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

概要

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In the present study, a method is proposed which generates process planning of sheet metal bending by robot. In bending process, the handling operation of sheet metal parts has been performed by human experts. In case of human worker, the main purpose of process planning is to determine the bending sequence and tools used. If handling operations are replaced to robot, the grasping position and reposition of sheet metal parts must be indicated in detail as well as bending sequence and tools. In this paper, the problem of constraints for bending sequence is solved by using a connectivity graph which consists of bend lines and faces. And the graph is made for each grasping position. The bending sequence which contains some geometrical bending features are determined on basis of channel feature. As a result, searching space of bending sequences is reduced and feasible bending sequences can be obtained by taking the grasping positions into consideration. A computer simulation was performed based on the proposed method, and bending sequences with grasping positions and reposition are determined and sorted in order of the number of repositions. Illustrative examples and results of various simulation models are given and the effectiveness of this method is discussed.
一般社団法人日本機械学会の論文
2000-06-25