Robot-Guided Tube Bending With Slave-Mode Motion Synchronization
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing bending apparatuses are limited in their application to specific workpieces, such as metal plates, and require complex mathematical analysis and knowledge of internal robot control structures for master-slave control, restricting their versatility and ease of programming.
Innovation Solution
A bending apparatus with a motor-adjusted multi-articulated arm robot and a control device that generates bending programs for both the bending machine and robot, allowing the robot to operate in a slave mode, where the control device specifies target values for the robot's movements indirectly, eliminating the need for detailed internal robot knowledge and enabling standard coordinate system usage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If master-slave control is implemented with complex mathematical analysis for robot positioning, then synchronism between bending machine and robot is improved, but device complexity and programming difficulty increase
Solution Approach 1:
A coordinate transformation module serves as an intermediary between the bending machine control device and the robot control unit. This module converts bending machine coordinate system data into robot coordinate system commands, eliminating the need for complex mathematical analysis while maintaining synchronism. The intermediary handles the complexity internally, presenting simple interfaces to both the operator and the controlled systems.
2Measurement precision
If detailed internal robot control knowledge is required for programming, then control precision is improved, but ease of operation deteriorates
Solution Approach 1:
The system creates a virtual model of the robot's coordinate system and transformation relationships within the bending machine's control device. This virtual copy allows programmers to work with familiar bending machine coordinates without needing to understand the robot's internal coordinate transformations, maintaining precision while simplifying operation.
3Manufacturing precision
If the system is designed for specific workpiece types with fixed coordinate systems, then manufacturing precision for those workpieces is improved, but adaptability to different workpieces deteriorates
Solution Approach 1:
The coordinate transformation system is designed to be dynamically configurable for different workpiece types. The system can adapt its transformation parameters and coordinate system definitions based on the specific workpiece being processed, maintaining bending precision across various workpiece geometries including rod-shaped and tubular workpieces while eliminating the need for fixed coordinate system designs.
Data Source
AI summary
The invention relates to a bending device (2) for bending a rod-like or tubular workpiece (4), comprising a bending machine (6), which has a bending head (8), which is designed for bending the workpiece (4) in a forming process, and a control means (24), which controls the operation of the bending machine (6), a robot (10), which comprises a multi-joint arm (11) which can be adjusted by motors, having a gripper end (12), which is designed for gripping and holding the workpiece (4), and a control unit (22), which is designed to control the operation of the robot (10), wherein the control means (24) is designed to control the bending machine (6) and the robot (10) during the bending process. The control unit (22) of the robot (10) is switched, at least during the bending process, to a slave mode in which it receives control commands from the control means (24) of the bending machine (6), and the control means (24) of the bending machine (6), during the bending process, continuously issues setting specifications for the motor-adjustable multi-joint arm (11) and the gripper end (12) to the control unit (22) of the robot (10) which has been switched to slave mode and thereby controls the robot (10) to introduce the workpiece (4) into the bending head (8), to stabilize the workpiece during the forming process and to remove the workpiece from the bending head (8) after the forming process.