Research And Development Of Automated Bending Cell Driven Directly By Servo-motors

Automated bending cell is an automated machining center for bending sheet-metal, it couldfinish sheet-metal bending work automatically instead of manual work. An automated bending celldriven directly by servo-motors was developed in this report, which consists of CNC press-brakedriven directly by servo-motors, cantilever bending robot and other auxiliary equipments.At first, according to the requirements of bending technology and process for sheet-metal, theoverall technical solutions of the automated bending cell driven directly by servo-motors wasintroduced in this report, and the various components of the press-brake was briefly descriped.With comprehensive analyzing the working principle, basic structure, technical features of thepress-brake and the factors affecting the accuracy, the technical performance indicators of thepress-brake driven directly by servo-motors was defineed, and the pulley and belt drive system wasinduced. After the structural design of the main componets, the statics of the body structure and upperbeam with the ANSYS software was analyzed, and the structure was improved.According to the characteristics of bending process and the technical requirements of thebending robot, the structure and control system design of the robot was finished. After the structuraloptimization and selection of major componets, the open and modular hardware system and softwaresystem was developed, according to the bending process requirements.In order to solve the difficult problem of how to control the bending robot track the path ofpress-brake with high accuracy and great synchronization in the bending process, the technology ofpath planning and motion control based on the Real-time position of press-brake slider was introducedin this report. The simulation and analysis about the path planning by MATLAB shows that thealgorithm could plan great path in theory. In addition, the circuit module for acquiring the position ofpress-brake was designed, and the motion algorithms were integrated into the robot control system.At last, the follow-bending experiments and the comparative experiments with the automatedbending cell developed in this report were carried out. The results show that the actual path deviationof the bending robot used the follow-bending methods introduced in this report is less than0.3mm,which shows the high track accuracy. What’s more, compared with manual bending work, theautomated bending cell could lead to the higher precision and consistency.