折弯单元折弯机器人跟随折弯运动模型研究

Research on Motion Model of Bending Robot Tracing Press Brake in Bending Cell

在折弯单元中,折弯机器人需要精确跟随折弯机的折弯进给速度和轨迹,跟随误差将影响折弯精度和折弯变形过程。简要介绍了折弯单元折弯机器人的工作过程,分析了折弯单元机器人和折弯机的结构原理,建立了折弯机器人跟随折弯运动学模型,经MATLAB仿真验证了模型的正确性和准确性。试验表明,该模型可以精确跟随折弯加工轨迹,机器人和折弯机同步误差小,能提高折弯精度和加工效率。

Bending robot needs to accurately follow the feeding speed and trajectory of press brake in bending cell. The following er- ror affects the bending accuracy and bending deformation process. This paper introduces the working process of bending robot in bending cell, analyzes the structure and principle of bending robot and press brake, establishes the tracing motion model of bending robot and verifies the correctness and accuracy of the model by MATLAB simulation. Experiments prove that the model can follow the bending trajectory accurately, the synchronization error between bending robot and press brake is reduced and the bending accuracy and processinQ efficiency are improved.