Automated Process Planning for Sheet Metal Bending by a Robot

机器人钣金折弯的自动化工艺规划

• 批准号: 13650125
• 负责人: AOMURA Shigeru
• 金额: $ 1.98万
• 依托单位: Tokyo Metropolitan University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650125/
• 关键词: bending operation; gage position; positioning error; connection graph; bending sequence; 板金部品接続グラフ

In this research, the method which generates bending process plan for sheet metal bending with handling robot automatically is proposed. In process planning for sheet metal bending with handling robot, grasping position and reposition timing must be determined in addition to bending sequence, tools and gage position for measuring bending line in detail. On the other hand, errors in length of bending line, spring back and positioning error arise when bending is carried out. In addition, these errors are accumulated some specified dimension so that process plan that the error may not accumulate on critical dimension must be decided. In this paper, the problem of accumulation error is solved by using graph and tree which is consisted of bending line and faces. The graph is generated by flat pattern and the tree which is specified grasping position of handling robot as root node is generated from the graph. As a result, bending process plan can be obtained by applying some heuristic rules to the tree. Computer simulation was carried out based on the proposed method. Illustrative example and result of simulation are given and the effective of this method is discussed.

本文提出了一种基于搬运机器人的板料折弯工艺计划自动生成方法。在板料搬运机器人弯曲工艺规划中，除了要确定弯曲顺序、测量弯曲线所需的工具和量具位置外，还必须确定抓取位置和复位时机。另一方面，当进行弯曲时，弯曲线的长度误差、回弹和定位误差会出现。此外，这些误差会在某个指定维度上累积，因此必须确定误差不会累积在关键维度上的工艺方案。本文利用由弯曲线和面组成的图形和树来解决累积误差问题。该图由平面模式生成，并由该图生成以搬运机器人抓取位置为根节点的树。在此基础上，通过对弯曲工艺树应用启发式规则，得到弯曲工艺计划。基于所提出的方法进行了计算机仿真。文中给出了实例和仿真结果，并讨论了该方法的有效性。

项目成果

青村 茂: "板金のロボット曲げ加工の工程生成自動化に関する研究-精度を考慮した工程生成手法-"精密工学会誌. 68. 602-607 (2002)

Shigeru Aomura：“钣金机器人弯曲的工艺生成自动化研究 - 考虑精度的工艺生成方法 -” 日本精密工程学会杂志 68. 602-607 (2002)。

S.Aomura: "Optimized Bending Sequences in Sheet Metal Bending by a Robot"Robotics and CIM Journal. 18. 29-39 (2002)

S.Aomura：“机器人钣金弯曲中的优化弯曲顺序”机器人学和 CIM 杂志。

S. AOMURA: "Automated Process Planning for Sheet Metal Bending by A Handling Robot -Process Planning Method by Taking Critical Dimension into Account -"Journal of JSPE. Vol. 68. 602-607 (2002)

S.青村：“搬运机器人进行金属板折弯的自动化工艺规划-考虑关键尺寸的工艺规划方法-”JSPE杂志。

青村 茂: "工程設計支援のための類似板金部品検索手法"日本機械学論文集 C編. 67. 270-277 (2002)

Shigeru Aomura：“用于工艺设计支持的相似钣金零件搜索方法”日本机械工程学报，C 版 67. 270-277 (2002)。

S. AOMURA: "Searching Sheet Metal Parts Based on Bending Similarity"Journal of JSME Ser. (C). Vol. 67. 270-277 (2002)

S.AOMURA：“基于弯曲相似度搜索钣金零件”JSME 期刊