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Real time following method for robot bend and device thereof

A technology of robots and bending knives, which is applied in the field of robots, can solve problems that affect bending quality and efficiency, reduce bending accuracy, and deform bending workpieces, so as to improve work efficiency and bending quality.

Active Publication Date: 2015-04-01
SHANGHAI STEP ELECTRIC +1
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AI Technical Summary

Problems solved by technology

During this process, the bending robot needs to accurately follow the bending feed speed and trajectory of the bending machine in real time, otherwise the very small following error will greatly reduce the bending accuracy and even cause the bending workpiece to deform and affect the bending quality and efficiency

Method used

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  • Real time following method for robot bend and device thereof
  • Real time following method for robot bend and device thereof
  • Real time following method for robot bend and device thereof

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Embodiment Construction

[0028] The present invention will be further described below in conjunction with the accompanying drawings.

[0029] Please refer to Figure 1 to Figure 4 . The real-time following method of robot bending according to an embodiment of the present invention includes the following steps:

[0030] Step a, obtain the pose value P0(L 2 ,Y 0 ,Z 0 ,A 0 ,0,C 0 ); the bending coordinate system takes the extension direction of the longitudinal centerline C of the mouth 21 of the bending machine sipe 2 as the Y-axis direction, takes the moving direction of the bending knife 3 as the Z-axis direction, and the X-axis direction is defined by The Y-axis direction and the Z-axis direction are determined according to the right-hand rule. The origin of the bending coordinate system is any point on the longitudinal centerline C of the notch 21 of the bending machine; L2 is the distance between the bending start point of the robot and the origin of the bending coordinate system, that is, t...

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Abstract

The invention discloses a real time following method for robot bend which comprises the following steps: step a, obtaining the position value of the end of the robot in the bend coordinate system at the bend start point; step b, receiving the detection result of a bend knife displacement detection device, obtaining the displacement of the bend knife in a preset sampling period according to the detection result, calculating the movement speed of the bend knife; step c, confirming the real time position value of the end of the robot in the bend coordinate system during the bend following process; step d, converting the real time position value of the end of the robot in the bend coordinate system into the real time position value in the world coordinate system, calculating the joint angle of the robot according to the real time position value in the world coordinate system, and sending the calculated joint angle of the robot to the robot driving device. A real time following device for robot bend is also disclosed. The high precision real time following operation for the robot during the bending process is achieved, the bending quality of the robot is raised and the work efficiency is improved.

Description

technical field [0001] The present invention relates to robot technology, in particular to a robot bending real-time following method and device thereof. Background technique [0002] With manual bending of the sheet, the worker needs to hold the sheet up and lift it up every time it is bent. This action is very laborious, labor-intensive, and low in production efficiency, and the human lifting motion trajectory cannot track the movement of the sheet well. , The bending effect is also difficult to guarantee. Robots are very good at repetitive work. After the bending path is completed, the robot can move according to the instructions to realize automated unmanned operations, which can improve production efficiency. Robot bending needs to move synchronously with the plate according to the movement of the bending knife, so as to avoid the deformation of the plate and poor bending quality caused by gravity during the bending process. During this process, the bending robot need...

Claims

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Application Information

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IPC IPC(8): B21D5/06B25J11/00
CPCB21D5/06B25J11/005
Inventor 周朔鹏熊圆圆邓洪洁乔正卢晓荣
Owner SHANGHAI STEP ELECTRIC
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