CN117139428A - Bending machine with mechanical arm and operation method thereof - Google Patents
Bending machine with mechanical arm and operation method thereof Download PDFInfo
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- CN117139428A CN117139428A CN202311140500.0A CN202311140500A CN117139428A CN 117139428 A CN117139428 A CN 117139428A CN 202311140500 A CN202311140500 A CN 202311140500A CN 117139428 A CN117139428 A CN 117139428A
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- shaped sheet
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- 238000005452 bending Methods 0.000 title claims abstract description 193
- 238000000034 method Methods 0.000 title claims abstract description 42
- 239000002184 metal Substances 0.000 claims abstract description 179
- 230000008569 process Effects 0.000 claims abstract description 33
- 230000009471 action Effects 0.000 claims abstract description 22
- 238000003860 storage Methods 0.000 claims description 59
- 230000000670 limiting effect Effects 0.000 claims description 49
- 239000003921 oil Substances 0.000 claims description 48
- 230000005540 biological transmission Effects 0.000 claims description 17
- 239000010720 hydraulic oil Substances 0.000 claims description 13
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000002360 preparation method Methods 0.000 claims description 5
- 230000003044 adaptive effect Effects 0.000 description 4
- 238000007599 discharging Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004801 process automation Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
- B21D5/0209—Tools therefor
- B21D5/0254—Tool exchanging
-
- 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
-
- 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
- B21D43/11—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers for feeding sheet or strip material
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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
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/02—Ejecting 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
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
- B21D5/0209—Tools therefor
- B21D5/0236—Tool clamping
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention belongs to the technical field of bending equipment, and discloses a bending machine with a mechanical arm and an operation method thereof. According to the invention, through the combined action of the adjusting component and the framework structure, the angle of the metal V-shaped sheet bending groove can be adjusted when needed, and the adjusting process is automatically completed without manual adjustment, so that the angle of the metal V-shaped sheet internal bending groove can be adaptively adjusted within a certain range, the bending requirements of different metal plate bending angles or different bending angles of the same specification metal plate are met, the bending die does not need to be replaced when facing different bending angles, the universality is higher, and the bending efficiency of the metal plate can be remarkably improved.
Description
Technical Field
The invention belongs to the technical field of bending equipment, and particularly relates to a bending machine with a mechanical arm and an operation method thereof.
Background
A bending machine is a mechanical device for processing a metal material, and is mainly used for bending and folding a metal plate. In the processing process of the metal plate, a bending machine is generally used for bending the metal plate, a conventional bending machine is mainly matched with a bending die process by a bending head which is stamped up and down, the metal plate to be bent is generally placed above the bending die in the bending process, the bending operation of the metal plate is realized by downwards impacting the bending head to be matched with a bending groove of the concave surface in the bending die, and the bending operation of the metal plate is completed by multiple times of bending.
When the conventional bending machine is used for bending a metal plate, the bending angle of the metal plate is mainly determined by the angle of a concave bending groove in a metal mold, namely, the bending angle of the bending groove can be directly influenced, the metal plate is required to be bent for many times in the processing process of the metal plate, certain differences exist in the bending angles required by different surfaces of the metal plate with different specifications and the metal plate with the same specification, the bending groove angle of the bending mold in the prior art is fixed, the bending mold can be completed only by changing different bending molds when the bending angle is required to be changed in the bending process, the overall bending efficiency is low, and improvement is required.
In the bending process of the metal plate, in order to prevent displacement of the metal plate before bending, the metal plate is generally limited by using a limiting device when being placed above a bending die, so that displacement of the metal plate is prevented, but the limiting device is required to be withdrawn to avoid interference caused by folding the metal plate during bending, in the prior art, the operation is required to be manually performed, namely, limiting is performed during feeding, limiting is released during bending, the degree of automation is lower, automatic limiting is not realized during bending, and the bending efficiency is required to be improved.
Disclosure of Invention
The invention aims to provide a bending machine with a mechanical arm and an operation method thereof, so as to solve the problems in the background art.
In order to achieve the above object, the present invention provides the following technical solutions: the bending machine with the mechanical arm comprises a base, wherein a transverse guide rail is fixedly arranged in the middle of the top end of the base, longitudinal guide rails are fixedly arranged at the left side and the right side of the transverse guide rail, a multi-shaft mechanical arm is arranged at one side of the top end of the base, a movable plate is arranged above the transverse guide rail, an adjusting assembly is fixedly arranged in the middle of the top end of the movable plate, skeleton structures are arranged at the left side and the right side of the adjusting assembly, two metal V-shaped sheets are arranged on the inner side surfaces of the skeleton structures, the left end and the right end of each metal V-shaped sheet are respectively connected with the two skeleton structures, limiting plates are arranged at the front side and the rear side of each metal V-shaped sheet, one end of each multi-shaft mechanical arm, which is far away from the base, is positioned above each metal V-shaped sheet, corresponds to an external bending head, each metal V-shaped sheet is formed by bendable metal sheets, and extension columns are fixedly arranged at the left side and the right side of the top of each movable plate;
the adjusting assembly comprises an oil storage tank, the bottom end of the oil storage tank is connected with the middle part of the top end of the movable plate, a temporary storage pipe is arranged above the oil storage tank, the oil storage tank is positioned right below the middle part of the metal V-shaped piece, hydraulic oil is filled in the oil storage tank, and an oil pump is arranged at the output end of the oil storage tank;
the number of the framework structures is two, the framework structures correspond to the left end and the right end of the metal V-shaped sheet respectively, the framework structures comprise fixed guide rails which are equidistantly distributed at the bottom end of one side of the metal V-shaped sheet and are connected with the top end of the extension column, and the framework structures further comprise supporting frames, and the two supporting frames are welded and fixed with the left end and the right end of the metal V-shaped sheet respectively.
Before bending operation, the device is required to be corresponding to an external bending head, namely the middle part of the metal V-shaped piece is corresponding to the middle part of the external bending head, and meanwhile, the length of the metal V-shaped piece can be adjusted, so that two ends of a workpiece in an initial state can be ensured to be in contact with limiting plates in the initial state, normal limiting of the limiting plates is ensured, and preparation before bending is completed.
When bending, the feeding area and the discharging area of the workpiece can be respectively arranged on the front side and the rear side of the multi-axis manipulator, during practical use, the workpiece is clamped by the multi-axis manipulator, the workpiece is placed in the middle of the metal V-shaped sheet and corresponds to the outer bending elbow through rotation of the multi-axis manipulator, after the placement is completed, the multi-axis manipulator is released to clamp and rotate to leave the inner part of the metal V-shaped sheet, at the moment, the outer bending head starts to descend to bend the metal sheet, and when bending is completed, the bending head automatically ascends, and meanwhile, the multi-axis manipulator rotates to the upper part of the metal V-shaped sheet again to clamp the metal sheet to switch the position or discharge the metal sheet until the bending process of the metal sheet is completed.
Through being provided with multiaxis manipulator and metal V-arrangement piece and cooperation outside bend, accomplish the material loading of work piece through multiaxis manipulator and accomplish the location process of work piece, and accomplish the bending of work piece automatically after accomplishing the material loading, the switching of the work piece bending position or the ejection of compact of work piece are accomplished to the accessible multiaxis manipulator again after accomplishing the work piece bending simultaneously, whole process automation is accomplished, need not the manual work and assist, operating personnel only need observe whole operation process prevent down can, need not manual operation, not only improved work efficiency but also factor of safety is fit for batch production and uses.
As a further technical scheme of the invention, the top end of the oil storage tank is fixedly communicated with a three-way valve, the bottom end of the three-way valve is communicated with the output end of the oil storage tank, the top end of the three-way valve is fixedly provided with a mounting frame, and the mounting frame is fixedly sleeved with the outer side surface of the temporary storage pipe.
As a further technical scheme of the invention, the left and right sides of the inner cavity of the temporary storage tube are movably sleeved with piston plates, the ends, which are relatively far away from each other, of the two piston plates are fixedly provided with piston rods positioned in the temporary storage tube, the outer side surfaces of the two piston rods are movably sleeved with reset springs, and the left and right ends of the reset springs are respectively connected with one end of the temporary storage tube and one end of the piston plate.
As a further technical scheme of the invention, one end of the two piston rods, which is relatively far away, penetrates through the left end and the right end of the temporary storage pipe and is fixedly connected with a transmission frame, and the other end of the transmission frame is connected with the framework structure.
When the bending angle needs to be adjusted, the hydraulic oil can be output to the inside of the three-way valve by opening the oil pump positioned in the oil storage tank, and the hydraulic oil enters the inside of the temporary storage pipe through the conveying of the oil conveying pipe, at the moment, the hydraulic oil is injected from the two ends of the temporary storage pipe, and pressure is applied to the two piston plates, at the moment, the two piston plates are relatively close to each other, the reset spring is stretched, namely the two piston plates and the piston rod are relatively close to each other, the relatively close of the two transfer frames is realized, the input of the oil pump can be closed, at the moment, the hydraulic oil in the temporary storage pipe can be returned to the inside of the oil storage tank through the oil conveying pipe and the three-way valve under the reset action of the reset spring again, and at the moment, the two transfer frames are relatively far away from each other, and the framework structure is acted for completing the adjustment process.
As a further technical scheme of the invention, the inside of the fixed guide rail is movably clamped with the sliding blocks, one side of the bottom end of each sliding block is connected with the corresponding transmission frame, the sliding blocks are mutually perpendicular to the corresponding transmission frame, one ends of the sliding blocks, which are far away from the fixed guide rail, are fixedly connected with the third fixing seats, the number of the third fixing seats is the same as that of the fixed guide rail, and the sliding blocks are horizontally displaced relative to the fixed guide rail.
As a further technical scheme of the invention, one end of the third fixing seat far away from the sliding block is movably connected with a supporting rod through a rotating shaft, one end of the supporting rod far away from the third fixing seat is movably connected with a fourth fixing seat through a rotating shaft, and the other end of the fourth fixing seat is connected with the supporting frame.
When the adjustment assembly is adjusted, namely when the two transmission frames are relatively close, the left framework structure and the right framework structure can be acted on, at the moment, the sliding blocks positioned on the left side and the right side are relatively close to each other under the action of pulling force, the sliding blocks can displace relative to the fixed guide rails under the guiding action of the fixed guide rails, the supporting rods deflect along with the displacement, namely, the supporting rods deflect towards one ends far away from each other, at the moment, the supporting frames can be applied with inward pushing force, namely, the two supporting frames are subjected to pushing force and apply pressure to the internal metal V-shaped pieces, at the moment, the metal V-shaped pieces deform along with the pushing force, namely, the included angle inside the metal V-shaped pieces is reduced along with the pushing force, the adaptive adjustment is completed, and conversely, the included angle of the inner side surfaces of the metal V-shaped pieces can be increased.
Through setting up the metal V-arrangement piece into the metal sheet that can take place deformation to through the combined action of adjusting part and skeleton texture, make it can adjust the angle of metal V-arrangement piece bending groove when needs, and the adjustment process is automatic to be accomplished and need not manual adjustment, make the inside angle of bending the groove of metal V-arrangement piece can carry out adaptive adjustment in a certain limit, satisfy the different metal sheet bending angles or the different bending angles's of metal sheet of same specification demand of bending, need not to change the mould of bending when facing different bending angles, the commonality is higher, can show the bending efficiency that improves the metal sheet.
As a further technical scheme of the invention, the front side and the rear side of the movable plate are fixedly provided with the longitudinal guide blocks, the movable plate is movably clamped with the longitudinal guide rail through the longitudinal guide blocks, the movable plate is vertically displaced relative to the longitudinal guide rail, the bottom end of the longitudinal guide block is fixedly connected with a limit spring positioned in the longitudinal guide rail, and the bottom end of the limit spring is connected with the bottom end of an inner cavity of the longitudinal guide rail.
As a further technical scheme of the invention, the left and right sides of the bottom end of the longitudinal guide block are fixedly provided with the first fixing seat, one end of the first fixing seat far away from the movable plate is movably connected with the connecting rod through the rotating shaft, one end of the connecting rod far away from the first fixing seat is movably connected with the second fixing seat through the rotating shaft, and the bottom ends of the second fixing seats are fixedly connected with the transverse guide blocks.
As a further technical scheme of the invention, the transverse guide blocks are movably clamped with the transverse guide rails, the transverse guide blocks are displaced back and forth relative to the transverse guide rails, extension rods are fixedly arranged at the ends, which are relatively far away from each other, of the two transverse guide blocks, and the top ends of the extension rods are connected with the bottom ends of the limiting plates.
When bending operation is carried out, when the metal plate is placed on the top of metal V-arrangement piece, the both ends of metal plate can contact with two limiting plates at this moment, when bending, the bending head on top starts and exerts decurrent pressure to the metal plate, metal V-arrangement piece receives decurrent pressure thereupon, and conduct decurrent pressure to fly leaf department, the effect that the fly leaf can be through vertical guide block at this moment is relative longitudinal guide rail downward displacement, and limiting spring is compressed, when the fly leaf downward displacement, can drive two connecting rods and take place to deflect and drive the contained angle between two connecting rods to increase, at this moment two horizontal guide blocks can take place the fore-and-aft displacement under the effect of transverse guide rail, and two extension bars and limiting plate keep away from relatively, release spacing to the front and back of metal plate, otherwise no longer exert decurrent pressure and when not bending, the fly leaf is automatic rising under limiting spring's effect, and two limiting plates resume initial position and are located the front and back both sides of metal V-arrangement piece promptly and wait to carry out spacing to the metal plate.
Through utilizing the downforce that uses when bending the metal sheet, will bend the power that pushes down and turn into left and right power, drive the relative of two limiting plates and keep away from, make it loosen the spacing to the metal sheet gradually in bending process, and when the downforce disappears, automatic completion resets, automatic completion of whole process can realize that the metal sheet is automatic to be released spacing when bending, and automatic spacing to the metal sheet before the operation of bending need not manual intervention, and can not cause the influence to the bending process, further improved whole bending efficiency.
A method of operating a bending machine with a robotic arm, comprising the steps of:
s1: before bending, the device is firstly required to be placed under an external bending head, the center of the bending head corresponds to the center of the inner cavity of the metal V-shaped sheet, a multi-axis manipulator is set to cooperate with the descending operation of the bending head, and a corresponding metal plate to be bent is prepared to finish the preparation before bending;
s2: when the bending is performed, the metal plate can be placed above the metal V-shaped sheet through the multi-axis mechanical arm, the metal plate is kept to be positioned in the middle of the metal V-shaped sheet, at the moment, the two limiting plates are in contact with the two ends of the metal plate, the bending head is synchronously opened and the bending head is controlled to be pressed downwards, when the bending head is in contact with the metal plate, pressure can be applied to the metal plate, at the moment, the metal V-shaped sheet is pressed, the movable plate is pressed downwards, and the movable plate is driven to move downwards opposite to the longitudinal guide rail;
s3: when the movable plate moves downwards, the two connecting rods deflect and the included angle is increased, the two second fixing seats are driven to be relatively far away under the guiding action of the transverse guide rail, and the extension rod and the limiting plate are relatively far away from each other, so that the limiting plate is not contacted with the metal plate any more to release the limiting action, and the bending operation of the metal plate is completed under the action of the bending groove at the inner side of the metal V-shaped piece;
s4: when different bending angles are needed, for example, when smaller bending angles are needed, hydraulic oil can be output to the inside of the temporary storage pipe through the oil conveying pipe by opening the oil pump in the oil storage tank, at the moment, the two piston plates are relatively close to each other and drive the two transmission frames to be relatively close to each other, at the moment, the sliding blocks on the left side and the right side can be pulled to be relatively close to each other, at the moment, the supporting rods deflect upwards along with the sliding blocks, thrust is applied to the supporting frames, at the moment, the bending of the metal V-shaped sheet to the inner side can be realized under the action of the thrust of the inner sides of the left supporting frame and the right supporting frame, the bending groove angle is reduced to finish the adjustment process, and otherwise, the bending angle can be increased.
The beneficial effects of the invention are as follows:
1. according to the invention, the metal V-shaped sheet is set as the deformable metal plate, and the angle of the bending groove of the metal V-shaped sheet can be adjusted as required under the combined action of the adjusting component and the framework structure, and the adjusting process is automatically completed without manual adjustment, so that the angle of the bending groove in the metal V-shaped sheet can be adaptively adjusted within a certain range, the bending requirements of different bending angles of different metal plates or different bending angles of metal plates with the same specification are met, the bending die is not required to be replaced when the bending angles are faced, the universality is higher, and the bending efficiency of the metal plate can be remarkably improved.
2. According to the invention, the downward pressure used when the metal plate is bent is utilized, the downward pressing power is converted into leftward and rightward power, the two limiting plates are driven to be relatively far away, the limiting of the metal plate is gradually released in the bending process, and when the downward pressure is eliminated, the reset is automatically completed, the automatic releasing of the limiting of the metal plate in the bending process can be realized, the metal plate is automatically limited before the bending operation, the manual intervention is not needed, the influence on the bending process is avoided, and the integral bending efficiency is further improved.
3. According to the invention, the multi-axis mechanical arm and the metal V-shaped sheet are arranged and matched with the external bending head, the multi-axis mechanical arm is used for completing the workpiece feeding to complete the workpiece positioning process, the workpiece bending is automatically completed after the feeding is completed, meanwhile, the multi-axis mechanical arm is used for completing the workpiece bending position switching or workpiece discharging after the workpiece bending is completed, the whole process is automatically completed, no manual assistance is needed, an operator only needs to observe the whole operation process to prevent downtime, manual operation is not needed, the working efficiency is improved, and the safety factor is improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is an exploded view of the cross rail and longitudinal rail and fly plate structure of the present invention;
FIG. 3 is a schematic side view of the cross rail and longitudinal rail and fly plate structure of the present invention;
FIG. 4 is a schematic view of the alignment assembly and metal V-shaped plate and skeleton structure of the present invention;
FIG. 5 is a schematic diagram illustrating the structure of the adjusting assembly of the present invention;
FIG. 6 is a schematic view of an internal cross-section of the structure of the adjustment assembly of the present invention;
FIG. 7 is an exploded schematic view of a metal V-shaped sheet and skeletal structure of the present invention;
fig. 8 is an enlarged schematic view of the structure at a in fig. 6.
In the figure: 1. a base; 2. a multi-axis manipulator; 3. a transverse guide rail; 4. a longitudinal guide rail; 5. a limit spring; 6. a movable plate; 7. a longitudinal guide block; 8. a transverse guide block; 9. extending the column; 10. a first fixing seat; 11. the second fixing seat; 12. a connecting rod; 13. an extension rod; 14. a limiting plate; 15. an adjustment assembly; 151. an oil storage tank; 152. a three-way valve; 153. a mounting frame; 154. a temporary storage tube; 155. a piston plate; 156. a piston rod; 157. a return spring; 158. an oil delivery pipe; 159. a transfer rack; 16. a metal V-shaped sheet; 17. a framework structure; 171. a fixed guide rail; 172. a slide block; 173. a third fixing seat; 174. a fourth fixing base; 175. a support rod; 176. and (5) supporting frames.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 8, in the embodiment of the invention, a bending machine with a mechanical arm comprises a base 1, wherein a transverse guide rail 3 is fixedly arranged in the middle of the top end of the base 1, longitudinal guide rails 4 are fixedly arranged at the left side and the right side of the transverse guide rail 3, a multi-shaft manipulator 2 is arranged at one side of the top end of the base 1, a movable plate 6 is arranged above the transverse guide rail 3, an adjusting component 15 is fixedly arranged in the middle of the top end of the movable plate 6, skeleton structures 17 are arranged at the left side and the right side of the adjusting component 15, metal V-shaped pieces 16 are arranged at the inner side surfaces of the two skeleton structures 17, the left end and the right end of each metal V-shaped piece 16 are respectively connected with the two skeleton structures 17, limiting plates 14 are arranged at the front side and the rear side of each metal V-shaped piece 16, one end, far away from the base 1, of each multi-shaft manipulator 2 is positioned above each metal V-shaped piece 16, corresponds to an external bending head, each metal V-shaped piece 16 is formed by a bendable metal piece, and extension columns 9 are fixedly arranged at the left side and the right side of the top end of each movable plate 6;
the adjusting assembly 15 comprises an oil storage tank 151, the bottom end of the oil storage tank 151 is connected with the middle part of the top end of the movable plate 6, a temporary storage pipe 154 is arranged above the oil storage tank 151, the oil storage tank 151 is positioned right below the middle part of the metal V-shaped piece 16, hydraulic oil is filled in the oil storage tank 151, and an oil pump is arranged at the output end of the oil storage tank 151;
the number of the framework structures 17 is two and corresponds to the left end and the right end of the metal V-shaped sheet 16 respectively, the framework structures 17 comprise fixed guide rails 171, the fixed guide rails 171 are equidistantly distributed at the bottom end of one side of the metal V-shaped sheet 16 and are connected with the top end of the extension column 9, the framework structures 17 further comprise supporting frames 176, and the two supporting frames 176 are welded and fixed with the left end and the right end of the metal V-shaped sheet 16 respectively.
Before bending operation, the device is required to be corresponding to an external bending head, namely the middle part of the metal V-shaped piece 16 is corresponding to the middle part of the external bending head, and meanwhile, the length of the metal V-shaped piece 16 can be adjusted, so that two ends of a workpiece in an initial state can be contacted with the limiting plate 14 in the initial state, normal limiting of the limiting plate 14 is ensured, and preparation before bending is completed.
When bending, the feeding area and the discharging area of the workpiece can be respectively arranged on the front side and the rear side of the multi-axis manipulator 2, during practical use, the workpiece can be clamped by the multi-axis manipulator 2, the workpiece is placed in the middle of the metal V-shaped sheet 16 and corresponds to the outer bending elbow through the rotation of the multi-axis manipulator 2, after the placement is completed, the multi-axis manipulator 2 releases the clamping and rotates to leave the inside of the metal V-shaped sheet 16, at the moment, the outer bending head starts to descend to bend the metal plate, and when bending is completed, the bending head automatically ascends, and meanwhile, the multi-axis manipulator 2 rotates to the upper side of the metal V-shaped sheet 16 again to clamp the metal plate workpiece for position switching or discharging of the metal plate until the bending process of the metal plate is completed.
Through being provided with multiaxis manipulator 2 and metal V-arrangement piece 16 and cooperation outside bend, accomplish the material loading of work piece through multiaxis manipulator 2 and accomplish the location process of work piece, and accomplish the bending of work piece after accomplishing the material loading automatically, the accessible multiaxis manipulator 2 again accomplish the switching of work piece bending position or the ejection of compact of work piece after accomplishing the work piece bending simultaneously, whole process automation is accomplished, need not the manual work and carry out the assistance, operating personnel only need observe whole operation process prevent down can, need not manual operation, not only improved work efficiency but also improved factor of safety and be fit for mass production and use.
As shown in fig. 4, 5 and 6 and 8, the top end of the oil storage tank 151 is fixedly connected with a three-way valve 152, the bottom end of the three-way valve 152 is connected with the output end of the oil storage tank 151, the top end of the three-way valve 152 is fixedly provided with a mounting rack 153, the mounting rack 153 is fixedly sleeved with the outer side surface of the temporary storage pipe 154, the left side and the right side of the inner cavity of the temporary storage pipe 154 are movably sleeved with piston plates 155, the ends, relatively far away from each piston plate 155, of the two piston plates 155 are fixedly provided with piston rods 156 positioned in the temporary storage pipe 154, the outer side surfaces of the two piston rods 156 are movably sleeved with return springs 157, the left end and the right end of each return spring 157 are respectively connected with one end of the temporary storage pipe 154 and one end of each piston plate 155, the relatively far away from one end of the two piston rods 156 penetrates through the left end and the right end of the temporary storage pipe 154 and is fixedly connected with a transmission frame 159, and the other end of the transmission frame 159 is connected with the frame structure 17.
When the bending angle needs to be adjusted, hydraulic oil can be output to the inside of the three-way valve 152 by opening an oil pump positioned in the oil storage tank 151, and is conveyed into the temporary storage pipe 154 through the oil conveying pipe 158, at this time, hydraulic oil is injected from two ends of the temporary storage pipe 154, and pressure is applied to the two piston plates 155, at this time, the two piston plates 155 are relatively close together, the return spring 157 is stretched, namely, the two piston plates 155 and the piston rod 156 are relatively close together, the relatively close together of the two transfer frames 159 is realized, otherwise, the input of the oil pump can be closed, at this time, the hydraulic oil in the temporary storage pipe 154 can be recycled by the gravity action and the return action of the return spring 157, and at this time, the two transfer frames 159 are relatively far apart and act on the framework structure 17 to complete the adjustment process.
As shown in fig. 2, fig. 4 and fig. 7, the inside of the fixed rail 171 is movably clamped with a slider 172, one side of the bottom end of the slider 172 is connected with the transmission frame 159, the slider 172 is perpendicular to the transmission frame 159, one end of the slider 172 away from the fixed rail 171 is fixedly connected with a third fixed seat 173, the number of the third fixed seats 173 is the same as that of the fixed rail 171, the slider 172 moves left and right relative to the fixed rail 171, one end of the third fixed seat 173 away from the slider 172 is movably connected with a supporting rod 175 through a rotating shaft, one end of the supporting rod 175 away from the third fixed seat 173 is movably connected with a fourth fixed seat 174 through the rotating shaft, and the other end of the fourth fixed seat 174 is connected with a supporting frame 176.
Embodiment one: when the adjusting assembly 15 completes adjustment, that is, when the two transmission frames 159 are relatively close, the left and right two skeleton structures 17 can be acted on, at this time, the sliders 172 located on the left side and the right side are both acted on by pulling force and are relatively close to each other, the sliders 172 can displace relative to the fixed guide rail 171 under the guiding action of the fixed guide rail 171, at this time, the supporting rods 175 deflect accordingly, that is, the supporting rods 175 deflect towards the end far away from each other, at this time, an inward pushing force can be applied to the supporting rods 176, that is, the two supporting rods 176 are acted on by pushing force and apply pressure to the metal V-shaped pieces 16 inside, at this time, the metal V-shaped pieces 16 deform accordingly, that is, the included angle inside the metal V-shaped pieces 16 decreases accordingly, and thus completing adaptive adjustment, and conversely, the included angle inside the metal V-shaped pieces 16 can be increased.
Through setting up metal V-arrangement piece 16 into the sheet metal that can take place deformation to through the combined action of adjusting part 15 and skeleton texture 17, make it can adjust the angle of metal V-arrangement piece 16 bending groove when needs, and the adjustment process is automatic to be accomplished and need not manual adjustment, make the inside angle of bending the groove of metal V-arrangement piece 16 can carry out adaptive adjustment in a certain limit, satisfy the bending demand of different sheet metal bending angles or the different bending angles of same specification sheet metal, need not to change the mould of bending when facing different bending angles, the commonality is higher, can show the bending efficiency that improves the sheet metal.
As shown in fig. 1, fig. 2 and fig. 3, the front side and the rear side of the movable plate 6 are fixedly provided with the longitudinal guide blocks 7, the movable plate 6 is movably clamped with the longitudinal guide rail 4 through the longitudinal guide blocks 7, the movable plate 6 is vertically displaced relative to the longitudinal guide rail 4, the bottom end fixedly connected with the limiting spring 5 positioned in the longitudinal guide rail 4, the bottom end of the limiting spring 5 is connected with the bottom end of the inner cavity of the longitudinal guide rail 4, the left side and the right side of the bottom end of the longitudinal guide block 7 are fixedly provided with the first fixing seat 10, one end of the first fixing seat 10, which is far away from the movable plate 6, is movably connected with the connecting rod 12 through a rotating shaft, one end of the connecting rod 12, which is far away from the first fixing seat 10, is movably connected with the second fixing seat 11 through the rotating shaft, the bottom end of the second fixing seat 11 is fixedly connected with the transverse guide block 8, the movable clamped between the transverse guide block 8 and the transverse guide rail 3 is longitudinally displaced relative to the transverse guide rail 3, one end, which is relatively far away from the two transverse guide blocks 8 is fixedly provided with the extension rod 13, and the top end of the extension rod 13 is connected with the bottom end of the limiting plate 14.
Embodiment two: when bending operation is performed, when the metal plate is placed at the top end of the metal V-shaped sheet 16, at this time, two ends of the metal plate can be contacted with the two limiting plates 14, when bending is performed, the bending head at the top end starts and applies downward pressure to the metal plate, at this time, the metal V-shaped sheet 16 is subjected to downward pressure, the downward pressure is conducted to the movable plate 6, at this time, the movable plate 6 can displace downwards relative to the longitudinal guide rail 4 through the action of the longitudinal guide block 7, the limiting spring 5 is compressed, when the movable plate 6 displaces downwards, the two connecting rods 12 can be driven to deflect and drive the included angle between the two connecting rods 12 to increase, at this time, the two transverse guide blocks 8 can displace forwards and backwards under the action of the transverse guide rail 3, the two extension rods 13 and the limiting plates 14 are relatively far away, the front and back limiting of the metal plate is released, otherwise, the movable plate 6 automatically rises under the action of the limiting spring 5 when bending is not performed, and the two limiting plates 14 are restored to the initial positions, namely, the two limiting plates are located on the front and back sides of the metal V-shaped sheet 16 again and wait for limiting the metal plate.
Through utilizing the downforce that uses when bending the metal sheet, will bend the power that pushes down and turn into left and right power, drive the relative of two limiting plates 14 and keep away from, make it loosen the spacing to the metal sheet gradually in bending process, and when the downforce disappears, automatic completion resets, automatic completion of whole process can realize that the metal sheet is automatic to be released spacing when bending, and automatic spacing is carried out to the metal sheet before the operation of bending, need not manual intervention, and can not cause the influence to the bending process, further improved whole bending efficiency.
A method of operating a bending machine with a robotic arm, comprising the steps of:
s1: before bending, the device is firstly required to be placed under an external bending head, the center of the bending head corresponds to the center of the inner cavity of the metal V-shaped sheet 16, the program of the multi-axis manipulator 2 is set to match the descending operation of the bending head, and the corresponding metal plate to be bent is prepared to finish the preparation before bending;
s2: when the metal plate is bent, the metal plate can be placed above the metal V-shaped piece 16 through the multi-axis mechanical arm 2, the metal plate is kept to be positioned in the middle of the metal V-shaped piece 16, at the moment, the two limiting plates 14 are contacted with two ends of the metal plate, the bent heads are synchronously opened and controlled to be pressed downwards, when the bent heads are contacted with the metal plate, pressure can be applied to the metal plate, at the moment, the metal V-shaped piece 16 is pressed along with the metal plate, and the movable plate 6 is pressed downwards and is driven to move downwards relative to the longitudinal guide rail 4;
s3: when the movable plate 6 moves downwards, the two connecting rods 12 deflect and the included angle is increased, the two second fixing seats 11 are driven to be relatively far away under the guiding action of the transverse guide rail 3, and the extension rod 13 and the limiting plate 14 are relatively far away, so that the limiting plate 14 is not contacted with the metal plate any more to release the limiting action, and the bending operation of the metal plate is completed under the action of the bending groove at the inner side of the metal V-shaped piece 16;
s4: when different bending angles are needed, for example, smaller bending angles are needed, hydraulic oil can be output to the temporary storage pipe 154 through the oil conveying pipe 158 by opening the oil pump in the oil storage tank 151, at this time, the two piston plates 155 are relatively close to each other and drive the two transmission frames 159 to be relatively close to each other, at this time, the sliding blocks 172 on the left side and the right side can be pulled to be relatively close to each other, at this time, the supporting rods 175 deflect upwards, thrust is applied to the supporting frames 176, at this time, the inward bending of the metal V-shaped piece 16 can be realized under the inward thrust action of the left supporting frame 176 and the right supporting frame 176, the bending groove angle is reduced to complete the adjustment process, and otherwise, the bending angle can be increased.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. Bending machine with robotic arm, including base (1), its characterized in that: the middle part at the top of the base (1) is fixedly provided with a transverse guide rail (3), the left side and the right side of the transverse guide rail (3) are fixedly provided with a longitudinal guide rail (4), one side at the top of the base (1) is provided with a multi-axis manipulator (2), the upper part of the transverse guide rail (3) is provided with a movable plate (6), the middle part at the top of the movable plate (6) is fixedly provided with an adjusting component (15), the left side and the right side of the adjusting component (15) are respectively provided with a framework structure (17), the inner side surfaces of the two framework structures (17) are provided with metal V-shaped sheets (16), the left end and the right end of each metal V-shaped sheet (16) are respectively connected with the two framework structures (17), one end of each multi-axis manipulator (2) far away from the base (1) is positioned above the metal V-shaped sheet (16), the right side of each metal V-shaped sheet (16) corresponds to an external head, the metal V-shaped sheet (16) is provided with a bendable metal sheet (6), and the left side and the metal V-shaped sheet (16) is provided with a bending column (9) at equal distance;
the adjusting assembly (15) comprises an oil storage tank (151), the bottom end of the oil storage tank (151) is connected with the middle part of the top end of the movable plate (6), a temporary storage pipe (154) is arranged above the oil storage tank (151), the oil storage tank (151) is located right below the middle part of the metal V-shaped sheet (16), hydraulic oil is filled in the oil storage tank (151), and an oil pump is arranged at the output end of the oil storage tank (151);
the number of the framework structures (17) is two, the framework structures are respectively corresponding to the left end and the right end of the metal V-shaped sheet (16), the framework structures (17) comprise fixed guide rails (171), the fixed guide rails (171) are equidistantly distributed at the bottom end of one side of the metal V-shaped sheet (16) and are connected with the top end of the extension column (9), the framework structures (17) further comprise supporting frames (176), and the two supporting frames (176) are respectively welded and fixed with the left end and the right end of the metal V-shaped sheet (16).
2. A bending machine with a mechanical arm according to claim 1, characterized in that: the top of oil storage tank (151) is fixed to be linked together there is three-way valve (152), the bottom of three-way valve (152) is linked together with the output of oil storage tank (151), the top fixed mounting of three-way valve (152) has mounting bracket (153), the outer lateral surface of mounting bracket (153) and temporary storage pipe (154) is fixed to cup joint.
3. A bending machine with a mechanical arm according to claim 2, characterized in that: piston plates (155) are movably sleeved on the left side and the right side of the inner cavity of the temporary storage tube (154), piston rods (156) positioned inside the temporary storage tube (154) are fixedly installed at the ends, far away from each other, of the two piston plates (155), reset springs (157) are movably sleeved on the outer side faces of the piston rods (156), and the left end and the right end of each reset spring (157) are respectively connected with one end of the temporary storage tube (154) and one end of each piston plate (155).
4. A bending machine with a mechanical arm according to claim 3, characterized in that: one end, far away from each other, of the two piston rods (156) penetrates through the left end and the right end of the temporary storage pipe (154) and is fixedly connected with a transmission frame (159), and the other end of the transmission frame (159) is connected with the framework structure (17).
5. A bending machine with a robotic arm as claimed in claim 4, wherein: the inside all movable joint of fixed guide (171) has slider (172), be connected between one side of slider (172) bottom and the transmission frame (159), mutually perpendicular between slider (172) and the transmission frame (159), the one end that fixed guide (171) was kept away from to slider (172) is all fixedly connected with third fixing base (173), the quantity of third fixing base (173) is the same with the quantity of fixed guide (171), slider (172) relative fixed guide (171) left and right displacement.
6. A bending machine with a mechanical arm according to claim 5, wherein: one end of the third fixed seat (173) far away from the sliding block (172) is movably connected with a supporting rod (175) through a rotating shaft, one end of the supporting rod (175) far away from the third fixed seat (173) is movably connected with a fourth fixed seat (174) through the rotating shaft, and the other end of the fourth fixed seat (174) is connected with a supporting frame (176).
7. A bending machine with a mechanical arm according to claim 1, characterized in that: the movable plate (6) is movably clamped between the longitudinal guide blocks (7) and the longitudinal guide rail (4), the movable plate (6) is vertically displaced relative to the longitudinal guide rail (4), the bottom end fixedly connected with of the longitudinal guide block (7) is provided with a limit spring (5) positioned inside the longitudinal guide rail (4), and the bottom end of the limit spring (5) is connected with the bottom end of an inner cavity of the longitudinal guide rail (4).
8. A bending machine with a robotic arm as claimed in claim 7, wherein: the left and right sides of longitudinal guide piece (7) bottom all fixed mounting has first fixing base (10), the one end that fly leaf (6) was kept away from to first fixing base (10) is through pivot swing joint has connecting rod (12), the one end that first fixing base (10) was kept away from to connecting rod (12) is through pivot swing joint has second fixing base (11), the equal fixedly connected with transverse guide piece (8) in bottom of second fixing base (11).
9. A bending machine with a robotic arm as claimed in claim 8, wherein: the movable clamping connection between the transverse guide blocks (8) and the transverse guide rails (3), the transverse guide blocks (8) are displaced back and forth relative to the transverse guide rails (3), extension rods (13) are fixedly installed at two ends, far away from each other, of the transverse guide blocks (8), and the top ends of the extension rods (13) are connected with the bottom ends of limiting plates (14).
10. A method of operating a bending machine with a robotic arm as claimed in any one of claims 1 to 9, wherein: the method comprises the following steps:
s1: before bending, the device is firstly required to be placed under an external bending head, the center of the bending head corresponds to the center of an inner cavity of a metal V-shaped sheet (16), a program of a multi-axis manipulator (2) is set to match with the descending operation of the bending head, and a corresponding metal plate to be bent is prepared to finish the preparation before bending;
s2: when the bending is performed, the metal plate can be placed above the metal V-shaped piece (16) through the multi-axis mechanical arm (2), the metal plate is kept to be positioned in the middle of the metal V-shaped piece (16), at the moment, the two limiting plates (14) are contacted with two ends of the metal plate, the bending head is synchronously opened and is controlled to be pressed down, when the bending head is contacted with the metal plate, pressure can be applied to the metal plate, at the moment, the metal V-shaped piece (16) is pressed along with the bending head, the movable plate (6) is pressed downwards, and the movable plate (6) is driven to move downwards relative to the longitudinal guide rail (4);
s3: when the movable plate (6) moves downwards, the two connecting rods (12) deflect and the included angle is increased, the two second fixing seats (11) are driven to be relatively far away under the guiding action of the transverse guide rail (3), and the extension rod (13) and the limiting plate (14) are relatively far away from each other, so that the limiting plate (14) is not contacted with the metal plate any more to release the limiting effect, and the bending operation of the metal plate is completed under the action of the bending groove at the inner side of the metal V-shaped piece (16);
s4: when different bending angles are needed, for example, smaller bending angles are needed, hydraulic oil can be output to the inside of the temporary storage pipe (154) through the oil conveying pipe (158) by opening the oil pump in the oil storage tank (151), at the moment, the two piston plates (155) are relatively close to each other and drive the two transmission frames (159) to be relatively close to each other, at the moment, the sliding blocks (172) on the left side and the right side can be pulled to be relatively close to each other, at the moment, the supporting rods (175) deflect upwards, thrust is applied to the supporting frames (176), at the moment, the bending of the metal V-shaped piece (16) to the inner side can be realized under the action of the thrust of the left supporting frame and the right supporting frame (176), the bending groove angle is reduced to finish the adjustment process, and conversely, the bending angle can be increased.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311140500.0A CN117139428A (en) | 2023-09-05 | 2023-09-05 | Bending machine with mechanical arm and operation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311140500.0A CN117139428A (en) | 2023-09-05 | 2023-09-05 | Bending machine with mechanical arm and operation method thereof |
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| Publication Number | Publication Date |
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| CN117139428A true CN117139428A (en) | 2023-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311140500.0A Pending CN117139428A (en) | 2023-09-05 | 2023-09-05 | Bending machine with mechanical arm and operation method thereof |
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| Country | Link |
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| CN (1) | CN117139428A (en) |
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