CN105892408B - A method and device for speed planning of a bending machine - Google Patents

Abstract

The present invention is a kind of bending machine speed planning method and device, which comprises step a calculates the plate inspection situation theory speed of the upper mold；Step b, the second segment speed limit degree and the plate of the upper mold examine situation theory speed, and smaller is that the plate of the upper mold examines position and speed；Step c with upper dead center position speed is zero and plate inspection position and speed according to the time it is most short the upper mold first segment is planned, successful then plan completion, the plate for otherwise recalculating the upper mold examines position and speed；Step d, the bending target position speed with the upper mold is zero and the plate examines position and speed, is planned according to the most short movement to the upper mold in second segment of run duration；Described device includes sequentially connected computing module, comparison module, one section of planning module and two sections of planning modules.In this way, pressing plate, which drives upper mold to carry out movement according to planning, can shorten run duration, and then improve bending efficiency after planning speed.

Description

A method and device for speed planning of a bending machine

technical field

The invention relates to the technical field of bending machines, in particular to a speed planning method and device for a bending machine.

Background technique

The bending machine is a machine that can bend thin plates. Due to the use of electromagnetic force clamping, the pressing plate can be made into various workpiece requirements, and it can process the plate inspection with side walls, and the operation is also very simple. . The bending machine is divided into manual bending machine, hydraulic bending machine and CNC bending machine.

The automatic bending process of the CNC bending machine is divided into two sections: the upper mold of the first section moves from the top dead center to the plate inspection position at high speed, and the upper mold of the second section moves from the plate inspection position to the bending target position at a low speed. CNC bending machines often process multiple same or different board inspections, so the processing of each board inspection needs to be as fast as possible, which requires setting the movement of the first and second sections of the upper die, setting The acceleration section, constant speed section, deceleration section of each movement, and the movement time of each section, but the current setting of this data is determined by common sense or experience, which makes the movement of the first and second sections of the upper die The theoretical shortest time has not been reached, which greatly prolongs the processing time for board inspection.

Therefore, there is an urgent need for a method and device for planning the speed of the bending machine, so that the bending machine can process according to the planned speed, so as to shorten the processing time and improve the processing efficiency.

In view of the above defects, the author of the present invention finally proposed a bending machine speed planning method and device after a long period of research and testing.

Contents of the invention

The purpose of the present invention is to provide a bending machine speed planning method and device to overcome the above-mentioned technical defects, and to solve the problem of determining the data through common sense or experience, so that the movement of the first and second segments of the upper mold does not reach the theoretical level. The shortest time on board greatly prolongs the processing time for board inspection.

In order to achieve the above object, the technical solution adopted by the present invention is: firstly, a method for planning the speed of a bending machine is provided, which includes:

Step a, according to the reverse acceleration calculation of the upper mold from the bending target position speed to zero, calculate the theoretical speed of the board inspection position of the upper mold;

Step b, comparing the speed limit of the second section of the upper die with the theoretical speed of the board inspection position, the smaller one is the speed of the board inspection position of the upper die;

Step c, plan the movement of the first segment of the upper die with the upper dead center position and speed of the upper die being zero and the board inspection position and speed according to the shortest movement time. If successful, the planning is completed; Acceleration planning the movement of the upper mold in the first section, and recalculating the board inspection position and speed of the upper mold;

Step d, with the bending target position speed of the upper die being zero and the board inspection position speed, plan the movement of the upper die in the second section according to the shortest movement time.

Preferably, in the step b, the calculation formula of the board inspection position velocity is:

In the formula, v ₁ is the board inspection position speed of the upper die; v ₁₁ is the theoretical speed of the board inspection position of the upper die; v _L2 is the speed limit of the second stage of the upper die.

Wherein, a kind of situation is that described step c comprises:

Step c11, with the speed of the upper dead center position of the upper mold being zero and the speed of the plate inspection position, first uniformly accelerate to the first speed limit, then move at a uniform speed at the first speed limit, and finally decelerate uniformly Plan the movement of the first section to the board inspection position and speed, and calculate the movement time of these three parts. If the movement time of the uniform movement is positive, the planning is successful, otherwise go to step c12;

Step c12, with the speed of the upper dead center position of the upper mold being zero and the speed of the board inspection position, first uniformly accelerate to the speed of the first inflection point, and then uniformly decelerate to the speed of the board inspection position. Plan a period of motion, and calculate the motion time of the two parts. If the motion time of the uniform deceleration motion is positive, the planning is successful, otherwise go to step c13;

Step c13, with the speed of the upper dead center position of the upper die being zero, plan the movement of the upper die in the first section according to the uniform acceleration movement to the board inspection position, and recalculate the upper die's Describe board inspection position speed and movement time.

In another case, the step c includes:

Step c21, calculating the inflection point speed of the first section of the upper die with the position and speed of the upper dead point of the upper die being zero and the position and speed of the board inspection;

Step c22, compare the board inspection position speed of the upper mold, the inflection point speed of the first section and the speed limit of the first section of the upper mold, if the inflection point speed is not less than the speed limit, then turn to step c23; if the inflection point speed is less than the speed limit but not less than the board inspection position speed, go to step c24; if the inflection point speed is smaller than the board inspection position speed, go to step c25;

Step c23, the motion plan for the first section of the upper mold is as follows: firstly, the upper mold moves with uniform acceleration until the speed reaches the speed limit, then moves with the speed limit at a constant speed, and finally moves with a uniform deceleration until the speed reaches the speed limit. The board inspection position speed;

In step c24, the motion plan for the first section of the upper mold is as follows: the upper mold first performs uniform acceleration until the speed reaches the speed of the inflection point, and then performs uniform deceleration to the speed of the plate inspection position;

Step c25, the movement planning of the upper mold in the first section fails, plan the movement of the upper mold in the first section according to the uniform acceleration movement to the plate inspection position, and recalculate the movement of the upper mold Describe board inspection position and speed.

Specifically, the step d includes:

Step d1, with the bending target position speed of the upper mold being zero and the plate inspection position speed, first uniformly accelerate to the second speed limit, then move at the second speed limit, and finally Decelerate uniformly to the bending target position and speed to plan the movement of the second section, and calculate the movement time of the above three parts. If the movement time of the uniform movement is positive, the planning of the second section is successful, otherwise go to step d2;

Step d2, with the bending target position speed of the upper mold being zero and the board inspection position speed, uniformly accelerate to the second inflection point speed, and then uniformly decelerate to the bending target position speed for the first The movement of the second stage is planned.

Specifically, the step b includes:

Step b1, comparing the second speed limit of the upper die with the theoretical speed of the board inspection position, if the second speed limit is greater than the theoretical speed of the board inspection position, then the upper die is The theoretical speed of the plate inspection position is the speed of the plate inspection position, and the movement of the upper mold in the second section is planned according to the uniform deceleration movement to the bending target position, otherwise turn to step b2;

Step b2, if the second speed limit is less than the theoretical speed of the board inspection position, then use the second speed limit of the upper mold as the speed limit of the board inspection position. Limit speed and move at a constant speed, and then move at a uniform deceleration to the bending target position to plan the movement of the upper mold in the second section.

Preferably, in the step c11, the calculation formula of the uniform motion time is:

In the formula, _t12 is the motion time of the uniform motion; a1 is the maximum acceleration received by the _first section of the upper mold; v1 is the board inspection position speed of the upper mold; v _L1 is the _first section of the upper mold Speed limit; S ₁ is the length of the first section.

Preferably, in the step c12, the calculation formula of the uniform deceleration motion time is:

In the formula, t ₁₂ is the motion time of the uniform deceleration motion; v ₁ is the board inspection position velocity of the upper die; a ₁ is the maximum acceleration received by the first section of the upper die; S ₁ is the first The length of the segment.

Secondly, a bending machine speed planning device corresponding to the above-mentioned bending machine speed planning method is provided, which includes:

The calculation module is to calculate the theoretical speed of the board inspection position of the upper die by performing reverse acceleration calculation according to the fact that the bending target position speed of the upper die is zero;

A comparison module, which compares the second limited speed of the upper mold with the theoretical speed of the plate inspection position, and the smaller one is the speed of the plate inspection position of the upper mold;

A segment planning module, with the position and speed of the upper dead center of the upper die being zero and the position and speed of the plate inspection according to the shortest movement time to plan the movement of the first segment of the upper die. If successful, the planning is completed; if not successful Then plan the motion of the first segment of the upper die according to the constant acceleration, and recalculate the board inspection position speed of the upper die;

The second-stage planning module plans the movement of the upper die in the second stage according to the shortest movement time with the bending target position speed of the upper die being zero and the board inspection position speed.

Preferably, the comparison module includes:

The first planning sub-module compares the second speed limit of the upper mold with the theoretical speed of the board inspection position, and if the second speed limit is greater than the theoretical speed of the board inspection position, then use the above The theoretical speed of the plate inspection position of the die is the speed of the plate inspection position, plan the movement of the upper die in the second section according to the uniform deceleration movement to the bending target position, otherwise transfer to the second planning sub-module ;

In the second planning sub-module, if the second speed limit is less than the theoretical speed of the plate inspection position, the speed limit of the second stage of the upper mold is used as the speed limit of the plate inspection position, and the The second section moves at a constant speed with a limited speed, and then moves at a uniform deceleration to the bending target position to plan the movement of the upper mold in the second section.

Compared with the prior art, the present invention has the beneficial effect of providing a method and device for speed planning of a bending machine, so that after planning the speed of the upper mold in the first section and the second section, the pressing plate drives the upper mold according to the planned speed. After the movement, the bending target position can be reached in the shortest time, which shortens the movement time and improves the bending efficiency; it can ensure that the upper die reaches the bending target position within an accurate time, thereby ensuring the bending accuracy. It achieves a better bending effect; it does not need to judge the limit speed and the theoretical speed, but directly draws a conclusion through calculation, which improves the judgment speed; the calculation formula is simple, convenient, and easy to calculate, which improves the speed planning of the bending machine Efficiency; simple calculation process saves system resources;

Description of drawings

Fig. 1 is the flowchart of the speed planning method of bending machine of the present invention;

Fig. 2 is the flowchart of step b in the speed planning method of bending machine of the present invention;

Fig. 3 is a flowchart one of step c in the speed planning method of the bending machine of the present invention;

Fig. 4 is the second flowchart of step c in the bending machine speed planning method of the present invention;

Fig. 5 is a flowchart of step d of the speed planning method of the bending machine of the present invention;

Fig. 6 is a structural diagram of the speed planning device of the bending machine of the present invention;

Fig. 7 is a structural diagram of the comparison module in the speed planning device of the bending machine of the present invention;

Fig. 8 is a structural diagram 1 of a planning module in the speed planning device of the bending machine of the present invention;

Fig. 9 is a second structural diagram of a planning module in the speed planning device of the bending machine of the present invention;

Fig. 10 is a structural diagram of the second-stage planning module in the speed planning device of the bending machine of the present invention.

Detailed ways

The above and other technical features and advantages of the present invention will be described in more detail below in conjunction with the accompanying drawings.

As shown in Figure 1, it is a flow chart of the bending machine speed planning method of the present invention; wherein, the bending machine speed planning method includes:

Step a, according to the reverse acceleration calculation of the upper mold from the bending target position speed to zero, calculate the theoretical speed of the board inspection position of the upper mold;

The board inspection position is the abbreviation of board thickness inspection position.

The calculation formula of the theoretical speed of board inspection position is:

Among them, v ₁₁ is the theoretical speed of the board inspection position of the upper mold; a ₂ is the maximum acceleration of the upper mold in the second section, and the specific value is determined by the comprehensive calculation of the upper mold mass and upper mold force; S ₂ is the second section length.

Step b, comparing the speed limit of the second stage of the upper die with the theoretical speed of the board inspection position, the smaller one is the speed of the board inspection position of the upper die;

Step c, plan the movement of the first segment of the upper die with the position and speed of the upper dead center of the upper die being zero and the position and speed of the board inspection according to the shortest movement time. If successful, the planning is completed; if unsuccessful, plan according to the constant acceleration The movement of the upper mold in the first section, and recalculate the board inspection position speed of the upper mold;

In step d, plan the movement of the upper die in the second stage according to the shortest movement time with the bending target position speed of the upper die being zero and the board inspection position speed.

In this step, the board inspection position speed of the upper die is recalculated in step c, that is, the board inspection position speed of the upper die is the recalculated board inspection position speed.

The first section of the upper mold is a high-speed section, and the second section is a low-speed section, so if recalculation is performed in step c, the recalculated board inspection position speed is smaller than the board inspection position speed determined in step b, That is, v ₁ '<v ₁ .

In this way, after planning the speed of the upper mold in the first section and the second section, the pressing plate drives the upper mold to move according to the plan and can reach the bending target position in the shortest time, shortening the movement time and improving the bending efficiency .

In addition, compared with planning based on experience or common sense estimation, the present invention can ensure that the upper die reaches the bending target position within an accurate time, thereby ensuring bending accuracy and achieving a better bending effect.

Embodiment one

As described above, the speed planning method of the bending machine, the difference of this embodiment is that, as shown in the flow chart of step b in the speed planning method of the bending machine of the present invention shown in Figure 2, the step b includes:

Step b1, comparing the second speed limit of the upper mold with the theoretical speed of the board inspection position, if the second speed limit is greater than the theoretical speed of the board inspection position, then use the theoretical speed of the board inspection position of the upper die as the board Check the position and speed, and plan the movement of the upper mold in the second section according to the uniform deceleration movement to the bending target position, otherwise go to step b2;

The calculation formula of uniform motion motion time is:

In the formula, t ₂ is the movement time of the acceleration movement; a ₂ is the maximum acceleration received by the first section of the upper mold, and the specific value is determined by comprehensive calculation of the upper mold mass and upper mold force; S ₂ is the length of the first section.

Step b2, if the second speed limit is less than the theoretical speed of the board inspection position, then use the second speed limit of the upper mold as the speed of the board inspection position, first move at a uniform speed at the second speed limit, and then decelerate uniformly Moving to the bending target position plans the movement of the upper mold in the second section.

The exercise times for the two parts are:

In the formula, t ₂₁ is the motion time of uniform motion; t ₂₂ is the motion time of uniform deceleration motion; a ₂ is the maximum acceleration received by the second section of the upper die, and the specific value is determined by the comprehensive calculation of the upper die mass and upper die force ;v _L2 is the speed limit of the upper die at the _second stage, which is jointly determined by the mechanical properties of the upper die and the bending machine. The length of the segment.

Through this embodiment, the speed of speed planning for the second stage is improved, system resources are saved, and the movement of the upper mold in the second stage can reach the theoretical limit without affecting the performance of the bending machine. The maximum value further improves the bending efficiency.

Embodiment two

As mentioned above, the speed planning method of the bending machine, the difference of this embodiment is that in the step b, the calculation formula of the board inspection position speed is:

In the formula, v ₁ is the board inspection position speed of the upper die; v ₁₁ is the theoretical speed of the board inspection position of the upper die; v _L2 is the speed limit of the second section of the upper die, which is jointly determined by the mechanical properties of the upper die and the bending machine , the limit speed of the plate inspection position of the same bending machine moving to the bending target position is the same.

The above idea is: the ratio of the difference between the minuend and the subtrahend to the absolute value is a positive or negative number, the positive or negative number is added by one and then divided by two as the coefficient of the subtrahend, then the subtrahend with a positive difference will be Reserved, the subtrahend whose difference is negative will be eliminated; reverse the subtrahend and the minuend and recalculate, and the value obtained after adding the two results is the smaller value of the subtrahend and the minuend.

The beneficial effect is: through the ratio of the difference and the absolute value of the difference, it is converted into a positive and negative number of one; the positive and negative numbers are added by one and then divided by two as the factor of the subtrahend, thus eliminating the difference between negative numbers Subtrahend, so that the calculated value is the smaller value of the subtrahend and the minuend; in this way, it is not necessary to judge the size of the limit speed and the theoretical speed, and the conclusion is directly obtained through calculation, which improves the speed of judgment; the calculation formula is simple, It is convenient and easy to calculate, which improves the speed planning efficiency of the bending machine; the simple calculation process saves system resources.

Embodiment 3

As described above, the bending machine speed planning method, the difference of this embodiment is that, as shown in the flow chart of step c in Figure 3 of the bending machine speed planning method of the present invention, the step c includes:

Step c11, with the speed at the upper dead center position of the upper mold being zero and the speed at the board inspection position, accelerate uniformly to the first speed limit, then move at a uniform speed at the first speed limit, and finally decelerate uniformly to the board inspection position Speed plans the movement of the first segment, and calculates the movement time of the above three parts. If the movement time of the uniform movement is positive, the planning is successful, otherwise go to step c12;

The calculation formula of the uniform motion time is:

In the formula, t ₁₂ is the motion time of uniform motion; a ₁ is the maximum acceleration received by the first section of the upper mold; v ₁ is the plate inspection position speed of the upper mold; v _L1 is the speed limit of the first section of the upper mold; S ₁ is The length of the first paragraph.

Step c12, with the top dead center position speed of the upper mold being zero and the board inspection position speed, plan the movement of the first section according to uniformly accelerating to the first inflection point speed, and then uniformly decelerating to the board inspection position speed, Calculate the movement time of the above two parts, if the movement time of the uniform deceleration movement is positive, the planning is successful, otherwise go to step c13;

The calculation formula of the uniform deceleration motion time is:

In the formula, t ₁₂ is the motion time of the uniform deceleration motion; v ₁ is the plate inspection position velocity of the upper die; a ₁ is the maximum acceleration received by the first segment of the upper die; S ₁ is the length of the first segment.

Step c13, with the speed at the upper dead point of the upper die being zero, plan the movement of the upper die in the first segment according to uniform acceleration to the board inspection position, and recalculate the upper die's Describe board inspection position speed and movement time.

The calculation formula of the plate inspection position speed of the upper die is:

The exercise time is:

In the formula, t ₁ is the movement time of the acceleration movement; v ₁ ' is the re-determined plate inspection position velocity of the upper die; a ₁ is the maximum acceleration received by the first segment of the upper die; S ₁ is the length of the first segment.

Through this embodiment, the speed of the first section of speed planning is improved, system resources are saved, and the movement of the upper die in the first section can reach a theoretical limit without affecting the performance of the bending machine. The maximum value further improves the bending efficiency.

Embodiment 4

The difference between this embodiment and the bending machine speed planning method described above is that, as shown in Figure 4, the flow chart of step c in the bending machine speed planning method of the present invention, the step c includes:

Step c21, calculating the inflection point velocity of the first section of the upper mold with the upper dead point position velocity of the upper mold being zero and the board inspection position velocity;

The calculation formula of the inflection point speed is:

In the formula, v _i1 is the inflection point velocity of the first section of the upper mold; v ₁ is the board inspection position velocity of the upper mold; a ₁ is the maximum acceleration received by the first section of the upper mold. and other comprehensive calculations; S ₁ is the length of the first segment.

Step c22, compare the plate inspection position speed of the upper die, the inflection point speed of the first section, and the speed limit of the first section of the upper die, if v _L1 ≤ v _i1 , go to step c23; if v ₁ ≤v _i1 < v _L1 , turn to step c24; if v _i1 <v ₁ , turn to step c25;

Step c23, the motion planning of the upper mold in the first section is speed planning one: the upper mold first performs uniform acceleration until the speed reaches v _L1 , then moves at a constant speed of v _L1 , and finally performs uniform deceleration to v ₁ ;

The calculation formula of described speed planning-each motion time is:

In the formula, t ₁₁ is the motion time of uniform acceleration motion; t ₁₂ is the motion time of uniform motion; t ₁₃ is the motion time of uniform deceleration motion; a ₁ is the maximum acceleration received by the _first section of the upper die; The board inspection position speed; v _L1 is the speed limit of the first section of the upper die; S ₁ is the length of the first section.

In step c24, the motion planning of the upper mold in the first section is speed planning two: the upper mold first performs uniform acceleration until the speed reaches v _i1 , and then performs uniform deceleration to v ₁ ;

The calculation formula of each motion time of the speed planning two is:

In the formula, t ₁₁ is the motion time of uniform acceleration motion; t ₁₂ is the motion time of uniform deceleration motion; a ₁ is the maximum acceleration received by the first section of the upper die; v ₁ is the plate inspection position speed of the upper die; v _i1 is The inflection point velocity of the upper die in the first segment.

In step c25, the movement planning of the upper mold in the first section fails, and the movement of the upper mold in the first section is planned according to the uniform acceleration movement to the board inspection position, and the movement of the upper mold is recalculated. The board inspection position speed;

The motion time of acceleration motion is:

The calculation formula of the plate inspection position speed of the upper die is:

In the formula, t ₁ is the movement time of the acceleration movement; v ₁ ' is the re-determined plate inspection position velocity of the upper die; a ₁ is the maximum acceleration received by the first segment of the upper die; S ₁ is the length of the first segment.

Compared with Embodiment 4, this embodiment further improves the speed of the first section of speed planning, saves system resources, and enables the movement of the upper mold in the first section without affecting the performance of the bending machine. Under this condition, the theoretical maximum value is reached, which further improves the bending efficiency.

Embodiment five

As described above, the bending machine speed planning method, the difference of this embodiment is that, as shown in Figure 5, the flow chart of step d of the bending machine speed planning method of the present invention, the step d includes:

Step d1, with the bending target position speed of the upper mold being zero and the plate inspection position speed, first uniformly accelerate to the second speed limit, then move at the second speed limit, and finally decelerate uniformly to the bending target The position and velocity plan the movement of the second section, and calculate the movement time of the above three parts. If the movement time of the uniform movement is positive, the second section planning is successful, otherwise go to step d2;

The calculation formula of the uniform motion time is:

In the formula, t ₂₂ is the motion time of uniform motion; a ₂ is the maximum acceleration received by the second section of the upper mold; v ₁ ' is the board inspection position speed of the upper mold; v _L2 is the speed limit of the second section of the upper mold; S ₂ is the length of the second segment.

Step d2, with the bending target position speed of the upper mold being zero and the board inspection position speed, plan the movement of the second segment according to uniform acceleration to the second inflection point speed, and then uniform deceleration to the bending target position speed .

The calculation formulas of the uniform velocity motion and the uniform deceleration motion motion time are respectively:

In the formula, t ₂₁ is the motion time of uniform acceleration motion; t ₂₂ is the motion time of uniform deceleration motion; v ₁ ' is the plate inspection position velocity of the upper die; a ₂ is the maximum acceleration received by the second section of the upper die; S ₂ is the length of the second segment.

Through this embodiment, the speed of re-planning the speed of the second stage is improved, system resources are saved, and the movement of the upper mold in the second stage can reach the theoretical limit without affecting the performance of the bending machine. The maximum value further improves the bending efficiency.

Embodiment six

As shown in Figure 6, it is a structural diagram of the speed planning device of the bending machine of the present invention; wherein, the speed planning device of the bending machine includes a calculation module 1, a comparison module 2, a planning module 3 and a second section connected in sequence Planning Module 4;

Calculation module 1, according to the reverse acceleration calculation of the upper mold from the bending target position speed to zero, calculate the theoretical speed of the board inspection position of the upper mold;

The calculation formula of the theoretical speed of board inspection position is:

Among them, v ₁₁ is the theoretical speed of the board inspection position of the upper mold; a ₂ is the maximum acceleration of the upper mold in the second section, and the specific value is determined by the comprehensive calculation of the upper mold mass and upper mold force; S ₂ is the second section length.

Comparing module 2, comparing the second section speed limit of the upper die with the theoretical speed of the board inspection position, the smaller one is the board inspection position speed of the upper die;

One section planning module 3, with the top dead center position and speed of the upper mold being zero and the board inspection position and speed planning the movement of the first section of the upper mold according to the shortest movement time. If successful, the planning is completed; Acceleration planning the movement of the upper mold in the first section, and recalculating the board inspection position and velocity of the upper mold;

The second-stage planning module 4 plans the movement of the upper die in the second stage according to the shortest movement time with the bending target position speed of the upper die being zero and the board inspection position speed.

In this step, the board inspection position speed of the upper die is recalculated in the section planning module 3, that is, the board inspection position speed of the upper die is the recalculated board inspection position speed.

The first section of the upper die is a high-speed section, and the second section is a low-speed section. Therefore, if a recalculation is performed in the section planning module 3, the recalculated board inspection position speed is less than the board inspection position determined in the comparison module 2. Position velocity, ie v ₁ '<v ₁ .

In this way, after planning the speed of the upper mold in the first section and the second section, the pressing plate drives the upper mold to move according to the plan and can reach the bending target position in the shortest time, shortening the movement time and improving the bending efficiency .

In addition, compared with planning based on experience or common sense estimation, the present invention can ensure that the upper die reaches the bending target position within an accurate time, thereby ensuring bending accuracy and achieving a better bending effect.

Embodiment seven

The difference between this embodiment and the bending machine speed planning device as described above is that, as shown in the structural diagram of the comparison module in the bending machine speed planning device of the present invention in Figure 7, the comparison module 2 includes the first Planning submodule 21 and the second planning submodule 22;

The first planning sub-module 21 compares the second section speed limit of the upper mold with the theoretical speed of the board inspection position, if the second section speed limit is greater than the theoretical speed of the board inspection position, then use the board inspection position of the upper mold The theoretical speed is the speed of the plate inspection position, and the movement of the upper mold in the second section is planned according to the uniform deceleration movement to the bending target position, otherwise it is transferred to the second planning sub-module 22;

The calculation formula of uniform motion motion time is:

In the formula, t ₂ is the movement time of the acceleration movement; a ₂ is the maximum acceleration received by the first section of the upper mold, and the specific value is determined by comprehensive calculation of the upper mold mass and upper mold force; S ₂ is the length of the first section.

The second planning sub-module 22, if the second speed limit is less than the theoretical speed of the plate inspection position, then the second speed limit of the upper mold is used as the speed limit of the board inspection position, and the second speed limit is used to move at a uniform speed , and then uniformly decelerate and move to the bending target position to plan the movement of the upper die in the second section.

The exercise times for the two parts are:

In the formula, t ₂₁ is the motion time of uniform motion; t ₂₂ is the motion time of uniform deceleration motion; a ₂ is the maximum acceleration received by the second section of the upper die, and the specific value is determined by the comprehensive calculation of the upper die mass and upper die force ;v _L2 is the speed limit of the upper die at the _second stage, which is jointly determined by the mechanical properties of the upper die and the bending machine. The length of the segment.

Through this embodiment, the speed of speed planning for the second stage is improved, system resources are saved, and the movement of the upper mold in the second stage can reach the theoretical limit without affecting the performance of the bending machine. The maximum value further improves the bending efficiency.

Embodiment eight

As mentioned above, the bending machine speed planning device, the present embodiment is different from it in that, in the comparison module 2, the calculation formula of the board inspection position speed is:

In the formula, v ₁ is the board inspection position speed of the upper die; v ₁₁ is the theoretical speed of the board inspection position of the upper die; v _L2 is the speed limit of the second section of the upper die, which is jointly determined by the mechanical properties of the upper die and the bending machine , the limit speed of the plate inspection position of the same bending machine moving to the bending target position is the same.

The above idea is: the ratio of the difference between the minuend and the subtrahend to the absolute value is a positive or negative number, the positive or negative number is added by one and then divided by two as the coefficient of the subtrahend, then the subtrahend with a positive difference will be Reserved, the subtrahend whose difference is negative will be eliminated; reverse the subtrahend and the minuend and recalculate, and the value obtained after adding the two results is the smaller value of the subtrahend and the minuend.

The beneficial effect is: through the ratio of the difference and the absolute value of the difference, it is converted into a positive and negative number of one; the positive and negative numbers are added by one and then divided by two as the factor of the subtrahend, thus eliminating the difference between negative numbers Subtrahend, so that the calculated value is the smaller value of the subtrahend and the minuend; in this way, it is not necessary to judge the size of the limit speed and the theoretical speed, and the conclusion is directly obtained through calculation, which improves the speed of judgment; the calculation formula is simple, It is convenient and easy to calculate, which improves the speed planning efficiency of the bending machine; the simple calculation process saves system resources.

Embodiment nine

The difference between this embodiment and the above-mentioned bending machine speed planning device is that, as shown in Fig. 8, the structural diagram of a segment planning module in the bending machine speed planning device of the present invention, the segment planning module 3 includes The third planning submodule 311 , the fourth planning submodule 312 and the secondary calculation submodule 313 are connected in sequence.

The third planning sub-module 311, with the upper dead center position speed of the upper die being zero and the board inspection position speed, first uniformly accelerates to the first speed limit, then moves at the first speed limit, and finally decelerates uniformly Plan the motion of the first section to the board inspection position speed, calculate the motion time of the above three parts, if the motion time of the uniform motion is positive, then the planning is successful, otherwise transfer to the fourth planning sub-module 312;

The calculation formula of the uniform motion time is:

In the formula, t ₁₂ is the motion time of uniform motion; a ₁ is the maximum acceleration received by the first section of the upper mold; v ₁ is the plate inspection position speed of the upper mold; v _L1 is the speed limit of the first section of the upper mold; S ₁ is The length of the first paragraph.

The fourth planning sub-module 312, with the top dead center position speed of the upper mold as zero and the board inspection position speed, uniformly accelerate to the first section inflection point speed, and then uniformly decelerate to the board inspection position speed for the first section The motion is planned, and the motion time of the above two parts is calculated. If the motion time of the uniform deceleration motion is positive, the planning is successful, otherwise go to step c13;

The calculation formula of the uniform deceleration motion time is:

In the formula, t ₁₂ is the motion time of the uniform deceleration motion; v ₁ is the plate inspection position velocity of the upper die; a ₁ is the maximum acceleration received by the first segment of the upper die; S ₁ is the length of the first segment.

The secondary calculation sub-module 313 plans the movement of the upper die in the first section according to the uniform acceleration movement to the board inspection position with the upper dead center position speed of the upper die being zero, and recalculates the The board inspection position speed and motion time of the upper mold;

The calculation formula of the plate inspection position speed of the upper die is:

The exercise time is:

In the formula, t ₁ is the movement time of the acceleration movement; v ₁ ' is the re-determined plate inspection position velocity of the upper die; a ₁ is the maximum acceleration received by the first segment of the upper die; S ₁ is the length of the first segment.

Through this embodiment, the speed of the first section of speed planning is improved, system resources are saved, and the movement of the upper die in the first section can reach a theoretical limit without affecting the performance of the bending machine. The maximum value further improves the bending efficiency.

Embodiment ten

The difference between this embodiment and the above-mentioned bending machine speed planning device is that, as shown in Fig. 9, the structural diagram of a section planning module in the bending machine speed planning device of the present invention, the section planning module 3 includes Inflection point calculation submodule 321, inflection point comparison submodule 322, the fifth planning submodule 323, the sixth planning submodule 324 and the seventh planning submodule 325; inflection point calculation submodule 321 is connected with inflection point comparison submodule 322, the fifth planning The sub-module 323 , the sixth planning sub-module 324 , and the seventh planning sub-module 325 are respectively connected to the inflection point comparison sub-module 322 .

The inflection point calculation sub-module 321 calculates the inflection point speed of the first section of the upper die with the upper dead point position speed of the upper die being zero and the board inspection position speed;

The calculation formula of the inflection point speed is:

In the formula, v _i1 is the inflection point velocity of the first section of the upper mold; v ₁ is the board inspection position velocity of the upper mold; a ₁ is the maximum acceleration received by the first section of the upper mold. and other comprehensive calculations; S ₁ is the length of the first segment.

The inflection point comparison sub-module 322 compares the board inspection position speed of the upper mold, the inflection point speed of the first section and the speed limit of the first section of the upper mold, and if v _L1 ≤ v _i1 , then transfer to the fifth planning sub-module 323; If v ₁ ≤v _i1 <v _L1 , transfer to the sixth planning sub-module 324; if v _i1 <v ₁ , transfer to the seventh planning sub-module 325;

The fifth planning sub-module 323, the motion planning of the first section of the upper mold is speed planning one: the upper mold first performs uniform acceleration movement until the speed reaches v _L1 , then moves at a constant speed of v _L1 , and finally performs uniform acceleration. decelerate to v ₁ ;

The calculation formula of described speed planning-each motion time is:

In the formula, t ₁₁ is the motion time of uniform acceleration motion; t ₁₂ is the motion time of uniform motion; t ₁₃ is the motion time of uniform deceleration motion; a ₁ is the maximum acceleration received by the _first section of the upper die; The board inspection position speed; v _L1 is the speed limit of the first section of the upper die; S ₁ is the length of the first section.

In the sixth planning sub-module 324, the motion planning of the first section of the upper mold is speed planning two: the upper mold first performs a uniform acceleration movement until the speed reaches v _i1 , and then performs a uniform deceleration movement to v ₁ ;

The calculation formula of each motion time of the speed planning two is:

In the formula, t ₁₁ is the motion time of uniform acceleration motion; t ₁₂ is the motion time of uniform deceleration motion; a ₁ is the maximum acceleration received by the first section of the upper die; v ₁ is the plate inspection position speed of the upper die; v _i1 is The inflection point velocity of the upper die in the first segment.

The seventh planning sub-module 325, if the movement planning of the upper mold in the first section fails, plan the movement of the upper mold in the first section according to the uniform acceleration to the board inspection position, and recalculate the movement of the upper mold in the first section. The plate inspection position speed of the upper die;

The motion time of acceleration motion is:

The calculation formula of the plate inspection position speed of the upper die is:

In the formula, t ₁ is the movement time of the acceleration movement; v ₁ ' is the re-determined plate inspection position velocity of the upper die; a ₁ is the maximum acceleration received by the first segment of the upper die; S ₁ is the length of the first segment.

Compared with Embodiment 4, this embodiment further improves the speed of the first section of speed planning, saves system resources, and enables the movement of the upper mold in the first section without affecting the performance of the bending machine. Under this condition, the theoretical maximum value is reached, which further improves the bending efficiency.

Embodiment Eleven

The difference between this embodiment and the bending machine speed planning device described above is that, as shown in the structural diagram of the second-stage planning module in the bending machine speed planning device of the present invention in FIG. 10, the second-stage planning module 4 Including: the eighth planning submodule 41 and the ninth planning submodule 42 connected in sequence;

The eighth planning sub-module 41, with the bending target position speed of the upper mold being zero and the board inspection position speed, first uniformly accelerates to the second speed limit, then moves at the second speed limit, and finally decelerates uniformly Plan the movement of the second section to the bending target position speed, calculate the movement time of the above three parts, if the movement time of the uniform movement is positive, then the second section planning is successful, otherwise transfer to the ninth planning sub-module 42;

The calculation formula of the uniform motion time is:

In the formula, t ₂₂ is the motion time of uniform motion; a ₂ is the maximum acceleration received by the second section of the upper mold; v ₁ ' is the board inspection position speed of the upper mold; v _L2 is the speed limit of the second section of the upper mold; S ₂ is the length of the second segment.

The ninth planning sub-module 42, with the bending target position speed of the upper mold being zero and the board inspection position speed, first uniformly accelerates to the second segment inflection point speed, and then uniformly decelerates to the bending target position speed for the second segment movement planning.

The calculation formulas of the uniform velocity motion and the uniform deceleration motion motion time are respectively:

In the formula, t ₂₁ is the motion time of uniform acceleration motion; t ₂₂ is the motion time of uniform deceleration motion; v ₁ ' is the plate inspection position velocity of the upper die; a ₂ is the maximum acceleration received by the second section of the upper die; S ₂ is the length of the second segment.

Through this embodiment, the speed of re-planning the speed of the second stage is improved, system resources are saved, and the movement of the upper mold in the second stage can reach the theoretical limit without affecting the performance of the bending machine. The maximum value further improves the bending efficiency.

The above descriptions are only preferred embodiments of the present invention, and are only illustrative rather than restrictive to the present invention. Those skilled in the art understand that many changes, modifications, and even equivalents can be made within the spirit and scope defined by the claims of the present invention, but all will fall within the protection scope of the present invention.

Claims (11)

1. A bending machine speed planning method, characterized in that, comprising: Step a, according to the reverse acceleration calculation of the upper mold from the bending target position speed to zero, calculate the theoretical speed of the board inspection position of the upper mold; Step b, comparing the speed limit of the second section of the upper die with the theoretical speed of the board inspection position, the smaller one is the speed of the board inspection position of the upper die; Step c, plan the movement of the first segment of the upper die with the upper dead center position and speed of the upper die being zero and the board inspection position and speed according to the shortest movement time. If successful, the planning is completed; Acceleration planning the movement of the upper mold in the first section, and recalculating the board inspection position and velocity of the upper mold; Step d, with the bending target position speed of the upper die being zero and the board inspection position speed, plan the movement of the upper die in the second section according to the shortest movement time. 2. The bending machine speed planning method according to claim 1, characterized in that, in the step b, the calculation formula of the board inspection position speed is: In the formula, v ₁ is the board inspection position speed of the upper die; v ₁₁ is the theoretical speed of the board inspection position of the upper die; v _L2 is the speed limit of the second section of the upper die. 3. The bending machine speed planning method according to claim 2, wherein said step c comprises: Step c11, with the speed of the upper dead center position of the upper mold being zero and the speed of the plate inspection position, first uniformly accelerate to the first speed limit, then move at a uniform speed at the first speed limit, and finally decelerate uniformly Plan the movement of the first section to the board inspection position and speed, and calculate the movement time of these three parts. If the movement time of the uniform movement is positive, the planning is successful, otherwise go to step c12; Step c12, with the speed of the upper dead center position of the upper mold being zero and the speed of the board inspection position, first uniformly accelerate to the speed of the first inflection point, and then uniformly decelerate to the speed of the board inspection position. Plan a period of motion, and calculate the motion time of the two parts. If the motion time of the uniform deceleration motion is positive, the planning is successful, otherwise go to step c13; Step c13, with the speed of the upper dead center position of the upper die being zero, plan the movement of the upper die in the first section according to the uniform acceleration movement to the board inspection position, and recalculate the upper die's Describe board inspection position speed and movement time. 4. The bending machine speed planning method according to claim 2, wherein said step c comprises: Step c21, calculating the inflection point speed of the first section of the upper die with the position and speed of the upper dead point of the upper die being zero and the position and speed of the board inspection; Step c22, compare the board inspection position speed of the upper mold, the inflection point speed of the first section and the speed limit of the first section of the upper mold, if the inflection point speed is not less than the speed limit, then turn to step c23; if the inflection point speed is less than the speed limit but not less than the board inspection position speed, go to step c24; if the inflection point speed is smaller than the board inspection position speed, go to step c25; Step c23, the motion plan for the first section of the upper mold is as follows: firstly, the upper mold moves with uniform acceleration until the speed reaches the speed limit, then moves with the speed limit at a constant speed, and finally moves with a uniform deceleration until the speed reaches the speed limit. The board inspection position speed; In step c24, the motion plan for the first section of the upper mold is as follows: the upper mold first performs uniform acceleration until the speed reaches the speed of the inflection point, and then performs uniform deceleration to the speed of the plate inspection position; Step c25, the movement planning of the upper mold in the first section fails, plan the movement of the upper mold in the first section according to the uniform acceleration movement to the plate inspection position, and recalculate the movement of the upper mold Describe board inspection position and speed. 5. The bending machine speed planning method according to claim 3, wherein said step d comprises: Step d1, with the bending target position speed of the upper mold being zero and the plate inspection position speed, first uniformly accelerate to the second speed limit, then move at the second speed limit, and finally Decelerate uniformly to the bending target position and speed to plan the movement of the second section, and calculate the movement time of the above three parts. If the movement time of the uniform movement is positive, the planning of the second section is successful, otherwise go to step d2; Step d2, with the bending target position speed of the upper mold being zero and the board inspection position speed, uniformly accelerate to the second inflection point speed, and then uniformly decelerate to the bending target position speed for the first The movement of the second stage is planned. 6. The bending machine speed planning method according to claim 4, wherein said step d comprises: Step d1, with the bending target position speed of the upper mold being zero and the plate inspection position speed, first uniformly accelerate to the second speed limit, then move at the second speed limit, and finally Decelerate uniformly to the bending target position and speed to plan the movement of the second section, and calculate the movement time of the above three parts. If the movement time of the uniform movement is positive, the planning of the second section is successful, otherwise go to step d2; Step d2, with the bending target position speed of the upper mold being zero and the board inspection position speed, uniformly accelerate to the second inflection point speed, and then uniformly decelerate to the bending target position speed for the first The movement of the second stage is planned. 7. The bending machine speed planning method according to claim 5 or 6, wherein said step b comprises: Step b1, comparing the second speed limit of the upper die with the theoretical speed of the board inspection position, if the second speed limit is greater than the theoretical speed of the board inspection position, then the upper die is The theoretical speed of the plate inspection position is the speed of the plate inspection position, and the movement of the upper mold in the second section is planned according to the uniform deceleration movement to the bending target position, otherwise turn to step b2; Step b2, if the second speed limit is less than the theoretical speed of the board inspection position, then use the second speed limit of the upper mold as the speed limit of the board inspection position. Limit speed and move at a constant speed, and then move at a uniform deceleration to the bending target position to plan the movement of the upper mold in the second section. 8. The bending machine speed planning method according to claim 5, characterized in that, in the step c11, the calculation formula of the uniform motion time is: In the formula, _t12 is the motion time of the uniform motion; a1 is the maximum acceleration received by the _first section of the upper mold; v1 is the board inspection position speed of the upper mold; v _L1 is the _first section of the upper mold Speed limit; S ₁ is the length of the first section. 9. The bending machine speed planning method according to claim 5, characterized in that, in the step c12, the calculation formula of the uniform deceleration motion time is: In the formula, t ₁₂ is the motion time of the uniform deceleration motion; v ₁ is the board inspection position velocity of the upper die; a ₁ is the maximum acceleration received by the first section of the upper die; S ₁ is the first The length of the segment. 10. A bending machine speed planning device corresponding to the bending machine speed planning method according to any one of claims 1-9, characterized in that it comprises: The calculation module is to calculate the theoretical speed of the board inspection position of the upper die by performing reverse acceleration calculation according to the fact that the bending target position speed of the upper die is zero; A comparison module, which compares the second limited speed of the upper mold with the theoretical speed of the plate inspection position, and the smaller one is the speed of the plate inspection position of the upper mold; A segment planning module, with the position and speed of the upper dead center of the upper die being zero and the position and speed of the plate inspection according to the shortest movement time to plan the movement of the first segment of the upper die. If successful, the planning is completed; if not successful Then plan the motion of the first segment of the upper die according to the constant acceleration, and recalculate the board inspection position speed of the upper die; The second-stage planning module plans the movement of the upper die in the second stage according to the shortest movement time with the bending target position speed of the upper die being zero and the board inspection position speed. 11. The bending machine speed planning device according to claim 10, wherein the comparison module includes a first planning submodule and a second planning submodule; The first planning sub-module compares the second speed limit of the upper die with the theoretical speed of the board inspection position, and if the second speed limit is greater than the theoretical speed of the board inspection position, then The theoretical speed of the board inspection position of the upper die is the speed of the board inspection position, plan the movement of the upper die in the second section according to the uniform deceleration movement to the bending target position, otherwise transfer to the second plan submodule; In the second planning sub-module, if the second speed limit is less than the theoretical speed of the plate inspection position, the speed limit of the second stage of the upper mold is used as the speed limit of the board inspection position. The second section moves at a constant speed with a limited speed, and then moves at a uniform deceleration to the bending target position to plan the movement of the upper mold in the second section.