Automatic bending unit control system and control method thereof

Abstract

The invention discloses an automatic bending unit control system and a control method thereof. The system comprises a feeding line body, a feeding robot, a bending machine, a discharging robot and a discharging line body. The incoming line body is used for feeding workpieces; the feeding robot is arranged beside the incoming line body and located on one side of the bending machine so as to grab workpieces on the incoming line body and place the grabbed workpieces on the bending machine. The bending machine is used for bending the workpiece; the discharging robot is arranged beside the discharging line body and located on the other side of the bending machine so as to grab the bent workpieces on the bending machine and place the grabbed workpieces on the discharging line body. And the blanking line body is used for blanking the workpieces. By arranging the feeding robot and the discharging robot, full-automatic feeding and discharging of workpieces are achieved, the production efficiency is improved, meanwhile, manual operation is not needed, and the product quality is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of metal sheet bending, and in particular to an automatic bending machine group control system and a control method thereof. Background Art

[0002] In traditional manufacturing, particularly in the fields of metal processing and forming, press brakes, as key forming equipment, are widely used in the production of various metal components and parts. For a long time, press brake production in the industry has relied primarily on a combination of manual labor and standalone equipment. During the bending stage, workers are responsible for loading the press brake and unloading the finished product after bending. The entire process relies almost entirely on manual operation and the independent operation of the standalone equipment.

[0003] However, with the continuous expansion of production scale and the growing market demand, this traditional production method has gradually exposed many drawbacks. First, low production efficiency has become a key factor restricting the increase in production capacity. Manual operation is not only slow, but also limited by the workers' physical strength, skills and fatigue level, making it difficult to adapt to large-scale, high-intensity production tasks. Secondly, the labor intensity of workers is extremely high. Long-term repetitive physical labor can easily lead to health problems, increasing the company's human resource costs and management difficulties. More importantly, in the process of manual handling and turning of materials, due to improper operation or inaccurate force control, it is easy to cause damage to metal parts, such as deformation of the condenser folds and quality defects of the flower pieces. These problems not only affect the aesthetics and performance of the product, but also increase the scrap rate and quality control costs. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic bending machine group control system and a control method thereof, aiming to solve the problems of low production efficiency and low quality of the existing bending machine production method.

[0005] The embodiment of the present invention provides an automatic bending machine group control system, comprising: an incoming material line, a loading robot, a bending machine, a blanking robot and a blanking line;

[0006] The incoming material line is used to load the workpiece;

[0007] The loading robot is arranged beside the incoming material line and on one side of the bending machine to grab the workpiece on the incoming material line and place the grabbed workpiece on the bending machine;

[0008] The bending machine is used to bend the workpiece;

[0009] The blanking robot is arranged beside the blanking line and on the other side of the bending machine to grab the workpiece bent on the bending machine and place the grabbed workpiece on the blanking line;

[0010] The blanking line is used for blanking workpieces.

[0011] Furthermore, the bending machine includes: a first bending machine and a second bending machine, the first bending machine and the second bending machine are arranged side by side, the loading robot is arranged on the same side of the first bending machine and the second bending machine, and the unloading robot is arranged on the other side of the first bending machine and the second bending machine.

[0012] Furthermore, it also includes: a destacking robot and a destacking area, the destacking robot is arranged beside the incoming material line and the destacking area to destacking the workpieces on the destacking area to the incoming material line.

[0013] Furthermore, the incoming material line includes: a transmission line and a positioning line, one end of the transmission line is located next to the destacking robot, the other end of the transmission line is connected to one end of the positioning line, and the other end of the positioning line is located next to the loading robot.

[0014] Furthermore, the destacking area includes: a loading area, a transplanting area, an empty board placement area and a destacking area. The loading area and the empty board placement area are arranged on one side of the transplanting area, and the destacking area is arranged on the other side of the transplanting area and next to the destacking robot.

[0015] Furthermore, there are two destacking areas, which are arranged side by side and located between the destacking robot and the transplanting area.

[0016] Furthermore, it also includes: a main control cabinet, and the incoming material line, loading robot, bending machine, unloading robot and unloading line are all connected to the main control cabinet.

[0017] Furthermore, it also includes: a line host computer, which is connected to the main control cabinet.

[0018] The embodiment of the present invention further provides a control method for an automatic bending machine control system, comprising:

[0019] Get the production formula selected by the user;

[0020] Drive the incoming material line to move the workpiece to the loading position;

[0021] Controlling the loading robot to grab the workpiece on the loading position and place the workpiece on the bending machine;

[0022] Controlling the bending machine to bend the workpiece according to the production recipe selected by the user;

[0023] Controlling the blanking robot to grab the workpiece bent on the bending machine and place the bent workpiece on the blanking line;

[0024] The unloading line is driven to move the workpiece to the unloading position.

[0025] Furthermore, the process of obtaining the production formula selected by the user includes:

[0026] Performing a self-test on the automatic bending machine control system and determining whether the self-test of the automatic bending machine control system is successful;

[0027] If the self-test is successful, it confirms that the steps to obtain the production formula selected by the user can be executed;

[0028] If the self-check is unsuccessful, the automatic bending machine group control system is subjected to fault processing.

[0029] The present invention discloses an automatic bending machine control system and a control method thereof. The system includes: an incoming material line, a loading robot, a bending machine, a blanking robot, and a blanking line; the incoming material line is used to load workpieces; the loading robot is arranged next to the incoming material line and on one side of the bending machine to grab the workpiece on the incoming material line and place the grabbed workpiece on the bending machine; the bending machine is used to bend the workpiece; the blanking robot is arranged next to the blanking line and on the other side of the bending machine to grab the workpiece bent on the bending machine and place the grabbed workpiece on the blanking line; the blanking line is used to unload the workpiece. By arranging the loading robot and the blanking robot, the present invention not only realizes fully automatic loading and unloading of workpieces, greatly improving production efficiency, but also effectively avoids workpiece damage or quality inconsistency caused by human factors due to reduced direct human involvement, significantly improving product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 It is a structural diagram of the control system of the automatic bending machine group;

[0032] Figure 2 It is another structural schematic diagram of the control system of the automatic bending machine group;

[0033] Figure 3 It is a structural diagram of the bending machine;

[0034] Figure 4 This is a structural diagram of the loading robot;

[0035] Figure 5 It is a structural diagram of the grabbing part;

[0036] Figure 6 This is a system diagram of the automatic bending machine control system;

[0037] Figure 7 is a structural diagram of the workpiece;

[0038] Figure 8 It is a flow chart of the control method of the automatic bending machine control system;

[0039] Figure 9 It is a sub-flow diagram of the control method of the automatic bending machine control system;

[0040] Description of the numbers in the figure:

[0041] 1. Incoming material line; 2. Loading robot; 3. Bending machine; 4. Unloading robot; 5. Unloading line; 6. Workpiece; 7. First bending machine; 8. Second bending machine; 9. Shaft roller; 10. Support assembly; 11. Insertion mechanism; 12. Lifting and feeding mechanism; 13. Robot body; 14. Mounting plate; 15. Driving part; 16. Connecting part; 17. Rotating part; 18. Clamping part; 19. Grabbing plate; 20. Through hole; 21. Destacking robot; 22. Destacking area. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0043] It will be understood that when used in this specification and the appended claims, the terms “comprises” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0044] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the present invention. As used in the specification and appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0045] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0046] See also Figure 1 and Figure 2 The present invention provides an automatic bending machine control system, comprising:

[0047] Incoming material line 1, loading robot 2, bending machine 3, unloading robot 4 and unloading line 5;

[0048] The incoming material line 1 is used to load the workpiece 6;

[0049] The loading robot 2 is arranged beside the incoming material line 1 and on one side of the bending machine 3 to grab the workpiece 6 on the incoming material line 1 and place the grabbed workpiece 6 on the bending machine 3;

[0050] The bending machine 3 is used to bend the workpiece 6;

[0051] The blanking robot 4 is arranged next to the blanking line 5 and on the other side of the bending machine 3 to grab the workpiece 6 bent on the bending machine 3 and place the grabbed workpiece 6 on the blanking line 5;

[0052] The blanking line 5 is used to blank the workpiece 6 .

[0053] This embodiment, by providing a loading robot 2 and an unloading robot 4, not only achieves fully automated loading and unloading of workpieces 6, significantly improving production efficiency, but also effectively avoids damage to workpieces 6 or inconsistent quality due to human factors, significantly improving product quality. Furthermore, the introduction of the automated system reduces labor costs and improves the overall safety and cleanliness of the production environment.

[0054] In some embodiments, the bending machine 3 includes: a first bending machine 7 and a second bending machine 8, the first bending machine 7 and the second bending machine 8 are arranged side by side, the loading robot 2 is arranged on the same side of the first bending machine 7 and the second bending machine 8, and the unloading robot 4 is arranged on the other side of the first bending machine 7 and the second bending machine 8.

[0055] By arranging the first bending machine 7 and the second bending machine 8 in parallel, simultaneous operations are possible, significantly improving production efficiency. The two machines can independently or collaboratively complete different bending tasks, effectively shortening the production cycle. Automated operations reduce the need for workers to directly operate the bending machine 3, reducing workload and exposure to potentially hazardous environments, thereby improving the working environment and enhancing operational safety.

[0056] In some embodiments, see Figure 3 , the first bending machine 7 includes: an axis roller 9;

[0057] The support assembly 10 is arranged below the shaft roller 9. The support assembly 10 and the shaft roller 9 are used to bend the workpiece 6;

[0058] The insertion mechanism 11 is used to be inserted into the receiving gap of the workpiece 6. When the workpiece 6 is bent, the insertion mechanism 11 contacts at least one of the two wall surfaces forming the receiving gap to prevent the two wall surfaces from causing relative displacement;

[0059] The lifting and feeding mechanism 12 , at least a portion of which is disposed below the support assembly 10 , is used to separate the workpiece 6 from the support assembly 10 and transport the workpiece 6 to a preset bending position.

[0060] The bending machine 3 of this embodiment is capable of bending the workpiece 6 through the roller 9, the support assembly 10, the insertion mechanism 11 and the lifting and feeding mechanism 12. Among them, the support assembly 10 is arranged below the roller 9, and the insertion mechanism 11 is used to be inserted into the receiving gap of the workpiece 6. When the workpiece 6 is bent, the insertion mechanism 11 contacts at least one of the two walls forming the receiving gap to prevent the two walls from relative displacement. At least a portion of the lifting and feeding mechanism 12 is arranged below the support assembly 10. The lifting and feeding mechanism 12 is used to separate the workpiece 6 from the support assembly 10 and transport the workpiece 6 to a preset bending position. During the specific bending process, the insertion mechanism 11 is inserted into the receiving gap of the workpiece 6, the support assembly 10 interacts with the roller 9 to perform a primary bending on the workpiece 6, and then the lifting and feeding mechanism 12 is used to separate the workpiece 6 from the support assembly 10 and transport the workpiece 6 to a preset bending position. Under the action of the support assembly 10 and the roller 9, the workpiece 6 is bent a second time.

[0061] It should be noted that the first bending machine 7 and the second bending machine 8 have the same structural design, which will not be described in detail.

[0062] In some embodiments, see Figure 4 and Figure 5The loading robot 2 includes: a robot body 13, a mounting plate 14 and a gripping member, the mounting plate 14 is connected to the robot body 13, the mounting plate 14 and the gripping member are movably connected, the gripping member includes: a driving member 15, a connecting member 16, two rotating members 17, two clamping members 18 and two gripping plates 19, the driving member 15 is installed on the mounting plate 14, and a through hole 20 is provided on the mounting plate 14 corresponding to the driving end of the driving member 15, one end of the connecting member 16 is transmission-connected to the driving end of the driving member 15, the other end of the connecting member 16 passes through the through hole 20 and is rotatably connected to one end of the two rotating members 17, the other ends of the two rotating members 17 are respectively rotatably connected to one end of the two gripping members 18, the other ends of the two gripping members 18 are cross-arranged and form an X shape so that when one end of the two gripping members 18 is closed inward, the other end of the two gripping members 18 is also closed inward, and the other ends of the two gripping members 18 are respectively connected to the two gripping plates 19.

[0063] When it is necessary to grasp the workpiece 6, the driving member 15 drives the connecting member 16 to retract, and the retraction of the connecting member 16 drives one end of the two rotating members 17 to retract, so that the distance between the other ends of the two rotating members 17 is shortened and closed inward, and the inward closure of the other ends of the two rotating members 17 drives one end of the two clamping members 18 to close inward, and the other ends of the two clamping members 18 close inward at the same time, so that the distance between the two grabbing plates 19 is shortened and the grasping of the workpiece 6 is completed.

[0064] A driving member 15 drives two rotating members 17 through a connecting member 16, which in turn control two gripping members 18 to form an X-shaped structure. This design ensures precise and stable gripping, securely gripping materials of varying shapes and sizes, and effectively reducing the risk of slippage or damage during the gripping process. Furthermore, the various components of the gripping member are connected through precise rotation and transmission, resulting in a compact and stable overall structure. This design not only reduces the robot's size and weight, but also lowers the production space requirements, thereby improving space utilization on the production line.

[0065] In some embodiments, two grabbing members are provided, and the two grabbing members are respectively installed at two ends of the mounting plate 14 .

[0066] Mounting the two gripping members at both ends of the mounting plate 14 helps to balance the load of the entire system, reduce vibration or deviation caused by uneven weight distribution, and thus improve the stability and reliability of the equipment.

[0067] It should be noted that the structural designs of the loading robot 2 and the unloading robot 4 are similar, which will not be described in detail.

[0068] In some embodiments, see Figure 2, also includes: a destacking robot 21 and a destacking area 22, the destacking robot 21 is arranged next to the incoming material line 1 and the destacking area 22 to destacker the workpieces 6 on the destacking area 22 to the incoming material line 1.

[0069] When depalletizing is required, the workpieces 6 to be processed are neatly stacked in the depalletizing area 22. A depalletizing robot 21 uses its built-in vision system to identify the position and posture of the workpieces 6. Based on the data from the vision system, the depalletizing robot 21 uses a gripping device to remove the workpieces 6 from the stack one by one. The removed workpieces 6 are then placed on the incoming material line 1, ready for transport to the next processing step.

[0070] By introducing the depalletizing robot 21, a rapid and continuous supply of workpieces 6 can be achieved, reducing the time and labor intensity of manual depalletizing, thereby improving the efficiency of the entire production line. Furthermore, the depalletizing robot 21 can replace manual labor in repetitive depalletizing tasks, reducing the demand for human resources and lowering labor costs. The depalletizing robot 21 can also operate in environments that are relatively dangerous or unsuitable for human work, reducing the occurrence of work-related accidents and improving the working environment.

[0071] In some embodiments, the incoming material line 1 includes: a transmission line and a positioning line, one end of the transmission line is located next to the destacking robot 21, and the other end of the transmission line is connected to one end of the positioning line, and the other end of the positioning line is located next to the loading robot 2.

[0072] The depalletizing robot 21 removes the workpiece 6 from the depalletizing area 22 and places it on the transmission line. The transmission line transports the workpiece 6 from the side of the depalletizing robot 21 to the positioning line. A positioning device on the positioning line precisely positions the workpiece 6, ensuring it is in the correct position before entering the processing equipment. The loading robot 2 removes the workpiece 6 from the other end of the positioning line and places it in the processing equipment for processing.

[0073] By placing one end of the transmission line next to the destacking robot 21, a seamless connection from destacking to transmission is achieved. This design reduces the waiting time and processing steps of materials during the transfer process, thereby improving the efficiency of the overall production line. At the same time, the connection between the transmission line and the positioning line, as well as the layout of the other end of the positioning line close to the loading robot 2, ensure that the materials can be smoothly and accurately guided to the next processing link. The design of the positioning line can ensure the accurate positioning of the workpiece 6 before entering the processing equipment, thereby improving the processing accuracy and quality. The setting of the transmission line and the positioning line can make full use of the workshop space, reduce the area occupied by unnecessary equipment, and optimize the production line layout.

[0074] In some embodiments, the destacking area 22 includes: a loading area, a transplanting area, an empty board placement area and a destacking area. The loading area and the empty board placement area are arranged on one side of the transplanting area, and the destacking area is arranged on the other side of the transplanting area and next to the destacking robot 21.

[0075] When the AGV (Automated Guided Vehicle) places the stack of workpieces 6 in the loading area. The conveyor chain moves the stack of workpieces 6 from the loading area to the transplanting area, and the transplanting equipment then moves the stack of workpieces 6 from the transplanting area to the destacking area. The destacking robot 21 destacking the workpieces 6 in the destacking area, and takes the workpieces 6 out of the stack one by one through the visual recognition system and the gripping device. The destacking robot 21 places the taken-out workpieces 6 on the incoming material line 1, ready to be transported to the next processing link. After destacking is completed, the transplanting equipment places the empty pallet or empty board in the empty board placement area, which is then pulled away by the AGV.

[0076] Through rational division and automated operations, workpiece preparation and destacking time are significantly reduced, improving production efficiency. Clear functional zoning and automated operations reduce conflicts between operators and equipment, improving work environment safety. Furthermore, the design of each area offers high stability and reliability, reducing downtime due to equipment failure and improving production continuity.

[0077] In some embodiments, there are two depalletizing areas, which are arranged side by side and located between the depalletizing robot 21 and the transplanting area.

[0078] When the AGV places the stack of workpieces 6 in the loading area. The conveyor chain moves the stack of workpieces 6 from the loading area to the transplanting area, and the transplanting equipment then moves the stack of workpieces 6 from the transplanting area to one of the two destacking areas. The destacking robot 21 performs the destacking operation of the workpieces 6 in the first destacking area, and takes the workpieces 6 out of the stack one by one through the visual recognition system and the gripping device. The destacking robot 21 places the taken-out workpieces 6 on the incoming material line 1, ready to be transported to the next processing link. When the stack of workpieces 6 in the first destacking area is destacking, the destacking robot 21 quickly switches to the second destacking area to continue the destacking operation. After destacking is completed, the transplanting equipment places the empty pallet or empty board in the empty board placement area, which is then pulled away by the AGV.

[0079] By providing two destacking zones, workpieces 6 can be destackered in parallel, significantly improving destacking speed and production efficiency. Furthermore, the two destacking zones can operate independently or collaboratively, increasing system flexibility and adapting to diverse production needs. A single destacking robot 21 can simultaneously serve both zones, improving equipment utilization and reducing investment costs.

[0080] In some embodiments, see Figure 6, also includes: main control cabinet, incoming material line, loading robot, bending machine, unloading robot and unloading line are all connected to the main control cabinet.

[0081] Specifically, the incoming material line, loading robot, unloading robot and unloading line are all connected to the main control cabinet through IO interaction, and the bending machine and the main control cabinet collect and send information to the two bending machines through Ethernet / IP.

[0082] By integrating key equipment such as the incoming material line, loading robot, press brake, and unloading robot into the main control cabinet, highly automated production is achieved. This integrated design greatly simplifies the production process, reduces manual intervention, and improves production efficiency. The incoming material line, loading robot, unloading robot, and the main control cabinet are connected via I / O, a simple and direct connection method with fast response. The press brake and the main control cabinet communicate via Ethernet / IP, which is both fast and capable of transmitting large amounts of data.

[0083] In some embodiments, it also includes: a line host computer, which is connected to the main control cabinet.

[0084] Specifically, the line host computer is connected to the main control cabinet via Advantech gateway Ethernet / IP.

[0085] The line host computer, serving as the monitoring center for the entire production line, can display the operating status of each device, production progress, and alarm information in real time, enabling managers to fully understand the production line's operations. The line host computer facilitates remote monitoring and management of the production line, allowing operations such as equipment commissioning, parameter setting, and fault diagnosis to be performed without having to visit the site, improving management efficiency.

[0086] The control method of the whole machine is as follows: the main control cabinet summarizes all the interactive signals of the periphery (incoming material line, unloading material line, loading robot, unloading robot), and then collects and sends them to the two bending machines through Ethernet / IP. The production status of the whole machine is collected by Advantech gateway and sent to the line host computer for real-time monitoring. This solves the problems of rapid reporting of bending machine unit faults and equipment status management, thereby minimizing the impact on production.

[0087] The upper computer of the production line issues the order task and product model for the production switching product. After the bending machine recognizes it, it automatically switches to the formula that has been produced, which improves the speed of switching products and greatly reduces the losses caused by operator errors.

[0088] In some embodiments, the dimensions of the two drawings are as follows: Figure 7Parameter settings include: thickness H of the two devices (i.e. workpieces), bending angle θ1, radius R, L1, L2, one-time bending angle C, feeding length C, robot formula number, workpiece height C, one-time bending angle correction C, pushing position C, feeding length correction C, bending radius correction C, drag U level C, drag U height C and drag U lifting height C. Among them, the thickness H of the two devices is related to the rising height of the bending platform; the bending angle θ1 is related to the bending degree of the bending axis and also determines the angle of the two devices after bending; the radius R determines the radius of the mold to be used for bending; L1 and L2 determine the position of the feed axis positioning of the press brake; correction is to make fine adjustments according to the actual situation after the parameter settings are completed.

[0089] In a specific embodiment, after the recipe is obtained, the corresponding values ​​are obtained in the following manner: L1 = download parameter [0]; one-time bending angle C = download parameter [1]; feeding length C = download parameter [2]; two-device width C = download parameter [3]; robot recipe number = REAL_TO_INT (download parameter [4]); bending radius = download parameter [5]; workpiece height C = download parameter [6]; one-time bending angle correction C = download parameter [7]; pushing position C = download parameter [8]; feeding length correction C = download parameter [9]; bending radius correction C = download parameter

[10] ; drag U level C = download parameter [11 ]; Drag U height C = download parameter

[12] ; Drag U lifting height C = download parameter

[13] ; After obtaining the corresponding values, convert them according to the following method: rear positioning fast feed distance = equipment positioning length C-L1-rear positioning slow feed distance + feeding length correction C; one-time bending angle = equipment angle C-REAL_TO_LREAL (one-time bending angle C+one-time bending angle correction C); platform rising height = equipment height C-two-device thickness-two-device thickness correction C; bending angle = LREAL_TO_REAL (one-time bending angle); positioning length = LREAL_TO_REAL (rear positioning fast feed distance).

[0090] Once the parameters are set, they will be saved in the recipe list. The next time you produce, you can directly call it from the recipe list, thus realizing the functions of saving and quick switching. When the parameters are automatically converted, all parameters can be called up by selecting the recipe number according to the production order, and then the parameters are sent to the first bending machine or the second bending machine respectively to realize automatic switching of products. It is as easy as possible to operate without professional operators, thus making the equipment simple and easy to understand.

[0091] In one specific embodiment, when automatically switching parameters, a recipe number is selected based on the production order. The currently displayed recipe parameters are: Recipe Number: 1; Product Number: 214*19.05; Bend Angle: 90.00 degrees; Bend Radius: 85.00mm; L1 Length: 110.00mm; Workpiece Height: 19.05mm; Drag U Lift Height: 5.00mm; Drag U Vertical Position: 12.00mm. The parameters are then sent to the first or second bending machine, respectively, to automatically switch between products. This allows for easy operation without the need for specialized operators, making the equipment simple and easy to use.

[0092] This embodiment achieves rapid production through direct parameter setting, overturns the previous cumbersome process of requiring separate input and conversion, and realizes automatic parameter conversion; and the upper computer realizes rapid switching of orders, which is simpler and reduces operational errors caused by personnel.

[0093] See also Figure 8 and Figure 9 The present invention also provides a control method for an automatic bending machine control system, comprising:

[0094] S101: Obtaining the production formula selected by the user;

[0095] S102: driving the incoming material line to move the workpiece to the loading position;

[0096] S103: Controlling the loading robot to grab the workpiece on the loading position and place the workpiece on the bending machine;

[0097] S104: controlling the bending machine to bend the workpiece according to the production recipe selected by the user;

[0098] S105: Controlling the blanking robot to grab the workpiece bent on the bending machine and place the bent workpiece on the blanking line;

[0099] S106: driving the unloading line to move the workpiece to the unloading position.

[0100] Through the production recipe selected by the user, it can flexibly adapt to different production needs and improve production flexibility. By precisely controlling each step, the processing quality and consistency of the workpiece can be ensured.

[0101] In some embodiments, obtaining the production recipe selected by the user includes:

[0102] Perform a self-check on the automatic bending machine control system and determine whether the self-check is successful. If the self-check is successful, confirm that the steps for obtaining the production recipe selected by the user can be executed. If the self-check is unsuccessful, perform fault handling on the automatic bending machine control system.

[0103] Self-checking can promptly identify potential problems or faults in the automatic bending machine control system, thus avoiding downtime or product quality issues caused by system anomalies during production. The self-checking process also ensures that all system components are operating in optimal conditions, improving the stability and reliability of the entire system. Furthermore, by ensuring that the system selects and executes production recipes only after a successful self-check, production interruptions and repeated debugging due to system instability are avoided, thereby improving production efficiency.

[0104] Among them, the self-inspection of the control system of the automatic bending machine group includes: self-inspection of the communication status of the control system, the connection status of the servo motor and the supply status of the system air pressure.

[0105] Specifically, the control system's communication status self-test involves the main control cabinet sending a test signal to each module. The main control cabinet receives the response signal from each module and checks whether the communication link is unobstructed. If all modules respond normally, the communication status self-test is successful; otherwise, the communication status self-test fails.

[0106] The servo motor connection status self-test involves the main control cabinet sending control signals to the servo motors. The main control cabinet then checks the servo motors' responses to ensure they can start and operate normally. If all servo motors respond normally, the servo motor connection status self-test is successful. Otherwise, the servo motor connection status self-test fails.

[0107] The system air pressure supply status self-test includes: the main control cabinet detects the system air pressure through the pressure sensor. If the system air pressure is within the predetermined range, the air pressure supply status self-test is successful; otherwise, the air pressure supply status self-test fails.

[0108] If the communication status, servo motor connection status, and system air pressure supply status all self-check successfully, the main control panel displays "Self-test successful," and the system confirms that it can proceed with the step of obtaining the user-selected production recipe. If any of the check items fails, the main control panel displays "Self-test unsuccessful," and the system enters the troubleshooting process.

[0109] Self-checks of communication status, servo motor connection status, and system air pressure supply ensure the system is operating normally before startup, preventing production interruptions or quality issues caused by system failures. Self-checks can also identify potential faults in advance, reducing safety risks for operators and equipment. Self-checks also help identify and address faults promptly, extending equipment life and reducing maintenance costs. Self-checks ensure optimal system operation and improve production efficiency and product quality.

[0110] In some embodiments, after driving the unloading line to move the workpiece to the unloading position, the system includes: signal acquisition and processing, followed by displaying the acquired signal on a human-machine interface, and then determining whether the acquired signal is normal. If the acquired signal is normal, a determination is then made as to whether to terminate the operation. If the operation is terminated, the system exits. If the operation is not terminated, the user-selected production recipe is retrieved again. If the acquired signal is abnormal, an audible and visual alarm is triggered, followed by a fault display, and then fault handling is performed. After fault handling, the acquired signal is displayed on the human-machine interface.

[0111] Through signal acquisition and processing, the system ensures normal operation after each production step, promptly detects and handles potential faults, and avoids production interruptions. Through audible and visual alarms and fault displays, operators can be reminded to promptly handle faults and reduce safety risks.

[0112] In some embodiments, each time the loading robot unloads material, it determines whether the unloading signal received from the first and second bending machines allows the material to be unloaded. Specifically, after the loading robot has finished loading the material, it determines at the loading waiting point whether the received unloading signal is a signal from the first bending machine that allows the material to be unloaded or a signal from the second bending machine that allows the material to be unloaded. If the received unloading signal is a signal from the first bending machine that allows the material to be unloaded, the workpiece is placed on the first bending machine. If the received unloading signal is a signal from the second bending machine that allows the material to be unloaded, the workpiece is placed on the second bending machine.

[0113] By automatically identifying and responding to the discharge signals from different press brakes, the loading robot ensures that workpieces are promptly and accurately placed on the press brakes requiring processing. This reduces the need for manual intervention and improves the automation and efficiency of the entire production line. Furthermore, this process allows the loading robot to be flexibly scheduled based on the needs of the press brakes. If a press brake is currently idle or has a higher priority, the robot will prioritize placing the workpiece on it, thereby optimizing the allocation of production resources and improving overall production efficiency. Furthermore, by identifying the discharge signal in real time, the loading robot can avoid placing workpieces on press brakes that are busy or unable to process immediately, thereby reducing production delays and waiting time.

[0114] In some embodiments, the bending speed of the first bending machine is greater than the bending speed of the second bending machine. When the first bending machine and the second bending machine simultaneously give a release permission signal, the workpiece is placed on the first bending machine.

[0115] By prioritizing faster machines, production resources can be used more efficiently, reducing waiting time and production bottlenecks. This helps optimize production processes and make the production line smoother and more efficient. At the same time, when two press brakes request material discharge at the same time, selecting the faster press brake ensures that the workpiece can enter the next process as quickly as possible, reducing production delays caused by waiting.

[0116] In some embodiments, an environmental map of the transplanting area is obtained, including the locations of fixed obstacles and dynamic obstacles (such as other robots). The starting position and target position of the robot are defined. The RRT algorithm is then used to generate an initial path to ensure the feasibility and safety of the path. The A algorithm or the D Lite algorithm is then used to optimize the path, considering factors such as the shortest path and minimum energy consumption. Environmental changes, such as changes in the positions of other robots, are then monitored in real time. The path is dynamically updated based on the new environmental data to ensure the safety and optimality of the path.

[0117] Specifically, obtain the environmental map of the depalletizing area, including the positions of fixed obstacles and dynamic obstacles (such as other robots). Determine the starting position and target position of each depalletizing robot. Then randomly generate a sample point in the environment. And find the node closest to the random sample point in the existing tree. Then generate a new node from the nearest node in the direction of the random sample point, ensuring that the new node is feasible in the environment (that is, it does not collide with obstacles). Then add the new node to the tree and connect the nearest node and the new node. If the new node is close enough to the target position, or the new node can be directly connected to the target position, the generated path is successful. Then trace back from the target node to the starting node to generate a complete path. Then smooth the generated path to reduce the tortuosity of the path and improve the smoothness and feasibility of the path. When the environment changes, the path is dynamically updated to ensure the safety and optimality of the path.

[0118] The initial path generated by the RRT algorithm ensures efficient robot operation within the depalletizing area, reducing unnecessary movement time. Dynamic task allocation and load balancing ensure that the workload of each depalletizing area and robot is balanced, avoiding overload and idleness.

[0119] In some embodiments, lidar, ultrasonic sensors, and infrared sensors are installed on each transplanting device to cover a 360-degree sensing range. Vision sensors are installed at key locations in the transplanting area to provide global environmental information. Multi-sensor fusion technology is then used to combine the data from lidar, ultrasonic sensors, infrared sensors, and vision sensors to improve the accuracy and reliability of obstacle avoidance. The sensor data is then processed in real time to generate an environmental model. A real-time obstacle avoidance algorithm is also implemented to dynamically adjust the movement trajectory of the transplanting device based on the sensor data. At the same time, a local obstacle avoidance algorithm (such as the potential field method) is used to handle emergency obstacle avoidance situations to ensure that the transplanting device can respond quickly when encountering obstacles.

[0120] Multi-sensor fusion technology integrates data from different sensors to form a more comprehensive and accurate environmental model. This fusion not only improves obstacle avoidance accuracy but also provides richer information for path planning for transplant equipment. Furthermore, using local obstacle avoidance algorithms (such as the potential field method) to handle emergency obstacle avoidance situations ensures that the transplant equipment can react quickly when encountering obstacles. This algorithm simulates a virtual force field to guide the transplant equipment to avoid obstacles and initiate emergency braking when necessary.

[0121] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0122] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprising" or any other variations thereof are intended to cover non-exclusive.

[0123] Inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a..." does not preclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

Claims

1. An automatic bending machine control system, characterized in that: include: Incoming material line, loading robot, bending machine, unloading robot and unloading line; The incoming material line is used to load the workpiece; The loading robot is arranged beside the incoming material line and on one side of the bending machine to grab the workpiece on the incoming material line and place the grabbed workpiece on the bending machine; The bending machine is used to bend the workpiece; The unloading robot is arranged beside the unloading line and on the other side of the bending machine to grab the workpiece bent on the bending machine and place the grabbed workpiece on the unloading line; The unloading line is used for unloading workpieces.

2. The automatic bending machine control system according to claim 1, characterized in that: The bending machine includes: a first bending machine and a second bending machine, the first bending machine and the second bending machine are arranged in parallel, the loading robot is arranged on the same side of the first bending machine and the second bending machine, and the unloading robot is arranged on the other side of the first bending machine and the second bending machine.

3. The automatic bending machine control system according to claim 1, characterized in that: Also includes: A depalletizing robot and a depalletizing area, wherein the depalletizing robot is arranged beside the incoming material line and the depalletizing area to depalletize the workpieces on the depalletizing area to the incoming material line.

4. The automatic bending machine control system according to claim 3 is characterized in that: The incoming material line includes: a transmission line and a positioning line, one end of the transmission line is located next to the depalletizing robot, the other end of the transmission line is connected to one end of the positioning line, and the other end of the positioning line is located next to the loading robot.

5. The automatic bending machine control system according to claim 3 is characterized in that: The depalletizing area includes: a loading area, a transplanting area, an empty board placement area and a depalletizing area. The loading area and the empty board placement area are arranged on one side of the transplanting area, and the depalletizing area is arranged on the other side of the transplanting area and next to the depalletizing robot.

6. The automatic bending machine control system according to claim 5, characterized in that: The two depalletizing areas are arranged in parallel and located between the depalletizing robot and the transplanting area.

7. The automatic bending machine control system according to claim 1, characterized in that: Also includes: The main control cabinet is connected to the incoming material line, the loading robot, the bending machine, the unloading robot and the unloading line.

8. The automatic bending machine control system according to claim 7, characterized in that: Also includes: A line body host computer is connected to the main control cabinet.

9. A control method for an automatic bending machine control system according to any one of claims 1 to 8, characterized in that: include: Get the production formula selected by the user; Driving the incoming material line to move the workpiece to the loading position; Controlling the loading robot to grab the workpiece on the loading position and place the workpiece on the bending machine; Controlling the bending machine to bend the workpiece according to the production recipe selected by the user; Controlling the unloading robot to grab the bent workpiece on the bending machine and place the bent workpiece on the unloading line; The unloading line is driven to move the workpiece to the unloading position.

10. The control method of the automatic bending machine control system according to claim 9, characterized in that: The step of obtaining the production formula selected by the user includes: Performing a self-check on the automatic bending machine control system and determining whether the self-check of the automatic bending machine control system is successful; If the self-check is successful, it confirms that the steps to obtain the production formula selected by the user can be executed; If the self-check is unsuccessful, the automatic bending machine control system is fault-handled.

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