CN111922150A - Ten-axis numerical control bending equipment and bending method - Google Patents

Ten-axis numerical control bending equipment and bending method Download PDF

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Publication number
CN111922150A
CN111922150A CN202010821953.XA CN202010821953A CN111922150A CN 111922150 A CN111922150 A CN 111922150A CN 202010821953 A CN202010821953 A CN 202010821953A CN 111922150 A CN111922150 A CN 111922150A
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CN
China
Prior art keywords
axis
workpiece
base
linear module
motor
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Pending
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CN202010821953.XA
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Chinese (zh)
Inventor
陶初明
唐平
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Dongguan Fenggang Jiahui Plastic Hardware Co ltd
Guangdong Cuifeng Robotics Technology Ltd
Original Assignee
Dongguan Fenggang Jiahui Plastic Hardware Co ltd
Guangdong Cuifeng Robotics Technology Ltd
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Application filed by Dongguan Fenggang Jiahui Plastic Hardware Co ltd, Guangdong Cuifeng Robotics Technology Ltd filed Critical Dongguan Fenggang Jiahui Plastic Hardware Co ltd
Priority to CN202010821953.XA priority Critical patent/CN111922150A/en
Publication of CN111922150A publication Critical patent/CN111922150A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D11/00—Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D11/00—Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
    • B21D11/22—Auxiliary equipment, e.g. positioning devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Abstract

The invention discloses a ten-axis numerical control bending device and a bending method, wherein the ten-axis numerical control bending device comprises an installation plate, an X-axis linear module, two four-axis mechanisms and a workpiece jig; the X-axis linear module is arranged on the mounting plate; the X-axis linear module drives the two four-axis mechanisms to move along the X-axis direction to form ten-axis linkage; each four-axis mechanism comprises a first base, a first rotating arm, a second base and a Y-axis linear module; the first base is driven by the X-axis linear module; one end of the first rotating arm is rotatably arranged on the first base and is driven by a first motor on the first base to rotate around the X axis; the other end of the first rotating arm rotates on one end part of the second rotating arm and is driven by a second motor on the second rotating arm to rotate around the X axis; the second base is rotatably installed on the other end portion of the second rotating arm and is driven to rotate around the X axis by a third motor installed on the second rotating arm. The bending device has the advantage of larger bending range of the workpiece.

Description

Ten-axis numerical control bending equipment and bending method
Technical Field
The invention relates to the technical field of numerical control bending equipment, in particular to ten-axis numerical control bending equipment and a bending method.
Background
With the development of scientific technology, the automation technology is mature day by day, and the automation equipment gradually replaces manual operation by virtue of the advantages of high efficiency, high precision, low human resource cost and the like; the existing bending operation is usually performed by numerical control bending equipment.
The existing numerical control bending equipment usually adopts a clamping device to clamp a workpiece, and then a bending punch is driven by an air cylinder or an oil cylinder to do linear motion to bend the workpiece; the existing numerical control bending equipment is simple in structure, only suitable for bending operation of simple workpieces, and not adjustable in bending angle.
Thus, the prior art is subject to improvement and advancement.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art and provides ten-axis numerical control bending equipment and a bending method.
According to a first aspect of the present invention, the present invention provides a technical solution as follows: a ten-axis numerical control bending device comprises a mounting plate, an X-axis linear module, two four-axis mechanisms and a workpiece fixture; the X-axis linear module is arranged on the mounting plate; the X-axis linear module drives the two four-axis mechanisms to move along the X-axis direction to form ten-axis linkage; each four-axis mechanism comprises a first base, a first rotating arm, a second base and a Y-axis linear module; the first base is driven by the X-axis linear module; one end of the first rotating arm is rotatably installed on the first base and is driven by a first motor on the first base to rotate around an X axis; the other end of the first rotating arm rotates on one end part of the second rotating arm and is driven by a second motor arranged on the second rotating arm to rotate around the X axis; the second base is rotatably arranged at the other end part of the second rotating arm and is driven by a third motor arranged on the second rotating arm to rotate around the X axis; the Y-axis linear module is installed on the second base and drives the workpiece fixture to move along the Y-axis direction.
As a further elaboration of the above technical solution:
in the technical scheme, the workpiece jig comprises a transverse plate, a first suction nozzle and a positioning block; the eight first suction nozzles are arranged on the transverse plate in two rows and four columns; the two positioning blocks are arranged in parallel, and one row of the first suction nozzles are positioned between the two positioning blocks.
In the technical scheme, the workpiece jig further comprises a base, a guide rail, a first sliding block, a connecting plate, a guide rod mounting block, a guide rod, a reset block and a reset spring; the base is driven by the Y-axis linear module; the guide rail is arranged on the upper part of the base along the Y-axis direction; the first sliding block is slidably mounted on the guide rail; the connecting plate is arranged on the first sliding block and is fixedly connected with the transverse plate; the guide rod mounting block is mounted at the bottom of the connecting plate; the guide rod is arranged on the guide rod mounting block and is parallel to the guide rail; the reset block is movably sleeved on the guide rod and fixed on the base; the reset spring is sleeved on the guide rod, and two ends of the reset spring respectively abut against the guide rod mounting block and the reset block; the base is also provided with a limiting block for limiting the sliding stroke of the connecting plate; and a limit switch which is movably matched with the connecting plate is arranged on the limit block close to the reset spring.
In the above technical solution, the X-axis linear module is a linear motor module; the linear motor module drives the two object stages to move along the X-axis direction; two sets of four-axis mechanism's first base is installed respectively one on the objective table.
In the above technical solution, the device further comprises a set of rotating mechanisms; the rotating mechanism comprises a bracket, a rotating cylinder, a suction nozzle mounting plate and a second suction nozzle; the bracket is mounted on one of the object stages; the rotary cylinder is arranged on the bracket and drives the suction nozzle mounting plate to rotate; the second suction nozzle is installed on the suction nozzle installation plate.
In the technical scheme, the Y-axis linear module comprises a case, a motor base, a fourth motor, a driving belt pulley, a driven belt pulley, a screw rod, a synchronous belt, a screw rod nut and a second sliding block; the case is fixedly connected with the second base; the motor base is arranged at the end part of the case; the fourth motor is arranged on the motor base; the driving belt wheel is sleeved on an output shaft of the fourth motor; the driven belt wheel is arranged on the screw rod and is in transmission with the driving belt wheel through the synchronous belt; the screw rod is rotatably arranged on the case; the screw rod nut is screwed on the screw rod and fixedly connected with the second sliding block; the second sliding block is slidably mounted on the case and fixedly connected with the base.
In the technical scheme, the device further comprises a compression device and a six-axis manipulator; the pressing device is used for clamping one end part of the workpiece on the workpiece fixture; the six-axis manipulator is used for conveying workpieces among the external feeding and discharging area, the workpiece fixture and the rotating mechanism.
According to a second aspect of the invention, another technical scheme adopted by the invention is that the ten-axis numerical control bending method comprises the ten-axis numerical control bending equipment in the first aspect, and further comprises the following steps:
the method comprises the following steps that firstly, an X-axis linear module drives two four-axis mechanisms to synchronously move to a bending operation position, a workpiece is clamped from an external feeding and discharging area by a six-axis manipulator and is conveyed to the four-axis mechanisms, and two workpiece jigs respectively suck two end parts of the workpiece;
step two, firstly, the Y-axis linear modules of the two workpiece fixtures synchronously drive the two workpiece fixtures to move, so that the end parts of the workpieces extend into the vacancy avoidance positions; then, the pressing device clamps the end of the workpiece;
step three, the first motors of the two four-axis mechanisms drive the corresponding first rotating arms to synchronously rotate, the second motors of the two four-axis mechanisms drive the corresponding second rotating arms to synchronously rotate, and the third motors of the two four-axis mechanisms drive the corresponding second bases to synchronously rotate; the two groups of workpiece fixtures bend the end part of the workpiece clamped by the pressing device and the part of the workpiece tightly sucked by the two groups of workpiece fixtures oppositely to obtain a workpiece bent for one time;
step four, firstly, the six-axis manipulator transfers the workpiece which is bent for one time in the step three to the rotating mechanism; then, a second suction nozzle of the rotating mechanism tightly sucks the workpiece, and a rotating cylinder of the second rotating mechanism drives the workpiece to rotate; finally, the six-axis manipulator transfers the workpiece rotating by a certain angle to the workpiece jig and repeats the bending action of the third step to perform secondary bending;
and fifthly, loosening the workpiece by the pressing device and the workpiece fixture, and transferring the workpiece which completes the secondary bending operation in the fourth step to an upper blanking area by the six-axis manipulator.
As a further elaboration of the above technical solution:
in the technical scheme, in the first step, the six-axis manipulator clamps a workpiece from an external feeding and discharging area and conveys the workpiece to the four-axis mechanisms, and the X-axis linear module drives the two four-axis mechanisms to move relatively.
In the above technical solution, after the pressing device releases the workpiece in step five, before the workpiece fixture releases the workpiece, the method further includes the following steps: firstly, two Y-axis linear modules work to move a workpiece out of the vacancy avoidance position; then, the first motors of the two four-axis mechanisms drive the corresponding first rotating arms to rotate asynchronously, the second motors of the two four-axis mechanisms drive the corresponding second rotating arms to rotate asynchronously, and the third motors of the two four-axis mechanisms drive the corresponding second bases to rotate asynchronously; and the parts of the workpiece tightly sucked by the two workpiece jigs are twisted relatively.
The invention has the beneficial effects that:
the X-axis linear module drives the two four-axis mechanisms to move to form ten-axis linkage, and the operation range is expanded through the X-axis linear module and the Y-axis linear module in the operation process; the linkage of two sets of four-axis mechanisms not only makes the centre gripping of work piece more stable, still makes the angle scope that the work piece can be bent changeable, and the suitability is better, can also realize the work piece by the twist between the tip of two work piece tool centre grippings by the asynchronous operation between two sets of four-axis mechanisms simultaneously, more is applicable to the shaping operation of bending of complicated work piece.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic view of a portion of the structure of the present invention;
FIG. 3 is an exploded view of the Y-axis linear module of the present invention;
fig. 4 is an exploded view of a portion of the components of the workpiece fixture of the present invention.
The reference numbers in the figures are respectively: 1. mounting a plate; 2. an X-axis linear module; 3. a four-axis mechanism; 4. a first base; 5. a first rotating arm; 6. a first motor; 7. a second rotating arm; 8. a second motor; 9. a second base; 10. a third motor; 11. a Y-axis linear module; 12. a workpiece fixture; 13. a transverse plate; 14. a first suction nozzle; 15. positioning blocks; 16. a base; 17. a guide rail; 18. a first slider; 19. a connecting plate; 20. a guide bar mounting block; 21. a guide bar; 22. a reset block; 23. a return spring; 24. a limiting block; 25. a limit switch; 26. an object stage; 27. a rotation mechanism; 28. a chassis; 29. a motor base; 30. a fourth motor; 31. a driving pulley; 32. a driven pulley; 33. a screw rod; 34. a synchronous belt; 35. a feed screw nut; 36. a second slider; 37. a pressing device; 38. a frame; 39. a movable component; 40. fixing the component; 41. avoiding vacant positions; 42. a support; 43. a rotating cylinder; 44. a suction nozzle mounting plate; 45. a second suction nozzle; 46. six-axis manipulator.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The embodiments described by referring to the drawings are exemplary and intended to be used for explaining the present application and are not to be construed as limiting the present application. In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus should not be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise. In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate. In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
Example 1
Fig. 1 to 4 illustrate a specific embodiment of the ten-axis numerically-controlled bending apparatus according to the present invention, and referring to fig. 1 to 4, the ten-axis numerically-controlled bending apparatus includes a mounting plate 1, an X-axis linear module 2, two four-axis mechanisms 3, and a workpiece fixture 12. The X-axis linear module 2 is arranged on the mounting plate 1; the X-axis linear module 2 drives the two four-axis mechanisms 3 to move along the X-axis direction to form ten-axis linkage. Each four-axis mechanism 3 comprises a first base 4, a first rotating arm 5, a second rotating arm 7, a second base 9 and a Y-axis linear module 11. The first base 4 is driven by the X-axis linear module 2; one end of the first rotating arm 5 is rotatably mounted on the first base 4 and is driven by a first motor 6 on the first base 4 to rotate around an X axis. The other end of the first rotating arm 5 rotates on one end part of a second rotating arm 7 and is driven by a second motor 8 arranged on the second rotating arm 7 to rotate around the X axis; the second base 9 is rotatably mounted on the other end of the second rotating arm 7 and is driven by a third motor 10 mounted on the second rotating arm 7 to rotate around the X-axis; the Y-axis linear module 11 is mounted on the second base 9 and drives the workpiece fixture 12 to move along the Y-axis direction.
Further, the workpiece fixture 12 includes a horizontal plate 13, a first suction nozzle 14, and a positioning block 15. Eight the first suction nozzle 14 is two rows and four columns and is arranged on the transverse plate 13 and is connected with an external air source. The two positioning blocks 15 are arranged in parallel, and one row of the first suction nozzles 14 is located between the two positioning blocks 15. The working principle of the workpiece fixture 12 is as follows: firstly, after an external workpiece is placed on the transverse plate 13, the two positioning blocks 15 are matched with positioning parts at the bottoms of the workpieces; then, the external air source drives the first suction nozzle 14 to suck the workpiece.
Preferably, the workpiece fixture 12 further includes a base 16, a guide rail 17, a first slider 18, a connecting plate 19, a guide bar mounting block 20, a guide bar 21, a reset block 22, and a reset spring 23. The base 16 is driven by the Y-axis linear module 11. The guide rail 17 is installed on the upper portion of the base 16 in the Y-axis direction. The first sliding block 18 is slidably mounted on the guide rail 17; the connecting plate 19 is mounted on the first slider 18 and is fixedly connected with the transverse plate 13. The guide rod mounting block 20 is mounted at the bottom of the connecting plate 19; the guide rod 21 is mounted on the guide rod mounting block 20 and is arranged in parallel with the guide rail 17; the reset block 22 is movably sleeved on the guide rod 21 and fixed on the base 16; the reset spring 23 is sleeved on the guide rod 21, and two ends of the reset spring respectively abut against the guide rod mounting block 20 and the reset block 22; the base 16 is also provided with a limiting block 24 for limiting the sliding stroke of the connecting plate 19; and a limit switch 25 which is movably matched with the connecting plate 19 is arranged on the limit block 24 close to the return spring 23. In the actual use process, the invention also needs to be matched with another clamping device for operation, when the Y-axis linear module 11 drives the workpiece fixture 12 to push one end to be bent of a clamped workpiece into the clamping position of the other clamping device, the Y-axis linear module 11 continues to work after the workpiece touches a limiting part on the clamping device, the return spring 23 is compressed, and the connecting plate 19 slides on the base 16 towards the direction of the return block 22 to play a role of buffering so as to prevent the workpiece from being crushed; in addition, the moving distance of the base 16 driven by the Y-axis linear module 11 is greater than the actual moving distance of the workpiece, so that the problem that the workpiece is not pushed in place due to the stroke error of the Y-axis linear module 11 can be avoided, and the precision of the invention is improved.
Further, X axle sharp module 2 is the linear electric motor module, the linear electric motor module is the standard accessory among the prior art, has advantages such as positioning accuracy height, reaction rate are fast, long service life. The linear motor module drives the two object stages 26 to move along the X-axis direction; the first bases 4 of the two sets of four-axis mechanisms 3 are respectively mounted on one of the object stages 26.
Further, a set of rotating mechanisms 27 is also included; the rotating mechanism 27 comprises a bracket 42, a rotating cylinder 43, a suction nozzle mounting plate 44 and a second suction nozzle 45. The support 28 is mounted on one of the stages 26; the rotary cylinder 29 is mounted on the bracket 28 and drives the nozzle mounting plate 30 to rotate; the second suction nozzle 31 is mounted on the suction nozzle mounting plate 30. In the using process, after a workpiece is placed on the suction nozzle mounting plate 44, the second suction nozzle 45 is driven by an external air source to tightly suck the workpiece, and then the rotary cylinder 43 connected with the external air source drives the suction nozzle mounting plate 44 to synchronously rotate with the workpiece, so that the angle adjustment of the workpiece is completed.
Preferably, the Y-axis linear module 11 includes a chassis 28, a motor base 29, a fourth motor 30, a driving pulley 31, a driven pulley 32, a lead screw 33, a synchronous belt 34, a lead screw nut 35, and a second slider 36. The case 28 is fixedly connected with the second base 9; the motor base 29 is mounted at the end of the chassis 28; the fourth motor 30 is mounted on the motor base 29; the driving pulley 31 is sleeved on an output shaft of the fourth motor 30; the driven pulley 32 is arranged on the screw rod 33 and is in transmission with the driving pulley 31 through the synchronous belt 31; the screw rod 33 is rotatably mounted on the case 28; the screw rod nut 35 is screwed on the screw rod 33 in a threaded manner and is fixedly connected with the first sliding block 18; the first sliding block 18 is slidably mounted on the chassis 28 and is fixedly connected with the base 16; when the fourth motor 30 is driven by an external power source to start working, the output shaft of the fourth motor 30 drives the lead screw 33 to rotate in a synchronous belt transmission manner, and when the lead screw 33 rotates, the second slider 36 is driven to slide in a lead screw transmission manner.
Preferably, a pressing device 37 is further included for clamping one end of the workpiece on the workpiece fixture 12. The pressing device 37 comprises a frame 38, a power device (not shown in the figure), a movable assembly 39 and a fixed assembly 40. The middle part of the frame 38 is provided with a clearance position 41 for moving the workpiece; the fixed component 40 is mounted on the frame 38 and is located at the end edge of the lower wall of the vacancy 41; the movable assembly 39 is slidably mounted on the frame 1; the power device is arranged on the frame 1 and is used for driving the movable component 39 to do linear reciprocating motion towards the fixed component 40 so as to clamp or release a workpiece. The mounting plate 1 is mounted on the frame 38 at the lower side of the clearance 41.
Preferably, a six-axis robot 46 is further included for transporting workpieces between the external loading and unloading zone, the workpiece fixture 12 and the rotating mechanism 27.
The working principle of the invention is as follows: the six-axis manipulator 46 drives the workpiece to carry the workpiece to move among an external loading and unloading area, the workpiece fixture 12 and the rotating mechanism 27; when a workpiece is placed on the workpiece fixture 12, the Y-axis linear module 11 pushes one end of the workpiece into the clearance 41 of the pressing device 37, the pressing device 37 clamps the end of the workpiece, and finally, the four-axis mechanism 3 drives the workpiece fixture 12 to bend the part of the workpiece clamped by the workpiece fixture 12 and the part of the workpiece pressed by the pressing device 37.
Example 2
A ten-axis numerically-controlled bending method, including the ten-axis numerically-controlled bending apparatus according to embodiment 1, further including the steps of:
step one, the X-axis linear module 2 drives the two four-axis mechanisms 3 to synchronously move to the bending operation position, the six-axis manipulator 46 clamps a workpiece from an external feeding and discharging area and carries the workpiece to the four-axis mechanisms 3, and the two workpiece jigs 12 respectively suck two end parts of the workpiece.
Step two, firstly, the Y-axis linear modules 11 of the two workpiece fixtures 12 synchronously drive the two workpiece fixtures 12 to move, so that the end parts of the workpieces extend into the vacancy avoiding positions 41; the pressing device 37 then clamps the end of the workpiece.
Step three, the first motors 6 of the two four-axis mechanisms 3 drive the corresponding first rotating arms 5 to rotate synchronously, the second motors 8 of the two four-axis mechanisms 3 drive the corresponding second rotating arms 7 to rotate synchronously, and the third motors 10 of the two four-axis mechanisms 3 drive the corresponding second bases 9 to rotate synchronously; the two groups of workpiece jigs 12 bend the end parts of the workpieces clamped by the pressing devices 37 and the parts of the workpieces tightly sucked by the two groups of workpiece jigs 12 oppositely to obtain the workpieces bent at one time.
Step four, firstly, the six-axis manipulator 46 transfers the workpiece subjected to the primary bending in the step three to the rotating mechanism 27; then, the second suction nozzle 45 of the rotating mechanism 27 tightly sucks the workpiece, and the rotating cylinder 43 of the second rotating mechanism 27 drives the workpiece to rotate; finally, the six-axis robot 46 transfers the workpiece rotated by a certain angle to the workpiece fixture 12 and repeats the bending operation of the third step to perform the second bending.
And step five, loosening the workpiece by the pressing device 37 and the workpiece jig 12, and transferring the workpiece which completes the secondary bending operation in the step four to an upper blanking area by the six-axis manipulator 46.
Preferably, in the first step, before the six-axis robot 46 clamps a workpiece from the external feeding and discharging area and carries the workpiece to the four-axis mechanism 3, the X-axis linear module 2 drives the two four-axis mechanisms 3 to move relatively, so as to make adaptive adjustment according to the size of the workpiece.
Further, after the pressing device 37 releases the workpiece in the fifth step and before the workpiece fixture 12 releases the workpiece, the method further includes the following steps: firstly, two Y-axis linear modules 11 work to move a workpiece out of the vacancy avoiding position 41; then, the first motors 6 of the two four-axis mechanisms 3 drive the corresponding first rotating arms 5 to rotate asynchronously, the second motors 8 of the two four-axis mechanisms 3 drive the corresponding second rotating arms 7 to rotate asynchronously, and the third motors 10 of the two four-axis mechanisms 3 drive the corresponding second bases 9 to rotate asynchronously; the parts of the workpiece which are respectively tightly sucked by the two workpiece jigs 12 are twisted relatively; when the parts of the workpiece tightly sucked by the two workpiece jigs 12 are twisted relatively, the X-axis linear module 2 drives the two four-axis mechanisms 3 to move relatively.
The X-axis linear module 2 drives the two four-axis mechanisms 3 to move to form ten-axis linkage, and the operation range is expanded through the X-axis linear module 2 and the Y-axis linear module 11 in the operation process; the linkage of two sets of four-axis mechanisms 3 not only makes the centre gripping of work piece more stable, still makes the angle scope that the work piece can be bent changeable, and the suitability is better, can also realize the twist between the tip of work piece by two work piece tools 12 centre grippings by the asynchronous operation between two sets of four-axis mechanisms 3 simultaneously, more is applicable to the full-automatic shaping operation of bending of complicated work piece.
The technical scope of the present invention is not limited to the above embodiments, and any modifications, equivalent variations and modifications made to the above embodiments according to the technical spirit of the present invention still fall within the technical scope of the present invention.

Claims (10)

1. A ten-axis numerical control bending device is characterized by comprising a mounting plate, an X-axis linear module, two four-axis mechanisms and a workpiece jig; the X-axis linear module is arranged on the mounting plate; the X-axis linear module drives the two four-axis mechanisms to move along the X-axis direction to form ten-axis linkage; each four-axis mechanism comprises a first base, a first rotating arm, a second base and a Y-axis linear module; the first base is driven by the X-axis linear module; one end of the first rotating arm is rotatably installed on the first base and is driven by a first motor on the first base to rotate around an X axis; the other end of the first rotating arm rotates on one end part of the second rotating arm and is driven by a second motor arranged on the second rotating arm to rotate around the X axis; the second base is rotatably arranged at the other end part of the second rotating arm and is driven by a third motor arranged on the second rotating arm to rotate around the X axis; the Y-axis linear module is installed on the second base and drives the workpiece fixture to move along the Y-axis direction.
2. The ten-axis numerical control bending device according to claim 1, wherein the workpiece fixture comprises a transverse plate, a first suction nozzle and a positioning block; the eight first suction nozzles are arranged on the transverse plate in two rows and four columns; the two positioning blocks are arranged in parallel, and one row of the first suction nozzles are positioned between the two positioning blocks.
3. The ten-axis numerical control bending equipment according to claim 2, wherein the workpiece fixture further comprises a base, a guide rail, a first sliding block, a connecting plate, a guide rod mounting block, a guide rod, a reset block and a reset spring; the base is driven by the Y-axis linear module; the guide rail is arranged on the upper part of the base along the Y-axis direction; the first sliding block is slidably mounted on the guide rail; the connecting plate is arranged on the first sliding block and is fixedly connected with the transverse plate; the guide rod mounting block is mounted at the bottom of the connecting plate; the guide rod is arranged on the guide rod mounting block and is parallel to the guide rail; the reset block is movably sleeved on the guide rod and fixed on the base; the reset spring is sleeved on the guide rod, and two ends of the reset spring respectively abut against the guide rod mounting block and the reset block; the base is also provided with a limiting block for limiting the sliding stroke of the connecting plate; and a limit switch which is movably matched with the connecting plate is arranged on the limit block close to the reset spring.
4. The ten-axis numerical control bending apparatus according to claim 3, wherein the X-axis linear module is a linear motor module; the linear motor module drives the two object stages to move along the X-axis direction; two sets of four-axis mechanism's first base is installed respectively one on the objective table.
5. The ten-axis numerically controlled bending apparatus according to claim 4, further comprising a set of rotating mechanisms; the rotating mechanism comprises a bracket, a rotating cylinder, a suction nozzle mounting plate and a second suction nozzle; the bracket is mounted on one of the object stages; the rotary cylinder is arranged on the bracket and drives the suction nozzle mounting plate to rotate; the second suction nozzle is installed on the suction nozzle installation plate.
6. The ten-axis numerical control bending device according to claim 5, wherein the Y-axis linear module comprises a chassis, a motor base, a fourth motor, a driving pulley, a driven pulley, a screw rod, a synchronous belt, a screw rod nut and a second slide block; the case is fixedly connected with the second base; the motor base is arranged at the end part of the case; the fourth motor is arranged on the motor base; the driving belt wheel is sleeved on an output shaft of the fourth motor; the driven belt wheel is arranged on the screw rod and is in transmission with the driving belt wheel through the synchronous belt; the screw rod is rotatably arranged on the case; the screw rod nut is screwed on the screw rod and fixedly connected with the second sliding block; the second sliding block is slidably mounted on the case and fixedly connected with the base.
7. The ten-axis numerical control bending apparatus according to claim 6, further comprising a compressing device and a six-axis robot; the pressing device is used for clamping one end part of the workpiece on the workpiece fixture; the six-axis manipulator is used for conveying workpieces among the external feeding and discharging area, the workpiece fixture and the rotating mechanism.
8. A ten-axis numerically controlled bending method comprising the ten-axis numerically controlled bending apparatus according to claim 7, further comprising the steps of:
the method comprises the following steps that firstly, an X-axis linear module drives two four-axis mechanisms to synchronously move to a bending operation position, a workpiece is clamped from an external feeding and discharging area by a six-axis manipulator and is conveyed to the four-axis mechanisms, and two workpiece jigs respectively suck two end parts of the workpiece;
step two, firstly, the Y-axis linear modules of the two workpiece fixtures synchronously drive the two workpiece fixtures to move, so that the end parts of the workpieces extend into the vacancy avoidance positions; then, the pressing device clamps the end of the workpiece;
step three, the first motors of the two four-axis mechanisms drive the corresponding first rotating arms to synchronously rotate, the second motors of the two four-axis mechanisms drive the corresponding second rotating arms to synchronously rotate, and the third motors of the two four-axis mechanisms drive the corresponding second bases to synchronously rotate; the two groups of workpiece fixtures bend the end part of the workpiece clamped by the pressing device and the part of the workpiece tightly sucked by the two groups of workpiece fixtures oppositely to obtain a workpiece bent for one time;
step four, firstly, the six-axis manipulator transfers the workpiece which is bent for one time in the step three to the rotating mechanism; then, a second suction nozzle of the rotating mechanism tightly sucks the workpiece, and a rotating cylinder of the second rotating mechanism drives the workpiece to rotate; finally, the six-axis manipulator transfers the workpiece rotating by a certain angle to the workpiece jig and repeats the bending action of the third step to perform secondary bending;
and fifthly, loosening the workpiece by the pressing device and the workpiece fixture, and transferring the workpiece which completes the secondary bending operation in the fourth step to an upper blanking area by the six-axis manipulator.
9. The method of claim 8, wherein in step one, the six-axis robot grips a workpiece from an external loading/unloading area and transports the workpiece to the four-axis mechanism, and the X-axis linear module drives the two four-axis mechanisms to move relatively.
10. The ten-axis numerical control bending method according to claim 9, wherein after the workpiece is released by the pressing device in the fifth step and before the workpiece is released by the workpiece fixture, the method further comprises the following steps: firstly, two Y-axis linear modules work to move a workpiece out of the vacancy avoidance position; then, the first motors of the two four-axis mechanisms drive the corresponding first rotating arms to rotate asynchronously, the second motors of the two four-axis mechanisms drive the corresponding second rotating arms to rotate asynchronously, and the third motors of the two four-axis mechanisms drive the corresponding second bases to rotate asynchronously; and the parts of the workpiece tightly sucked by the two workpiece jigs are twisted relatively.
CN202010821953.XA 2020-08-15 2020-08-15 Ten-axis numerical control bending equipment and bending method Pending CN111922150A (en)

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CN202010821953.XA CN111922150A (en) 2020-08-15 2020-08-15 Ten-axis numerical control bending equipment and bending method

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Application Number Priority Date Filing Date Title
CN202010821953.XA CN111922150A (en) 2020-08-15 2020-08-15 Ten-axis numerical control bending equipment and bending method

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CN111922150A true CN111922150A (en) 2020-11-13

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CN202010821953.XA Pending CN111922150A (en) 2020-08-15 2020-08-15 Ten-axis numerical control bending equipment and bending method

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