Title:
BENDING FOLLOWING TRAJECTORY PLANNING METHOD, BENDING SYSTEM, ROBOT, AND STORAGE DEVICE
Document Type and Number:
WIPO Patent Application WO/2020/163997
Kind Code:
A1
Abstract:
Disclosed is a bending following trajectory planning method, comprising: acquiring processing parameters of a bending machine (303) and an auxiliary supporting apparatus (304) for carrying out bending processing on a sheet, wherein the processing parameters comprise a notch width W of a lower die, a tool edge radius r of an upper die, the thickness S of the sheet, a descent distance d(t) of the upper die at each moment t, and the distance L between a reference point, where the auxiliary supporting apparatus is in contact with the sheet, and a central line of a notch of the lower die at an initial moment of bending; according to the descent distance d(t) of the upper die at each moment t, the tool edge radius r of the upper die, the thickness S of the sheet, and the notch width W of the lower die, iteratively calculating a turn-over angle α(t) of the sheet at each moment t; according to the turn-over angle α(t) and the distance L between the reference point of the auxiliary supporting apparatus and the central line of the notch of the lower die at the initial moment of bending, determining the distance between the reference point of the auxiliary supporting apparatus and the lower die at each moment t; and according to the distance between the reference point of the auxiliary supporting apparatus and the lower die, and the turn-over angle α(t) of the sheet, planning motion of the auxiliary supporting apparatus. Disclosed is a bending processing system, comprising the bending machine (303), the auxiliary supporting apparatus (304), a memory (302) and a processor (301), wherein the processor (301) loads a program instruction, and implements the bending following trajectory planning method. Disclosed is a robot, comprising the memory (302), the processor (301), a communication circuit (403), a driving mechanism (404) and an end execution mechanism (405), wherein motion of the end execution mechanism (405) is planned, and the motion of the end execution mechanism (405) is controlled according to an obtained motion plan. Disclosed is a storage device that stores the program instruction, wherein the program instruction can be loaded, and implements the bending following trajectory planning method. The motion precision of the auxiliary supporting apparatus during a bending process can be improved, thereby improving the production quality of a bending process.
Inventors:
ZHANG ZHIMING (CN)
Application Number:
PCT/CN2019/074881
Publication Date:
August 20, 2020
Filing Date:
February 12, 2019
Export Citation:
Assignee:
SHENZHEN A & E INTELLIGENT TECH INST CO LTD (CN)
International Classes:
B21D5/06
Foreign References:
| CN105234213A | 2016-01-13 | |||
| CN102172681A | 2011-09-07 | |||
| CN105127251A | 2015-12-09 | |||
| CN106001196A | 2016-10-12 | |||
| JP2018111172A | 2018-07-19 | |||
| JP2018192542A | 2018-12-06 |
Attorney, Agent or Firm:
CHINA WISPRO INTELLECTUAL PROPERTY LLP. (CN)
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