate system is:

[0131]

[0132] Let the radius of the vertex sphere of the cutting edge be R. When the bending machine is in the second zero-point posture, U1Tcp2X=U1Tcp2Y=-R, Axis1=Axis2=0. Based on these two relationships, the expressions for M1 and M2 can be obtained as follows:

[0133]

[0134] Therefore, based on the expressions for M1 and M2, we can obtain:

[0135]

[0136] S7. Determine the target position calculation formula based on the xy-axis distance expression of the knife edge coordinate system with the second zero-point attitude as the reference attitude relative to the second user coordinate system.

[0137] Specifically, the two expressions derived from S6 can be obtained through inverse kinematic derivation:

[0138]

[0139] S1–S6 represent the forward kinematic derivation process, and S7 represents the backward kinematic derivation process. Several parameters need to be determined before the derivation: DZArm2, MWTcp12X, MWTcp12Y, MWUX, and MWUY. See [link / reference needed]. Figure 7 In the attached diagram, reference numeral D denotes parameter DZArm2, which is the reference distance. Specifically, it represents the distance between the second internal coordinate system W and the third internal coordinate system F0 along the x-axis when the first zero-point attitude is the reference attitude and the vertical movement axis is at the reference position. (See also...) Figure 8 In the attached diagram, MX represents parameter MWTcp12X, and MY represents parameter MWTcp12Y. Parameters MWTcp12X and MWTcp12Y are the distances between the x-axis and y-axis of the tool edge coordinate system Tcp2 and the first internal coordinate system Tcp1, respectively, when the first zero-point attitude is the reference attitude and the vertical movement axis is at the reference position. See also... Figure 9 In the attached figure, UX represents parameter MWUX, and UY represents parameter MWUY. Parameters MWUX and MWUY are the distances between the x-axis and y-axis of the first user coordinate system U0 and the second internal coordinate system W when the first zero-point attitude is the reference attitude and the vertical movement axis is at the reference position.

[0140] In one embodiment, the method provided by this invention may further include:

[0141] Determine the inverse transformation matrix;

[0142] Obtain the current speed parameters of the knife edge coordinate system relative to the second user coordinate system on the x-axis and y-axis, respectively;

[0143] Based on the inverse transformation matrix and the current speed parameters, the target speed parameters corresponding to the sliding block and the up and down moving axes are determined respectively; wherein, the speed parameters include velocity and / or acceleration;

[0144] Correspondingly, the step S140, which involves controlling the first motor based on the target position of the upper and lower moving shafts and controlling the second motor based on the target position of the sliding block, so that the bending machine can bend the sheet metal fixed on the fixed pressure knife, may include: controlling the first motor based on the target position and target speed parameters of the upper and lower moving shafts, and controlling the second motor based on the target position and target speed parameters of the sliding block, so that the bending machine can bend the sheet metal fixed on the fixed pressure knife.

[0145] Understandably, velocity is a parameter that reflects how quickly a position changes, while acceleration is a parameter that reflects how quickly a velocity changes; both acceleration and velocity are parameters that reflect how fast or slow something is.

[0146] Specifically, the forward and inverse transformation matrices for velocity and acceleration can be determined using differential kinematics-Jacobi. It is found that the inverse transformation matrices for velocity and acceleration are identical, as are the forward transformation matrices. For example, let ForwardVA be the forward transformation matrix for velocity and acceleration, and InverseVA be the inverse transformation matrix. The two transformation matrices are shown below:

[0147]

[0148] As can be seen, both transformation matrices are 2 rows and 2 columns.

[0149] In the normal control process after startup, the inverse transformation matrix is ​​mainly used. Specifically, the current velocity and / or current acceleration of the knife-edge coordinate system relative to the second user coordinate system on the x-axis and y-axis are obtained. Then, using the inverse transformation matrix and the current velocity and / or current acceleration, the target velocity and / or target acceleration corresponding to the slider and the up and down movement axes can be calculated. In this way, when the controller performs control, it depends not only on the target position of the up and down movement axes and the slider, but also on the target velocity and / or target acceleration, which can greatly reduce the delay that exists when relying solely on the target position.

[0150] In one embodiment, the target speed parameters corresponding to the sliding block and the vertical movement axis can be calculated using the following formula:

[0151]

[0152] Wherein, Axis12VA is a 2x1 vector formed by the target speed parameters of the up and down movement axes and the target speed parameters of the sliding block, InverseVA is the inverse transformation matrix, U1Tcp2xVA is the current speed parameters of the knife edge coordinate system relative to the second user coordinate system on the x-axis, U1Tcp2yVA is the current speed parameters of the knife edge coordinate system relative to the second user coordinate system on the y-axis, and "." represents the matrix multiplication operator.

[0153] For example, when the angle between the inclined back of the bent part and the vertical direction is 10°, the target speed parameters of the up and down moving axes and the target speed parameters of the sliding block are calculated as follows:

[0154]

[0155] Where Axis1VA is the target speed parameter of the vertical movement axis, and Axis2VA is the target speed parameter of the slider.

[0156] In one embodiment, the method provided by this invention may further include:

[0157] Determine the forward transformation matrix;

[0158] Obtain the current speed parameters of the vertical movement axis and the sliding block respectively;

[0159] Based on the forward transformation matrix and the current speed parameters, the target speed parameters of the knife-edge coordinate system relative to the second user coordinate system on the x-axis and y-axis are determined respectively; wherein, the speed parameters include velocity and / or acceleration;

[0160] Correspondingly, the control of the first motor based on the target position of the upper and lower moving axes and the control of the second motor based on the target position of the sliding block in S150, so that the bending machine bends the sheet metal fixed on the fixed pressure knife, may specifically include: controlling the first motor and the second motor based on the target positions of the upper and lower moving axes and the sliding block, and the target speed parameters of the knife edge coordinate system relative to the second user coordinate system on the x-axis and y-axis, respectively, so that the bending machine bends the sheet metal fixed on the fixed pressure knife.

[0161] In the startup scenario, the forward transformation matrix is ​​primarily used. Specifically, based on the forward transformation matrix, the current velocity and / or current acceleration of the vertical movement axis and the sliding block, the target velocity and / or target acceleration of the knife-edge coordinate system relative to the second user coordinate system on the x-axis and y-axis, respectively, are calculated. Then, the controller controls the first and second motors based on the target position and the target velocity and / or target acceleration of the knife-edge coordinate system relative to the second user coordinate system on the x-axis and y-axis, respectively. This ensures accurate startup and enables rapid startup.

[0162] Furthermore, the target speed parameters on the x-axis and y-axis of the knife-edge coordinate system relative to the second user coordinate system can be calculated using the following formulas:

[0163]

[0164] Wherein, U1Tcp2XYVA is a 2x1 vector formed by the target speed parameters of the knife edge coordinate system relative to the second user coordinate system on the x and y axes, ForwardVA is the forward transformation matrix, Axis1VA is the current speed parameter of the up and down movement axes, Axis2VA is the current speed parameter of the slider, and "." represents the matrix multiplication operator.

[0165] For example, when the angle between the bend surface and the vertical direction is 10°, the calculated target speed parameters of the tool edge coordinate system relative to the second user coordinate system on the x and y axes are as follows:

[0166]

[0167] Wherein, U1Tcp2XVA and U1Tcp2YVA are the target speed parameters of the knife edge coordinate system relative to the second user coordinate system on the x-axis and y-axis.

[0168] Understandably, in real-world scenarios, different controllers provide different periodic control commands for the vertical movement axis and the slider. Some controllers only require the target position for periodic synchronization, while others also require the target speed and acceleration. Moreover, controlling the target position, target speed, and target acceleration simultaneously can reduce latency and satisfy versatility.

[0169] In this embodiment of the invention, the direction of downward movement is positive, and the direction of upward movement is negative.

[0170] In this embodiment of the invention, the calculation formulas for the target position and the target speed parameters are both applied when the second zero-point attitude is the reference attitude.

[0171] As can be seen, the embodiments of the present invention can obtain the target position using the forward and inverse kinematics algorithms of robot position, and can also obtain the target velocity and / or acceleration using the forward and inverse kinematics algorithms of robot velocity, realizing arbitrary trajectory movement of the bending machine's cutting edge based on the XY coordinate system. Due to the extrusion motion structure characteristics of the sliding block, the bending machine's cutting edge can output greater force, enabling it to handle both thin and thick plates. In other words, the embodiments of the present invention achieve precise motion control of an irregularly shaped two-degree-of-freedom bending machine based on the forward and inverse kinematics algorithms of position and velocity.

[0172] It is understood that the method provided by the embodiments of the present invention can accurately bend the sheet metal and is applicable to different types of controllers. Since the calculated target position, target velocity and / or acceleration are based on the second zero-point attitude as the reference attitude, the calibration of the second zero-point attitude is simpler and easier than the calibration of the first zero-point attitude. Therefore, the zero-point calibration of the method provided by the embodiments of the present invention is very convenient.

[0173] In the application scenario, the folding angle of the bent part is determined based on its target shape. It is understood that forming the target shape may require at least one fold. Next, based on this folding angle, a circular interpolation trajectory of the origin of the knife-edge coordinate system in the second user coordinate system is generated. This trajectory is then decomposed to obtain real-time position, real-time velocity, and real-time acceleration data for each process point on the x-axis and y-axis of the second user coordinate system, respectively. These data are then used to determine the required parameters in the control method provided in the second aspect. The target position and target speed parameters are then determined using the control method provided in the second aspect. Finally, the target position and target speed parameters are used to control two motors, which drive the up-and-down moving axis and the sliding block. Therefore, the control method provided in this embodiment of the invention is part of the bending process of the bent part.

[0174] Thirdly, embodiments of the present invention provide a bending machine control device, which is applied to the bending machine provided in the second aspect, see [link to second aspect]. Figure 10 The device 100 includes:

[0175] The first determining module 110 is used to determine the position distance corresponding to the sliding block in the bending machine; wherein, the position distance is the distance between the second position and the first position, the first position and the second position are the positions of the sliding block when the bending machine is in the first zero-point posture and the second zero-point posture, respectively, the first zero-point posture is the posture of the bending machine when the swing axis swings to be perpendicular to the horizontal plane, and the second zero-point posture is the posture when the vertex ball of the bending machine's blade is tangent to both the x-axis and y-axis of the first user coordinate system, the origin of the first user coordinate system is located at the vertex of the fixing pressure knife used to fix the plate, the positive direction of the x-axis is downward along the vertical direction, and the y-axis is along the horizontal direction;

[0176] The second determining module 120 is used to determine the current x and y axis distances of the tool edge coordinate system relative to the second user coordinate system when the second zero-point posture is used as the reference posture; wherein, the current x and y axis distances include the current distances between the x-axis and between the y-axis; the origin of the tool edge coordinate system is located at the center of the vertex sphere of the tool edge, the positive direction of the x-axis is downward along the vertical direction, and the y-axis is horizontal; the origin of the second user coordinate system is located at the vertex of the fixed pressure tool, the x-axis is horizontal, and the positive direction of the y-axis is upward along the vertical direction;

[0177] The third determining module 130 is used to determine the target positions of the sliding block and the vertical movement axis respectively based on the position distance and the current distance of the xy axis;

[0178] The motor control module 140 is used to control the first motor according to the target position of the up and down moving shafts, and to control the second motor according to the target position of the sliding block, so that the bending machine can bend the fixed plate.

[0179] In one embodiment, the apparatus further includes:

[0180] The fourth determining module is used to determine the inverse transformation matrix; obtain the current speed parameters of the knife edge coordinate system relative to the second user coordinate system on the x-axis and y-axis respectively; and determine the target speed parameters corresponding to the sliding block and the up and down moving axes respectively according to the inverse transformation matrix and the current speed parameters; wherein, the speed parameters include velocity and / or acceleration; correspondingly, the motor control module is specifically used to: control the first motor according to the target position and target speed parameters of the up and down moving axes, and control the second motor according to the target position and target speed parameters of the sliding block, so that the bending machine bends the sheet metal fixed on the fixed pressure knife.

[0181] In one embodiment, the fourth determining module is specifically used to: calculate the target speed parameters corresponding to the sliding block and the vertical moving axis respectively using the following formula:

[0182]

[0183] Wherein, Axis12VA is a 2x1 vector formed by the target speed parameters of the up and down movement axes and the target speed parameters of the sliding block, InverseVA is the inverse transformation matrix, U1Tcp2xVA is the current speed parameters of the knife edge coordinate system relative to the second user coordinate system on the x-axis, U1Tcp2yVA is the current speed parameters of the knife edge coordinate system relative to the second user coordinate system on the y-axis, and "." represents the matrix multiplication operator.

[0184] In one embodiment, the apparatus further includes:

[0185] The fifth determining module is used to determine the forward transformation matrix; obtain the current speed parameters of the up and down moving axes and the sliding block respectively; and determine the target speed parameters of the knife edge coordinate system relative to the second user coordinate system on the x-axis and y-axis respectively, based on the forward transformation matrix and the current speed parameters; wherein the speed parameters include velocity and / or acceleration; correspondingly, the motor control module is specifically used to control the first motor and the second motor according to the target positions of the up and down moving axes and the sliding block respectively and the target speed parameters of the knife edge coordinate system relative to the second user coordinate system on the x-axis and y-axis respectively, so that the bending machine bends the sheet metal fixed on the fixed pressure knife.

[0186] In one embodiment, the fifth determining module is specifically used to: calculate the target speed parameters of the blade coordinate system relative to the second user coordinate system on the x-axis and y-axis, respectively, using the following formula:

[0187]

[0188] Wherein, U1Tcp2XYVA is a 2x1 vector formed by the target speed parameters of the knife edge coordinate system relative to the second user coordinate system on the x and y axes, ForwardVA is the forward transformation matrix, Axis1VA is the current speed parameter of the up and down movement axes, Axis2VA is the current speed parameter of the slider, and "." represents the matrix multiplication operator.

[0189] In one embodiment, the motor control module is specifically used to: determine the length of the swing axis, the radius of the vertex ball, and the angle between the back slope and the vertical direction; and determine the target position of the sliding block and the target position of the up-down movement axis based on the position distance, the current distance of the xy axis, the length of the swing axis, the radius of the vertex ball, and the angle between the back slope and the vertical direction.

[0190] In one embodiment, the motor control module is specifically used to: calculate the target position using the following target position calculation formula:

[0191]

[0192] Wherein, Axis1 is the target position of the vertical movement axis, Axis2 is the target position of the sliding block, R is the radius of the vertex sphere, U1Tcp2Y is the distance between the y axes in the current xy-axis distance, U1Tcp2X is the distance between the x axes in the current xy-axis distance, U1 is the symbol for the second user coordinate system, Tcp2 is the symbol for the knife-edge coordinate system, Arm3 is the length of the swing axis, DZArm5 is the position distance, and α is the angle between the back slope and the vertical direction.

[0193] In one embodiment, it also includes:

[0194] The sixth module is used to determine the formula for calculating the target location;

[0195] The sixth determining module specifically includes:

[0196] The first determining unit is used to determine the xy-axis distance expression of the first internal coordinate system relative to the second internal coordinate system, based on the first zero-point attitude as the reference attitude; wherein, the origin of the first internal coordinate system is located at the center of the movable connecting component between the swing axis and the bending component, the origin of the second internal coordinate system is located at the center of the end face of the vertical axis, and the positive x-axis of the first internal coordinate system and the second internal coordinate system is downward along the vertical direction, and the y-axis is along the horizontal direction;

[0197] The second determining unit is used to determine the xy-axis distance expression of the knife-edge coordinate system relative to the second internal coordinate system based on the offset between the knife-edge coordinate system and the first internal coordinate system and the xy-axis distance expression of the first internal coordinate system relative to the second internal coordinate system.

[0198] The third determining unit is used to determine the xy-axis distance expression of the knife-edge coordinate system relative to the first user coordinate system based on the offset between the second internal coordinate system and the first user coordinate system and the xy-axis distance expression of the knife-edge coordinate system relative to the second internal coordinate system.

[0199] The fourth determining unit is used to determine the transformation matrix between the first user coordinate system and the second user coordinate system;

[0200] The fifth determining unit is used to determine the xy-axis distance expression of the knife-edge coordinate system relative to the second user coordinate system based on the transformation matrix and the xy-axis distance expression of the knife-edge coordinate system relative to the first user coordinate system.

[0201] The sixth determining unit is used to convert the xy-axis distance expression of the knife edge coordinate system determined with the first zero-point attitude as the reference attitude into the xy-axis distance expression of the knife edge coordinate system with the second zero-point attitude as the reference attitude, based on the position distance.

[0202] The seventh determining unit is used to determine the target position calculation formula based on the xy-axis distance expression of the knife edge coordinate system with the second zero-point attitude as the reference attitude relative to the second user coordinate system.

[0203] In one embodiment, the first determining unit includes:

[0204] The first construction subunit is used to construct the joint transformation matrix of the first arm and the second arm respectively based on the length of the first arm, the length of the second arm and the included angle between the first arm and the second arm; wherein, the length of the first arm is the sum of the length of the vertical axis and the length of the up-down movement axis, and the length of the second arm is the length of the swing axis;

[0205] The first multiplication subunit is used to multiply the joint transformation matrix of the first arm and the joint transformation matrix of the second arm to obtain the matrix of the first internal coordinate system relative to the second internal coordinate system. The first row of the fourth column of the matrix is ​​used as the x-axis distance expression of the first internal coordinate system relative to the second internal coordinate system, and the second row of the fourth column of the matrix is ​​used as the y-axis distance expression of the first internal coordinate system relative to the second internal coordinate system.

[0206] The first determining subunit is used to determine the expression of the included angle between the first arm and the second arm, and is denoted as the first expression;

[0207] The second determining subunit is used to determine the relationship between the length of the first arm, the position of the up-down moving axis, and the reference distance, and denoted as the first relationship; wherein, the reference distance is the distance between the second internal coordinate system and the third internal coordinate system in the x-axis direction when the up-down moving axis is in the reference position, the origin of the third internal coordinate system is the center of the movable connecting component between the up-down moving axis and the swing axis, the positive direction of the x-axis is downward along the vertical direction, and the y-axis is along the horizontal direction;

[0208] The first transformation subunit is used to perform a formal transformation on the x-axis distance expression and y-axis distance expression of the first internal coordinate system relative to the second internal coordinate system according to the first expression and the first relationship.

[0209] It is understood that explanations, specific implementation methods, beneficial effects, examples, etc. of the contents of the device provided in the embodiments of the present invention can be found in the corresponding parts of the method provided in the second aspect, and will not be repeated here.

[0210] According to a fourth aspect, one embodiment of this specification provides a computer-readable storage medium having a computer program stored thereon that, when executed in a computer, causes the computer to perform the methods of any embodiment of the specification.

[0211] Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the embodiments described above is stored, and the computer (or CPU or MPU) of the system or apparatus may read and execute the program code stored in the storage medium.

[0212] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of the present invention.

[0213] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0214] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the above embodiments.

[0215] It is understood that explanations, specific implementation methods, beneficial effects, examples, etc. of the contents in the computer-readable medium provided in the embodiments of the present invention can be found in the corresponding parts of the method provided in the second aspect, and will not be repeated here.

[0216] According to a fifth aspect, one embodiment of this specification provides a computing device including a memory and a processor, wherein the memory stores executable code, and the processor, when executing the executable code, implements the method of any embodiment of the specification.

[0217] It is understood that explanations, specific implementation methods, beneficial effects, examples, etc. of the computing device provided in the embodiments of the present invention can be found in the corresponding parts of the method provided in the second aspect, and will not be repeated here.

[0218] It is understood that the structures illustrated in the embodiments of this specification do not constitute a specific limitation on the apparatus of the embodiments of this specification. In other embodiments of the specification, the above-described apparatus may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0219] The information interaction and execution process between the modules in the above-mentioned device and system are based on the same concept as the method embodiments in this specification, and the specific details can be found in the descriptions in the method embodiments in this specification, so they will not be repeated here.

[0220] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0221] Those skilled in the art will recognize that, in one or more of the examples above, the functions described in this invention can be implemented using hardware, software, widgets, or any combination thereof. When implemented in software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium.

[0222] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solution of the present invention should be included within the scope of protection of the present invention.

Claims

1. A control method for a bending machine, the bending machine comprising a first motor, a second motor, a vertical shaft, a vertical moving shaft, a swing shaft, a bending member, and a sliding block; wherein the vertical shaft is a vertically installed and fixed-position shaft structure; the vertical moving shaft is axially connected to the vertical shaft and is used to move up and down along the vertical shaft under the control of the first motor; the swing shaft is movably connected to the vertical moving shaft; the sliding block is used to slide up and down under the drive of the second motor, and maintains contact with the back slope of the bending member during the sliding process; the bending member is movably connected to the swing shaft and has a cutting edge, the bending member being used to: passively move under the action of the sliding block and the swing shaft, so that the cutting edge bends a fixed sheet metal, characterized in that, The method includes: Determine the position distance corresponding to the sliding block in the bending machine; wherein, the position distance is the distance between the second position and the first position, the first position and the second position are the positions of the sliding block when the bending machine is in the first zero point posture and the second zero point posture, respectively. The first zero point posture is the posture of the bending machine when the swing axis swings to be perpendicular to the horizontal plane, and the second zero point posture is the posture when the vertex ball of the bending machine's blade is tangent to both the x-axis and y-axis of the first user coordinate system. The origin of the first user coordinate system is located at the vertex of the fixed pressure knife used to fix the plate, the positive direction of the x-axis is downward along the vertical direction, and the y-axis is along the horizontal direction. Determine the current x and y axis distances of the tool edge coordinate system relative to the second user coordinate system, with the second zero-point attitude as the reference attitude; wherein, the current x and y axis distances include the current distances between the x-axis and between the y-axis; the origin of the tool edge coordinate system is located at the center of the vertex sphere of the tool edge, the positive x-axis is vertically downward, and the y-axis is horizontal; the origin of the second user coordinate system is located at the vertex of the fixed pressure tool, the x-axis is horizontal, and the positive y-axis is vertically upward; Based on the positional distance and the current distance along the x and y axes, determine the target positions of the sliding block and the vertical movement axis, respectively. Determine the inverse transformation matrix; Obtain the current speed parameters of the knife edge coordinate system relative to the second user coordinate system on the x-axis and y-axis, respectively; Based on the inverse transformation matrix and the current speed parameters, the target speed parameters corresponding to the sliding block and the up and down moving axes are determined respectively; wherein, the speed parameters include velocity and / or acceleration; The first motor is controlled according to the target position and target speed parameters of the upper and lower moving axes, and the second motor is controlled according to the target position and target speed parameters of the sliding block, so that the bending machine can bend the sheet metal fixed on the fixed pressure knife.

2. The method according to claim 1, characterized in that, The target speed parameters corresponding to the sliding block and the vertical movement axis are calculated using the following formula: in, The vector is a 2x1 vector formed by the target speed parameters of the up and down movement axes and the target speed parameters of the sliding block. InverseVA is the inverse transformation matrix, U1Tcp2xVA is the current speed parameter of the knife edge coordinate system relative to the second user coordinate system on the x-axis, U1Tcp2yVA is the current speed parameter of the knife edge coordinate system relative to the second user coordinate system on the y-axis, and "." represents the matrix multiplication operator.

3. A control method for a bending machine, the bending machine comprising a first motor, a second motor, a vertical shaft, a vertical moving shaft, a swing shaft, a bending component, and a sliding block; wherein the vertical shaft is a vertically installed and fixed-position shaft structure; the vertical moving shaft is axially connected to the vertical shaft and is used to move up and down along the vertical shaft under the control of the first motor; the swing shaft is movably connected to the vertical moving shaft; the sliding block is used to slide up and down under the drive of the second motor, and maintains contact with the back slope of the bending component during the sliding process; the bending component is movably connected to the swing shaft and has a cutting edge, the bending component being used to: passively move under the action of the sliding block and the swing shaft, so that the cutting edge bends a fixed sheet metal, characterized in that, The method includes: Determine the position distance corresponding to the sliding block in the bending machine; wherein, the position distance is the distance between the second position and the first position, the first position and the second position are the positions of the sliding block when the bending machine is in the first zero point posture and the second zero point posture, respectively. The first zero point posture is the posture of the bending machine when the swing axis swings to be perpendicular to the horizontal plane, and the second zero point posture is the posture when the vertex ball of the bending machine's blade is tangent to both the x-axis and y-axis of the first user coordinate system. The origin of the first user coordinate system is located at the vertex of the fixed pressure knife used to fix the plate, the positive direction of the x-axis is downward along the vertical direction, and the y-axis is along the horizontal direction. Determine the current x and y axis distances of the tool edge coordinate system relative to the second user coordinate system, with the second zero-point attitude as the reference attitude; wherein, the current x and y axis distances include the current distances between the x-axis and between the y-axis; the origin of the tool edge coordinate system is located at the center of the vertex sphere of the tool edge, the positive x-axis is vertically downward, and the y-axis is horizontal; the origin of the second user coordinate system is located at the vertex of the fixed pressure tool, the x-axis is horizontal, and the positive y-axis is vertically upward; Based on the positional distance and the current distance along the x and y axes, determine the target positions of the sliding block and the vertical movement axis, respectively. Determine the forward transformation matrix; Obtain the current speed parameters of the vertical movement axis and the sliding block respectively; Based on the forward transformation matrix and the current speed parameters, the target speed parameters of the knife-edge coordinate system relative to the second user coordinate system on the x-axis and y-axis are determined respectively; wherein, the speed parameters include velocity and / or acceleration; Based on the target positions of the vertical moving axes and the sliding blocks, and the target speed parameters of the blade coordinate system relative to the second user coordinate system on the x and y axes respectively, the first motor and the second motor are controlled so that the bending machine can bend the sheet metal fixed on the fixed pressure knife.

4. The method according to claim 3, characterized in that, The target speed parameters on the x-axis and y-axis of the knife-edge coordinate system relative to the second user coordinate system are calculated using the following formulas: in, Let VA be a 2x1 vector formed by the target speed parameters of the knife-edge coordinate system relative to the second user coordinate system on the x and y axes. Let ForwardVA be the forward transformation matrix, Axis1VA be the current speed parameters of the up and down movement axes, Axis2VA be the current speed parameters of the slider, and "." represent the matrix multiplication operator.

5. The method according to claim 3, characterized in that, Also includes: Determine the length of the swing axis, the radius of the vertex sphere, and the angle between the back slope and the vertical direction; The target position of the sliding block and the target position of the up-down movement axis are determined based on the positional distance, the current distance of the xy axis, the length of the swing axis, the radius of the vertex ball, and the angle between the back slope and the vertical direction.

6. The method according to claim 5, characterized in that, The step of determining the target position of the sliding block and the target position of the vertical movement axis based on the positional distance, the current distance along the x and y axes, the length of the swing axis, the radius of the vertex ball, and the angle between the back slope and the vertical direction includes: The target position is calculated using the following formula: in, Axis1 The target position of the vertical movement axis. Axis2 Let R be the target position of the sliding block, and R be the radius of the vertex sphere. U1Tcp2Y The distance between the y-axis and the x-axis in the current distance is the distance between the y-axis and the x-axis. U1Tcp2X The x-axis represents the distance between the x and y axes in the current distance, U1 represents the symbol for the second user coordinate system, and Tcp2 represents the symbol for the knife-edge coordinate system. Arm3 The length of the swing axis, DZArm5 The distance to the location. α The angle between the back slope and the vertical direction is denoted as .

7. The method according to claim 3, characterized in that, The process of determining the formula for calculating the target location includes: Using the first zero-point attitude as the reference attitude, determine the xy-axis distance expression of the first internal coordinate system relative to the second internal coordinate system; wherein, the origin of the first internal coordinate system is located at the center of the movable connecting component between the swing axis and the bending component, the origin of the second internal coordinate system is located at the center of the end face of the vertical axis, and the positive x-axis of the first internal coordinate system and the second internal coordinate system is downward along the vertical direction, and the y-axis is along the horizontal direction; Based on the offset between the knife-edge coordinate system and the first internal coordinate system and the xy-axis distance expression of the first internal coordinate system relative to the second internal coordinate system, determine the xy-axis distance expression of the knife-edge coordinate system relative to the second internal coordinate system. Based on the offset between the second internal coordinate system and the first user coordinate system and the xy-axis distance expression of the knife-edge coordinate system relative to the second internal coordinate system, determine the xy-axis distance expression of the knife-edge coordinate system relative to the first user coordinate system. Determine the transformation matrix between the first user coordinate system and the second user coordinate system; Based on the transformation matrix and the xy-axis distance expression of the knife-edge coordinate system relative to the first user coordinate system, determine the xy-axis distance expression of the knife-edge coordinate system relative to the second user coordinate system. Based on the position distance, the xy-axis distance expression of the knife edge coordinate system determined with the first zero-point attitude as the reference attitude relative to the second user coordinate system is converted into the xy-axis distance expression of the knife edge coordinate system with the second zero-point attitude as the reference attitude relative to the second user coordinate system. The target position calculation formula is determined based on the xy-axis distance expression of the knife edge coordinate system with the second zero-point attitude as the reference attitude relative to the second user coordinate system.

8. The method according to claim 7, characterized in that, Determining the xy-axis distance expression of the first internal coordinate system relative to the second internal coordinate system includes: Based on the length of the first arm, the length of the second arm, and the angle between the first arm and the second arm, construct the joint transformation matrix for each of the first arm and the second arm; wherein, the length of the first arm is the sum of the lengths of the vertical axis and the vertical movement axis, and the length of the second arm is the length of the swing axis; Multiply the joint transformation matrix of the first arm and the joint transformation matrix of the second arm to obtain the matrix of the first internal coordinate system relative to the second internal coordinate system. Use the first row of the fourth column of the matrix as the x-axis distance expression of the first internal coordinate system relative to the second internal coordinate system, and use the second row of the fourth column of the matrix as the y-axis distance expression of the first internal coordinate system relative to the second internal coordinate system. Determine the expression for the angle between the first arm and the second arm, and denote it as the first expression; The relationship between the length of the first arm, the position of the vertical moving axis, and the reference distance is determined and denoted as the first relationship; wherein, the reference distance is the distance between the second internal coordinate system and the third internal coordinate system in the x-axis direction when the vertical moving axis is in the reference position, the origin of the third internal coordinate system is the center of the movable connecting component between the vertical moving axis and the swing axis, the positive direction of the x-axis is downward along the vertical direction, and the y-axis is along the horizontal direction; Based on the first expression and the first relationship, the x-axis distance expression and y-axis distance expression of the first internal coordinate system relative to the second internal coordinate system are transformed.

9. A bending machine control device, the device being applied to a bending machine, the bending machine comprising a first motor, a second motor, a vertical shaft, a vertical moving shaft, a swing shaft, a bending member, and a sliding block; wherein the vertical shaft is a vertically installed and fixedly positioned shaft structure; the vertical moving shaft is axially connected to the vertical shaft and is used to move up and down along the vertical shaft under the control of the first motor; the swing shaft is movably connected to the vertical moving shaft; the sliding block is used to slide up and down under the drive of the second motor, and maintains contact with the back slope of the bending member during the sliding process; the bending member is movably connected to the swing shaft and has a cutting edge, the bending member being used to: passively move under the action of the sliding block and the swing shaft, so that the cutting edge bends a fixed sheet metal, characterized in that, The device includes: The first determining module is used to determine the position distance corresponding to the sliding block in the bending machine; wherein, the position distance is the distance between the second position and the first position, the first position and the second position are the positions of the sliding block when the bending machine is in the first zero-point posture and the second zero-point posture, respectively, the first zero-point posture is the posture of the bending machine when the swing axis swings to be perpendicular to the horizontal plane, and the second zero-point posture is the posture when the vertex ball of the bending machine's blade is tangent to both the x-axis and y-axis of the first user coordinate system, the origin of the first user coordinate system is located at the vertex of the fixed pressure knife used to fix the plate, the positive direction of the x-axis is downward along the vertical direction, and the y-axis is along the horizontal direction; The second determining module is used to determine the current x and y axis distances of the tool edge coordinate system relative to the second user coordinate system when the second zero-point attitude is used as the reference attitude; wherein, the current x and y axis distances include the current distances between the x-axis and between the y-axis; the origin of the tool edge coordinate system is located at the center of the vertex sphere of the tool edge, the positive direction of the x-axis is vertically downward, and the y-axis is horizontal; the origin of the second user coordinate system is located at the vertex of the fixed pressure tool, the x-axis is horizontal, and the positive direction of the y-axis is vertically upward; The third determining module is used to determine the target positions of the sliding block and the vertical movement axis respectively based on the position distance and the current distance of the xy axis; The motor control module is used to control the first motor according to the target position of the upper and lower moving shafts, and to control the second motor according to the target position of the sliding block, so that the bending machine can bend the fixed sheet metal.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed in a computer, causes the computer to perform the method described in any one of claims 1 to 8.

11. A computing device, characterized in that, The method includes a memory and a processor, wherein the memory stores executable code, and when the processor executes the executable code, it implements the method described in any one of claims 1 to 8.

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