Bending following method and sheet metal bending process based on robot additional shaft

Abstract

The invention discloses a bending following method and a sheet metal bending process based on a robot additional shaft. The bending following method comprises the following steps: S1, establishing a user coordinate system; S2, adopting a robot to grab a sheet metal to put the sheet metal on the upper surface of a die flatwise, and coinciding a tool coordinate system with the user coordinate system; S3, establishing the geometrical relationship between the distance from the bending part of the lower surface of the sheet metal to the upper surface of the die and the single-side bending angle ofthe sheet metal, and calculating bending following dynamic points to generate the bending following action program of the robot; S4, carrying out inverse solution on the point location position of themoving process of the robot, judging whether the robot meets the accessibility requirement, if yes, finishing the bending action, otherwise, carrying out step 5; and S5, according to the robot angleconfiguration, calculating the following drawing pace of the additional shaft, and if the additional shaft moves to a new position with the drawing pace multiplying the adjusting times of the drawingpace, returning to S3. With adoption of the bending following method, efficient and reliable automatic bending of the sheet metal is realized.

Description

technical field [0001] The invention relates to the technical field of automatic bending of robot sheet metal, in particular to a bending follow-up method based on an additional axis of a robot and a sheet metal bending process. Background technique [0002] At present, automatic sheet metal bending with robots and bending machines has gradually replaced manual-assisted bending. Robotic automatic bending not only ensures stable bending quality, but also greatly improves production efficiency, reduces labor intensity, and eases the tension of enterprise employment. And other issues. [0003] Most current robotic bending systems are usually equipped with guide rails to extend the range of motion of the robot. However, when the robot cooperates with the bending machine to perform the bending action, the guide rail does not move (the guide rail only moves when the robot performs the moving task). When bending large sheet metal, this automatic bending method of the robot is pron...

AI Technical Summary

Problems solved by technology

[0007] Aiming at the above-mentioned problems existing in the existing robotic sheet metal automatic bending technology, the aim is to provide a bending follow-up method and sheet metal bending process based on the robot's additional axis, which solves the current application of robotic large sheet metal automatic bending In the process, problems such as the inaccessibility of the robot, the interference between the robot and the workpiece, and the inability to automatically calculate the follow-up step distance of the robot’s additional axis have realized efficient and reliable automatic bending of large sheet metal.

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