System Development Of The Bending Robot For Elevator Door Plate

The sheet metal bending is applied more and more widely,such as elevator,electrical appliances,electrical cabinets,bins,etc..The bending operation mostly still need artificial aid,the efficiency is low and the quality is difficult to guarantee.Some enterprises use general robots instead of manual,to a certain extent,improve the work efficiency and improve the bending quality.However,the design of the connecting rod parameters of general robot is not suitable for bending operation,which often leads to the interference between the sheet metal parts and the body,and often need to install additional walking axis to adapt the bending operation.Therefore,it is very necessary to design a bending robot which is specially designed for the auxiliary bending.In this paper,a dedicated bending robot is designed,which is used to the elevator door plate(Length:2000-2500mm,Width:360?600mm,Thickness:1.2?1.5mm,Weight:20kg)bending operation.Firstly,the overall scheme of the bending robot and its mechanism are discussed.(1)Through the analysis,the bending robot will meet the bending operation requirements with 5 degrees of freedom,the cost of the robot will be reduced by eliminating the J4 joint of the six joint robot.(2)By optimizing the parameters of the connecting rod,the robot can be used in the bending operation of 360-2500mm length sheet metal parts,without the need to install the track and other auxiliary facilities.(3)According to the simulation of the connecting rod size of the robot to determine the driving force requirements of each joint,select the appropriate model of motor speed reducer and other drive components.The design of the mechanical main body of the bending robot is finally completed.Secondly,the realization of the bending function of the 5 axis bending robot is introduced.(1)The kinematic model of SR50B is established by D-H algorithm.(2)Develop and package the algorithms for bending correction and tracking function,and the worker only need to call the bending statement to complete the bending operation.The bending robot can be used by given the bending function.Lastly,the robot body structure and the algorithm control system and other functional are verified through the actual bending test.The verification shows that the bending robot has good bending operation ability,can effectively improve the work efficiency and ensure the quality of processing.