Robot Gripper Positioning for Adaptive Sheet Metal Bending
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Solution Overview
Problem
Robots face challenges in the sheet metal bending industry due to the difficulty in teaching and adapting to various products, leading to inefficiencies and increased maintenance costs, especially when dealing with different sheet materials.
Innovation Solution
A method for automatically finding a bending position by establishing tool and user coordinate systems, calculating correction matrices, and using sensor information to adjust the robot's position and posture, allowing it to identify and achieve a standard bending position without extensive re-teaching, thereby simplifying the teaching process and improving production efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If teaching reproduction method is used for robot bending processing, then the robot can perform bending operations, but the difficulty in teaching increases significantly when dealing with various products
Solution Approach 1:
The robot performs self-positioning by automatically detecting the rear retaining finger position through sensors and calculating the bending position using coordinate system transformation and matrix operations. This eliminates the need for manual teaching for each product, allowing the robot to adapt to various products autonomously.
Solution Approach 2:
The patent replaces the mechanical teaching reproduction system with an automated detection and calculation system. Instead of manually teaching the robot the bending position for each product, the system uses sensors to detect the rear retaining finger position and automatically calculates the bending position through coordinate transformation and matrix operations.
2Manufacturing precision
If manual teaching is performed for different sheet materials, then the bending position can be accurately acquired, but the production efficiency decreases due to repeated teaching requirements
Solution Approach 1:
The system uses sensors on the rear retaining finger to detect the robot's position relative to the retaining finger. This feedback information is used to calculate the bending position through coordinate system transformation, ensuring accurate positioning without requiring manual teaching for each sheet material.
Solution Approach 2:
The patent transforms the bending position acquisition from a manual teaching process to an automated parameter calculation process. By changing the coordinate system origin to the rear retaining finger position and using matrix operations, the system automatically determines the bending position parameters based on sensor feedback, maintaining accuracy while improving productivity.
3Ease of operation
If the robot uses fixed teaching data for bending operations, then the teaching process is simplified, but the bending quality deteriorates when processing different product varieties
Solution Approach 1:
The patent makes the bending position dynamic rather than fixed. The system calculates the bending position in real-time based on the detected rear retaining finger position and the specific product dimensions. This allows the robot to adapt to different product varieties while maintaining ease of operation, as no re-teaching is required.
Solution Approach 2:
The coordinate transformation and matrix calculation system serves as a universal solution for determining bending positions across different product varieties. The same detection and calculation methodology works for various products, making the system multi-functional and eliminating the need for product-specific teaching data.
Data Source
AI summary
A method for a robot to automatically find a bending position, including the following steps: step 1, establishing a gripper tool coordinate system (TX, TY, TZ); step 2, determining a user coordinate system (XA, YA, ZA; XB, YB, ZB) of rear blocking fingers (11, 21); step 3, a robot gripper moving horizontally, and detecting the state of sensors (12, 22); step 4, the robot gripper executing a rotational movement, detecting the state of the sensors (12, 22), and thereby obtaining a standard bending position. The robot automatically finds the bending position, the teaching difficulty is reduced, and the bending quality is increased. In the elevator industry, elevator door plate bending sizes are the same, but forming sizes are different. In the present invention, only one product process needs to be taught in order to satisfy elevator door plate processing with different specifications, thereby reducing maintenance costs and increasing production efficiency.