A bending center robot operation execution method, device, terminal and medium

Abstract

The present invention belongs to the field of sheet metal bending operations and specifically discloses a method, device, terminal, and medium for executing robot operations in a bending center. The method comprises obtaining and storing the coordinates of process offset reference points configured according to standard sheet metal sizes, sent by the bending center; obtaining a target order task sent by the bending center, the target order task including a target offset value; wherein the target offset value = (current task sheet metal size - standard sheet metal size) / 2; obtaining the offset parameters of each process offset reference point during the operation based on the process offset reference point coordinates and the target offset value; and performing the operation by moving the robot based on the coordinates, target offset values, and offset parameters of each process offset reference point. The present invention enables the robot to autonomously adjust its operating position, ensuring that the robot accurately locates the corresponding position of sheets of different sizes during the operation. This eliminates the need to write and adjust programs separately for each sheet metal size, thereby reducing equipment downtime and improving production efficiency.

Description

Technical Field

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

[0002] A bending center is an automatic bending machine used in sheet metal processing. It can efficiently and accurately complete sheet metal bending operations, improving sheet metal bending production efficiency and product quality. In actual production processes, due to the diversity of production needs, it is often necessary to bend sheets of different sizes.

[0003] When a robot changes sheet sizes on a press brake, the traditional operation requires the operator to change program points for each change. This process involves resetting and adjusting a series of parameters, including the robot's motion trajectory, material retrieving position, loading position, unloading position, and palletizing position. Because these parameters are interdependent and complex, operators require advanced expertise and skills to accurately change program points. Furthermore, changing program points is time-consuming and labor-intensive, increasing the operator's workload, leading to extended equipment downtime, and reducing production efficiency. Summary of the Invention

[0004] To solve the above problems, the present invention provides a bending center robot operation execution method, device, terminal and medium, which enable the robot to autonomously adjust the working position and ensure that the robot accurately locates the corresponding position of plates of different sizes during the operation process. There is no need to write and adjust programs separately for each plate size, which shortens the downtime of the 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:

[0006] Obtain and save the process offset reference point coordinates sent by the bending center according to the standard plate size configuration;

[0007] 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;

[0008] 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;

[0009] Move to execute the work according to the offset reference point coordinates, target offset value and offset parameters of each process.

[0010] In an optional embodiment, obtaining and saving the process offset reference point coordinates configured according to the standard plate size sent by the bending center specifically includes:

[0011] Obtain the first message sent by the bending center;

[0012] According to the set first message parsing rule, multiple data blocks are parsed from the first message message, each data block including a reference point identifier and reference point coordinates;

[0013] 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; wherein the reference point identifier includes an operation sequence value, and the earlier the operation sequence, the smaller the operation sequence value;

[0014] Sort each data item according to the job sequence value;

[0015] 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;

[0016] 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.

[0017] In an optional embodiment, for the loading robot, the process offset reference point includes a material picking offset reference point, a centering offset reference point, a waiting loading offset reference point, a loading offset reference point, and an exit loading offset reference point;

[0018] 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.

[0019] In an optional embodiment, obtaining the target order task sent by the bending center specifically includes:

[0020] Respond to the safe location pause command and start the order task monitoring process;

[0021] When the order task monitoring process monitors the second message sent by the bending center, the second message is received;

[0022] Parse the target order identifier and target offset value from the second message message according to the set second message parsing rule;

[0023] Store the target order ID and target offset value in the buffer area.

[0024] In an optional embodiment, 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, specifically including:

[0025] 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;

[0026] Compare the i-direction coordinate value in the process offset reference point coordinate with the new i-direction coordinate value;

[0027] 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;

[0028] The determined offset direction of direction i is stored in a cache area and associated with the target order identifier.

[0029] In an optional embodiment, the loading robot moves to perform the operation according to the offset reference point coordinates, target offset values and offset parameters of each process, specifically including:

[0030] 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;

[0031] 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;

[0032] S103, querying the material loading reference point data table in the cache area for the coordinates of the material loading offset reference point, moving to the material loading reference position according to the coordinates of the material loading offset reference point, and then offsetting the material loading reference position according to the target offset parameter;

[0033] S104, determining whether a plate is detected in the target area, if so, the loading robot stops descending and starts sucking the material;

[0034] S105, after the material is sucked in, 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. Then, the centering reference position is offset according to the target offset parameter to perform plate centering;

[0035] S106, after the alignment is completed, the coordinates of the waiting loading offset reference point in the loading reference point data table in the cache area are queried, and the waiting loading offset reference point is moved to the waiting reference position according to the coordinates of the waiting loading offset reference point, and then the waiting position is offset according to the target offset parameter to wait for loading;

[0036] S107, in response to receiving the device return to origin and request 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 parameter to load the material;

[0037] 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. Then, the exit loading position is offset according to the target offset parameter, and the loading is completed;

[0038] S109, detecting whether a safe position pause command is received. If so, it indicates that there are no remaining plates, deleting the target order identifier, target offset value, offset direction in the i direction, and loading reference point data table in the cache area; otherwise, it indicates that there are remaining plates, and returning to step S103;

[0039] 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:

[0040] 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;

[0041] 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;

[0042] S203, querying the coordinates of the waiting blanking offset reference point in the blanking reference point data table in the cache area, moving to the waiting blanking position according to the coordinates of the waiting blanking offset reference point, and then offsetting the waiting blanking position according to the target offset parameter;

[0043] S204, in response to receiving the device return to origin and request for blanking signal, querying the blanking offset reference point coordinates in the blanking reference point data table in the cache area, moving to the blanking position according to the blanking offset reference point coordinates, and then offsetting the blanking position according to the target offset parameter;

[0044] S205, the material suction exits and the unloading is completed, and 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 parameter to perform palletizing;

[0045] S206, after palletizing is completed, check whether a safe position pause command is received. If it indicates that there are no remaining plates, delete the target order identifier, target offset value, offset direction in the i direction, and blanking reference point data table in the cache area; otherwise, it indicates that there are remaining plates, and return to step S203.

[0046] In an optional embodiment, performing a palletizing reference position offset according to a target offset parameter to perform palletizing specifically includes:

[0047] Record the number of currently stacked boards;

[0048] 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;

[0049] 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 plates and the number of layers, and then stacked.

[0050] In a second aspect, the technical solution of the present invention provides a bending center robot operation execution device, comprising:

[0051] The reference point coordinate acquisition module is used to obtain and save the process offset reference point coordinates sent by the bending center according to the standard plate size configuration;

[0052] 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;

[0053] An offset parameter acquisition module is used to 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;

[0054] 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.

[0055] In a third aspect, the technical solution of the present invention provides a terminal, including:

[0056] A memory for storing an operation execution program of the bending center robot;

[0057] A processor is used to implement the steps of any of the above-mentioned bending center robot operation execution methods when executing the bending center robot operation execution program.

[0058] 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.

[0059] The present invention provides a bending center robot operation execution method, device, terminal and medium, which have the following beneficial effects compared with the existing technology: 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 bending operation execution process, it moves according to the various process offset reference point coordinates and offset parameters. It 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. 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. The downtime of the equipment is greatly shortened, and the robot can quickly adapt to the processing requirements of plates of different sizes, reducing the requirements for the professional skills and workload of the operator, thereby reducing production costs and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for the description. Obviously, the drawings described below are only 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.

[0061] Figure 1 A schematic flow chart of a bending center robot operation execution method provided by an embodiment of the present invention.

[0062] Figure 2 This is a schematic block diagram of the structure of a bending center robot operation execution device provided by an embodiment of the present invention.

[0063] Figure 3 A schematic diagram of the structure of a terminal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0064] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions of the present invention will be clearly and completely described below in conjunction with the drawings in the specific embodiments. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0065] 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.

[0066] Figure 1 The following is a flow chart of a method for executing a bending center robot operation according to an embodiment of the present invention. Figure 1 The execution entity can be a bending center robot operation execution device. The bending center robot operation execution method provided in the embodiments of the present invention is executed by a computer device. Accordingly, the bending center robot operation execution device runs on the computer device. The order of the steps in this flowchart may be changed, and some steps may be omitted, depending on different needs.

[0067] like Figure 1 As shown, the method includes the following steps.

[0068] S1, obtain and save the process offset reference point coordinates sent by the bending center according to the standard plate size configuration.

[0069] 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.

[0070] 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.

[0071] The bending center sends a target order task to the robot, which includes a target offset value. The target offset value is (current task sheet size - standard sheet size) / 2. During the bending operation, the robot moves based on this target offset value from the reference point. The target offset value includes offset values in the corresponding direction depending on the specific scenario. For example, if movement in the Y direction is required, the target offset value includes a target Y offset value, which is calculated as (current task sheet length - standard sheet length) / 2.

[0072] S3, 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.

[0073] This step calculates the offset parameters for 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 uses offset parameter calculation to ensure precise positioning during various robot operations (such as retrieving and centering), improving machining accuracy. It also supports independent offsets in any direction, adapting to any sheet material processing requirement.

[0074] S4, moving to perform the operation according to the offset reference point coordinates, target offset value and offset parameters of each process.

[0075] Based on the coordinates of each process offset reference point, the robot adjusts its motion trajectory according to the target offset value and the calculated offset parameters, completes operations such as material picking, centering, loading, and palletizing, and executes the operation 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 its operating 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. This 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.

[0076] 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.

[0077] This embodiment utilizes the reference point coordinates and offset values to move to the correct position for 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.

[0078] For the loading robot, the following takes the user coordinate system of the loading pallet, the user coordinate system of the centering platform, and the user coordinate system of the bending center as examples.

[0079] A tool coordinate system is constructed for each loading and unloading robot, and then the loading robot constructs a user coordinate system for the loading pallet. Specifically:

[0080] 1) Move the tip of the robot (you can attach a sharp object to the end of the robot for easier 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.

[0081] 2) Set the X direction of the user (pallet) coordinate system. This means moving 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 (pallet) coordinate system.

[0082] 3) Move the tip of the robot to the other edge of the pallet. Then press "Record Current Point" to record the YY direction of the user (pallet) coordinates.

[0083] Construct the user coordinate system of the centering station, specifically:

[0084] 1) Move the tip of the robot (you can attach a pointed object to the end of the robot for easier observation) to the end point of one corner of the alignment platform. Then press "Record Current Point" to record the origin of the user (alignment platform) coordinates.

[0085] 2) Set the X direction of the user (centering platform) coordinate system. This means moving 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.

[0086] 3) Move the tip of the robot to the other edge of the centering platform. Then press "Record Current Point" to record the YY direction of the user (centering platform) coordinates.

[0087] Construct the user coordinate system of the bending center, specifically:

[0088] 1) Move the tip of the robot (it's best to attach a pointed object to the end of the robot for easier observation) to the end point of one corner of the bend center's stop. Then, press "Record Current Point" to record the origin of the user's (bend center) coordinates.

[0089] 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;

[0090] 3) Move the tip of the robot to the other edge of the pallet. Then press "Record Current Point" to record the YY direction of the user (bending center) coordinate.

[0091] For the loading robot, take the recording of the centering offset reference point as an example to explain the details:

[0092] 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;

[0093] 2) Use the robot's inner right suction cup to hold the plate and place it between the fingers at the bend center. Open the robot's operating handle and record a GP variable. Use the coordinates of this point as a reference for offset. Record a reference point.

[0094] For the blanking robot, build the user coordinate system of the bending center, specifically:

[0095] 1) Move the tip of the robot (it's best to attach a pointed object to the end of the robot for easier observation) to the end point of one corner of the bend center's stop. Then, press "Record Current Point" to record the origin of the user's (bend center) coordinates.

[0096] 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.

[0097] 3) Move the tip of the robot to the other edge of the pallet. Then press "Record Current Point" to record the YY direction of the user (bending center) coordinate.

[0098] For the blanking robot, the construction of the blanking offset reference point is used as an example to illustrate the construction of the reference point. Specifically:

[0099] 1) After folding the workpiece, the bending center U axis moves back to place the finished product in the unloading position, and then the operating robot moves to the unloading position;

[0100] 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 offset, which is convenient for later offset calls.

[0101] It is also necessary to build the user coordinate system for the pallet stacking tray, specifically:

[0102] 1) Move the tip of the robot (it's best to attach a pointed object to the end of the robot for easier 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.

[0103] 2) Set the X direction of the user (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 (pallet) coordinate system.

[0104] 3) Move the tip of the robot to the other edge of the pallet. Then press "Record Current Point" to record the YY direction of the user (pallet) coordinates.

[0105] Construct the palletizing coordinate reference point, specifically:

[0106] 1) After the finished workpiece is sucked into the bending center, the operating robot moves to the palletizing position;

[0107] 2) The robot sucks the bent workpiece and records a GP variable on the pallet close to the robot as a reference point for the starting position of the subsequent offset.

[0108] Based on the constructed coordinate system and reference points, another method for executing bending center robot operations specifically includes the following steps.

[0109] SS1, obtains and saves the process offset reference point coordinates configured according to the standard plate size sent by the bending center, specifically including the following steps.

[0110] SS1.1, obtain the first message sent by the bending center.

[0111] 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 respectively.

[0112] SS1.2: According to the set first message parsing rule, multiple data blocks are parsed from the first message message, each data block containing a reference point identifier and reference point coordinates.

[0113] The process offset reference point coordinates are carried in the first message as data blocks. Each data block corresponds to one process offset reference point coordinate. Specifically, the data block includes a reference point identifier and the reference point coordinates. 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 rules to extract each data block.

[0114] 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.

[0115] This step processes the reference point identifiers and coordinates of each reference point as data items to facilitate subsequent management. It should be noted that the reference point identifiers contain the operation sequence value. The earlier the operation sequence, the smaller the operation sequence value. This is used to identify the operation sequence and facilitate subsequent data retrieval.

[0116] SS1.4, sort the data items according to their job sequence values.

[0117] SS1.5, build a benchmark data table that is compatible with the data items, and add the sorted data items to the benchmark data table in sequence.

[0118] 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.

[0119] It is understood that the loading robot and the unloading robot respectively store a data table of material reference points and a data table of unloading reference points, and move according to their respective reference point data tables during operation. Specifically, for the loading robot, the process offset reference points 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. 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.

[0120] SS2: Obtain the target order task sent by the bending center. The target order task contains a target offset value; the target offset value is (current task plate size - standard plate size) / 2. The specific steps include the following.

[0121] SS2.1, respond to the safe position pause command and start the order task monitoring process.

[0122] It should be noted that after the operation is completed, the bending center sends a safe position pause command to the robot, so that it can dock in a safe position and wait for the next order operation. The robot responds to the safe position pause command and starts the order task listening process, through which it listens for new order tasks.

[0123] A dedicated 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 receipt, avoiding production confusion or equipment malfunction caused by missed or untimely message receipt.

[0124] SS2.2, when the order task monitoring process monitors the second message message sent by the bending center, it receives the second message message.

[0125] SS2.3: According to the set second message parsing rule, parse the target order identifier and target offset value from the second message message.

[0126] SS2.4, store the target order identifier and target offset value in the cache area.

[0127] The bending center sends an order task to the robot in the form of a second message message. The order task monitoring process monitors the second message message and receives it when it is detected. It 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. The target order identifier and the target offset value are then stored in a 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 execute the job, avoiding the need to reparse the message each time, saving data call time, improving data extraction efficiency, and ensuring system stability.

[0128] SS3, 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 including the following steps.

[0129] 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.

[0130] SS3.2, compare the i-direction coordinate value in the process offset reference point coordinate with the new i-direction coordinate value.

[0131] SS3.3, determine the offset direction in direction i based on the comparison result; where direction i includes any one or more of the X direction, the Y direction, and the Z direction.

[0132] SS3.4, store the determined offset direction of direction i into the cache area and associate it with the target order identifier.

[0133] The offset principle in this embodiment is to first move to the reference point position, then offset based on 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 is used to offset the reference point coordinates and calculate the offset parameters. In this embodiment, the offset parameter refers to the offset direction, which determines the offset direction in the i direction.

[0134] It should be noted that the i direction can be any one, any two, or all of the X, Y, and Z directions, 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 plate thickness is consistent and there is no offset in the Z direction. For example, the bending center will send the target offset value (plate length / 2-standard plate length / 2) to the loading robot and the result of the calculation formula is given to the loading 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 move in the Y+ direction of the recorded coordinate system. If it is smaller than the reference point coordinate, it will move in the Y-direction of the recorded coordinate system. In this way, the actual position of the large and small plates being loaded is changed.

[0135] SS4, moves to perform work according to each process offset reference point coordinate, target offset value and offset parameters.

[0136] 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 position for loading - output device origin, request loading - receive material removal completion - material removal + 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).

[0137] 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.

[0138] Loading robot logic: receive loading offset size - start - offset material picking according to offset size - detect material probe ON - robot arm stops downward and starts to suck material - material sucking is completed and output and material picking is completed - offset centering - offset waiting for loading - receive equipment origin, request loading - offset loading - offset exit - output loading is completed - offset picking according to offset size (loop).

[0139] 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 and 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 (loop).

[0140] Full pallet logic: The palletizing quantity is written in the system production page. When the written value = the palletizing quantity set for this product, the unloading robot arm will be output to the safe position and suspended. The system will alarm. When the pallet is cleared, the unloading robot can be restarted remotely.

[0141] Loading logic: The loading quantity is written on the system production page. The written value = the actual loading value, the material taking count. When the count is 0, the output loading robot arm pauses at the safe position, the system alarm prompts, and when the loading is completed, the loading robot can be restarted remotely.

[0142] Based on the above logic, the loading robot moves according to the offset reference point coordinates, target offset values and offset parameters of each process to perform the operation, which specifically includes the following steps.

[0143] 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.

[0144] 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.

[0145] S103, querying the material loading reference point data table in the cache area for the material offset reference point coordinates, 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.

[0146] S104, determining whether a plate is detected in the target area, if so, the loading robot stops descending and starts sucking the material.

[0147] S105, after the material is sucked, 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 center the plate.

[0148] S106, after the centering 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.

[0149] S107, in response to receiving the device return to origin and request 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 perform loading.

[0150] S108, after the loading is completed, query the loading reference point data table in the cache area for the coordinates of the exit loading offset reference point, 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.

[0151] S109, check whether a safe position pause command is received. If so, it indicates that there are no remaining plates, and delete the target order identifier, target offset value, offset direction in the i direction, and loading reference point data table in the cache area; otherwise, it indicates that there are remaining plates, and return to step S103.

[0152] For the unloading 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.

[0153] 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.

[0154] 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.

[0155] S203, querying the coordinates of the waiting material removal offset reference point in the material removal reference point data table in the cache area, moving to the waiting material removal position according to the coordinates of the waiting material removal offset reference point, and then offsetting the waiting material removal position according to the target offset parameters.

[0156] S204, in response to receiving the device return to origin and request unloading signal, query the unloading offset reference point coordinates in the unloading reference point data table in the cache area, move to the unloading position according to the unloading offset reference point coordinates, and then offset the unloading position according to the target offset parameters.

[0157] S205, the suction exits and the unloading is completed, and then the coordinates of the palletizing offset reference point in the unloading reference point data table in the cache 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 parameter to perform palletizing.

[0158] S206, after palletizing is completed, check whether a safe position pause command is received. If it indicates that there are no remaining plates, delete the target order identifier, target offset value, offset direction in the i direction, and blanking reference point data table in the cache area; otherwise, it indicates that there are remaining plates, and return to step S203.

[0159] After responding to the start command, the robot in this embodiment quickly retrieves the reference point data table from memory into a cache area. Subsequent operations retrieve data from the cache throughout the entire process, significantly reducing data access time and improving operational efficiency. For example, in high-frequency order processing scenarios, it can quickly respond to instructions at each stage, enabling rapid material retrieval, centering, and loading operations, ensuring efficient production line operation. Furthermore, based on target offset parameters (including the target offset value and the i-direction offset), each reference position is precisely offset. The robot's movement path is flexibly adjusted to account for the size differences of different order plates, ensuring accurate and correct material retrieval, centering, and loading operations. Furthermore, after completing an order or loading a batch of plates, the relevant data in the cache is promptly deleted to free up cache space and free up resources for subsequent order data storage and processing. This avoids system slowdowns caused by redundant cache data and prevents data retrieval errors, ensuring correct program operation.

[0160] After unloading, the unloading robot stacks the plates, and the palletizing reference position is offset according to the target offset parameter to perform palletizing, which specifically includes the following steps.

[0161] Step 1: Record the number of boards currently stacked.

[0162] 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.

[0163] Step 3: If the number of currently stacked plates is not equal to 0, calculate the coordinates of the next plate's stacking position based on the current number of plates and the number of layers, and then stack them.

[0164] Exemplary:

[0165] 1. The robot records the first workpiece placement position as a reference point;

[0166] 2. Input product height, number of palletizing, number of palletizing layers, number of palletizing stacks, horizontal spacing, and vertical spacing on the bending center;

[0167] 3. The bending center system will send the position value of the first workpiece (0);

[0168] 4. The bending center system will send the position value of the second workpiece (workpiece width * 1, length * 0);

[0169] 5. The bending center system will send the position value of the third workpiece (workpiece width * 1, length * 1);

[0170] 6. The bending center system will send the position value of the fourth workpiece (workpiece width * 0, length * 1);

[0171] 7. The bending center system will send the position value of the fifth workpiece (workpiece width*0, length*0, height*1).

[0172] Similarly, 2 rows and 2 columns of 10 layers can be stacked, realizing automatic palletizing according to the size of the formed size. Specifically, based on the stacking position coordinates of the first plate, the current workpiece position data sent by the bending center system is calculated to calculate the current workpiece position coordinates, and palletizing is based on these coordinates.

[0173] 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.

[0174] Figure 2 This is a block diagram of the structure of a bending center robotic operation execution device provided by an embodiment of the present invention. In this embodiment, the bending center robotic operation execution system 200 can be divided into multiple functional modules according to the functions they perform. A module, as referred to in this invention, is a series of computer program segments that can be executed by at least one processor and can perform a fixed function, and is stored in a memory.

[0175] 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.

[0176] The target offset acquisition module 220 is used to obtain 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.

[0177] The offset parameter acquisition module 230 is used to acquire 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.

[0178] The job execution module 240 is used to move according to the coordinates of the offset reference point, the target offset value and the offset parameters of each process to execute the job.

[0179] 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, and will not be elaborated here.

[0180] 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 that of the aforementioned method and will not be repeated here.

[0181] Figure 3 The present invention provides a schematic diagram of a terminal 300, which includes a processor 310, a memory 320, and a communication unit 330. The processor 310 is configured to implement the following steps when executing a bending center robot operation program stored in the memory 320:

[0182] Obtain and save the process offset reference point coordinates sent by the bending center according to the standard plate size configuration;

[0183] 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;

[0184] 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;

[0185] Move to execute the work according to the offset reference point coordinates, target offset value and offset parameters of each process.

[0186] 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).

[0187] 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:

[0188] Obtain and save the process offset reference point coordinates sent by the bending center according to the standard plate size configuration;

[0189] 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;

[0190] 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;

[0191] Move to execute the work according to the offset reference point coordinates, target offset value and offset parameters of each process.

[0192] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily 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 is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for executing robot operations in a bending center, 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 the offset reference point coordinates, target offset values and offset parameters of each process; Among them, for the loading robot, it moves to perform the operation according to the coordinates of the offset reference point, the target offset value and the offset parameters of each process, including: 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; 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; the i direction includes any one or more of the X direction, the Y direction, and the Z direction; S103, querying the material loading reference point data table in the cache area for the coordinates of the material loading offset reference point, moving to the material loading reference position according to the coordinates of the material loading offset reference point, and then offsetting the material loading reference position according to the target offset parameter; 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 is sucked in, 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. Then, the centering reference position is offset according to the target offset parameter to perform plate centering; S106, after the alignment is completed, the coordinates of the waiting loading offset reference point in the loading reference point data table in the cache area are queried, and the waiting loading offset reference point is moved to the waiting reference position according to the coordinates of the waiting loading offset reference point, and then the waiting position is offset according to the target offset parameter to wait for loading; S107, in response to receiving the device return to origin and request 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 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. Then, the exit loading position is offset according to the target offset parameter, and the loading is completed; S109, check whether a safe position pause command is received. If so, it indicates that there are no remaining plates, and delete the target order identifier, target offset value, offset direction in the i direction, and loading reference point data table in the cache area; otherwise, it indicates that there are remaining plates, and return to step S103.

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 including a reference point identifier and reference point coordinates; 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; wherein the reference point identifier includes an operation sequence value, and the earlier the operation sequence, the smaller the operation 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; 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.

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, characterized in that: Get the target order tasks sent by the bending center, including: Respond to the safe location pause command and start the order task monitoring process; When the order task monitoring process monitors the second message sent by the bending center, the second message is received; Parse the target order identifier and target offset value from the second message message according to the set second message parsing rule; Store the target order ID and target offset value in the buffer 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 during the operation 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 of direction i is stored in a 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 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, 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; 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 blanking offset reference point in the blanking reference point data table in the cache area, moving to the waiting material picking position according to the coordinates of the waiting blanking offset reference point, and then offsetting the waiting material picking position according to the target offset parameter; S204, in response to receiving the device return to origin and request for blanking signal, querying the blanking offset reference point coordinates in the blanking reference point data table in the cache area, moving to the blanking position according to the blanking offset reference point coordinates, and then offsetting the blanking position according to the target offset parameter; S205, the material suction exits and the unloading is completed, and 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 parameter to perform palletizing; S206, after palletizing is completed, check whether a safe position pause command is received. If it indicates that there are no remaining plates, delete the target order identifier, target offset value, offset direction in the i direction, and blanking 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 offset according to the target offset parameters to perform palletizing, specifically 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 plates and the number of layers, and then stacked.

8. A bending center robot operation execution device, characterized in that: include: The reference point coordinate acquisition module is used to obtain 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, which 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 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; A job execution module is used to move according to the coordinates of the offset reference point, the target offset value and the offset parameters of each process to execute the job; Among them, for the loading robot, it moves to perform the operation according to the coordinates of the offset reference point, the target offset value and the offset parameters of each process, including: 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; 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; the i direction includes any one or more of the X direction, the Y direction, and the Z direction; S103, querying the material loading reference point data table in the cache area for the coordinates of the material loading offset reference point, moving to the material loading reference position according to the coordinates of the material loading offset reference point, and then offsetting the material loading reference position according to the target offset parameter; 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 is sucked in, 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. Then, the centering reference position is offset according to the target offset parameter to perform plate centering; S106, after the alignment is completed, the coordinates of the waiting loading offset reference point in the loading reference point data table in the cache area are queried, and the waiting loading offset reference point is moved to the waiting reference position according to the coordinates of the waiting loading offset reference point, and then the waiting position is offset according to the target offset parameter to wait for loading; S107, in response to receiving the device return to origin and request 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 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. Then, the exit loading position is offset according to the target offset parameter, and the loading is completed; S109, check whether a safe position pause command is received. If so, it indicates that there are no remaining plates, and delete the target order identifier, target offset value, offset direction in the i direction, and loading reference point data table in the cache area; otherwise, it indicates that there are remaining plates, and return to step S103.

9. A terminal, characterized in that: include: A memory for storing an 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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