Bending center robot operation execution method and device, terminal and medium

Abstract

The invention belongs to the field of plate bending operation, and particularly discloses a bending center robot operation execution method and device, a terminal and a medium, and the method comprises the steps that process offset datum point coordinates which are sent by a bending center and configured according to the standard plate size are obtained and stored; obtaining a target order task sent by the bending center, wherein the target order task comprises a target offset value; wherein the target offset value is equal to (current task board size-standard board size) / 2; acquiring offset parameters of each process offset reference point in the operation process according to the process offset reference point coordinates and the target offset value; and moving according to each process offset reference point coordinate, the target offset value and the offset parameter to execute operation. The robot can automatically adjust the operation position, it is ensured that the robot can be accurately positioned to the corresponding positions of the plates of different sizes in the operation process, programs do not need to be independently written and adjusted for each plate size, the downtime of equipment is shortened, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the field of plate bending operations, and in particular relates to a method, device, terminal and medium for executing robot operations in a bending center. Background Art

[0002] The bending center is an automatic bending device used in the field of sheet metal processing. It can efficiently and accurately complete the bending operation of sheets, improve sheet metal bending production efficiency and product quality. In the actual production process, due to the diversity of production needs, it is often necessary to bend sheets of different sizes.

[0003] When the robot changes plates of different sizes on the bending center, the traditional operation method is that the operator needs to change the program point every time a plate size is changed. This process involves resetting and adjusting a series of parameters such as the robot's motion trajectory, material picking position, loading position, unloading position, and stacking position. Since these parameters are interrelated and relatively complex, the operator needs to have high professional knowledge and skills to accurately complete the change of program points. Moreover, the process of changing program points is time-consuming and labor-intensive, which increases the workload of the operator, and will also lead to longer equipment downtime and reduce production efficiency. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a bending center robot operation execution method, device, terminal and medium, which can realize the robot to autonomously adjust the working position and ensure that the robot can accurately locate the corresponding positions of plates of different sizes during the operation. There is no need to write and adjust programs separately for each plate size, which shortens the downtime of equipment and improves production efficiency.

[0005] In a first aspect, the technical solution of the present invention provides a method for executing a bending center robot operation, comprising the following steps: Obtain and save the process offset reference point coordinates sent by the bending center according to the standard plate size configuration; Get the target order task sent by the bending center. The target order task contains the target offset value; the target offset value = (current task plate size - standard plate size) / 2; Obtain the offset parameters of each process offset reference point during the operation according to the process offset reference point coordinates and the target offset value; Move to perform work according to each process offset reference point coordinate, target offset value and offset parameters.

[0006] In an optional embodiment, obtaining and saving the process offset reference point coordinates sent by the bending center according to the standard plate size configuration specifically includes: Obtain the first message sent by the bending center; According to the set first message parsing rule, multiple data blocks are parsed from the first message message, each data block contains a reference point identifier and a reference point coordinate; Extract the reference point identifier and the reference point coordinates from each data block, and combine the reference point identifier and the reference point coordinates into a data item; wherein the reference point identifier includes a job sequence value, and the earlier the job sequence, the smaller the job sequence value; Sort each data item according to the job sequence value; Construct a reference point data table that matches the data items, and add the sorted data items to the reference point data table in sequence; The reference point data table is saved to the memory; the reference point data table includes the loading reference point data table and the unloading reference point data table.

[0007] In an optional embodiment, for the feeding robot, the process offset reference point includes a material picking offset reference point, a centering offset reference point, a waiting feeding offset reference point, a feeding offset reference point, and an exit feeding offset reference point; For the unloading robot, the process offset reference points include the waiting unloading offset reference point, the unloading offset reference point, and the palletizing offset reference point.

[0008] In an optional implementation, obtaining the target order task sent by the bending center specifically includes: Respond to the safe position pause command and start the order task monitoring process; When the order task monitoring process monitors the second message message sent by the bending center, the second message message is received; According to the set second message parsing rule, parse the target order identifier and the target offset value from the second message message; Store the target order ID and target offset value in the cache area.

[0009] In an optional implementation, obtaining the offset parameters of each process offset reference point during the operation according to the process offset reference point coordinates and the target offset value specifically includes: Select any process offset reference point coordinate, add the i-direction coordinate value in the selected process offset reference point coordinate to the i-direction target offset value to obtain a new i-direction coordinate value; Compare the i-direction coordinate value in the process offset reference point coordinate with the new i-direction coordinate value; Determine the offset direction in the i direction according to the comparison result; wherein the i direction includes any one or more of the X direction, the Y direction, and the Z direction; The determined offset direction in the i direction is stored in the cache area and associated with the target order identifier.

[0010] In an optional embodiment, for the feeding robot, the robot moves to perform the operation according to the coordinates of the offset reference point, the target offset value and the offset parameter of each process, specifically including: S101, responding to a start instruction including a target order identifier, retrieving a loading reference point data table from a memory and storing it in a cache area; S102, querying a target offset parameter associated with a target order identifier in a cache area, where the target offset parameter includes a target offset value and an offset direction in the i direction; S103, querying the material loading reference point coordinates in the material loading reference point data table in the cache area, moving to the material loading reference position according to the material loading offset reference point coordinates, and then offsetting the material loading reference position according to the target offset parameters; S104, determining whether a plate is detected in the target area, if so, the loading robot stops descending and starts sucking the material; S105, after the material suction is completed, the coordinates of the centering offset reference point in the loading reference point data table in the cache area are queried, and the centering reference position is moved according to the offset reference point coordinates, and then the centering reference position is offset according to the target offset parameter to perform plate centering; S106, after the alignment is completed, query the coordinates of the waiting loading offset reference point in the loading reference point data table in the cache area, move to the waiting reference position according to the coordinates of the waiting loading offset reference point, and then offset the waiting position according to the target offset parameter to wait for loading; S107, in response to receiving the device return to the origin, requesting loading signal, querying the loading offset reference point coordinates in the loading reference point data table in the cache area, moving to the loading reference position according to the loading offset reference point coordinates, and then offsetting the loading position according to the target offset parameter to load the material; S108, after the loading is completed, the coordinates of the exit loading offset reference point in the loading reference point data table in the cache area are queried, and the material is moved to the exit loading reference position according to the coordinates of the exit loading offset reference point, and then the exit loading position is offset according to the target offset parameter, and the loading is completed; S109, detecting whether a safe position pause command is received, if it indicates that there is no remaining plate, the target order identifier, target offset value, offset direction in the i direction, and the loading reference point data table in the cache area are deleted; otherwise, it indicates that there is remaining plate, and the process returns to step S103; For the unloading robot, it moves to perform the work according to the coordinates of the offset reference point, the target offset value and the offset parameters of each process, including: S201, responding to a start instruction including a target order identifier, retrieving a blanking reference point data table from a memory and storing it in a cache area; S202, querying the target offset parameter associated with the target order identifier in the cache area, where the target offset parameter includes a target offset value and an offset direction in the i direction; S203, querying the coordinates of the waiting material unloading offset reference point in the unloading reference point data table in the cache area, moving to the waiting material unloading position according to the coordinates of the waiting material unloading offset reference point, and then offsetting the waiting material unloading position according to the target offset parameter; S204, in response to receiving a signal indicating that the device returns to the origin and requests unloading, querying the coordinates of the unloading offset reference point in the unloading reference point data table in the cache area, moving to the unloading position according to the coordinates of the unloading offset reference point, and then offsetting the unloading position according to the target offset parameter; S205, the material suction exits to complete unloading, then the coordinates of the palletizing offset reference point in the unloading reference point data table in the buffer area are queried, the palletizing reference position is moved according to the coordinates of the palletizing offset reference point, and then the palletizing reference position is shifted according to the target offset parameter to perform palletizing; S206, after palletizing is completed, check whether a safe position pause command is received. If so, it indicates that there are no remaining plates, and delete the target order identification, target offset value, offset direction in the i direction, and material reference point data table in the cache area; otherwise, it indicates that there are remaining plates, and return to step S203.

[0011] In an optional embodiment, performing a palletizing reference position offset according to a target offset parameter to perform palletizing specifically includes: Record the number of currently stacked boards; If the number of currently stacked plates is equal to 0, the offset stacking reference position coordinates are used as the stacking position coordinates of the first plate for stacking; If the number of currently stacked plates is not equal to 0, the coordinates of the next plate's stacking position are calculated based on the current number of stacked plates and the number of layers for stacking.

[0012] In a second aspect, the technical solution of the present invention provides a bending center robot operation execution device, comprising: The reference point coordinate acquisition module is used to acquire and save the process offset reference point coordinates sent by the bending center according to the standard plate size configuration; The target offset acquisition module is used to obtain the target order task sent by the bending center. The target order task contains the target offset value; the target offset value = (current task plate size - standard plate size) / 2; An offset parameter acquisition module is used to acquire the offset parameters of each process offset reference point in the operation process according to the process offset reference point coordinates and the target offset value; The job execution module is used to move according to the coordinates of each process offset reference point, target offset value and offset parameters to execute the job.

[0013] In a third aspect, the technical solution of the present invention provides a terminal, including: A memory, used for storing the operation execution program of the bending center robot; A processor is used to implement the steps of the bending center robot operation execution method as described in any one of the above items when executing the bending center robot operation execution program.

[0014] In a fourth aspect, the technical solution of the present invention provides a computer-readable storage medium, on which a bending center robot operation execution program is stored. When the bending center robot operation execution program is executed by a processor, the steps of the bending center robot operation execution method as described in any one of the above items are implemented.

[0015] The present invention provides a method, device, terminal and medium for executing a bending center robot operation, which has the following beneficial effects compared with the prior art: using the standard plate configuration process offset reference point coordinates, when executing the plate bending task, the target offset value is calculated according to the current plate size and the standard plate size, and during the execution of the bending operation, the robot moves according to the process offset reference point coordinates and offset parameters, and can first move to the reference point and then offset according to the offset parameters to achieve accurate positioning of each position of the current plate. The present invention automatically obtains and saves the process offset reference point coordinates sent by the bending center, and automatically calculates the offset parameters according to the target offset value in the target order task. The robot can autonomously adjust the operation position to ensure that the robot accurately locates the corresponding position of plates of different sizes during the operation process, without manually changing the program points, and without writing and adjusting the program separately for each plate size, which greatly shortens the downtime of the equipment, enables the robot to quickly adapt to the processing requirements of plates of different sizes, reduces the requirements for the professional skills and workload of the operator, and thus reduces production costs and improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0017] Figure 1 A schematic flow chart of a bending center robot operation execution method provided in an embodiment of the present invention.

[0018] Figure 2 A schematic block diagram of the structure of a bending center robot operation execution device provided in an embodiment of the present invention.

[0019] Figure 3 A schematic diagram of the structure of a terminal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in this specific embodiment. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0022] Figure 1 A schematic diagram of a method for executing a bending center robot operation provided by an embodiment of the present invention. Figure 1 The execution subject may be a bending center robot operation execution device. The bending center robot operation execution method provided in the embodiment of the present invention is executed by a computer device, and accordingly, the bending center robot operation execution device runs in the computer device. According to different requirements, the order of the steps in the flowchart can be changed, and some can be omitted.

[0023] like Figure 1 As shown, the method includes the following steps.

[0024] S1, obtain and save the process offset reference point coordinates configured according to the standard plate size sent by the bending center.

[0025] This step receives and stores the coordinates of the reference points configured based on the standard plate size from the bending center, provides basic data for subsequent offset calculations, and performs offsets based on each reference point during the bending operation. The loading and unloading processes contain multiple different reference points. For example, the process offset reference points of the loading process include the material picking offset reference point, the centering offset reference point, the waiting loading offset reference point, the loading offset reference point, and the exit loading offset reference point; the process offset reference points of the unloading process include the waiting unloading offset reference point, the unloading offset reference point, and the stacking offset reference point. In this embodiment, the robot obtains and stores the reference point data from the bending center. During the execution of the operation, the robot can quickly respond to different order tasks based on the reference point data without repeated initialization.

[0026] S2, obtain the target order task sent by the bending center, which contains the target offset value; the target offset value = (current task plate size - standard plate size) / 2.

[0027] The bending center sends a target order task to the robot, which contains a target offset value, which is (current task plate size - standard plate size) / 2. During the bending operation, the robot moves at the reference point according to the target offset value. The target offset value includes the offset value in the corresponding direction according to the specific scenario. For example, if it is necessary to move in the Y direction, the target offset value includes the target offset value in the Y direction, and the corresponding Y direction target offset value = (current task plate length - standard plate length) / 2.

[0028] S3, obtaining the offset parameters of each process offset reference point in the operation process according to the process offset reference point coordinates and the target offset value.

[0029] This step calculates the offset parameters of each process offset reference point based on the standard reference point coordinates and the target offset value. The offset parameters include the offset direction. This embodiment calculates the offset parameters to ensure that the robot can accurately adjust the position in different operation links (such as picking and centering) to improve the processing accuracy. It also supports independent offset in any direction to meet any plate processing requirements.

[0030] S4, moving to perform the operation according to the coordinates of each process offset reference point, target offset value and offset parameters.

[0031] Based on the coordinates of each process offset reference point, the robot adjusts the motion trajectory according to the target offset value and the calculated offset parameters, completes operations such as material picking, centering, loading, and stacking, and executes it in a loop until the task is completed. Specifically, after moving to the process offset reference point, it moves according to the target offset value and the offset parameters. In this embodiment, by automatically acquiring and saving the coordinates of the process offset reference point sent by the bending center, and automatically calculating the offset parameters according to the target offset value in the target order task, the robot can autonomously adjust the working position to ensure that the robot accurately locates the corresponding position of plates of different sizes during the operation process. There is no need to manually change the program points, and there is no need to write and adjust the program separately for each plate size, which greatly shortens the downtime of the equipment, enables the robot to quickly adapt to the processing needs of plates of different sizes, reduces the requirements for the professional skills and workload of the operator, and thus reduces production costs and improves production efficiency.

[0032] Furthermore, as a refinement and extension of the specific implementation of the above embodiment, in order to fully illustrate the specific implementation process in this embodiment, another bending center robot operation execution method is provided, which includes the following steps.

[0033] This embodiment uses the reference point coordinates and offset values ​​to move to the correct position that matches the plate without changing the programming, thereby improving production efficiency. The coordinate system is established and the reference point is recorded before the operation is performed.

[0034] For the loading robot, the user coordinate system of the loading tray, the user coordinate system of the centering platform, and the user coordinate system of the bending center are used as examples.

[0035] A tool coordinate system is constructed for each loading and unloading robot, and then the loading robot constructs the user coordinate system of the loading pallet. Specifically: 1) Move the tip of the robot (a sharp object can be fixed at the end of the robot for easy observation) to the end point of one corner of the pallet. Then press "Record Current Point" to record the origin of the user (pallet) coordinates; 2) Set the X direction of the user (tray) coordinate system, that is, move the tip of the robot to the edge of one side of the tray. Then press "Record Current Point" to record the XX direction of the user (tray) coordinate system; 3) Move the tip of the robot to the edge of the other side of the pallet. Then press "Record Current Point" to record the YY direction of the user (pallet) coordinates.

[0036] Construct the user coordinate system of the centering station, specifically: 1) Move the tip of the robot (a sharp object can be fixed at the end of the robot for easy observation) to the end point of one corner of the centering platform. Then press "Record Current Point" to record the origin of the user (centering platform) coordinates; 2) Set the X direction of the user (centering platform) coordinate system, that is, move the tip of the robot to the edge of one side of the centering platform. Then press "Record Current Point" to record the XX direction of the user (centering platform) coordinate system; 3) Move the tip of the robot to the edge of the other side of the centering platform. Then press "Record Current Point" to record the YY direction of the user (centering platform) coordinates.

[0037] Construct the user coordinate system of the bending center, specifically: 1) Move the tip of the robot (it is best to fix a sharp object at the end of the robot for easy observation) to the end point of one corner of the bend center stop. Then press "Record Current Point" to record the origin of the user (bend center) coordinates; 2) Set the X direction of the user (bending center) coordinate system, that is, move the tip of the robot to the edge of one side of the pallet. Then press "Record Current Point" to record the XX direction of the user (bending center) coordinate system; 3) Move the tip of the robot to the edge of the other side of the pallet. Then press "Record Current Point" to record the YY direction of the user (bending center) coordinates.

[0038] For the loading robot, take recording the centering offset reference point as an example, specifically: 1) Enter the value of standard plate length / 2 in the bending center parameter 2312, find a 600x600 standard plate, and place it on the centering platform; 2) Use the suction cup on the right side of the robot to suck the plate and place it between the fingers at the center of the bend. Open the robot operating handle and record a GP variable. Use the coordinates of this point as a reference for offset. Record a reference point.

[0039] For the blanking robot, build the user coordinate system of the bending center, specifically: 1) Move the tip of the robot (it is best to fix a sharp object at the end of the robot for easy observation) to the end point of one corner of the bend center stop. Then press "Record Current Point" to record the origin of the user (bend center) coordinates; 2) Set the X direction of the user (bending center) coordinate system, that is, move the tip of the robot to the edge of one side of the pallet. Then press "Record Current Point" to record the XX direction of the user (bending center) coordinate system.

[0040] 3) Move the tip of the robot to the edge of the other side of the pallet. Then press "Record Current Point" to record the YY direction of the user (bending center) coordinates.

[0041] For the blanking robot, the construction of the blanking offset reference point is taken as an example to illustrate the construction of the reference point. Specifically: 1) After folding the workpiece, the bending center U axis moves back to place the finished product in the unloading position, and then the robot moves to the unloading position; 2) Find the appropriate position of the suction cup and suck it to the middle of the workpiece, then record it in the robot's GP variable as the reference point for the offset, so that it can be used later when calling the offset.

[0042] It is also necessary to build the user coordinate system of the palletizing pallet, specifically: 1) Move the tip of the robot (it is best to fix a sharp object at the end of the robot for easy observation) to the end point of one corner of the pallet. Then press "Record Current Point" to record the origin of the user (pallet) coordinates; 2) Set the X direction of the user (palletizing pallet) coordinate system, that is, move the tip of the robot to the edge of one side of the pallet. Then press "Record Current Point" to record the XX direction of the user (palletizing pallet) coordinate system; 3) Move the tip of the robot to the edge of the other side of the pallet. Then press "Record Current Point" to record the YY direction of the user (palletizing pallet) coordinates.

[0043] Construct the palletizing coordinate reference point, specifically: 1) After the finished workpiece is sucked into the bending center, the operating robot moves to the palletizing pallet position; 2) The robot sucks the bent finished workpiece and records a GP variable on the pallet close to the robot side as a reference point for the starting position of the subsequent offset.

[0044] Based on the constructed coordinate system and reference points, another method for executing bending center robot operations specifically includes the following steps.

[0045] SS1, obtaining and saving the process offset reference point coordinates configured according to the standard plate size sent by the bending center, specifically includes the following steps.

[0046] SS1.1, obtain the first message sent by the bending center.

[0047] The bending center sends a first message to the robot, and the first message carries the coordinates of the process offset reference point. It should be noted that the bending center sends the first message to the loading robot and the unloading robot respectively, carrying the coordinates of the process offset reference point corresponding to the loading and unloading.

[0048] SS1.2: According to the set first message parsing rule, multiple data blocks are parsed from the first message message, each of which contains a reference point identifier and reference point coordinates.

[0049] The process offset reference point coordinates are carried in the first message in the form of data blocks, and one data block corresponds to one process offset reference point coordinate, specifically including a reference point identifier and a reference point coordinate, and the reference point identifier is used to manage and find the reference point coordinates. The first message is parsed according to the pre-agreed first message parsing rule to extract each data block.

[0050] SS1.3, extract the reference point identifier and reference point coordinates from each data block, and combine the reference point identifier and reference point coordinates into a data item; the reference point identifier contains the job sequence value, and the earlier the job sequence, the smaller the job sequence value.

[0051] This step processes the reference point identification and reference point coordinates of each reference point in the form of data items to facilitate subsequent management. It should be noted that the reference point identification contains the operation sequence value. The earlier the operation sequence, the smaller the operation sequence value, to identify the operation sequence and facilitate subsequent data retrieval.

[0052] SS1.4, sort the data items according to the job sequence value.

[0053] SS1.5, build a reference point data table that matches the data items, and add the sorted data items to the reference point data table in sequence.

[0054] SS1.6, save the reference point data table to the memory; the reference point data table includes the loading reference point data table and the unloading reference point data table.

[0055] It is understandable that the loading robot and the unloading robot store the material reference point data table and the unloading reference point data table respectively, and move according to their respective reference point data tables when the operation is executed. Among them, for the loading robot, the process offset reference point includes the material picking offset reference point, the centering offset reference point, the waiting loading offset reference point, the loading offset reference point, and the exit loading offset reference point. For the unloading robot, the process offset reference point includes the waiting unloading offset reference point, the unloading offset reference point, and the stacking offset reference point.

[0056] SS2, obtain the target order task sent by the bending center, which contains the target offset value; the target offset value = (current task plate size - standard plate size) / 2. Specifically includes the following steps.

[0057] SS2.1, respond to the safety position pause command and start the order task monitoring process.

[0058] It should be noted that after the operation is completed, the bending center sends a safe position pause command to the robot to stop at a safe position and wait for the next order operation. The robot responds to the safe position pause command and starts the order task monitoring process to monitor whether a new order task is received.

[0059] A special order task monitoring process is used to continuously monitor the second message sent by the bending center to ensure the accuracy and timeliness of order task reception, and avoid production confusion or equipment malfunction caused by message omission or untimely reception.

[0060] SS2.2, when the order task monitoring process monitors the second message message sent by the bending center, the second message message is received.

[0061] SS2.3, according to the set second message parsing rule, parse the target order identifier and the target offset value from the second message message.

[0062] SS2.4, stores the target order identifier and the target offset value in the cache area.

[0063] The bending center sends the order task to the robot in the form of a second message message, and the order task monitoring process monitors the second message message, receives the second message message when it is monitored, and then parses the relevant information of the order task from the second message message according to the pre-defined second message parsing rules. The relevant information includes the target order identifier and the target offset value, and then stores the target order identifier and the target offset value in the cache area. This embodiment stores the target order identifier and the target offset value in the cache area, and then extracts this information from the cache area to perform the job, avoiding the need to re-parse the message every time, saving data call time, improving data extraction efficiency, and ensuring system stability.

[0064] SS3, obtaining the offset parameters of each process offset reference point in the operation process according to the process offset reference point coordinates and the target offset value, which specifically includes the following steps.

[0065] SS3.1, select any process offset reference point coordinate, add the i-direction coordinate value in the selected process offset reference point coordinate to the i-direction target offset value to obtain a new i-direction coordinate value.

[0066] SS3.2, compare the i-direction coordinate value in the process offset reference point coordinate with the new i-direction coordinate value.

[0067] SS3.3, determine the offset direction in the i direction according to the comparison result; wherein the i direction includes any one or more of the X direction, the Y direction, and the Z direction.

[0068] SS3.4, store the determined offset direction in the i direction into the cache area and associate it with the target order identifier.

[0069] The principle of offset in this embodiment is to first run to the reference point position, and then offset according to the target offset value and offset direction. The target offset value = (current task plate size - standard plate size) / 2, which is the same for all reference points, and the offset direction is also the same. Therefore, any process offset reference point coordinates are selected to calculate the offset parameters. The offset parameters in this embodiment refer to the offset direction, that is, to determine the offset direction in the i direction.

[0070] It should be noted that the i direction can be any one, any two or all of the X direction, Y direction, and Z direction, and can be set according to the specific application scenario. In a specific embodiment, the i direction refers to the Y direction, which is offset only in the Y direction, and does not need to be offset in the X direction. The thickness of the plate is consistent and there is no offset in the Z direction. Exemplarily, the bending center will send the result of the target offset value (plate length / 2-standard plate length / 2) calculation formula to the feeding robot. The robot will then obtain the result based on the Y-direction value of the recorded reference coordinate + the target offset value sent by the upper bending center. If this value is larger than the reference point coordinate, it will go in the Y+ direction of the recorded coordinate system. If it is smaller than the reference point coordinate, it will go in the Y-direction of the recorded coordinate system. Thereby, the actual position of the large and small plates of the loading is changed.

[0071] SS4, moves to perform work according to each process offset reference point coordinate, target offset value and offset parameters.

[0072] The control logic of the bending center is: system programming bending - calculation of loading offset size (task plate length / 2-standard plate length / 2) - transmission to the loading robot for calculation (the value of the Y direction of the loading reference coordinate + the value sent by the bending center) - calculation of the unloading offset size (task plate length / 2-standard plate length / 2) - transmission to the unloading robot for calculation (the value of the Y direction of the loading reference coordinate + the value sent by the bending center) - start - the bending machine arrives at the waiting loading position - output device origin, request loading - receive material collection completion - material collection + 1 - receive loading completion - bending - the robot arm arrives at the unloading position - output device origin, request unloading - receive robot unloading completion - receive stacking completion - stacking + 1 (loop).

[0073] The value sent by the bending center refers to the offset size sent, and the output device origin refers to the bending center returning to the origin to avoid the robot gripper and prevent the risk of collision.

[0074] Loading robot logic: receive loading offset size - start - pick up material according to offset size - detect material probe ON - robot arm stops descending and starts to suck material - sucking is completed and output and picking is completed - offset centering - offset waiting for loading - receive equipment origin, request loading - offset loading - offset exit - output loading is completed - pick up material according to offset size (loop).

[0075] The logic of the unloading robot: receive the unloading offset size - start - wait for unloading to the bending center according to the offset size - receive the equipment origin, unloading request - offset unloading - suction and exit - output unloading completion - palletizing according to the offset - detect the probe ON - stop descending, unload the material - output palletizing completion - wait for material collection according to the offset size (cycle).

[0076] Full-stamp logic: The palletizing quantity is written in the system production page. When the written value = the palletizing quantity set for this product, the output unloading robot arm will suspend operation at the safe position, and the system will alarm. When the pallet is cleared, the unloading robot can be restarted remotely.

[0077] Loading logic: The loading quantity is written in the system production page. The written value = the actual loading value, the material picking count. When the count is 0, the output loading robot arm pauses at the safe position, and the system alarm prompts. When the loading is completed, the loading robot can be restarted remotely.

[0078] Based on the above logic, for the loading robot, it moves according to the coordinates of the offset reference point, the target offset value and the offset parameters of each process to perform the operation, which specifically includes the following steps.

[0079] S101, in response to a start instruction including a target order identifier, retrieve a loading reference point data table from a memory and store it in a cache area.

[0080] S102, querying the target offset parameter associated with the target order identifier in the cache area, where the target offset parameter includes a target offset value and an offset direction in the i direction.

[0081] S103, querying the material loading reference point coordinates in the material loading reference point data table in the cache area, moving to the material loading reference position according to the material loading offset reference point coordinates, and then offsetting the material loading reference position according to the target offset parameters.

[0082] S104, determining whether a plate is detected in the target area, if so, the loading robot stops descending and starts sucking the material.

[0083] S105, after the material suction is completed, the centering offset reference point coordinates in the loading reference point data table in the cache area are queried, and the centering reference position is moved according to the offset reference point coordinates. Then, the centering reference position is offset according to the target offset parameters to perform plate centering.

[0084] S106, after the alignment is completed, query the coordinates of the waiting loading offset reference point in the loading reference point data table in the cache area, move to the waiting reference position according to the coordinates of the waiting loading offset reference point, and then offset the waiting position according to the target offset parameters to wait for loading.

[0085] S107, in response to receiving the device return to the origin, requesting loading signal, query the loading offset reference point coordinates in the loading reference point data table in the cache area, move to the loading reference position according to the loading offset reference point coordinates, and then offset the loading position according to the target offset parameters to load the material.

[0086] S108, after the loading is completed, query the coordinates of the exit loading offset reference point in the loading reference point data table in the cache area, move to the exit loading reference position according to the coordinates of the exit loading offset reference point, and then offset the exit loading position according to the target offset parameters, and the loading is completed.

[0087] S109, checking whether a safe position pause command is received, if it indicates that there are no remaining plates, the target order identifier, target offset value, offset direction in the i direction, and loading reference point data table in the cache area are deleted; otherwise, it indicates that there are remaining plates, and returning to step S103.

[0088] For the unloading robot, it moves to perform the work according to the coordinates of the offset reference points, the target offset values ​​and the offset parameters of each process, which specifically includes the following steps.

[0089] S201, in response to a start instruction including a target order identifier, retrieve a blanking reference point data table from a memory and store it in a cache area.

[0090] S202, querying the target offset parameter associated with the target order identifier in the cache area, where the target offset parameter includes a target offset value and an offset direction in the i direction.

[0091] S203, querying the coordinates of the waiting material unloading offset reference point in the unloading reference point data table in the cache area, moving to the waiting material picking position according to the coordinates of the waiting material unloading offset reference point, and then offsetting the waiting material picking position according to the target offset parameters.

[0092] S204, in response to receiving the device return to the origin, requesting unloading signal, querying the unloading offset reference point coordinates in the unloading reference point data table in the cache area, moving to the unloading position according to the unloading offset reference point coordinates, and then offsetting the unloading position according to the target offset parameters.

[0093] S205, the suction exits to complete unloading, then the coordinates of the palletizing offset reference point in the unloading reference point data table in the buffer area are queried, and the palletizing reference position is moved according to the coordinates of the palletizing offset reference point, and then the palletizing reference position is offset according to the target offset parameters to perform palletizing.

[0094] S206, after palletizing is completed, check whether a safe position pause command is received. If so, it indicates that there are no remaining plates, and delete the target order identification, target offset value, offset direction in the i direction, and material reference point data table in the cache area; otherwise, it indicates that there are remaining plates, and return to step S203.

[0095] After the robot of this embodiment responds to the start command, it quickly retrieves the reference point data table from the memory to the cache area, and the subsequent operations obtain data from the cache throughout the process, which greatly shortens the data reading time and improves the operation efficiency. For example, in a high-frequency order operation scenario, it can quickly respond to instructions at each stage, realize rapid material collection, centering, loading and other operations, and ensure the efficient operation of the production line. In addition, according to the target offset parameters (including the target offset value and the i-direction offset direction), each reference position is accurately offset, and the robot's movement path is flexibly adjusted according to the size differences of the plates of different orders to ensure that the actions of material collection, centering, loading and other actions are accurate and correct. At the same time, after completing an order or a batch of plate loading, the relevant data in the cache is deleted in time to release the cache space, freeing up resources for subsequent order data storage and processing, avoiding cache data redundancy that causes the system to run slowly, and avoiding data retrieval errors to ensure the correct operation of the program.

[0096] After unloading, the unloading robot stacks the plates, and performs palletizing by shifting the palletizing reference position according to the target shift parameter, which specifically includes the following steps.

[0097] Step 1: Record the number of boards currently stacked.

[0098] Step 2: If the number of currently stacked plates is equal to 0, the offset stacking reference position coordinates are used as the stacking position coordinates of the first plate for stacking.

[0099] Step 3: If the number of currently stacked plates is not equal to 0, calculate the stacking position coordinates of the next plate according to the current stacked number and the number of layers for stacking.

[0100] Exemplary: 1. The robot records the first workpiece placement position as a reference point; 2. Input product height, number of palletizing, number of palletizing layers, number of palletizing piles, horizontal spacing, and vertical spacing at the bending center; 3. The bending center system will send the position value of the first workpiece (0); 4. The bending center system will send the position value of the second workpiece (workpiece width*1, length*0); 5. The bending center system will send the position value of the third workpiece (workpiece width*1, length*1); 6. The bending center system will send the position value of the fourth workpiece (workpiece width*0, length*1); 7. The bending center system will send the position value of the fifth workpiece (workpiece width*0, length*0, height*1).

[0101] By analogy, 2 rows and 2 columns with 10 layers can be stacked to achieve automatic palletizing according to the size of the forming size. Specifically, based on the stacking position coordinates of the first plate, the current workpiece position coordinates are calculated from the position data of the current workpiece sent by the bending center system, and palletizing is based on the coordinates.

[0102] An embodiment of a bending center robot operation execution method is described in detail above. Based on the bending center robot operation execution method described in the above embodiment, an embodiment of the present invention also provides a bending center robot operation execution device corresponding to the method.

[0103] Figure 2 A schematic block diagram of the structure of a bending center robot operation execution device provided in an embodiment of the present invention. In this embodiment, the bending center robot operation execution system 200 can be divided into multiple functional modules according to the functions it performs. The module referred to in the present invention refers to a series of computer program segments that can be executed by at least one processor and can complete fixed functions, which are stored in a memory.

[0104] The reference point coordinate acquisition module 210 is used to acquire and save the process offset reference point coordinates configured according to the standard plate size sent by the bending center.

[0105] The target offset acquisition module 220 is used to acquire the target order task sent by the bending center, and the target order task includes a target offset value; wherein the target offset value = (current task plate size - standard plate size) / 2.

[0106] The offset parameter acquisition module 230 is used to acquire the offset parameters of each process offset reference point in the operation process according to the process offset reference point coordinates and the target offset value.

[0107] The job execution module 240 is used to move according to the coordinates of each process offset reference point, the target offset value and the offset parameters to execute the job.

[0108] The bending center robot operation execution device of this embodiment is used to implement the aforementioned bending center robot operation execution method. Therefore, the specific implementation method of the device can be seen in the embodiment part of the bending center robot operation execution method in the previous text. Therefore, its specific implementation method can refer to the description of the corresponding embodiments of each part, which will not be elaborated here.

[0109] In addition, since the bending center robot operation execution device of this embodiment is used to implement the aforementioned bending center robot operation execution method, its function corresponds to the function of the aforementioned method and will not be repeated here.

[0110] Figure 3A schematic diagram of the structure of a terminal 300 provided in an embodiment of the present invention includes: a processor 310, a memory 320 and a communication unit 330. The processor 310 is used to implement the following steps when the bending center robot operation execution program stored in the memory 320 is implemented: Obtain and save the process offset reference point coordinates sent by the bending center according to the standard plate size configuration; Get the target order task sent by the bending center. The target order task contains the target offset value; the target offset value = (current task plate size - standard plate size) / 2; Obtain the offset parameters of each process offset reference point during the operation according to the process offset reference point coordinates and the target offset value; Move to perform work according to each process offset reference point coordinate, target offset value and offset parameters.

[0111] The present invention also provides a computer storage medium, wherein the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM).

[0112] The computer storage medium stores a bending center robot operation execution program, and when the bending center robot operation execution program is executed by the processor, the following steps are implemented: Obtain and save the process offset reference point coordinates sent by the bending center according to the standard plate size configuration; Get the target order task sent by the bending center. The target order task contains the target offset value; the target offset value = (current task plate size - standard plate size) / 2; Obtain the offset parameters of each process offset reference point during the operation according to the process offset reference point coordinates and the target offset value; Move to perform work according to each process offset reference point coordinate, target offset value and offset parameters.

[0113] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for executing a bending center robot operation, characterized in that: The following steps are involved: Obtain and save the process offset reference point coordinates sent by the bending center according to the standard plate size configuration; Get the target order task sent by the bending center. The target order task contains the target offset value; the target offset value = (current task plate size - standard plate size) / 2; Obtain the offset parameters of each process offset reference point during the operation according to the process offset reference point coordinates and the target offset value; Move to perform work according to each process offset reference point coordinate, target offset value and offset parameters.

2. The bending center robot operation execution method according to claim 1, characterized in that: Obtain and save the process offset reference point coordinates sent by the bending center according to the standard plate size configuration, including: Obtain the first message sent by the bending center; According to the set first message parsing rule, multiple data blocks are parsed from the first message message, each data block contains a reference point identifier and a reference point coordinate; Extract the reference point identifier and the reference point coordinates from each data block, and combine the reference point identifier and the reference point coordinates into a data item; wherein the reference point identifier includes a job sequence value, and the earlier the job sequence, the smaller the job sequence value; Sort each data item according to the job sequence value; Construct a reference point data table that matches the data items, and add the sorted data items to the reference point data table in sequence; The reference point data table is saved to the memory; the reference point data table includes the loading reference point data table and the unloading reference point data table.

3. The bending center robot operation execution method according to claim 2, characterized in that: For the loading robot, the process offset reference points include the picking offset reference point, the centering offset reference point, the waiting loading offset reference point, the loading offset reference point, and the exit loading offset reference point; For the unloading robot, the process offset reference points include the waiting unloading offset reference point, the unloading offset reference point, and the palletizing offset reference point.

4. The bending center robot operation execution method according to claim 3 is characterized in that: Get the target order tasks sent by the bending center, including: Respond to the safe position pause command and start the order task monitoring process; When the order task monitoring process monitors the second message message sent by the bending center, the second message message is received; According to the set second message parsing rule, parse the target order identifier and the target offset value from the second message message; Store the target order ID and target offset value in the cache area.

5. The bending center robot operation execution method according to claim 4, characterized in that: The offset parameters of each process offset reference point in the operation process are obtained according to the process offset reference point coordinates and the target offset value, including: Select any process offset reference point coordinate, add the i-direction coordinate value in the selected process offset reference point coordinate to the i-direction target offset value to obtain a new i-direction coordinate value; Compare the i-direction coordinate value in the process offset reference point coordinate with the new i-direction coordinate value; Determine the offset direction in the i direction according to the comparison result; wherein the i direction includes any one or more of the X direction, the Y direction, and the Z direction; The determined offset direction in the i direction is stored in the cache area and associated with the target order identifier.

6. The bending center robot operation execution method according to claim 5, characterized in that: For the loading robot, it moves to perform the work according to the coordinates of the offset reference point, the target offset value and the offset parameters of each process, including: S101, responding to a start instruction including a target order identifier, retrieving a loading reference point data table from a memory and storing it in a cache area; S102, querying the target offset parameter associated with the target order identifier in the cache area, where the target offset parameter includes a target offset value and an offset direction in the i direction; S103, querying the material loading reference point coordinates in the material loading reference point data table in the cache area, moving to the material loading reference position according to the material loading offset reference point coordinates, and then offsetting the material loading reference position according to the target offset parameters; S104, determining whether a plate is detected in the target area, if so, the feeding robot stops descending and starts sucking the material; S105, after the material suction is completed, the coordinates of the centering offset reference point in the loading reference point data table in the cache area are queried, and the centering reference position is moved according to the offset reference point coordinates, and then the centering reference position is offset according to the target offset parameter to perform plate centering; S106, after the alignment is completed, query the coordinates of the waiting loading offset reference point in the loading reference point data table in the cache area, move to the waiting reference position according to the coordinates of the waiting loading offset reference point, and then offset the waiting position according to the target offset parameter to wait for loading; S107, in response to receiving the device return to the origin, requesting loading signal, querying the loading offset reference point coordinates in the loading reference point data table in the cache area, moving to the loading reference position according to the loading offset reference point coordinates, and then offsetting the loading position according to the target offset parameter to load the material; S108, after the loading is completed, the coordinates of the exit loading offset reference point in the loading reference point data table in the cache area are queried, and the material is moved to the exit loading reference position according to the coordinates of the exit loading offset reference point, and then the exit loading position is offset according to the target offset parameter, and the loading is completed; S109, detecting whether a safe position pause command is received, if it indicates that there is no remaining plate, the target order identifier, target offset value, offset direction in the i direction, and the loading reference point data table in the cache area are deleted; otherwise, it indicates that there is remaining plate, and the process returns to step S103; For the unloading robot, it moves to perform the work according to the coordinates of the offset reference point, the target offset value and the offset parameters of each process, including: S201, responding to a start instruction including a target order identifier, retrieving a blanking reference point data table from a memory and storing it in a cache area; S202, querying the target offset parameter associated with the target order identifier in the cache area, where the target offset parameter includes a target offset value and an offset direction in the i direction; S203, querying the coordinates of the waiting material unloading offset reference point in the unloading reference point data table in the cache area, moving to the waiting material unloading position according to the coordinates of the waiting material unloading offset reference point, and then offsetting the waiting material unloading position according to the target offset parameter; S204, in response to receiving a signal indicating that the device returns to the origin and requests material unloading, querying the material unloading offset reference point coordinates in the material unloading reference point data table in the cache area, moving to the material unloading position according to the material unloading offset reference point coordinates, and then offsetting the material unloading position according to the target offset parameter; S205, the suction exits to complete unloading, then the coordinates of the palletizing offset reference point in the unloading reference point data table in the buffer area are queried, the palletizing reference position is moved according to the coordinates of the palletizing offset reference point, and then the palletizing reference position is shifted according to the target offset parameter to perform palletizing; S206, after palletizing is completed, check whether a safe position pause command is received. If so, it indicates that there are no remaining plates, and delete the target order identification, target offset value, offset direction in the i direction, and material reference point data table in the cache area; otherwise, it indicates that there are remaining plates, and return to step S203.

7. The bending center robot operation execution method according to claim 6, characterized in that: The palletizing reference position is shifted according to the target shift parameters to perform palletizing, including: Record the number of currently stacked boards; If the number of currently stacked plates is equal to 0, the offset stacking reference position coordinates are used as the stacking position coordinates of the first plate for stacking; If the number of currently stacked plates is not equal to 0, the coordinates of the next plate's stacking position are calculated based on the current number of stacked plates and the number of layers for stacking.

8. A bending center robot operation execution device, characterized in that: include: The reference point coordinate acquisition module is used to acquire and save the process offset reference point coordinates sent by the bending center according to the standard plate size configuration; The target offset acquisition module is used to obtain the target order task sent by the bending center, and the target order task contains the target offset value; The target offset value = (current task plate size - standard plate size) / 2; An offset parameter acquisition module is used to acquire the offset parameters of each process offset reference point in the operation process according to the process offset reference point coordinates and the target offset value; The job execution module is used to move according to the coordinates of each process offset reference point, target offset value and offset parameters to execute the job.

9. A terminal, characterized in that: include: A memory, used for storing the operation execution program of the bending center robot; A processor is used to implement the steps of the bending center robot operation execution method as described in any one of claims 1 to 7 when executing the bending center robot operation execution program.

10. A computer-readable storage medium, characterized in that: The readable storage medium stores a bending center robot operation execution program, and when the bending center robot operation execution program is executed by the processor, the steps of the bending center robot operation execution method according to any one of claims 1 to 7 are implemented.

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