CN116618496A - Virtual simulation method, simulation device, terminal and readable storage medium - Google Patents
Virtual simulation method, simulation device, terminal and readable storage medium Download PDFInfo
- Publication number
- CN116618496A CN116618496A CN202310437842.2A CN202310437842A CN116618496A CN 116618496 A CN116618496 A CN 116618496A CN 202310437842 A CN202310437842 A CN 202310437842A CN 116618496 A CN116618496 A CN 116618496A
- Authority
- CN
- China
- Prior art keywords
- model
- sheet metal
- bending
- metal part
- virtual
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 60
- 238000004088 simulation Methods 0.000 title claims abstract description 37
- 238000005452 bending Methods 0.000 claims abstract description 204
- 239000002184 metal Substances 0.000 claims abstract description 198
- 230000015654 memory Effects 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 description 20
- 230000033001 locomotion Effects 0.000 description 8
- 230000005484 gravity Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D11/00—Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
- B21D11/22—Auxiliary equipment, e.g. positioning devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/004—Bending sheet metal along straight lines, e.g. to form simple curves with program control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D7/00—Bending rods, profiles, or tubes
- B21D7/12—Bending rods, profiles, or tubes with programme control
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the application relates to the field of industrial robots and discloses a virtual simulation method, simulation equipment, a terminal and a readable storage medium. The virtual simulation method for bending the sheet metal part comprises the following steps: adding a bending equipment model, and adding a sheet metal part model on the bending equipment model; adding a bending robot model; adding a virtual controller, and configuring control parameters of the bending robot model in the virtual controller; and adding a virtual demonstrator, wherein the virtual demonstrator sends a trigger signal to the virtual controller, and the virtual controller controls the bending robot model to bend the sheet metal part model according to the control parameters after receiving the trigger signal. The virtual simulation method, the simulation equipment, the terminal and the readable storage medium provided by the application can avoid the problems of inconvenient operation and high risk coefficient when the sheet metal part is bent, and improve the convenience and safety of debugging the bending program.
Description
Technical Field
The embodiment of the application relates to the field of industrial robots, in particular to a virtual simulation method, simulation equipment, a terminal and a readable storage medium.
Background
In recent years, with the development of industrial robot technology, industrial robots are increasingly used in the sheet metal bending industry. In the bending workstation debugging stage, a traditional teaching reproduction mode is generally adopted when a bending program is debugged. But sheet metal parts in bending industry are generally larger and thinner, and the problems of inconvenient operation, easy collision and higher danger coefficient exist when the sheet metal parts are taught by adopting a traditional teaching reproduction mode.
Accordingly, there is a need to provide a method to solve the above-mentioned problems.
Disclosure of Invention
The embodiment of the application aims to provide a virtual simulation method, simulation equipment, a terminal and a readable storage medium, which can avoid the problems of inconvenient operation and high risk coefficient when a sheet metal part is bent, and improve the convenience and safety of debugging a bending program.
In order to solve the technical problems, the embodiment of the application provides a virtual simulation method for bending a sheet metal part, which comprises the following steps: adding bending equipment model to add sheet metal part model on bending equipment model, bending equipment model includes the conveyer chain model add sheet metal part model on the bending equipment model, include: configuring operation parameters of the conveying chain model; configuring the sheet metal part models, and configuring a starting point and an ending point of each sheet metal part model on the conveying chain model; sequentially creating a plurality of sheet metal part models at the starting points of the conveying chain models; adding a bending robot model; adding a virtual controller, and configuring control parameters of the bending robot model in the virtual controller; adding a virtual demonstrator, wherein the virtual demonstrator sends a trigger signal to the virtual controller, the virtual controller detects whether the sheet metal part model reaches the end point after receiving the trigger signal, if yes, sends a signal in place to the bending robot model, and after receiving the signal in place, the bending robot model controls the bending robot model to grasp the sheet metal part model at the end point for bending according to the control parameter.
The embodiment of the application also provides simulation equipment for performing sheet metal part bending simulation, which comprises the following steps: the simulation model equipment is used for storing a bending equipment model, a sheet metal part model and a bending robot model, wherein the bending equipment model comprises a conveying chain model with a starting point and a finishing point, the sheet metal part model is placed at the starting point of the conveying chain model, and the bending equipment model is used for bearing and/or transporting the sheet metal part model; a virtual controller, wherein the controller is configured with control parameters of the bending robot model; the demonstrator is used for sending a trigger signal to the controller, the controller is used for detecting whether the sheet metal part model reaches the end point after receiving the trigger signal, if yes, a signal in place is sent to the bending robot model, and after the bending robot model receives the signal in place, the bending robot model is controlled to grasp the sheet metal part model at the end point according to the control parameters to bend.
The embodiment of the application also provides a terminal, which comprises: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a virtual simulation method as described above.
The embodiment of the application also provides a computer readable storage medium, which stores a computer program, and the computer program realizes the virtual simulation method when being executed by a processor.
Compared with the prior art, the embodiment of the application has the advantages that the bending equipment model is added, the sheet metal part model is configured on the bending equipment model, the bending robot model is added, the virtual controller is added, the control parameters of the bending robot model are configured in the virtual controller, the virtual demonstrator is added, the virtual demonstrator sends the trigger signal to the virtual controller, and after receiving the trigger signal, the virtual controller controls the bending robot model to bend the sheet metal part model according to the control parameters, so that virtual teaching reproduction can be realized to edit and debug the bending program, the problems of inconvenient operation and high risk coefficient when the sheet metal part is subjected to field teaching are avoided, and the convenience and safety of debugging the bending program are improved.
In addition, before the virtual demonstrator sends the trigger signal to the virtual controller, the virtual demonstrator further comprises: adding a tool model, and installing the tool model on the bending robot model; the bending robot model is controlled to bend the sheet metal part model according to the control parameters, and the bending robot comprises: and controlling the bending robot model to bend the sheet metal part model through the tool model according to the control parameters.
In addition, the adding bending equipment model comprises: and adding a plurality of bending equipment models, and adjusting the relative position relation among the bending equipment models. The device can avoid the problems that the error is large when the relative position relation among a plurality of bending equipment models in the bending workstation is adjusted, and time and labor are wasted when the position is corrected, and the convenience is improved.
In addition, add sheet metal component model on bending equipment model, include: a plurality of sheet metal part models are respectively arranged along three different directions of X, Y, Z to form a sheet metal part model group; placing the sheet metal part model group on the bending equipment model; the bending robot model is controlled to bend the sheet metal part model according to the control parameters, and the bending robot comprises: and controlling the bending robot model to sequentially grasp each sheet metal part model in the sheet metal part model group according to the sequence of the X negative direction, the Y negative direction and the Z negative direction to bend, wherein the Z negative direction is the direction deviating from the bearing surface of the bending equipment model. The setting can realize the simulation of bending operation in proper order to the pile of sheet metal component that fixed position was piled up when the sheet metal component was bent like this.
In addition, the creating a plurality of sheet metal part models sequentially at the starting point of the conveyor chain model includes: and automatically creating copies of the configured sheet metal part model on the starting point of the conveying chain model every preset time length. By the arrangement, the creation of the conveying chain workpiece model can be realized.
In addition, the creating a plurality of sheet metal part models sequentially at the starting point of the conveyor chain model includes: continuously receiving a control signal sent by the bending robot model; and automatically creating a copy of the configured sheet metal part model at the starting point of the conveyor chain model after each time the control signal is received. By the arrangement, the creation of the conveying chain workpiece model can be realized.
In addition, the control parameters comprise a plurality of positions to be bent of the sheet metal part model and a bending sequence of the positions to be bent; the bending robot model is controlled to bend the sheet metal part model according to the control parameters, and the bending robot comprises: the bending robot model bends the positions to be bent according to the bending sequence, and the sheet metal part model presents a corresponding bending state.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.
Fig. 1 is a flowchart of a virtual simulation method for bending a sheet metal part according to a first embodiment of the present application;
FIG. 2 is a flow diagram of a virtual simulation method provided in one example;
FIG. 3 is a schematic flow chart of a sheet metal part model set configuration;
FIG. 4 is a schematic sequential diagram of a tool model grabbing a sheet metal part model on a sheet metal part model set;
FIG. 5 is a schematic flow chart of configuring a conveyor chain model;
FIG. 6 is a schematic illustration of the origin of a conveyor chain model;
FIG. 7 is a flow chart of a grasping configuration of a robot model;
FIG. 8 is a schematic illustration of a gripping offset position of a conveyor chain workpiece model;
FIG. 9 is a flow chart of a bending effect configuration of a sheet metal part model;
FIG. 10 is a schematic view of bending positions of a sheet metal part model;
fig. 11 is a schematic structural view of a terminal according to a third embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the following detailed description of the embodiments of the present application will be given with reference to the accompanying drawings. However, those of ordinary skill in the art will understand that in various embodiments of the present application, numerous technical details have been set forth in order to provide a better understanding of the present application. However, the claimed application may be practiced without these specific details and with various changes and modifications based on the following embodiments.
The inventor finds that in the debugging stage of the bending workstation, a traditional teaching reproduction mode is generally adopted when the bending program is debugged. However, sheet metal parts in the bending industry are generally larger and thinner, and the problems of inconvenient operation, easy collision and higher danger coefficient exist when the sheet metal parts are taught by adopting a traditional teaching reproduction mode; and when the effect of bending is tested, because the sheet metal component price is higher, the sheet metal component quantity that can supply the test that general customer provided is limited, if many times test does not reach the ideal effect of bending, can waste the sheet metal component, increases extra debugging cost.
The first embodiment of the application relates to a virtual simulation method for bending a sheet metal part, and a specific flow is shown in fig. 1, and the method comprises the following steps:
s11: and adding a bending equipment model, and adding a sheet metal part model on the bending equipment model.
S12: and adding a bending robot model.
S13: and adding a virtual controller, and configuring control parameters of the bending robot model in the virtual controller.
S14: and adding a virtual demonstrator, wherein the virtual demonstrator sends a trigger signal to a virtual controller, and the virtual controller controls the bending robot model to bend the sheet metal part model according to control parameters after receiving the trigger signal.
The virtual simulation method can realize virtual teaching reproduction to edit and debug the bending program, avoids the problems of inconvenient operation and high risk coefficient when the field teaching sheet metal part is bent, and improves the convenience and safety of debugging the bending program.
Wherein, the step of adding the bending equipment model may include: and adding a plurality of bending equipment models, and adjusting the relative position relation among the bending equipment models, wherein the bending equipment models can comprise equipment models such as a bending machine model, a feeding workbench model, a gravity centering platform model, a surface changing mechanism model, a discharging workbench model and the like. The device can avoid the problems that the error is large when the relative position relation among a plurality of bending equipment models in the bending workstation is manually adjusted, and time and labor are wasted when the position is corrected, and the convenience is improved.
In some embodiments, the step of adding a sheet metal part model to the bending equipment model may include: a plurality of sheet metal part models are respectively arranged along three different directions of X, Y, Z to form a sheet metal part model group; placing the sheet metal part model group on the bending equipment model; the bending robot model is controlled to bend the sheet metal part model according to the control parameters, and the bending robot comprises: and controlling the bending robot model to sequentially grasp each sheet metal part model in the sheet metal part model group according to the sequence of the X negative direction, the Y negative direction and the Z negative direction to bend, wherein the Z negative direction is the direction deviating from the bearing surface of the bending equipment model. The setting can realize the simulation of bending operation in proper order to the pile of sheet metal component that fixed position was piled up when the sheet metal component was bent like this.
In other embodiments, the bending apparatus model may include a conveyor chain model, and the step of adding a sheet metal part model to the bending apparatus model may include: the method comprises configuring the operating parameters of the conveyor chain model, configuring the sheet metal part models (i.e. what the sheet metal part models are configured, e.g. the specific shape of the sheet metal part models), and configuring the start and end points of each sheet metal part model on the conveyor chain model, creating a plurality of sheet metal part models on the start points of the conveyor chain model in turn.
Correspondingly, after the virtual controller receives the trigger signal, the virtual controller controls the bending robot model to bend the sheet metal part model according to the control parameter, and the method may include: after receiving the trigger signal, the virtual controller detects whether the sheet metal part model reaches the end point, and if so, sends an in-place signal to the bending robot model; after the bending robot model receives the in-place signal, the sheet metal part model at the end point is grabbed to bend. By the arrangement, simulation of bending operation of the sheet metal part on the conveying chain can be realized when the sheet metal part is bent.
The sheet metal part model is added to the conveying chain model, and the sheet metal part model is specifically as follows:
in some embodiments, the creating the plurality of sheet metal part models sequentially at the starting point of the conveyor chain model may include: and automatically creating copies of the configured sheet metal part model on the starting point of the conveying chain model every preset time length. By the arrangement, the creation of the conveying chain workpiece model can be realized.
In other embodiments, the creating the sheet metal part model sequentially at the starting point of the conveyor chain model may include: continuously receiving a control signal sent by the bending robot model; and automatically creating a copy of the configured sheet metal part model at the starting point of the conveyor chain model after each time the control signal is received. By the arrangement, the creation of the conveying chain workpiece model can be realized.
That is, adding sheet metal part models can be divided into two processes: one is the configuration process, namely what the sheet metal part model on the conveying chain is configured, and how to automatically create the sheet metal part model; the other is a simulation process, which may be to automatically create a copy of the previously configured sheet metal part model every preset time period or after each time a control signal is received.
In practical application, the control parameters may include a plurality of positions to be bent of the sheet metal part model and a bending sequence of the positions to be bent; the bending robot model is controlled to bend the sheet metal part model according to the control parameters, and the bending robot comprises: the bending robot model bends the positions to be bent according to the bending sequence, and the sheet metal part model presents a corresponding bending state. Optionally, the control parameters may also include bending forming distance, forming angle, etc.
Optionally, before the virtual demonstrator sends the trigger signal to the virtual controller, the method may further include: adding a tool model, and installing the tool model on the bending robot model; the controlling the bending robot model to bend the sheet metal part model according to the control parameter may include: and controlling the bending robot model to bend the sheet metal part model through the tool model according to the control parameters.
As an example, the bending apparatus model, the sheet metal part model, and the bending robot model may be built in any three-dimensional simulation software such as matlab, solidWorks, and the virtual controller and the virtual demonstrator may be built in the c++ program development language, which is not limited herein.
The following illustrates, in one example, a virtual simulation method as shown in fig. 2, specifically including the following steps:
step one: and adding a bending robot model, and starting a virtual controller and a virtual demonstrator.
The robot model in the method is a 3D model representation of the actual robot, is consistent with the structural design and the joint movement direction of the actual robot, and the running effects of the virtual controller and the virtual demonstrator in the method are consistent with those of the actual controller and the actual demonstrator, so that the method can ensure that the track planning result, the movement beat and the accessibility of the robot are consistent with those of the actual robot when the bending robot is simulated to move.
Step two: adding a tool model, and mounting the tool model to the robot flange.
The method can automatically mount the tool model on the flange plate of the robot model, and can ensure that the position and the posture of the tool are consistent with those of the actual robot tool. The robot tool adopted by the sheet metal part bending industry is in the form of a sucker. When the robot is subjected to bending operation, the sheet metal part at the designated position can be sucked up by the suction cup, and then the suction cup and the sheet metal part are driven by the robot to move together.
Step three: and adding equipment models such as a bending machine, a feeding workbench, a gravity centering platform, a surface changing mechanism, a discharging workbench and the like, and adjusting the relative position relationship among the equipment.
The method can conveniently add various equipment models in the bending workstation and modify the positions and the postures of the models.
Step four: and configuring a sheet metal part model group or a conveying chain model.
(1) As shown in fig. 3, fig. 3 is a schematic flow chart of configuring a sheet metal part model group. When sheet metal parts are bent, a stack of sheet metal parts stacked at a fixed position is generally subjected to bending operation in sequence. For this situation, a method for configuring and generating a sheet metal part model group is proposed. The configuration steps of the sheet metal part model group are as follows: a) Setting the number of sheet metal parts in the X, Y, Z direction; b) Setting a sheet metal part distance in the X, Y, Z direction; c) Setting a sheet metal part source model to be copied. After the configuration is completed, sheet metal part model sets are automatically generated in the 3D view. The sheet metal part model group generation method comprises the following steps: the copy models corresponding to X, Y, Z sheet metal part source models can be copied according to the sheet metal part spacing in the corresponding X, Y, Z direction.
After the sheet metal part model group is configured, the position and the gesture of the model are adjusted, so that the sheet metal part model group is placed on a feeding workbench of a workstation.
As shown in fig. 4, fig. 4 is a schematic view of a sequence in which the tool model grabs the sheet metal part model on the sheet metal part model set. In the robot simulation, the sequence of the models on the sheet metal part model group is grabbed according to the sequence of X, Y, Z negative directions by a robot tool, and a model group of 3X 2 is taken as an example, namely, the models are grabbed according to the rules of X-direction, Y-direction and Z-direction from the last model of the model group.
(2) As shown in fig. 5, fig. 5 is a schematic flow chart of configuring a conveyor chain model. When sheet metal parts are bent, bending operation is sometimes carried out on the sheet metal parts from the conveying chain, and conveying chain configuration and simulation methods are provided for the situation.
As shown in fig. 6, fig. 6 is a schematic diagram of the origin of the conveyor chain model. The coordinate system XYZ represents the origin of the conveyor chain model and the coordinate system X ' Y ' Z ' represents the origin of the conveyor chain. The origin of the conveyor chain model refers to the origin of the conveyor chain model and is a specific point for identifying the conveyor chain model; the origin of the conveyor chain refers to the starting point of the movement of the work piece on the conveyor chain and can be specified by the user. Thus, after the rear conveyor chain model is set, the relative relationship of the origin of the conveyor chain to the origin of the conveyor chain model also needs to be set.
When the conveying chain is simulated, a workpiece is generated from the origin of the conveying chain, and then the specified in-place distance movement is operated according to the specified running direction and the specified running speed. The conveyor chain workpiece model, the direction of travel of the conveyor chain, the travel speed and the distance in place are thus to be set. Wherein the direction of travel of the conveyor chain is based on the origin of the conveyor chain, and the movement in the direction of X positive, X negative, Y positive, Y negative, Z positive or Z negative along the origin of the conveyor chain can be selected.
Among them, there are two ways of creating a conveyor chain work piece model (i.e., sheet metal part model): first, a work piece is created at time intervals or from a robot DO signal. The time interval refers to that a workpiece is automatically created on the conveying chain at intervals of specified time; second, according to the robot DO signal, a robot DO port number is bound, and a workpiece is automatically created on the conveyor chain whenever the signal state of the port is rising.
After the in-place signal port of the conveying chain workpiece model is set, when the conveying chain workpiece runs to the in-place distance, the signal state of the port in the virtual controller is set to be high level, namely an in-place signal is sent to the robot, and after the robot detects the in-place signal, the robot can grasp the workpiece on the conveying chain.
Step five: and carrying out robot grabbing configuration.
As shown in fig. 7, fig. 7 is a flowchart of a gripping configuration of the robot model. When the bending workstation simulates, in order to simulate the effect that the robot sucker attracts the sheet metal part and drives the sheet metal part to move together, the robot grabbing configuration method is provided, and the method specifically comprises the following steps:
1) Setting a workpiece model to be grabbed: the workpiece model can be set into a sheet metal part model group or a conveying chain model. When the robot is set as the model group, the robot can grasp according to the sequence of the negative direction of the model group X, Y, Z during grasping (refer to the fourth step); when the sheet metal part is set to be a conveying chain model, the robot can grab the sheet metal part model which is already in place on the conveying chain when grabbing, and if a plurality of sheet metal parts are already in place, the principle of grabbing firstly is adopted, namely, the sheet metal parts which are already in place can be grabbed away firstly.
2) Setting a robot grabbing signal port number: when the tool on the robot is to grasp the sheet metal part, a grasping signal, namely a DO output signal of the robot, is sent to the tool. What is to be set here is the port number of the signal. When the simulation of the bending workstation is carried out, when the state of the port in the virtual controller of the robot is detected to be at a high level, the tool can grasp and drive the sheet metal part to move together, and when the state is detected to be at a low level, the sheet metal part can be loosened.
3) Setting the grabbing times of workpieces: in general, when the signal set in the above 2) is at a high level, the suction cup tool will pick up the sheet metal part and drive the sheet metal part to move together, when the signal is at a low level, the sheet metal part will be released, when the signal is at a high level again, the next sheet metal part will be picked up, and so on; however, when an actual sheet metal is bent, after a sheet metal part is generally required to be grabbed, the sheet metal part is placed on a gravity centering table for centering, then the workpiece is grabbed again to perform bending operation, or the sheet metal part is placed on a turn-over mechanism, and then a robot grabs the other surface of the sheet metal part to perform bending operation. In both cases, the same workpiece is grasped and placed twice, and thus a method of setting the number of grasping times is proposed. After the grabbing times are set, along with the change of grabbing signals, the sucker tool can grab and place the appointed grabbing times of the sheet metal part, and then the next sheet metal part can be grabbed.
4) As shown in fig. 8, fig. 8 is a schematic view of the gripping offset position of the conveyor chain workpiece model. Setting a grabbing offset position of a workpiece (a conveying chain workpiece model, namely, a sheet metal part model): the default tool grabbing position is the original point position of the sheet metal part model, and the original point of the sheet metal part model is generally located at the lower left corner of the sheet metal part. For example, the coordinate system XYZ in fig. 8, but in practical application, it is generally necessary to grasp the center position of the top surface of the sheet metal part, for example, the coordinate system X ' Y ' Z ' in fig. 8, and thus it is necessary to set the grasp offset. The grabbing offset is the position offset and the gesture rotation of the tool grabbing point relative to the origin of the workpiece model.
Step six: and (5) performing sheet metal part bending effect configuration.
As shown in fig. 9, fig. 9 is a flowchart of the bending effect configuration of the sheet metal part model. When the bending workstation simulates, in order to simulate the folded effect of the sheet metal part, a sheet metal part bending effect configuration and simulation method is provided, and the method specifically comprises the following steps:
1) As shown in fig. 10, fig. 10 is a schematic view of a bending position of the sheet metal part model. In one example, a rectangular sheet metal member is provided with four bending blades at most on each side of the rectangle, and thus the total number of bending blades on the four sides is in the range of 0 to 16. As shown in fig. 10, the numbers (1) -1, (1) -2, (1) -3, (1) -4 denote the bending numbers of the first side, the numbers (2) -1, (2) -2, (2) -3, (2) -4 denote the bending numbers of the second side, and so on, in the counterclockwise direction from the 'origin 0'. Whether to bend the edges can be selected according to the actual bending situation. If a certain edge is to be bent, the bending number of the corresponding edge is added into the list to be bent, and the bending sequence of the edges can be adjusted. During simulation, corresponding bending effects are displayed according to the configured bending edges and the bending sequence.
2) Setting the bending forming distance and forming angle of each bending edge. The bending forming distance and the forming angle of each bending edge can be configured according to the actual bending condition. Wherein, the shaping angle can be set as positive or negative.
3) Setting a bending forming port number, and simulating corresponding bending effects according to the forming distance and forming angle of each bending number configuration according to the bending number sequence in the list to be bent every time when the bending forming port is a rising edge during simulation.
Step seven: editing, teaching, and reproduction operations of the bending program are performed on the virtual demonstrator.
After the bending workstation is configured, the robot can be moved on the virtual demonstrator, and editing, teaching and reproduction operations of the bending program can be performed.
Step eight: and in a three-dimensional view of the simulation software, checking the simulation condition of the workstation.
Checking the motion simulation of the robot, the grabbing simulation of the sheet metal part and the bending effect simulation of the sheet metal part, and observing the in-place condition of the robot at key points; if the simulated effect is unsatisfactory, the bending program is adjusted according to the specific situation, and then the simulation is carried out. The virtual controller and the virtual demonstrator in the method are consistent with the actual controller and the actual demonstrator in operation effect, so that the method can ensure that the track planning result, the movement beat and the accessibility of the simulation bending robot are consistent with those of the actual robot when the simulation bending robot moves.
That is, in one example, the virtual simulation method for bending the sheet metal part includes the following steps:
1) Opening simulation software;
2) Adding a bending robot model, and starting a virtual controller and a virtual demonstrator;
3) Adding a tool model, and installing the tool model on the robot;
4) Adding equipment models such as a bending machine, a feeding workbench, a gravity centering platform, a surface changing mechanism, a discharging workbench and the like, and adjusting the relative positions among the equipment;
5) Newly building a sheet metal part model group or configuring a conveying chain model;
6) Carrying out robot grabbing configuration, and setting sheet metal parts to be grabbed and grabbing signals;
7) Performing sheet metal part bending effect configuration, configuring bending edges of a rectangular sheet metal part, bending several cutters on each edge, and setting bending forming distance, forming angle and forming port number of each cutter;
8) Editing, teaching and reproducing operations of the bending program are performed on the virtual demonstrator;
9) In a three-dimensional view of simulation software, checking simulation conditions of a workstation, including robot motion simulation, sheet metal part grabbing simulation and sheet metal part bending effect simulation, and observing in-place conditions of a robot at key points; if the simulated effect is unsatisfactory, the bending program is adjusted according to the specific situation, and then the simulation is carried out.
Compared with the prior art, the embodiment of the application provides a virtual simulation method applied to a bending robot, which can build a virtual bending workstation, can perform offline bending program teaching, programming, debugging and other works, can realize virtual teaching reproduction to edit and debug the bending program, improves the efficiency of building and debugging the workstation, effectively avoids the problems of inconvenient field debugging operation and high danger coefficient in a virtual debugging environment, improves the convenience and safety of debugging the bending program, can perform virtual sheet metal part bending effect test, can intuitively see the bending effect of the sheet metal part in simulation software, avoids the problems of wasting the sheet metal part and further increasing additional debugging cost due to repeated test in the field debugging, and reduces the cost of debugging the bending program.
The above steps of the methods are divided, for clarity of description, and may be combined into one step or split into multiple steps when implemented, so long as they include the same logic relationship, and they are all within the protection scope of this patent; it is within the scope of this patent to add insignificant modifications to the algorithm or flow or introduce insignificant designs, but not to alter the core design of its algorithm and flow.
The second embodiment of the application provides simulation equipment for bending simulation of a sheet metal part, which comprises the following components: the simulation model equipment is used for storing a bending equipment model, a sheet metal part model and a bending robot model, wherein the bending equipment model comprises a conveying chain model with a starting point and a finishing point, the sheet metal part model is placed at the starting point of the conveying chain model, and the bending equipment model is used for bearing and/or transporting the sheet metal part model; a virtual controller, wherein the controller is configured with control parameters of the bending robot model; the demonstrator is used for sending a trigger signal to the controller, the controller is used for detecting whether the sheet metal part model reaches the end point after receiving the trigger signal, if yes, a signal in place is sent to the bending robot model, and after the bending robot model receives the signal in place, the bending robot model is controlled to grasp the sheet metal part model at the end point according to the control parameters to bend.
Since the first embodiment corresponds to the present embodiment, the present embodiment can be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and the technical effects achieved in the first embodiment may also be achieved in this embodiment, so that the repetition is reduced, and a detailed description is omitted here. Accordingly, the related art details mentioned in the present embodiment can also be applied to the first embodiment.
A third embodiment of the present application provides a terminal, as shown in fig. 11, including: at least one processor 201, and a memory 202 communicatively coupled to the at least one processor 201, wherein the memory 202 stores instructions executable by the at least one processor 201 for execution by the at least one processor 201 to enable the at least one processor 201 to perform a virtual simulation method as described above.
Where the memory 202 and the processor 201 may be connected by a bus, the bus may comprise any number of interconnected buses and bridges, the buses connecting the various circuits of the one or more processors 201 and the memory 202 together. The bus may also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or may be a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 201 is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor 201.
The processor 201 may be responsible for managing the bus and general processing, and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 202 may be used to store data used by processor 201 in performing operations.
A fourth embodiment of the present application provides a computer readable storage medium storing a computer program, which when executed by a processor, implements the virtual simulation method embodiment described above.
That is, it will be understood by those skilled in the art that all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program stored in a storage medium, where the program includes several instructions for causing a device (which may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform all or part of the steps in the methods of the embodiments of the application. Such a computer program may be stored in a device (e.g., a computer) readable medium or any type of medium suitable for storing electronic instructions and respectively coupled to a bus, including, but not limited to, any type of disk (including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks), ROMs (Read-Only memories), RAMs (Random Access Memory, random access memories), EPROMs (Erasable Programmable Read-Only memories), EEPROMs (Electrically Erasable Programmable Read-Only memories), flash memories, magnetic cards, or optical cards. That is, a readable medium includes any medium that stores or transmits information in a form readable by a device (e.g., a computer).
Those of skill in the art will appreciate that the various operations, methods, steps in the flow, acts, schemes, and alternatives discussed in the present application may be alternated, altered, combined, or eliminated. Further, other steps, means, or steps in a process having various operations, methods, or procedures discussed herein may be alternated, altered, rearranged, disassembled, combined, or eliminated.
Further, steps, measures, schemes in the related art having various operations, methods, flows disclosed in the present application may also be alternated, altered, rearranged, decomposed, combined, or deleted.
The foregoing is only a partial embodiment of the present application, and it should be noted that it will be apparent to those skilled in the art that modifications and adaptations can be made without departing from the principles of the present application, and such modifications and adaptations are intended to be comprehended within the scope of the present application.
Claims (10)
1. The virtual simulation method for bending the sheet metal part is characterized by comprising the following steps of:
adding bending equipment model to add sheet metal part model on bending equipment model, bending equipment model includes the conveyer chain model add sheet metal part model on the bending equipment model, include: configuring operation parameters of the conveying chain model; configuring the sheet metal part models, and configuring a starting point and an ending point of each sheet metal part model on the conveying chain model; sequentially creating a plurality of sheet metal part models at the starting points of the conveying chain models;
adding a bending robot model;
adding a virtual controller, and configuring control parameters of the bending robot model in the virtual controller;
adding a virtual demonstrator, wherein the virtual demonstrator sends a trigger signal to the virtual controller, the virtual controller detects whether the sheet metal part model reaches the end point after receiving the trigger signal, if yes, sends a signal in place to the bending robot model, and after receiving the signal in place, the bending robot model controls the bending robot model to grasp the sheet metal part model at the end point for bending according to the control parameter.
2. The virtual simulation method of claim 1, wherein before the virtual demonstrator sends the trigger signal to the virtual controller, further comprising:
adding a tool model, and installing the tool model on the bending robot model;
the bending robot model is controlled to bend the sheet metal part model according to the control parameters, and the bending robot comprises:
and controlling the bending robot model to bend the sheet metal part model through the tool model according to the control parameters.
3. The virtual simulation method of claim 1, wherein the adding a bending equipment model comprises:
and adding a plurality of bending equipment models, and adjusting the relative position relation among the bending equipment models.
4. The virtual simulation method according to claim 1, wherein the adding a sheet metal part model to the bending equipment model includes:
a plurality of sheet metal part models are respectively arranged along three different directions of X, Y, Z to form a sheet metal part model group;
placing the sheet metal part model group on the bending equipment model;
the bending robot model is controlled to bend the sheet metal part model according to the control parameters, and the bending robot comprises:
and controlling the bending robot model to sequentially grasp each sheet metal part model in the sheet metal part model group according to the sequence of the X negative direction, the Y negative direction and the Z negative direction to bend, wherein the Z negative direction is the direction deviating from the bearing surface of the bending equipment model.
5. The virtual simulation method of claim 1, wherein the sequentially creating a plurality of sheet metal part models at the start point of the conveyor chain model comprises:
and automatically creating copies of the configured sheet metal part model on the starting point of the conveying chain model every preset time length.
6. The virtual simulation method of claim 1, wherein the sequentially creating a plurality of sheet metal part models at the start point of the conveyor chain model comprises:
continuously receiving a control signal sent by the bending robot model;
and automatically creating a copy of the configured sheet metal part model at the starting point of the conveyor chain model after each time the control signal is received.
7. The virtual simulation method according to claim 1, wherein the control parameters include a plurality of positions to be bent of the sheet metal part model, and a bending sequence of the plurality of positions to be bent;
the bending robot model is controlled to bend the sheet metal part model according to the control parameters, and the bending robot comprises:
the bending robot model bends the positions to be bent according to the bending sequence, and the sheet metal part model presents a corresponding bending state.
8. Simulation equipment for carry out sheet metal part bending simulation, which is characterized by comprising:
the simulation model equipment is used for storing a bending equipment model, a sheet metal part model and a bending robot model, wherein the bending equipment model comprises a conveying chain model with a starting point and a finishing point, the sheet metal part model is placed at the starting point of the conveying chain model, and the bending equipment model is used for bearing and/or transporting the sheet metal part model;
the controller is configured with control parameters of the bending robot model;
the demonstrator is used for sending a trigger signal to the controller, the controller is used for detecting whether the sheet metal part model reaches the end point after receiving the trigger signal, if yes, a signal in place is sent to the bending robot model, and after the bending robot model receives the signal in place, the bending robot model is controlled to grasp the sheet metal part model at the end point according to the control parameters to bend.
9. A terminal, comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the virtual simulation method of any one of claims 1 to 7.
10. A computer readable storage medium storing a computer program, wherein the computer program when executed by a processor implements the virtual simulation method of any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310437842.2A CN116618496A (en) | 2023-04-21 | 2023-04-21 | Virtual simulation method, simulation device, terminal and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310437842.2A CN116618496A (en) | 2023-04-21 | 2023-04-21 | Virtual simulation method, simulation device, terminal and readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116618496A true CN116618496A (en) | 2023-08-22 |
Family
ID=87620265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310437842.2A Pending CN116618496A (en) | 2023-04-21 | 2023-04-21 | Virtual simulation method, simulation device, terminal and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116618496A (en) |
-
2023
- 2023-04-21 CN CN202310437842.2A patent/CN116618496A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10525594B2 (en) | Teaching system, robot system, and teaching method | |
| CN110198813B (en) | Robot path generation device and robot system | |
| US7937186B2 (en) | Device and method for automatically setting interlock between robots | |
| US8706302B2 (en) | Method for offline programming of an NC-controlled manipulator | |
| EP2906396A1 (en) | A method and an apparatus for automatically generating a collision free return program for returning a robot from a stop position to a predefined restart position | |
| JP2016093869A (en) | Teaching data creation method, creation device, creation program, teaching data structure, and recording medium | |
| JP2019171498A (en) | Robot program execution device, robot program execution method and program | |
| CN114845843B (en) | Program generation device, program generation method, and generation program | |
| US20250128415A1 (en) | Method and System for Generating a Path for a Robot Arm and a Tool Attached to the Robot Arm | |
| JP2010218036A (en) | Robot off-line programming system | |
| CN116618496A (en) | Virtual simulation method, simulation device, terminal and readable storage medium | |
| CN113393106B (en) | Simulation system and method for laser cutting production line | |
| CN114555303B (en) | Design of a gripping tool for sorting parts for a laser cutting machine | |
| CN114115151A (en) | A method and system for collaborative assembly of industrial robots based on MES | |
| JP6819766B1 (en) | Simulation systems, simulation methods, simulation programs, robot manufacturing methods, and robot systems | |
| JP7167925B2 (en) | Robot teaching device | |
| JP5181562B2 (en) | Simulation method | |
| CN115423656A (en) | Robot collaborative operation visual simulation teaching system and method | |
| Vosniakos et al. | Industrial robot path planning in a constraint-based computer-aided design and kinematic analysis environment | |
| CN116787433A (en) | Discharging teaching method, discharging teaching device, storage medium and processing equipment | |
| CN117428751A (en) | Simulation system of robot running environment and robot | |
| CN112571405B (en) | Manipulator and manipulator point position determination method | |
| CN118559714B (en) | Robot system and control method | |
| Daneshjo et al. | Methodological Aspects of Modelling and Simulation of Robotized Workstations | |
| Khanolkar | Reducing gauging lead times and optimizing layout design at GM Powertrain with 3D workcell simulation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |