阅读说明：本技术 一种折弯机待折弯件的定位方法、装置、设备和存储介质 (Method, device and equipment for positioning to-be-bent piece of bending machine and storage medium ) 是由 张志明 于 2020-10-29 设计创作，主要内容包括：本发明公开了一种折弯机待折弯件的定位方法、装置、设备和存储介质,应用于机器人将待折弯件送入折弯机的过程控制,折弯机包括定位挡块,定位挡块用于对待折弯件限位的一侧设有两个可伸缩的定位挡指,该定位方法包括：当待折弯件与两个定位挡指均接触时,判断两个定位挡指伸出定位挡块的长度是否相等；若否,则将待折弯件送入折弯机内的运动分为沿垂直于定位挡块的限位侧面方向的平移运动和在平移运动所在平面内的旋转运动,并确定平移运动的位移量和旋转运动的旋转总角度；控制机器人的输出,使机器人驱动待折弯件平移该位移量并旋转该旋转总角度,以使待折弯件运动完成后刚好与限位侧面对齐,以避免待折弯件与挡块之间产生挤压力。(The invention discloses a positioning method, a device, equipment and a storage medium of a to-be-bent piece of a bending machine, which are applied to process control of a robot for feeding the to-be-bent piece into the bending machine, wherein the bending machine comprises a positioning stop block, the positioning stop block is used for arranging two telescopic positioning stop fingers on one side for limiting the to-be-bent piece, and the positioning method comprises the following steps: when the piece to be bent is in contact with both the two positioning stop fingers, judging whether the lengths of the two positioning stop fingers extending out of the positioning stop block are equal; if not, dividing the movement of the piece to be bent into the translational movement in the direction perpendicular to the limiting side surface of the positioning stop block and the rotational movement in the plane of the translational movement, and determining the displacement of the translational movement and the total rotational angle of the rotational movement; the output of control robot makes the robot drive wait to bend a translation this displacement volume and rotate this rotatory total angle to just align with spacing side after the messenger waits to bend the motion and accomplishes, in order to avoid waiting to bend and produce the extrusion force between the dog.)

1. The utility model provides a location method of a bender waiting to bend, is applied to the robot and will wait to bend the process control that sends into the bender, its characterized in that, the bender includes the location dog, the location dog is used for to wait to bend spacing one side be equipped with two telescopic location and keep off and indicate, location method includes:

when the piece to be bent is in contact with the two positioning stop fingers, judging whether the lengths of the two positioning stop fingers extending out of the positioning stop block are equal;

if not, dividing the motion of the piece to be bent sent into the bending machine into translational motion along the direction vertical to the limiting side surface of the positioning stop block and rotational motion in the plane of the translational motion, and determining the displacement of the translational motion and the total rotational angle of the rotational motion;

and controlling the output of the robot, so that the robot drives the to-be-bent piece to translate the displacement and rotate the total rotation angle, and the to-be-bent piece is just aligned with the limiting side face after the movement is completed.

2. The method for positioning the to-be-bent piece of the bending machine according to claim 1, wherein the determining of the total angle of rotation of the rotary motion comprises:

calculating the difference of the lengths of the two positioning stop fingers extending out of the positioning stop block;

and calculating the total rotating angle according to the difference and the distance between the two positioning stop fingers.

3. The method for positioning the to-be-bent piece of the bending machine according to claim 2, wherein the process of controlling the output of the robot to drive the to-be-bent piece to translate the displacement amount and rotate the total rotation angle by the robot comprises the following steps:

selecting N interpolation points in the translation movement stroke of the piece to be bent, wherein N is a positive integer greater than or equal to 1;

and controlling the output of the robot, and enabling the piece to be bent to rotate by a preset angle at each interpolation point in the process of driving the piece to be bent to perform translational motion by the robot, wherein the sum of the rotating angles of the piece to be bent at the N interpolation points is equal to the total rotating angle.

4. The method for positioning the piece to be bent by the bending machine according to any one of claims 1 to 3, wherein determining the displacement of said translational movement comprises:

selecting a rotation central point of the rotation motion, and taking the rotation central point as a reference point of the translation motion;

acquiring the lengths of the two positioning stop fingers respectively extending out of the positioning stop block;

and determining the displacement of the rotation central point according to the length of the two positioning blocking fingers extending out of the positioning stop block, the distance between the two positioning blocking fingers and the position relation between the rotation central point and the two positioning blocking fingers.

5. The method for positioning the to-be-bent piece of the bending machine according to claim 4, wherein the selecting the rotation center point of the rotation motion comprises:

selecting a contact point of the piece to be bent and any one of the positioning retaining fingers as the rotating central point; alternatively, the first and second electrodes may be,

and selecting the central point of a tool for clamping the piece to be bent by the robot as the rotating central point.

6. The method for positioning the to-be-bent piece of the bending machine according to claim 4, wherein before the to-be-bent piece contacts with both of the two positioning stop fingers, the method further comprises:

and controlling the output of the robot to enable the robot to drive the piece to be bent to move along the direction vertical to the limiting side surface.

7. The method for positioning the to-be-bent piece of the bending machine according to claim 4, wherein before determining whether the lengths of the two positioning stop fingers extending beyond the positioning stop blocks are equal, the method further comprises:

and establishing a bending coordinate system, wherein the origin of the bending coordinate system is fixed at the preset position of the bending machine.

8. The utility model provides a positioner of a bender spare of waiting to bend which characterized in that includes:

the judging module is used for judging whether the lengths of the two positioning stop fingers extending out of the positioning stop block are equal or not when the piece to be bent is in contact with the two positioning stop fingers;

the motion decomposition module is used for dividing the motion of the piece to be bent sent into the bending machine into translational motion along the direction vertical to the limiting side surface of the positioning stop block and rotational motion in the plane of the translational motion, and determining the displacement of the translational motion and the total rotational angle of the rotational motion;

and the execution module is used for controlling the output of the robot, so that the robot drives the to-be-bent piece to translate the displacement and rotate the total rotation angle, and the to-be-bent piece is just aligned with the limiting side face after the movement is finished.

9. The utility model provides a bending machine treats positioning device of a piece of bending which characterized in that includes:

a memory for storing a computer program;

a processor for implementing the steps of the method for positioning the to-be-bent piece of the bending machine according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that said computer-readable storage medium has stored thereon a computer program, which when being executed by a processor, implements the steps of the method for positioning a member to be bent of a bending machine according to any one of claims 1 to 7.

Technical Field

The invention relates to the technical field of workpiece positioning, in particular to a method, a device, equipment and a storage medium for positioning a to-be-bent piece of a bending machine.

Background

In the field of machining technology, bending processes are generally involved, for example, bending sheet metal parts.

In practical production, an unformed piece to be bent is fed into a bending machine by a robot, so that feeding and positioning of the piece to be bent are realized. A stop block with a fixed position is arranged in the bending machine to limit a piece to be bent, and when a robot puts the piece to be bent in place, one edge of the piece to be bent is in fit contact with one side of the stop block; at the moment, the bending knife of the bending machine moves downwards, or the bending knife groove and the piece to be bent move upwards simultaneously, so that the bending knife presses the piece to be bent into the bending knife groove, the piece to be bent deforms, and bending work is completed.

Under the ideal state, when the robot sends the piece of waiting to bend into in place, wait to bend the side contact of piece just with the dog, do not produce extrusion effort between the two.

However, in the actual production process, because wait to bend stack positional deviation on the material is piled or wait to bend the side that the piece is used for aligning the dog and factor such as unevenness itself, can cause to wait to bend and the local back of contacting of dog, the robot continues the action, make and wait to bend the piece and tightly support and press on the dog, thereby make and wait to bend and produce very big extrusion force between piece and the dog, under this kind of condition, not only wait to bend when bending the inside stress can cause and wait to bend unnecessary deformation, lead to producing the waste product, and damage the dog surface easily, make the dog surface impaired deformation, influence the follow-up positioning accuracy who waits to bend.

That is, when waiting to bend and produce interact's extrusion force between the dog, not only can influence the positioning accuracy who waits to bend, still will directly influence the effect of bending of waiting to bend.

In summary, the problem to be solved by those skilled in the art needs to be solved how to avoid the mutual extrusion force between the to-be-bent piece and the stop block in the positioning process of the to-be-bent piece.

Disclosure of Invention

In view of the above, the present invention provides a method for positioning a to-be-bent piece of a bending machine, which avoids generating an extrusion force between the to-be-bent piece and a positioning stop block during the positioning of the to-be-bent piece.

Another object of the present invention is to provide a positioning device, a device and a storage medium for a to-be-bent piece of a bending machine, which have the above beneficial effects.

In order to achieve the above purpose, the invention provides the following technical scheme:

the utility model provides a location method of a bender waiting to bend, is applied to the robot and will wait to bend the process control that sends into the bender, the bender includes the location dog, the location dog is used for to wait to bend spacing one side be equipped with two telescopic location and keep off and indicate, the location method includes:

when the piece to be bent is in contact with the two positioning stop fingers, judging whether the lengths of the two positioning stop fingers extending out of the positioning stop block are equal;

if not, dividing the motion of the piece to be bent sent into the bending machine into translational motion along the direction vertical to the limiting side surface of the positioning stop block and rotational motion in the plane of the translational motion, and determining the displacement of the translational motion and the total rotational angle of the rotational motion;

and controlling the output of the robot, so that the robot drives the to-be-bent piece to translate the displacement and rotate the total rotation angle, and the to-be-bent piece is just aligned with the limiting side face after the movement is completed.

Preferably, determining the total angle of rotation of the rotational movement comprises:

calculating the difference of the lengths of the two positioning stop fingers extending out of the positioning stop block;

and calculating the total rotating angle according to the difference and the distance between the two positioning stop fingers.

Preferably, the process of controlling the output of the robot to make the robot drive the piece to be bent to translate the displacement amount and rotate the total rotation angle includes:

selecting N interpolation points in the translation movement stroke of the piece to be bent, wherein N is a positive integer greater than or equal to 1;

and controlling the output of the robot, and enabling the piece to be bent to rotate by a preset angle at each interpolation point in the process of driving the piece to be bent to perform translational motion by the robot, wherein the sum of the rotating angles of the piece to be bent at the N interpolation points is equal to the total rotating angle.

Preferably, determining the amount of displacement of the translational movement comprises:

selecting a rotation central point of the rotation motion, and taking the rotation central point as a reference point of the translation motion;

acquiring the lengths of the two positioning stop fingers respectively extending out of the positioning stop block;

and determining the displacement of the rotation central point according to the length of the two positioning blocking fingers extending out of the positioning stop block, the distance between the two positioning blocking fingers and the position relation between the rotation central point and the two positioning blocking fingers.

Preferably, selecting a center point of rotation for the rotational movement comprises:

selecting a contact point of the piece to be bent and any one of the positioning retaining fingers as the rotating central point; alternatively, the first and second electrodes may be,

and selecting the central point of a tool for clamping the piece to be bent by the robot as the rotating central point.

Preferably, before the piece to be bent contacts with both of the two positioning stop fingers, the bending device further comprises:

and controlling the output of the robot to enable the robot to drive the piece to be bent to move along the direction vertical to the limiting side surface.

Preferably, before judging whether the lengths of the two positioning stop fingers extending out of the positioning stop block are equal, the method further comprises:

and establishing a bending coordinate system, wherein the origin of the bending coordinate system is fixed at the preset position of the bending machine.

A positioner of a bender piece of waiting to bend includes:

the judging module is used for judging whether the lengths of the two positioning stop fingers extending out of the positioning stop block are equal or not when the piece to be bent is in contact with the two positioning stop fingers;

the motion decomposition module is used for dividing the motion of the piece to be bent sent into the bending machine into translational motion along the direction vertical to the limiting side surface of the positioning stop block and rotational motion in the plane of the translational motion, and determining the displacement of the translational motion and the total rotational angle of the rotational motion;

and the execution module is used for controlling the output of the robot, so that the robot drives the to-be-bent piece to translate the displacement and rotate the total rotation angle, and the to-be-bent piece is just aligned with the limiting side face after the movement is finished.

A positioning device for a piece to be bent of a bending machine comprises:

a memory for storing a computer program;

and the processor is used for realizing the steps of the positioning method of the to-be-bent piece of the bending machine when executing the computer program.

A computer readable storage medium, wherein the computer readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of any one of the above methods for positioning a to-be-bent piece of a bending machine.

According to the method for positioning the to-be-bent piece of the bending machine, when the to-be-bent piece is in contact with two positioning stop fingers of a positioning stop block, and the two positioning stop fingers are different in length extending out of the positioning stop block, the to-be-bent piece is indicated to be inclined and is not parallel to the limiting side face of the positioning stop block, at the moment, the movement of feeding the to-be-bent piece into the bending machine is divided into translational movement and rotational movement, namely, the to-be-bent piece is enabled to perform translational movement along the direction perpendicular to the limiting side face of the positioning stop block, so that the to-be-bent piece is gradually close to the limiting; the piece to be bent is made to rotate in the plane where the translational motion is located, so that the deflection of the piece to be bent is compensated, and the side of the piece to be bent, which is in contact with the two positioning stop fingers, gradually tends to be parallel to the limiting side face of the positioning stop block; according to the bending method and device, the translation motion and the rotation motion of the to-be-bent piece are guaranteed by controlling the output of the robot for clamping the to-be-bent piece, and finally the to-be-bent piece is just aligned to the limiting side face of the positioning stop block when the to-be-bent piece completes the motion, so that the mutual extrusion force between the to-be-bent piece and the positioning stop block is avoided, therefore, the deformation of the to-be-bent piece caused by the stress inside the to-be-bent piece can be avoided during bending, and the bending effect is guaranteed; meanwhile, the limit side face of the positioning stop block can be prevented from being damaged, and the positioning precision of the piece to be bent is ensured.

The positioning device for the to-be-bent piece of the bending machine, the positioning equipment for the to-be-bent piece of the bending machine and the computer readable storage medium have the beneficial effects.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a flowchart of a method for positioning a to-be-bent piece of a bending machine according to an embodiment of the present invention;

fig. 2 is a flowchart of a method for positioning a to-be-bent piece of a bending machine according to a second embodiment of the present invention;

fig. 3 is a schematic process diagram of a method for positioning a to-be-bent piece of a bending machine according to an embodiment of the present invention;

fig. 4 is a structural diagram of a positioning device for a to-be-bent piece of a bending machine according to an embodiment of the present invention;

fig. 5 is a structural diagram of a positioning device for a to-be-bent piece of a bending machine according to an embodiment of the present invention.

The reference numerals in fig. 3 are as follows:

1 is a positioning stop block, 2 is a positioning stop finger and 3 is a piece to be bent.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The core of the invention is to provide a method for positioning a to-be-bent piece of a bending machine, which avoids extrusion force between the to-be-bent piece and a positioning stop block in the positioning process of the to-be-bent piece. The other core of the invention is to provide a positioning device, equipment and storage medium for a to-be-bent piece of the bending machine, which have the beneficial effects.

Referring to fig. 1 to fig. 3, fig. 1 is a flowchart illustrating a method for positioning a to-be-bent piece of a bending machine according to an embodiment of the present invention; fig. 2 is a flowchart of a method for positioning a to-be-bent piece of a bending machine according to a second embodiment of the present invention; fig. 3 is a schematic process diagram of a method for positioning a to-be-bent piece of a bending machine according to an embodiment of the present invention.

The invention provides a method for positioning a to-be-bent piece of a bending machine, which is mainly applied to process control of a robot for feeding the to-be-bent piece into the bending machine.

The bending machine comprises a positioning stop block, the positioning stop block is provided with two telescopic positioning stop fingers, and the positioning stop fingers are arranged on one side, limited by a piece to be bent, of the positioning stop block.

In the initial state, the two positioning stop fingers extend out of the limiting side face of the positioning stop block, and the extending lengths of the two positioning stop fingers are the same. After the location fender indicates and treats the piece of bending contact, the location keeps off the effect that indicates to the inside shrink of location dog that receives the power, when treating that the piece of bending reachs the preparation position of bending, then the location keeps off to indicate to be impressed inside the location dog completely for treat that the piece of bending and the laminating of location dog are to it, realize treating the location of the piece of bending.

It can be understood that, in the process of feeding the to-be-bent piece into the bending machine by the robot, if the positioning side edge of the to-be-bent piece is not parallel to the limiting side surface of the positioning stop block, the to-be-bent piece is firstly contacted with one positioning stop finger, so that the to-be-bent piece is contracted towards the inside of the positioning stop block under the action of force, and the extending length of the positioning stop finger is changed; at the moment, the extending length of the positioning stop finger which is not in contact with the piece to be bent is kept unchanged. And the robot continues to feed the piece to be bent into the bending machine, so that the piece to be bent is in contact with the other positioning stop finger, and the two positioning stop fingers start to contract towards the inside of the positioning stop block simultaneously. Obviously, the protruding lengths of the two positioning stop fingers will not be equal any more in the process.

In other words, when the extending lengths of the two positioning stop fingers are not equal, it is indicated that the positioning side edge of the to-be-bent piece is not parallel to the limiting side surface of the positioning stop, and at this time, the to-be-bent piece of the bending machine needs to be positioned by using the positioning method of the to-be-bent piece of the bending machine provided by the invention.

In addition, it should be noted that a position sensor is further arranged inside the positioning stop block, and the position sensor is used for identifying the real-time position of the positioning stop finger, so that the position condition of the piece to be bent is determined according to the real-time position information of the positioning stop finger, and the piece to be bent is conveniently placed in place.

The positioning method of the to-be-bent piece of the bending machine provided by the invention comprises the following steps of S1-S3:

step S1: when waiting to bend and keeping off when indicating all contact with two location, judge two location and keep off and indicate that the length that stretches out the location dog equals.

According to the analysis, when the lengths of the two positioning stop fingers extending out of the positioning stop blocks are not equal, the positioning side edge of the piece to be bent is not parallel to the limiting side surface of the positioning stop block; on the contrary, when the lengths of the two positioning stop fingers extending out of the positioning stop block are equal, the positioning side edge of the piece to be bent is parallel to the limiting side surface of the positioning stop block, at the moment, the piece to be bent is aligned to the positioning stop block, the piece to be bent is pushed to the position according to the state, and local extrusion force cannot be generated between the piece to be bent and the positioning stop block.

Step S2: if not, dividing the movement of the piece to be bent into the translation movement in the direction perpendicular to the limiting side surface of the positioning stop block and the rotation movement in the plane where the translation movement is located, and determining the displacement of the translation movement and the total rotation angle of the rotation movement.

When the positioning side edge of the piece to be bent is not parallel to the limiting side surface of the positioning stop block, the motion state of the piece to be bent needs to be adjusted to compensate the deflection amount of the piece to be bent, so that the pose of the piece to be bent is adjusted to be parallel to the limiting side surface of the positioning stop block.

Specifically, when the lengths of the two positioning stop fingers extending out of the positioning stop blocks are unequal, the movement of the piece to be bent sent into the bending machine is divided into translational movement and rotational movement, and the translational movement is the movement of the piece to be bent along the direction perpendicular to the limiting side surface of the positioning stop block, so that the piece to be bent is continuously close to the positioning stop block.

The rotation motion is the rotation motion of the piece to be bent in the plane of the translation motion, that is, the position deviation of the piece to be bent is adjusted through the rotation motion so as to compensate the deflection amount of the piece to be bent.

Meanwhile, the displacement of the translational motion and the total rotation angle of the rotational motion are determined according to the extending lengths of the two positioning stop fingers.

It should be noted that, the displacement of the translational motion of the to-be-bent piece needs to make the to-be-bent piece press the two positioning stop fingers into the positioning stop block, so as to ensure that the to-be-bent piece is in contact with the limiting side face of the positioning stop block; the total rotating angle of the piece to be bent needs to make the piece to be bent perform planar rotation around a certain point, and when the piece to be bent contacts the positioning stop block, one side of the piece to be bent is parallel to the limiting side face of the positioning stop block.

Step S3: and controlling the output of the robot, driving the robot to translate the piece to be bent and rotate the piece to be bent by the total rotating angle, so that the piece to be bent is just aligned with the limiting side face of the positioning stop block after the movement of the piece to be bent is completed.

That is, this application is got the output of the robot of this piece of waiting to bend through the control clamp, guarantees to wait to bend translational motion and rotary motion, and the final messenger waits to bend and just aligns with the spacing side of location dog when accomplishing the motion to there is interactive extrusion force between piece and the location dog to avoid waiting to bend.

Therefore, compared with the prior art, the method for positioning the to-be-bent piece of the bending machine can avoid the deformation of the to-be-bent piece caused by the stress in the to-be-bent piece during bending, and ensure the bending effect; meanwhile, the limit side face of the positioning stop block can be prevented from being damaged, and the positioning precision of the piece to be bent is ensured.

It should be noted that, in the actual movement process, the translational movement and the rotational movement of the to-be-bent piece may be performed separately or simultaneously, that is, the to-be-bent piece may perform a translational movement first and then perform a rotational movement, or may be opposite to the above, or the movement of the to-be-bent piece may be a composite movement of the translational movement and the rotational movement.

In view of the convenience of determining the total rotating angle of the to-be-bent piece, on the basis of the above embodiment, the step S2 of determining the total rotating angle of the rotating motion includes steps S21 and S22:

step S21: and calculating the difference of the lengths of the two positioning stop fingers extending out of the positioning stop block.

Step S22: and calculating the total rotation angle of the piece to be bent according to the difference of the lengths of the two positioning stop fingers extending out of the positioning stop block and the distance between the two positioning stop fingers.

It can be understood that the length of the two positioning stop fingers extending out of the positioning stop can be detected by a position sensor arranged inside the positioning stop; the distance between the two positioning fingers is then a known construction parameter.

The lengths of the two positioning block fingers extending out of the positioning block are defined as y₁And y₂If the distance between the two positioning stop fingers is X, the total rotation angle theta of the piece to be bent is₀Comprises the following steps:

θ₀＝arctan(|y₁-y₂|/X)。

further, in order to ensure the smoothness of the movement of the to-be-bent piece and improve the accuracy of the movement, on the basis of the above embodiment, in step S3, the output of the robot is controlled, so that the robot drives the to-be-bent piece to translate the displacement amount and rotate the total rotation angle, which includes steps S31 and S32:

step S31: and selecting N interpolation points in the translation movement stroke of the piece to be bent, wherein N is a positive integer greater than or equal to 1.

Step S32: and controlling the output of the robot, and enabling the piece to be bent to rotate by a preset angle at each interpolation point in the process of driving the piece to be bent to perform translational motion by the robot, wherein the sum of the rotating angles of the piece to be bent at the N interpolation points is equal to the total rotating angle.

That is to say, in this embodiment, the translational motion of the to-be-bent piece is taken as the main motion, and the rotational motion of the to-be-bent piece at each interpolation point is taken as the compensation motion other than the main motion.

It should be noted that the preset angles of the pieces to be bent at each insertion point may be the same or different. Preferably, the total rotation angle of the to-be-bent piece is equally divided to each interpolation point, that is, the to-be-bent piece is subjected to identical rotation angle compensation on the basis of the pose of each interpolation point, and at this time, the rotation angles theta of the to-be-bent piece at each interpolation point are all rotation angles theta

θ＝arctan(|y₁-y₂|/X)/N。

Like this, when waiting to bend to accomplish translational motion, its rotatory total angle also just can accomplish, makes and waits to bend to adjust just for the state parallel with the location dog.

In view of the convenience of determining the displacement amount of the translational motion of the to-be-bent piece, on the basis of the above embodiment, determining the displacement amount of the translational motion includes steps S23 to S25:

step S23: and selecting a rotation center point of the rotation motion, and taking the rotation center point as a reference point of the translation motion.

Step S24: and acquiring the lengths of the two positioning stop fingers respectively extending out of the positioning stop block.

Step S25: and determining the displacement of the rotation center point according to the length of the two positioning stop fingers extending out of the positioning stop block, the distance between the two positioning stop fingers and the position relationship between the rotation center point and the two positioning stop fingers.

It can be understood that the rotation central points of the rotation motion are selected differently, and the translation amount of the piece to be bent is different.

For example, a contact point of the to-be-bent piece and any one positioning stop finger is selected as a rotation center point, and the displacement of the translational motion is the length of the positioning stop finger extending out of the positioning stop block as the rotation center point.

At this time, the piece to be bent rotates around the rotation center point, and the rotation of the rotation movementTotal angle of theta₀＝arctan(|y₁-y₂|/X)。

Of course, the center point of the tool for clamping the piece to be bent by the robot can also be selected as the rotation center point.

Usually, the central point of the tool for clamping the piece to be bent by the robot is just clamped at the middle point of one side of the piece to be bent away from the positioning stop, and the middle point is simultaneously aligned with the middle point of the connecting line of the two positioning stops, so that the displacement of the translational motion is (y)₁+y₂)/2。

At this time, the piece to be bent rotates around the rotation center point, and the total rotation angle of the rotation motion is still theta₀＝arctan(|y₁-y₂|/X)。

Considering that before waiting to bend and the contact of location fender finger, the robot carries the realization nature of being convenient for of the motion of waiting to bend, on the basis of above-mentioned embodiment, before waiting to bend and two location fender fingers all contact, still include:

and controlling the output of the robot to enable the robot to drive the to-be-bent piece to move along the direction vertical to the limiting side face of the positioning stop block.

That is to say, when waiting to bend and keeping off the finger contact with arbitrary location yet, directly make and wait to bend and keep off the direction of indicating to this spacing side gradually along the direction of the spacing side of perpendicular to location dog and be close to until it keeps off with two location and indicate all contacts, adjust the motion form of waiting to bend according to waiting to bend and the contact condition that two location kept off indicate again.

Therefore, the movement mode is simple and convenient to control.

In addition, in order to facilitate the description of the protruding length of the positioning stop finger and the planning of the motion trajectory of the robot, on the basis of the above embodiment, before determining whether the lengths of the two positioning stop fingers protruding the positioning stop block are equal, the method further includes:

and establishing a bending coordinate system, wherein the origin of the bending coordinate system is fixed at the preset position of the bending machine.

It can be understood that a bending coordinate system is established by taking the bending machine as a reference, and the motion tracks of the bending knife and the piece to be bent can be described conveniently in the bending work so as to plan the bending motion better.

It should be noted that, in each of the above embodiments, the number of the positioning stoppers may be one, that is, one positioning stopper is provided with two positioning stopper fingers; the quantity of location dog also can be two, promptly, the quantity of location dog and the quantity one-to-one that the location kept off and indicates, every location dog is equipped with a location and keeps off and indicates (as shown in figure 3), and two location dogs intercombination treat that the piece of bending plays spacing effect.

Fig. 4 is a structural diagram of a positioning device for a to-be-bent piece of a bending machine according to an embodiment of the present invention.

In addition to the positioning method of the to-be-bent piece of the bending machine, the invention also provides a positioning device of the to-be-bent piece of the bending machine, which is used for realizing the positioning method of the to-be-bent piece of the bending machine, the positioning device of the to-be-bent piece of the bending machine corresponds to the embodiment of the method, and the positioning device of the to-be-bent piece of the bending machine described below and the positioning method of the to-be-bent piece of the bending machine described above can be referred to correspondingly.

This positioner of a piece of bending is treated to bender includes:

and the judging module 11 is used for judging whether the lengths of the two positioning blocking fingers extending out of the positioning stop block are equal or not when the piece to be bent is in contact with the two positioning blocking fingers.

And the motion decomposition module 12 is used for dividing the motion of the piece to be bent sent into the bending machine into translational motion along the direction perpendicular to the limiting side surface of the positioning stop block and rotational motion in the plane of the translational motion, and determining the displacement of the translational motion and the total rotational angle of the rotational motion.

And the execution module 13 is used for controlling the output of the robot, so that the robot drives the piece to be bent to translate the displacement and rotate the total rotation angle, and the piece to be bent is just aligned with the limiting side face of the positioning stop block after the movement of the piece to be bent is completed.

Further, the motion decomposition module 12 includes:

and the length difference calculation module is used for calculating the difference of the lengths of the two positioning stop fingers extending out of the positioning stop block.

And the total rotating angle calculating module is used for calculating the total rotating angle according to the difference value of the lengths of the two positioning stop fingers extending out of the positioning stop block and the distance between the two positioning stop fingers.

Further, the execution module 13 includes:

and the interpolation selection module is used for selecting N interpolation points in the translational motion stroke of the piece to be bent, wherein N is a positive integer greater than or equal to 1.

And the motion execution module is used for controlling the output of the robot, enabling the piece to be bent to rotate by a preset angle at each insertion point in the process of driving the piece to be bent to perform translational motion by the robot, and enabling the sum of the rotating angles of the piece to be bent at the N insertion points to be equal to the total rotating angle.

Further, the motion decomposition module 12 includes:

and the datum point confirming module is used for selecting a rotation central point of the rotation motion and taking the rotation central point as a datum point of the translation motion.

And the length acquisition module is used for acquiring the lengths of the two positioning stop fingers respectively extending out of the positioning stop block.

And the displacement calculation module is used for determining the displacement of the rotation central point according to the length of the two positioning stop fingers respectively extending out of the positioning stop block, the distance between the two positioning stop fingers and the position relation between the rotation central point and the two positioning stop fingers.

Further, the fiducial point confirmation module includes:

and the first rotating central point selecting module is used for selecting a contact point of the piece to be bent and any one positioning stop finger as a rotating central point.

Alternatively, the reference point confirmation module includes:

and the second rotation central point selection module is used for selecting the central point of a tool for clamping the piece to be bent by the robot as a rotation central point.

Further, still include:

and the previous execution module is used for controlling the output of the robot before the motion decomposition module 12 executes the motion decomposition, so that the robot drives the piece to be bent to move along the direction vertical to the limiting side surface of the positioning stop block.

Further, still include:

and the coordinate system establishing module is used for establishing a bending coordinate system before the previous execution module is executed, and the origin of the bending coordinate system is fixed at the preset position of the bending machine.

Referring to fig. 5, fig. 5 is a structural diagram of a positioning device of a to-be-bent piece of a bending machine according to an embodiment of the present invention, where the positioning device of the to-be-bent piece of the bending machine corresponds to an embodiment of the positioning method of the to-be-bent piece of the bending machine, and the positioning method may include:

a memory 21 for storing a computer program;

and a processor 22, configured to execute the computer program stored in the memory 21 to implement the steps of the method for positioning a to-be-bent piece of a bending machine disclosed in any one of the above embodiments.

The positioning device for the to-be-bent piece of the bending machine provided by the embodiment of the invention has the beneficial effect of the positioning method for the to-be-bent piece of the bending machine.

For the description of the positioning device for the to-be-bent piece of the bending machine provided by the invention, please refer to the above method embodiment, and the description of the invention is omitted here.

Corresponding to the above method embodiment, the present invention further provides a computer readable storage medium, where a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the method for positioning a to-be-bent piece of a bending machine disclosed in any one of the above embodiments is implemented.

The computer-readable storage medium provided by the embodiment of the invention has the beneficial effect of the positioning method of the to-be-bent piece of the bending machine.

The computer-readable storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

For the introduction of the computer-readable storage medium provided by the present invention, please refer to the above method embodiments, which are not described herein again.

The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The method, the device, the equipment and the storage medium for positioning the to-be-bent piece of the bending machine provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.