WO2024007730A1 - Automatic metal wire bending machine and automatic bending method thereof - Google Patents

Automatic metal wire bending machine and automatic bending method thereof Download PDF

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Publication number
WO2024007730A1
WO2024007730A1 PCT/CN2023/093718 CN2023093718W WO2024007730A1 WO 2024007730 A1 WO2024007730 A1 WO 2024007730A1 CN 2023093718 W CN2023093718 W CN 2023093718W WO 2024007730 A1 WO2024007730 A1 WO 2024007730A1
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WO
WIPO (PCT)
Prior art keywords
bending
lifting
block
station
metal wire
Prior art date
Application number
PCT/CN2023/093718
Other languages
French (fr)
Chinese (zh)
Inventor
刘华中
左世慧
郭聪聪
娄亚军
刘俊华
马雪琳
Original Assignee
北京机械工业自动化研究所有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京机械工业自动化研究所有限公司 filed Critical 北京机械工业自动化研究所有限公司
Publication of WO2024007730A1 publication Critical patent/WO2024007730A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F1/00—Bending wire other than coiling; Straightening wire
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F23/00—Feeding wire in wire-working machines or apparatus

Definitions

  • the invention relates to a metal processing technology, in particular to an automatic metal wire bending machine and an automatic bending method thereof.
  • the lifting lug products formed by bending metal wires are finally formed by using fixed-length straight metal wires after several bends; the lifting lug products were initially produced manually using simple tooling such as bending vises.
  • simple tooling such as bending vises.
  • the existing technology has shortcomings such as manual bending to produce lifting lugs, which is time-consuming and labor-intensive, has high work intensity, low production efficiency, unstable quality, and the inability to realize automatic production according to the rhythm.
  • the technical problem to be solved by the present invention is to provide an automatic metal wire bending machine and an automatic bending method thereof in view of the above-mentioned defects of the prior art.
  • an automatic metal wire bending machine which includes:
  • the stepping transport mechanism includes a main frame, a lifting mechanism and a translation mechanism.
  • the lifting mechanism is installed on the main frame and moves up and down along the main frame.
  • the translation mechanism is connected to the lifting mechanism.
  • the translation mechanism Relative to the main frame, horizontal switching is performed between the first station, the second station, the third station, the fourth station and the removal station respectively arranged in sequence.
  • the translation mechanism is arranged relative to the first station.
  • the work station, the second work station and the third work station are each provided with a first carrying claw, and a second carrying claw is provided relative to the fourth work station;
  • the first bending mechanism is arranged on the first station and is used to symmetrically bend fixed-length metal into straight lines.
  • a second bending mechanism is provided on the second station, and is used for symmetrically bending the ends of the U-shaped metal wires transported by the stepping transport mechanism to the second station into an everted structure. ;
  • a third bending mechanism is provided on the third station for symmetrically folding inwardly the U-shaped metal wire with an everted structure at its end for transporting the stepping transport mechanism to the third station. forming;
  • a fourth bending mechanism is provided on the fourth station, and is used to transport the step-carrying mechanism to the fourth station and bend the U-shaped metal wire formed into lifting lugs. Finished product.
  • the lifting mechanism includes a lifting frame, a lifting cylinder, a lifting guide rail, a lifting slide block and a lifting limiter
  • the lifting guide rail is installed on the main frame
  • the lifting frame The lifting slider is connected to the lifting guide rail
  • the lifting cylinder is installed at the bottom of the main frame and connected to the lifting frame to drive the lifting frame to move up and down relative to the main frame;
  • the lifting limiter is installed on the main frame corresponding to the bottom end of the lifting guide rail to ensure that the descending height of the lifting frame is highly adapted to the grabbing position of the workpiece.
  • the translation mechanism includes: a translation cylinder, a translation beam, a translation guide rail, a translation slide block, a translation block and a translation limiter, and the translation beam is installed on the translation guide rail
  • the translation guide rail is connected to the transverse slide block
  • the transverse slide block is installed on the front panel of the lifting frame.
  • the translation cylinder is connected to the translation beam and drives the translation beam to move back and forth horizontally.
  • the translation stop is installed at the lower end of the translation beam and cooperates with the translation limiter to ensure the translation step distance.
  • the front side of the translation beam corresponds to the first and second stations respectively.
  • the first carrying claw is installed at the third station, and the second carrying claw is installed corresponding to the fourth station.
  • the above-mentioned automatic metal wire bending machine wherein the first bending mechanism includes:
  • a frame platform is provided at the first work station, and a guide groove is provided on the table of the frame platform;
  • the lifting mechanism includes a lifting beam, a lifting cylinder and a guide port.
  • the guide port is installed on one side of the guide groove.
  • the lifting beam is located under the table of the frame platform and faces the target.
  • the guide groove is provided, and the lifting cylinder is installed on the frame platform and connected with the lifting beam;
  • the first positioning mechanism includes a forming positioning block, a dynamic forming block and a bending pressure plate.
  • the forming positioning block is installed on the table of the frame platform and is located on one side of the guide groove, corresponding to the forming positioning block.
  • a first groove is provided;
  • the bending pressure plate is installed on the table of the frame platform through a pressure plate slide rail and is located on the other side of the guide groove;
  • the dynamic forming block is symmetrical to the forming positioning block set up Placed and hinged with the bending pressure plate, the dynamic forming block has a forming surface adapted to the forming positioning block;
  • the first forming mechanism includes a first bending pressurizing cylinder and a pressure swing arm.
  • the first bending pressurizing cylinder is installed on the frame platform and connected to the pressure swing arm.
  • the pressure swing arm passes through the pressure plate.
  • the cross beam is connected to the bending pressure plate.
  • the bending pressure plate is also provided with an elastic driving member, including a shaped elastic pressure block, a spring adjustment rod and a spring, and the spring adjustment rod is installed on the bending pressure plate,
  • the front end of the molded elastic pressure block is in contact with the rear end of the dynamic molding block, and the two ends of the spring are in contact with the rear ends of the spring adjustment rod and the molded elastic pressure block respectively.
  • the above-mentioned automatic metal wire bending machine wherein the second bending mechanism includes:
  • the second positioning mechanism includes a positioning block, a bending fixed block, a bending moving block and an intermediate limiting block.
  • the positioning block is arranged on the mounting base plate, and the intermediate limiting block is arranged corresponding to the positioning block.
  • the bending fixed blocks are symmetrically arranged on both sides of the middle limiting block, and the bending moving blocks are symmetrically arranged at one end of the middle limiting block corresponding to the bending fixed blocks.
  • the bending moving blocks The block and the bending fixed block are respectively provided with processing surfaces that match each other; the mounting base is provided with a second groove corresponding to the positioning block; and
  • the second forming mechanism includes a second bending pressurizing cylinder, a second bending slide plate, a second bending guide rail, a second movable bending base slider, a second bending slide plate guide rail and a second bending connecting rod.
  • the second bending pressurizing cylinder is connected to the second bending slide plate.
  • the second bending slide plate is installed on the bottom surface of the installation base plate through the second bending slide plate guide rail.
  • the symmetrically arranged third bending slide plate One end of the two bending connecting rods is respectively hinged with the second bending sliding plate, and the other end of the second bending connecting rod is respectively connected with the second movable bending base slider.
  • the base slider is installed on the bottom surface of the installation base plate through the second bending guide rail.
  • the second bending base slider is connected to the bending moving block respectively, and drives the bending moving block to face each other synchronously. Or move in opposite directions.
  • the above-mentioned automatic metal wire bending machine wherein the third bending mechanism includes:
  • the substrate is arranged on the third station
  • the third positioning mechanism is installed on the base plate and includes a positioning piece, a bending fixing piece, a bending moving piece and an intermediate limiting piece.
  • the positioning piece is arranged on the base plate, and the middle limiting piece corresponds to The positioning member is provided, the bending fixing member is symmetrically provided on both sides of the middle limiting member, and the bending and moving parts are The moving parts are symmetrically arranged on both sides of the intermediate limiter corresponding to the bending fixed part, and the bending moving part and the intermediate limiter are respectively provided with processing surfaces that adapt to each other; the base plate A third groove is provided corresponding to the positioning member; and
  • the third forming mechanism includes a third bending and pressurizing cylinder, a third bending slide plate, a third bending slider, a third bending swing rod, and a third bending connecting rod.
  • the third bending and pressurizing cylinder Connected to the third bending slide plate, the third bending slide plate is installed on the bottom surface of the base plate through a third bending slide plate guide rail, and the third bending slide block is installed through a third bending slide block guide rail
  • one end of the symmetrically arranged third bending connecting rod is hinged to the third bending slide plate respectively, and the other end of the third bending connecting rod is respectively connected to the third bending pendulum.
  • One end of the rod is connected, and the other end of the third bending swing rod is connected to the third bending slider.
  • the third bending slider is connected to the bending moving part and drives the bending The moving parts move toward or away from each other synchronously.
  • the above-mentioned automatic metal wire bending machine wherein the fourth bending mechanism includes:
  • a fourth positioning mechanism is provided on the upper surface of the base and includes an end bending block and a fixed block, the fixed block is provided with a fourth groove;
  • the upper forming mechanism includes an upper bending pressurizing cylinder, an upper bending sliding plate and an upper bending slider.
  • the upper bending pressurizing cylinder is installed on the column.
  • the upper bending sliding plate passes through the upper bending sliding plate guide rail.
  • Installed on the upright column, the upper bending slider is installed on the upper bending slide plate through the upper bending slider guide rail, and the bottom of the upper bending slide plate is provided with an end bending pressure block;
  • a lower forming mechanism is provided on the inclined surface of the base corresponding to the fourth positioning mechanism, and includes a lower bending pressurizing cylinder and a lower bending slider.
  • the lower bending pressurizing cylinder is connected to the lower bending pressurizing cylinder.
  • the slide blocks are connected, and the lower bending slide block is installed on the base through the lower bending slide block guide rail.
  • the upper forming mechanism also includes an elastic adjustment mechanism, including an adjusting screw sleeve positioning block, an upper limit screw and an upper bending spring, and the upper limit screw is installed through an upper spring adjusting screw sleeve.
  • an elastic adjustment mechanism including an adjusting screw sleeve positioning block, an upper limit screw and an upper bending spring, and the upper limit screw is installed through an upper spring adjusting screw sleeve.
  • the two ends of the upper bending spring are respectively in contact with the top surface of the upper bending slider and the upper spring. Adjust the bottom of the threaded sleeve.
  • the present invention also provides an automatic metal wire bending method, which includes the following steps:
  • the stepping transport mechanism transports the U-shaped metal wire to the second station, and the second bending mechanism symmetrically bends the ends of the U-shaped metal wire into an everted structure;
  • the stepping transport mechanism transports the U-shaped metal wire with an everted end structure to the third station, and the third bending mechanism symmetrically folds the U-shaped metal wire inwards;
  • the stepping transport mechanism transports the inward-folded U-shaped metal wire to the fourth station, and the fourth bending mechanism bends the U-shaped metal wire into a finished lifting lug;
  • the stepping transport mechanism transports the finished lifting lug off the assembly line.
  • the invention can automatically realize the bending production of metal lifting lugs.
  • the automatic bending machine realizes the blockization of structural mechanisms, has a simple and compact overall structure, and is convenient for operation, repair and maintenance; it can realize automatic bending of standard diameter metal wires, and can Realize the automatic bending of metal wires such as aluminum, copper, iron and composite material wires.
  • Figures 1A and 1B are schematic structural diagrams of an embodiment of the present invention.
  • Figure 2 is a process diagram of an automated bending process according to an embodiment of the present invention.
  • Figure 3 is a schematic structural diagram of the first bending mechanism according to an embodiment of the present invention.
  • Figure 4 is a cross-sectional view of Figure 3;
  • Figures 5A and 5B are schematic diagrams of the working process of the first bending mechanism
  • Figure 6A is a schematic structural diagram of the second bending mechanism according to an embodiment of the present invention.
  • Figure 6B is a schematic structural diagram of another side of Figure 6A;
  • Figures 7A and 7B are schematic diagrams of the working process of the second bending mechanism
  • Figure 8A is a schematic structural diagram of a third bending mechanism according to an embodiment of the present invention.
  • Figure 8B is a schematic structural diagram of another side of Figure 8A;
  • Figures 9A and 9B are schematic diagrams of the working process of the third bending mechanism
  • Figure 10 is a schematic structural diagram of a fourth bending mechanism according to an embodiment of the present invention.
  • Figure 11 is a cross-sectional view of Figure 10
  • Figure 12 is a cross-sectional view of another station processing in Figure 10;
  • Figure 13A is a schematic structural diagram of a stepping transport mechanism according to an embodiment of the present invention.
  • Figure 13B is a top view of Figure 13A.
  • FIGS 1A and 1B are schematic structural diagrams of different working states according to an embodiment of the present invention.
  • the automatic metal wire bending machine of the present invention is used to realize the automated production of metal lifting lugs 7 products.
  • the automatic metal wire bending machine includes: a stepping transport mechanism 5, including a main frame 51, a lifting mechanism 52 and a translation mechanism 53.
  • the lifting mechanism 52 is installed on the main frame 51 and moves up and down along the main frame 51.
  • the translation mechanism 53 is connected with the lifting mechanism 52.
  • the translation mechanism 53 is relative to the main frame 51.
  • the main frame 51 switches horizontally between the first station A, the second station B, the third station C, the fourth station D and the removal station E respectively arranged in sequence.
  • a first carrying claw 54 is provided at the first station A, the second station B and the third station C respectively, and a second carrying claw 55 is arranged relative to the fourth station D;
  • the first The bending mechanism 1 is arranged on the first station A and is used to symmetrically bend fixed-length metal straight lines into U-shaped metal wires 6;
  • the second bending mechanism 2 is arranged on the second station B.
  • the ends of the U-shaped metal wire 6 used to transport the stepping transport mechanism 5 to the second station B are symmetrically bent into an everted structure;
  • the third bending mechanism 3 is provided on the On the third station C, the U-shaped metal wire 6 whose end is an everted structure for transporting the stepping transport mechanism 5 to the third station C is symmetrically folded inwards; and the fourth fold
  • the bending mechanism 4 is provided on the fourth station D, and is used to transport the stepper transport mechanism 5 to the fourth station D and bend the U-shaped metal wire 6 formed into Lifting ear 7 finished product.
  • FIG. 2 is a process diagram of an automated bending process according to an embodiment of the present invention.
  • the automatic bending method of metal wire 6 of the present invention includes the following steps:
  • Step S100 Position the fixed-length metal straight line on the first station A of the automatic metal wire bending machine, and the first bending mechanism 1 symmetrically bends the metal straight line into a U-shaped metal wire 6;
  • Step S200 the stepping transport mechanism 5 transports the U-shaped metal wire 6 to the second station B, and the second bending mechanism 2 symmetrically bends the ends of the U-shaped metal wire 6 into an everted structure;
  • Step S300 The stepping transport mechanism 5 transports the U-shaped metal wire 6 with an everted end structure to the third station C, and the third bending mechanism 3 symmetrically folds the U-shaped metal wire 6 inwards. forming;
  • Step S400 the stepping transport mechanism 5 transports the inward-folded U-shaped metal wire 6 to the fourth station D, and the fourth bending mechanism 4 bends the U-shaped metal wire 6 into a lifting lug. 7finished product;
  • Step S500 The stepping transport mechanism 5 transports the finished product of the lifting lug 7 off the production line.
  • Figure 3 is a schematic structural diagram of the first bending mechanism 1 according to an embodiment of the present invention.
  • Figure 4 is a cross-sectional view of Figure 3.
  • Figures 5A and 5B are schematic diagrams of the working process of the first bending mechanism 1.
  • the first bending mechanism 1 includes: a frame platform 11, which is arranged at the first work station A, and a guide groove is provided on the table of the frame platform 11; a lifting mechanism 13, including Lifting beam 132, lifting cylinder 133 and guide port 131.
  • the guide port 131 is installed on one side of the guide groove.
  • the lifting beam 132 is located under the table of the frame platform 11 and faces it.
  • the guide groove is provided, and the lifting cylinder 133 is installed on the frame platform 11 and connected with the lifting beam 132; the first positioning mechanism 12, It includes a forming positioning block 122, a dynamic forming block 121 and a bending pressure plate 123.
  • the forming positioning block 122 is installed on the table of the frame platform 11 and is located on one side of the guide groove.
  • the frame platform 11 corresponds to the
  • the molded positioning block 122 is provided with a first groove 15 to reserve space for the claw to grasp and place;
  • the bending pressure plate 123 is installed on the table of the frame platform 11 through the pressure plate slide rail 1231 and is located on the guide The other side of the slot;
  • the dynamic forming block 121 is symmetrically arranged corresponding to the forming positioning block 122 and is hingedly connected with the bending pressure plate 123.
  • the dynamic forming block 121 has a molding that is adapted to the forming positioning block 122. surface; and the first forming mechanism 14, including a first bending pressure cylinder 141 and a pressure swing arm 142.
  • the first bending pressure cylinder 141 is installed on the frame platform 11 and connected with the pressure swing arm 142
  • the pressure swing arm 142 is connected to the bending pressure plate 123 through the pressure plate beam 1232 .
  • the bending pressure plate 123 is also provided with an elastic driving member, including a molded elastic pressure block 149, a spring adjustment rod 148 and a spring 147.
  • the spring adjustment rod 148 is installed on the bending pressure plate 123.
  • the front end of the elastic pressure block 149 is in contact with the rear end of the dynamic molding block 121 , and the two ends of the spring 147 are in contact with the rear ends of the spring adjustment rod 148 and the molded elastic pressure block 149 respectively.
  • Limiting bolts 146 are also provided below the frame platform 11 corresponding to the pressure swing arm 142 .
  • the fixed-length conveying equipment transports the fixed-length cut and straightened metal wire 6 through the guide opening 131 to the top of the lifting beam 132 and reaches the position above the lifting beam 132.
  • the lifting beam 132 reaches the position of the frame platform 11 when the lifting cylinder 133 is lifted.
  • the upper surface is flat, and the spring pressing pieces 124 at both ends have a slight elastic force to press the metal wire 6 to keep it stable; the cylinder rod of the first bending pressurizing cylinder 141 extends, and the cylinder rod pin 145 drives the pressure swing arm 142 to swing along The arm intermediate shaft 143 swings, and the inner surface of the pressure-bearing slider 144 above the pressure swing arm 142 pushes the pressure plate beam 1232, driving the bending pressure plate 123 to move forward along the pressure plate slide rail 1231; the front ends of the two symmetrically arranged dynamic forming blocks 121 first contact The fixed-length metal straight line begins to be bent under the reaction force of the forming positioning block 122. Finally, the inner arc surfaces of the two dynamic forming blocks 121 completely wrap the outer arc surface of the forming positioning block 122, and the fixed-length metal straight line is symmetrical. Bend it into a U-shaped metal wire 6.
  • the front end of the forming elastic pressing block 149 always presses against the rear end surfaces of the two dynamic forming blocks 121 to prevent the bottom of the U-shaped metal wire 6 from being symmetrically bent during the bending process.
  • the elastic force of the spring 147 can be adjusted through the spring adjustment rod 148.
  • FIG. 6A is a schematic structural diagram of the second bending mechanism 2 according to an embodiment of the present invention.
  • FIG. 6B is a schematic structural diagram of the other side of FIG. 6A
  • FIGS. 7A and 7B are schematic diagrams of the working process of the second bending mechanism 2 .
  • the second bending mechanism 2 includes: a mounting base plate 21, which is arranged on the second station B; a second positioning mechanism 22, including a positioning block 221, a bending fixed block 222, a bending moving block 223 and an intermediate limiter.
  • Position block 224 the positioning block 221 is disposed on the mounting base plate 21, the middle limiting block 224 is disposed corresponding to the positioning block 221, the bending fixing block 222 is symmetrically disposed on the middle limiting block On both sides of 224, the bending moving block 223 is symmetrically arranged on one end of the intermediate limiting block 224 corresponding to the bending fixed block 222.
  • the bending moving block 223 and the bending fixed block 222 Each is provided with mutually adapted processing surfaces; the mounting base plate 21 is provided with a second groove 24 corresponding to the positioning block 221 to reserve space for the claw to grasp and place; and a second forming mechanism 23 includes a third The second bending pressure cylinder 231, the second bending slide plate 232, the second bending guide rail 233, the second mobile bending base slider 234, the second bending slide plate guide rail 236 and the second bending connecting rod 237, as described
  • the second bending pressure cylinder 231 is connected to the second bending slide plate 232.
  • the second bending slide plate 232 is installed on the bottom surface of the installation base plate 21 through the second bending slide plate guide rail 236 and is arranged symmetrically.
  • One end of the second bending connecting rod 237 is respectively hinged with the second bending sliding plate 232, and the other end of the second bending connecting rod 237 is respectively connected with the second mobile bending base slider 234.
  • the second mobile bending base slider 234 is installed on the bottom surface of the installation base plate 21 through the second bending guide rail 233, and the second bending base slider is connected to the bending moving block 223 respectively. connection, and drive the bending moving blocks 223 to move toward or away from each other synchronously.
  • the second bending pressurizing cylinder 231 starts to operate.
  • the rod extends to drive the second bending slide plate 232 to move along the second bending slide plate guide rail 236.
  • the pin at the front end of the second bending slide plate 232 is connected to the two symmetrical second bending connecting rods 237.
  • the bending connecting rod 237 is connected to the second mobile bending base slider 234 through the second base slider pin 235, thereby driving the second mobile bending base slider 234 to move to both sides along the second bending guide rail 233.
  • a second bending moving block 223 is installed on the other side of the second bending base slider.
  • the two second bending moving blocks 223 move symmetrically to both sides, and the end of the workpiece symmetrically bent into the U-shaped metal wire 6 begins to be During bending, due to the limiting effect of the two symmetrically arranged bending fixed blocks 222 and the anti-deformation effect of the middle limiting block 224 on the metal wire 6 , finally the inclined end surfaces of the two symmetrically arranged bending moving blocks 223 are in contact with the bending fixed blocks 222 Pressed in place, the workpiece is bent into a symmetrically everted end structure; the second limit screw 238 serves as a movement limiter; then the second bending pressure cylinder 231 drives the mechanism back to the original position, and the first handling claw 54 Grab it at the second groove 24 position and leave it, Place it on the third bending mechanism 3 for the next step of bending.
  • Figure 8A is a schematic structural diagram of the third bending mechanism 3 according to an embodiment of the present invention.
  • Figure 8B is a schematic structural diagram of the other side of Figure 8A.
  • Figures 9A and 9B are schematic diagrams of the working process of the third bending mechanism 3.
  • the third bending mechanism 3 in this embodiment includes: a base plate 31, which is arranged on the third work station C; a third positioning mechanism 32, which is installed on the base plate 31 and includes a positioning member 321, a bending fixing member 321 and a bending fixing member 321. part 322, a bending moving part 323 and an intermediate limiting part 324.
  • the positioning part 321 is provided on the base plate 31.
  • the intermediate limiting part 324 is provided corresponding to the positioning part 321.
  • the bending fixing part 322 is symmetrically arranged on both sides of the middle limiting member 324, and the bending moving member 323 is symmetrically arranged on both sides of the middle limiting member 324 corresponding to the bending fixing member 322.
  • the member 323 and the intermediate limiting member 324 are respectively provided with processing surfaces that match each other; the base plate 31 is provided with a third groove 34 corresponding to the positioning member 321 to reserve space for the claw to grasp and place.
  • the third forming mechanism 33 includes a third bending pressurizing cylinder 331, a third bending slide plate 332, a third bending slider 333, a third bending swing bar 336, and a third bending connecting rod 335, so
  • the third bending pressure cylinder 331 is connected to the third bending slide plate 332.
  • the third bending slide plate 332 is installed on the bottom surface of the base plate 31 through a third bending slide plate guide rail 3321.
  • the bending slider 333 is installed on the base plate 31 through the third bending slider guide rail 3331.
  • One end of the symmetrically arranged third bending connecting rod 335 is respectively hinged with the third bending slide plate 332.
  • the other end of the third bending connecting rod 335 is connected to one end of the third bending rocker 336, and the other end of the third bending rocker 336 is connected to the third bending slider 333, so
  • the third bending slider 333 is connected to the bending moving part 323, and drives the bending moving part 323 to move toward or away from each other synchronously.
  • a third centering limiting slide block 337 is also provided.
  • the workpiece that has been bent by the second bending mechanism 2 is grasped by the first transport claw 54 to the third bending mechanism 3 and is positioned at the positioning member 321.
  • the third bending pressurizing cylinder 331 starts to operate.
  • the rod stretches out to drive the third bending slide plate 332 to move along the third bending slide plate guide rail 3321.
  • the pin at the front end of the third bending slide plate 332 is connected to the two symmetrical third bending connecting rods 335.
  • the bending connecting rod 335 is connected to the third bending rocker 336 through the third connecting pin 3351.
  • the third bending rocker 336 swings along the third fixed rotating axis 3361, and the third bending rocker 336 in turn drives the third bending lever 336.
  • the slider adapter block 3332 moves, and the third bending slider adapter block 3332 is connected to the third bending slider 333 through the third bending slider pin 3362, thereby driving the third bending slider 333 along the
  • the third bending slider guide rails 3331 move toward each other.
  • a bending moving part 323 is installed on the other side of the third bending slider 333.
  • the two bending moving parts 323 are symmetrically facing each other. Move, the workpiece begins to be bent. Due to the anti-deformation effect of the two symmetrically arranged bending fixing parts 322 of the metal wire 6 and the limiting effect of the middle limiter 324, the inclined end surface of the bending moving part 323 and the middle limiter are finally bent.
  • the workpiece 324 is pressed in place, and the workpiece is symmetrically folded inwards; the third limiting screw 334 serves as a movement limiter; then the third bending pressurizing cylinder 331 drives the mechanism back to its original position, and the first handling claw 54 moves in the third position. It is grabbed away from the groove 34 position and placed on the fourth bending mechanism 4 for the next step of bending.
  • Figure 10 is a schematic structural diagram of the fourth bending mechanism 4 according to an embodiment of the present invention
  • Figure 11 is a cross-sectional view of Figure 10
  • Figure 12 is a cross-sectional view of another station processing in Figure 10.
  • the fourth bending mechanism 4 includes: a vertical frame 41, which is arranged on the fourth station D, including a base and a column; a fourth positioning mechanism 42, which is arranged on the upper surface of the base. , including an end bending block 421 and a fixed block 422.
  • the fixed block 422 is provided with a fourth groove 45 to reserve space for the claw to grab and place;
  • the upper forming mechanism 43 includes an upper bending and pressurizing cylinder 431 , the upper bending slide plate 432 and the upper bending slide block 433, the upper bending pressure cylinder 431 is installed on the column, the upper bending slide plate 432 is installed on the column through the upper bending slide plate guide rail 4321 , the upper bending slider 433 is installed on the upper bending sliding plate 432 through the upper bending slider guide rail 4331, and the bottom of the upper bending sliding plate 432 is provided with an end bending pressing block 434; and a lower molding Mechanism 44 is provided on the inclined surface of the base corresponding to the fourth positioning mechanism 42, and includes a lower bending pressurizing cylinder 441 and a lower bending slider 442.
  • the lower bending pressurizing cylinder 441 is connected to the lower bending pressurizing cylinder 441.
  • the lower bending slider 442 is connected, and the lower bending slider 442 is
  • the upper forming mechanism 43 also includes an elastic adjustment mechanism, including an adjusting screw sleeve positioning block 437, an upper limit screw 435 and an upper bending spring 438.
  • the upper limit screw 435 is installed on the upper limit screw 435 through an upper spring adjusting screw sleeve 436.
  • the adjusting screw sleeve is in the positioning block 437 and connected to the top of the upper bending slider 433.
  • the two ends of the upper bending spring 438 are respectively in contact with the top surface of the upper bending slider 433 and the upper bending slider 433.
  • the spring adjusts the bottom end of the screw sleeve 436.
  • the claw moves to the fourth groove 45, places it in place, and the upper bending machine
  • the press cylinder 431 starts to move, and the cylinder rod extends, driving the upper bending slide plate 432 to move downward along the upper bending slide plate guide 4321.
  • the upper bending slide block 433 first contacts the workpiece, and the upper bending slide plate 432 continues to move downward, and the upper bending slide plate 432 moves downward.
  • the contraction of 438 exerts pressure on the upper bending slider 433.
  • the pressure of the upper bending spring 438 can also be adjusted through the upper spring adjustment screw sleeve 436.
  • the upper limit screw 435 acts as a guide and limiter on the upper bending spring 438;
  • the continuous downward movement of the bending slide plate 432 causes the end bending pressing block 434 to start contacting the workpiece, and the end bending block 421, The end bending is completed under the joint clamping of the bending fixed blocks 222;
  • the lower bending pressure cylinder 441 starts to move, the lower bending slider 442 moves diagonally upward along the lower bending slider guide rail 443, and the lower bending slider 442 After contacting the workpiece, it cooperates with the upper bending slider 433 to complete the upright bending of the front end of the workpiece;
  • the upper bending pressurizing cylinder 431 and the lower bending pressurizing cylinder 441 return to their original positions, and the second handling claw 55 is in the The four-groove 45 position is used to grab it away and move it out of the press brake line.
  • Figure 13A is a schematic structural diagram of the stepping transport mechanism 5 according to an embodiment of the present invention
  • Figure 13B is a top view of Figure 13A.
  • the lifting mechanism 52 in this embodiment includes a lifting frame 523, a lifting cylinder 525, a lifting guide rail 521, a lifting slider 522 and a lifting limiter 524.
  • the lifting guide rail 521 is installed on the main frame 51.
  • the frame 523 is connected to the lifting guide rail 521 through the lifting slider 522.
  • the lifting cylinder 525 is installed at the bottom of the main frame 51 and connected to the lifting frame 523 to drive the lifting frame 523 relative to the lifting frame 523.
  • the main frame moves up and down; the lifting limiter 524 is installed on the main frame 51 corresponding to the bottom end of the lifting guide rail 521 to ensure that the descending height of the lifting frame 523 is suitable for the grabbing position of the workpiece. match.
  • the translation mechanism 53 includes: a translation cylinder 534, a translation beam 531, a translation guide rail 535, a translation slide block 536, a translation block 532 and a translation limiter 533.
  • the translation beam 531 is installed on the translation guide rail 535.
  • the translation guide rail 535 is connected to the transverse slide block 536, which is installed on the front panel of the lifting frame 523.
  • the translation cylinder 534 is connected to the translation beam 531 and drives the translation beam 531.
  • the translation beam 531 moves horizontally back and forth.
  • the translation stop 532 is installed at the lower end of the translation beam 531 and cooperates with the translation limiter 533 to ensure the translation step distance.
  • the front sides of the translation beam 531 respectively correspond to
  • the first carrying claw 54 is installed at the first station A, the second station B and the third station C, and the second carrying claw 55 is installed corresponding to the fourth station D.
  • the stepping transport mechanism 5 is used to transport the bending workpieces from the first to the fourth stations D, and realizes the step-by-step transport of the workpieces, and ultimately realizes the automation of the bending and transporting of the entire machine; a lifting cylinder 525 is installed below the main frame 51.
  • the lifting frame 523 can be jacked up to realize its lifting, and the two lifting limiters 524 can ensure that its descending height meets the height of the gripper's grasping position of the workpiece; the lifting guide rail 521 and the lifting slider 522 ensure a stable lifting path.
  • the front panel of the lifting frame 523 is equipped with a transverse slide block 536, and the translation guide rail 535 is assembled with it.
  • the translation beam 531 is installed on the translation guide rail 535.
  • the expansion and contraction of the translation cylinder 534 rod can realize the reciprocating horizontal movement of the translation beam 531; the lower end of the beam Install the translation stop 532, which contacts the translation stoppers 533 at both ends when moving back and forth to ensure the translation step distance; the front ends of the translation beams 531 are installed respectively. It is equipped with four sets of handling claws, corresponding to the four bending mechanisms.
  • the lifting frame 523 of the stepping transport mechanism 5 stops positioning at the lifting limiter 524, the first transporting claws 54 and the second transporting claws 55 on the upper parts of the four bending mechanisms are in a low position simultaneously, and the claws are opened.
  • the hand claws are closed to grasp the workpiece, the cylinder rod of the lifting cylinder 525 is lifted, the lifting frame 523 is lifted, and the first carrying claw 54 and the second carrying claw 55 at the front end of the translation beam 531 respectively lift
  • the workpiece is lifted, the translation cylinder 534 moves, the cylinder rod extends, and the translation beam 531 moves horizontally to the right by one station distance, that is, the workpieces in the first, second, third, and fourth stations are moved by one station at the same time, and then the lifting cylinder 525 falling, the workpieces of the first, second, third, and fourth bending mechanisms are placed in the second, third, and fourth mechanisms and the removal station E respectively.
  • the first carrying claw 54 and the second carrying claw 55 are released and lifted.
  • the cylinder rod of the cylinder 525 is lifted again, the empty handling claw is lifted, the cylinder rod of the translation cylinder 534 is retracted, the translation beam 531 is returned to the original position, the cylinder rod of the lifting cylinder 525 is dropped again, the first transporting claw 54 and the second transporting hand
  • the claw 55 returns to the original position.
  • the stepping conveying mechanism 5 completes a stepping conveying cycle, and the next conveying process is carried out as described above.
  • the front end of the automatic metal wire bending machine is used in conjunction with the fixed-length metal wire conveying equipment, that is, the fixed-length conveying equipment transports the cut and straightened metal wire 6 to the automatic metal wire bending machine for automatic bending;
  • the end can be used in conjunction with an automatic manipulator, that is, after the bent lifting lugs 7 are transported out and placed by the stepping transport mechanism 5, the manipulator can automatically take them away.
  • an automatic manipulator that is, after the bent lifting lugs 7 are transported out and placed by the stepping transport mechanism 5, the manipulator can automatically take them away.
  • the invention can automatically realize the bending production of metal lifting lugs 7.
  • the automatic bending machine realizes the blockization of the structural mechanism, the overall structure is simple and compact, and is convenient for operation, repair and maintenance; it can realize automatic bending of standard diameter metal wires, It can realize the automatic bending of metal wires such as aluminum, copper, iron and composite material wires.

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

Abstract

An automatic metal wire bending machine. The automatic metal wire bending machine comprises: a stepping transfer mechanism which comprises a main rack (1), a lifting mechanism (52) and a translation mechanism (53), the lifting mechanism (52) being mounted on the main rack (51), the translation mechanism (53) being connected to the lifting mechanism (52) and being horizontally switched among successively arranged first, second, third, fourth and moving-out stations (E) relative to the main rack (51), and transfer claws (54) being provided on the translation mechanism (53); a first bending mechanism (1), arranged on the first station (A) and used for symmetrically bending a fixed-length straight metal wire into a U-shaped metal wire (6); a second bending mechanism (2), arranged on the second station (B) and used for symmetrically bending end parts of the U-shaped metal wire (6) into outwards-facing structures; a third bending mechanism (3), arranged on the third station (C) and used for symmetrically and inwards bending the U-shaped metal wire (6) having the outwards-facing end parts; and a fourth bending mechanism (4), arranged on the fourth station (D) and used for bending the inwards-bent U-shaped metal wire (6) into a finished lifting lug (7). Further disclosed is a corresponding automatic metal wire bending method.

Description

一种金属线自动折弯机及其自动折弯方法An automatic metal wire bending machine and its automatic bending method 技术领域Technical field
本发明涉及一种金属加工技术，特别是一种金属线自动折弯机及其自动折弯方法。The invention relates to a metal processing technology, in particular to an automatic metal wire bending machine and an automatic bending method thereof.
背景技术Background technique
现有技术中由金属线折弯成型的吊耳产品，其通过采用定长的直线金属线材，经过几次折弯后最终成型；吊耳产品最初是采用人工利用折弯台钳等简陋工装生产，随着产量的增加，生产过程需要投入更多人力，自动化程度也不高，生产效率低，而且生产产品的质量也不稳定。现有技术存在人工折弯生产吊耳费时费力，工作强度高；生产效率低；质量不稳定及不能实现按节拍自动化生产等缺陷。迫切需要一种能按照一定生产节拍自动化折弯成型的金属线自动折弯机，实现定长的直线金属线材按节拍上料定位，按节拍折弯成型下线，并能满足后续自动化设备接口，即吊耳产品按节拍下线，后续设备可以按节拍自动抓取进入下道工序生产。In the existing technology, the lifting lug products formed by bending metal wires are finally formed by using fixed-length straight metal wires after several bends; the lifting lug products were initially produced manually using simple tooling such as bending vises. , with the increase in output, the production process requires more manpower, the degree of automation is not high, the production efficiency is low, and the quality of the produced products is also unstable. The existing technology has shortcomings such as manual bending to produce lifting lugs, which is time-consuming and labor-intensive, has high work intensity, low production efficiency, unstable quality, and the inability to realize automatic production according to the rhythm. There is an urgent need for an automatic metal wire bending machine that can automatically bend and form according to a certain production rhythm. It can realize the loading and positioning of fixed-length straight-line metal wires according to the rhythm, and the bending and molding off the line according to the rhythm. It can also meet the subsequent automation equipment interface. That is to say, the lifting lug products are rolled off the production line according to the rhythm, and the subsequent equipment can automatically grab them according to the rhythm and enter the next process of production.
发明内容Contents of the invention
本发明所要解决的技术问题是针对现有技术的上述缺陷，提供一种金属线自动折弯机及其自动折弯方法。The technical problem to be solved by the present invention is to provide an automatic metal wire bending machine and an automatic bending method thereof in view of the above-mentioned defects of the prior art.
为了实现上述目的，本发明提供了一种金属线自动折弯机，其中，包括：In order to achieve the above object, the present invention provides an automatic metal wire bending machine, which includes:
步进搬运机构，包括主机架、升降机构和平移机构，所述升降机构安装在所述主机架上并沿所述主机架上下移动，所述平移机构与所述升降机构连接，所述平移机构相对于所述主机架分别在顺序设置的第一工位、第二工位、第三工位、第四工位和移出工位之间水平切换，所述平移机构上相对于所述第一工位、第二工位和第三工位分别设置有第一搬运手爪，相对于所述第四工位设置有第二搬运手爪；The stepping transport mechanism includes a main frame, a lifting mechanism and a translation mechanism. The lifting mechanism is installed on the main frame and moves up and down along the main frame. The translation mechanism is connected to the lifting mechanism. The translation mechanism Relative to the main frame, horizontal switching is performed between the first station, the second station, the third station, the fourth station and the removal station respectively arranged in sequence. The translation mechanism is arranged relative to the first station. The work station, the second work station and the third work station are each provided with a first carrying claw, and a second carrying claw is provided relative to the fourth work station;
第一折弯机构，设置在所述第一工位上，用于将定长金属直线对称折弯成 U型金属线；The first bending mechanism is arranged on the first station and is used to symmetrically bend fixed-length metal into straight lines. U-shaped metal wire;
第二折弯机构，设置在所述第二工位上，用于将所述步进搬运机构搬运至所述第二工位的所述U型金属线的端部对称折弯成外翻结构；A second bending mechanism is provided on the second station, and is used for symmetrically bending the ends of the U-shaped metal wires transported by the stepping transport mechanism to the second station into an everted structure. ;
第三折弯机构，设置在所述第三工位上，用于将所述步进搬运机构搬运至所述第三工位的端部为外翻结构的所述U型金属线对称内折成型；以及A third bending mechanism is provided on the third station for symmetrically folding inwardly the U-shaped metal wire with an everted structure at its end for transporting the stepping transport mechanism to the third station. forming; and
第四折弯机构，设置在所述第四工位上，用于将所述步进搬运机构搬运至所述第四工位的内折成型的所述U型金属线折弯成型为吊耳成品。A fourth bending mechanism is provided on the fourth station, and is used to transport the step-carrying mechanism to the fourth station and bend the U-shaped metal wire formed into lifting lugs. Finished product.
上述的金属线自动折弯机，其中，所述升降机构包括升降框架、升降缸、升降导轨、升降滑块和升降限位件，所述升降导轨安装在所述主机架上，所述升降框架通过所述升降滑块与所述升降导轨连接，所述升降缸安装在所述主机架的底部并与所述升降框架连接，以带动所述升降框架相对于所述主框架上下移动；所述升降限位件对应于所述升降导轨的底端安装在所述主机架上，以保证所述升降框架的下降高度与工件的抓取位置高度适配。The above-mentioned automatic metal wire bending machine, wherein the lifting mechanism includes a lifting frame, a lifting cylinder, a lifting guide rail, a lifting slide block and a lifting limiter, the lifting guide rail is installed on the main frame, and the lifting frame The lifting slider is connected to the lifting guide rail, and the lifting cylinder is installed at the bottom of the main frame and connected to the lifting frame to drive the lifting frame to move up and down relative to the main frame; The lifting limiter is installed on the main frame corresponding to the bottom end of the lifting guide rail to ensure that the descending height of the lifting frame is highly adapted to the grabbing position of the workpiece.
上述的金属线自动折弯机，其中，所述平移机构包括：平移缸、平移横梁、平移导轨、横移滑块、平移挡块和平移限位件，所述平移横梁安装在所述平移导轨上，平移导轨与所述横移滑块连接，所述横移滑块安装在所述升降框架的前面板上，所述平移缸与所述平移横梁连接并带动所述平移横梁往返水平移动，所述平移挡块安装在所述平移横梁下端，与所述平移限位件配合以保证平移的步进距离，所述平移横梁的前侧分别对应于所述第一工位、第二工位和第三工位安装有所述第一搬运手爪，对应于所述第四工位安装有所述第二搬运手爪。The above-mentioned automatic metal wire bending machine, wherein the translation mechanism includes: a translation cylinder, a translation beam, a translation guide rail, a translation slide block, a translation block and a translation limiter, and the translation beam is installed on the translation guide rail On the top, the translation guide rail is connected to the transverse slide block, and the transverse slide block is installed on the front panel of the lifting frame. The translation cylinder is connected to the translation beam and drives the translation beam to move back and forth horizontally. The translation stop is installed at the lower end of the translation beam and cooperates with the translation limiter to ensure the translation step distance. The front side of the translation beam corresponds to the first and second stations respectively. The first carrying claw is installed at the third station, and the second carrying claw is installed corresponding to the fourth station.
上述的金属线自动折弯机，其中，所述第一折弯机构包括：The above-mentioned automatic metal wire bending machine, wherein the first bending mechanism includes:
框架平台，设置在所述第一工位处，所述框架平台的台面上设置有导引槽；A frame platform is provided at the first work station, and a guide groove is provided on the table of the frame platform;
举升机构，包括举升梁、举升缸和导引口，所述导引口安装在所述导引槽的一侧，所述举升梁位于所述框架平台的台面下方并正对所述导引槽设置，所述举升缸安装在所述框架平台上并与所述举升梁连接；The lifting mechanism includes a lifting beam, a lifting cylinder and a guide port. The guide port is installed on one side of the guide groove. The lifting beam is located under the table of the frame platform and faces the target. The guide groove is provided, and the lifting cylinder is installed on the frame platform and connected with the lifting beam;
第一定位机构，包括成型定位块、动态成型块和折弯压板，所述成型定位块安装在所述框架平台的台面上并位于所述导引槽的一侧，对应于所述成型定位块设置有第一凹槽；所述折弯压板通过压板滑轨安装在所述框架平台的台面上并位于所述导引槽的另一侧；所述动态成型块对应于所述成型定位块对称设 置并与所述折弯压板铰接，所述动态成型块具有与所述成型定位块适配的成型表面；以及The first positioning mechanism includes a forming positioning block, a dynamic forming block and a bending pressure plate. The forming positioning block is installed on the table of the frame platform and is located on one side of the guide groove, corresponding to the forming positioning block. A first groove is provided; the bending pressure plate is installed on the table of the frame platform through a pressure plate slide rail and is located on the other side of the guide groove; the dynamic forming block is symmetrical to the forming positioning block set up Placed and hinged with the bending pressure plate, the dynamic forming block has a forming surface adapted to the forming positioning block; and
第一成型机构，包括第一折弯加压缸和压力摆臂，所述第一折弯加压缸安装在所述框架平台上并与所述压力摆臂连接，所述压力摆臂通过压板横梁与所述折弯压板连接。The first forming mechanism includes a first bending pressurizing cylinder and a pressure swing arm. The first bending pressurizing cylinder is installed on the frame platform and connected to the pressure swing arm. The pressure swing arm passes through the pressure plate. The cross beam is connected to the bending pressure plate.
上述的金属线自动折弯机，其中，所述折弯压板上还设置有弹性驱动件，包括成型弹性压块、弹簧调整杆和弹簧，所述弹簧调整杆安装在所述折弯压板上，所述成型弹性压块的前端与所述动态成型块的后端抵接，所述弹簧的两端分别与所述弹簧调整杆和成型弹性压块的后端抵接。The above-mentioned automatic metal wire bending machine, wherein the bending pressure plate is also provided with an elastic driving member, including a shaped elastic pressure block, a spring adjustment rod and a spring, and the spring adjustment rod is installed on the bending pressure plate, The front end of the molded elastic pressure block is in contact with the rear end of the dynamic molding block, and the two ends of the spring are in contact with the rear ends of the spring adjustment rod and the molded elastic pressure block respectively.
上述的金属线自动折弯机，其中，所述第二折弯机构包括：The above-mentioned automatic metal wire bending machine, wherein the second bending mechanism includes:
安装基板，设置在所述第二工位上；Install the substrate and set it on the second station;
第二定位机构，包括定位块、折弯固定块、折弯移动块和中间限位块，所述定位块设置在所述安装基板上，所述中间限位块对应于所述定位块设置，所述折弯固定块对称设置在所述中间限位块的两侧，所述折弯移动块对应于所述折弯固定块对称设置在所述中间限位块的一端，所述折弯移动块与所述折弯固定块上分别设置有互相适配的加工面；所述安装基板上对应于所述定位块设置有第二凹槽；以及The second positioning mechanism includes a positioning block, a bending fixed block, a bending moving block and an intermediate limiting block. The positioning block is arranged on the mounting base plate, and the intermediate limiting block is arranged corresponding to the positioning block. The bending fixed blocks are symmetrically arranged on both sides of the middle limiting block, and the bending moving blocks are symmetrically arranged at one end of the middle limiting block corresponding to the bending fixed blocks. The bending moving blocks The block and the bending fixed block are respectively provided with processing surfaces that match each other; the mounting base is provided with a second groove corresponding to the positioning block; and
第二成型机构，包括第二折弯加压缸、第二折弯滑板、第二折弯导轨、第二移动折弯底座滑块、第二折弯滑板导轨和第二折弯连杆，所述第二折弯加压缸与所述第二折弯滑板连接，所述第二折弯滑板通过所述第二折弯滑板导轨安装在所述安装基板的底面上，对称设置的所述第二折弯连杆的一端分别与所述第二折弯滑板铰接，所述第二折弯连杆的另一端分别与所述第二移动折弯底座滑块连接，所述第二移动折弯底座滑块通过所述第二折弯导轨安装在所述安装基板的底面上，所述第二折弯底座滑块分别与所述折弯移动块连接，并带动所述折弯移动块同步相向或相背移动。The second forming mechanism includes a second bending pressurizing cylinder, a second bending slide plate, a second bending guide rail, a second movable bending base slider, a second bending slide plate guide rail and a second bending connecting rod. The second bending pressurizing cylinder is connected to the second bending slide plate. The second bending slide plate is installed on the bottom surface of the installation base plate through the second bending slide plate guide rail. The symmetrically arranged third bending slide plate One end of the two bending connecting rods is respectively hinged with the second bending sliding plate, and the other end of the second bending connecting rod is respectively connected with the second movable bending base slider. The base slider is installed on the bottom surface of the installation base plate through the second bending guide rail. The second bending base slider is connected to the bending moving block respectively, and drives the bending moving block to face each other synchronously. Or move in opposite directions.
上述的金属线自动折弯机，其中，所述第三折弯机构包括：The above-mentioned automatic metal wire bending machine, wherein the third bending mechanism includes:
基板，设置在所述第三工位上；The substrate is arranged on the third station;
第三定位机构，安装在所述基板上，包括定位件、折弯固定件、折弯移动件和中间限位件，所述定位件设置在所述基板上，所述中间限位件对应于所述定位件设置，所述折弯固定件对称设置在所述中间限位件的两侧，所述折弯移 动件对应于所述折弯固定件对称设置在所述中间限位件的两侧，所述折弯移动件和所述中间限位件上分别设置有互相适配的加工面；所述基板上对应于所述定位件设置有第三凹槽；以及The third positioning mechanism is installed on the base plate and includes a positioning piece, a bending fixing piece, a bending moving piece and an intermediate limiting piece. The positioning piece is arranged on the base plate, and the middle limiting piece corresponds to The positioning member is provided, the bending fixing member is symmetrically provided on both sides of the middle limiting member, and the bending and moving parts are The moving parts are symmetrically arranged on both sides of the intermediate limiter corresponding to the bending fixed part, and the bending moving part and the intermediate limiter are respectively provided with processing surfaces that adapt to each other; the base plate A third groove is provided corresponding to the positioning member; and
第三成型机构，包括第三折弯加压缸、第三折弯滑板、第三折弯滑块、第三折弯摆杆、第三折弯连杆，所述第三折弯加压缸与所述第三折弯滑板连接，所述第三折弯滑板通过第三折弯滑板导轨安装在所述基板的底面上，所述第三折弯滑块通过第三折弯滑块导轨安装在所述基板上，对称设置的所述第三折弯连杆的一端分别与所述第三折弯滑板铰接，所述第三折弯连杆的另一端分别与所述第三折弯摆杆的一端连接，所述第三折弯摆杆的另一端与所述第三折弯滑块连接，所述第三折弯滑块与所述折弯移动件连接，并带动所述折弯移动件同步相向或相背移动。The third forming mechanism includes a third bending and pressurizing cylinder, a third bending slide plate, a third bending slider, a third bending swing rod, and a third bending connecting rod. The third bending and pressurizing cylinder Connected to the third bending slide plate, the third bending slide plate is installed on the bottom surface of the base plate through a third bending slide plate guide rail, and the third bending slide block is installed through a third bending slide block guide rail On the base plate, one end of the symmetrically arranged third bending connecting rod is hinged to the third bending slide plate respectively, and the other end of the third bending connecting rod is respectively connected to the third bending pendulum. One end of the rod is connected, and the other end of the third bending swing rod is connected to the third bending slider. The third bending slider is connected to the bending moving part and drives the bending The moving parts move toward or away from each other synchronously.
上述的金属线自动折弯机，其中，所述第四折弯机构包括：The above-mentioned automatic metal wire bending machine, wherein the fourth bending mechanism includes:
立式框架，设置在所述第四工位上，包括底座和立柱；A vertical frame, arranged on the fourth station, including a base and a column;
第四定位机构，设置在所述底座的上表面，包括端部折弯块和固定块，所述固定块上设置有第四凹槽；A fourth positioning mechanism is provided on the upper surface of the base and includes an end bending block and a fixed block, the fixed block is provided with a fourth groove;
上成型机构，包括上折弯加压缸、上折弯滑板和上折弯滑块，所述上折弯加压缸安装在所述立柱上，所述上折弯滑板通过上折弯滑板导轨安装在所述立柱上，所述上折弯滑块通过上折弯滑块导轨安装在所述上折弯滑板上，所述上折弯滑板的底部设置有端部折弯压块；以及The upper forming mechanism includes an upper bending pressurizing cylinder, an upper bending sliding plate and an upper bending slider. The upper bending pressurizing cylinder is installed on the column. The upper bending sliding plate passes through the upper bending sliding plate guide rail. Installed on the upright column, the upper bending slider is installed on the upper bending slide plate through the upper bending slider guide rail, and the bottom of the upper bending slide plate is provided with an end bending pressure block; and
下成型机构，对应于所述第四定位机构设置在所述底座的倾斜面上，包括下折弯加压缸和下折弯滑块，所述下折弯加压缸与所述下折弯滑块连接，所述下折弯滑块通过下折弯滑块导轨安装在所述底座上。A lower forming mechanism is provided on the inclined surface of the base corresponding to the fourth positioning mechanism, and includes a lower bending pressurizing cylinder and a lower bending slider. The lower bending pressurizing cylinder is connected to the lower bending pressurizing cylinder. The slide blocks are connected, and the lower bending slide block is installed on the base through the lower bending slide block guide rail.
上述的金属线自动折弯机，其中，所述上成型机构还包括弹性调节机构，包括调整螺套定位块、上限位螺杆和上折弯弹簧，所述上限位螺杆通过上弹簧调整螺套安装在所述调整螺套定位块内并与所述上折弯滑块的顶部连接，所述上折弯弹簧的两端分别抵接在所述上折弯滑块的顶面和所述上弹簧调整螺套的底端。The above-mentioned automatic metal wire bending machine, wherein the upper forming mechanism also includes an elastic adjustment mechanism, including an adjusting screw sleeve positioning block, an upper limit screw and an upper bending spring, and the upper limit screw is installed through an upper spring adjusting screw sleeve. In the positioning block of the adjusting screw sleeve and connected to the top of the upper bending slider, the two ends of the upper bending spring are respectively in contact with the top surface of the upper bending slider and the upper spring. Adjust the bottom of the threaded sleeve.
为了更好地实现上述目的，本发明还提供了一种金属线自动折弯方法，其中，包括如下步骤：In order to better achieve the above objectives, the present invention also provides an automatic metal wire bending method, which includes the following steps:
S100、将定长金属直线在金属线自动折弯机的第一工位上定位，第一折弯 机构将所述金属直线对称折弯成U型金属线；S100. Position the fixed-length metal straight line on the first station of the metal wire automatic bending machine and bend it for the first time. The mechanism symmetrically bends the metal straight line into a U-shaped metal line;
S200、步进搬运机构将所述U型金属线搬运到第二工位，第二折弯机构将所述U型金属线的端部对称折弯成外翻结构；S200. The stepping transport mechanism transports the U-shaped metal wire to the second station, and the second bending mechanism symmetrically bends the ends of the U-shaped metal wire into an everted structure;
S300、所述步进搬运机构将端部为外翻结构的所述U型金属线搬运到第三工位，第三折弯机构将所述U型金属线对称内折成型；S300. The stepping transport mechanism transports the U-shaped metal wire with an everted end structure to the third station, and the third bending mechanism symmetrically folds the U-shaped metal wire inwards;
S400、所述步进搬运机构将内折成型的所述U型金属线搬运到第四工位，第四折弯机构将所述U型金属线折弯成型为吊耳成品；以及S400. The stepping transport mechanism transports the inward-folded U-shaped metal wire to the fourth station, and the fourth bending mechanism bends the U-shaped metal wire into a finished lifting lug; and
S500、所述步进搬运机构将所述吊耳成品搬运下线。S500. The stepping transport mechanism transports the finished lifting lug off the assembly line.
本发明的技术效果在于：The technical effects of the present invention are:
本发明可以自动实现金属吊耳的折弯生产，该自动折弯机实现了结构机构的块化，整体结构简单紧凑，方便操作、维修和维护；能实现标准直径的金属线材自动化折弯，可实现金属线材铝、铜、铁等金属材质以及复合材料线材的自动化折弯。The invention can automatically realize the bending production of metal lifting lugs. The automatic bending machine realizes the blockization of structural mechanisms, has a simple and compact overall structure, and is convenient for operation, repair and maintenance; it can realize automatic bending of standard diameter metal wires, and can Realize the automatic bending of metal wires such as aluminum, copper, iron and composite material wires.
以下结合附图和具体实施例对本发明进行详细描述，但不作为对本发明的限定。The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the invention.
附图说明Description of the drawings
图1A、1B为本发明一实施例的结构示意图；Figures 1A and 1B are schematic structural diagrams of an embodiment of the present invention;
图2为本发明一实施例的自动化折弯工艺过程图；Figure 2 is a process diagram of an automated bending process according to an embodiment of the present invention;
图3为本发明一实施例的第一折弯机构结构示意图；Figure 3 is a schematic structural diagram of the first bending mechanism according to an embodiment of the present invention;
图4为图3的剖视图；Figure 4 is a cross-sectional view of Figure 3;
图5A、5B为第一折弯机构工作过程示意图；Figures 5A and 5B are schematic diagrams of the working process of the first bending mechanism;
图6A为本发明一实施例的第二折弯机构结构示意图；Figure 6A is a schematic structural diagram of the second bending mechanism according to an embodiment of the present invention;
图6B为图6A的另一面结构示意图；Figure 6B is a schematic structural diagram of another side of Figure 6A;
图7A、7B为第二折弯机构工作过程示意图；Figures 7A and 7B are schematic diagrams of the working process of the second bending mechanism;
图8A为本发明一实施例的第三折弯机构结构示意图；Figure 8A is a schematic structural diagram of a third bending mechanism according to an embodiment of the present invention;
图8B为图8A的另一面结构示意图；Figure 8B is a schematic structural diagram of another side of Figure 8A;
图9A、9B为第三折弯机构工作过程示意图；Figures 9A and 9B are schematic diagrams of the working process of the third bending mechanism;
图10为本发明一实施例的第四折弯机构结构示意图；Figure 10 is a schematic structural diagram of a fourth bending mechanism according to an embodiment of the present invention;
图11为图10的剖视图； Figure 11 is a cross-sectional view of Figure 10;
图12为图10另一工位加工剖视图；Figure 12 is a cross-sectional view of another station processing in Figure 10;
图13A为本发明一实施例的步进搬运机构结构示意图；Figure 13A is a schematic structural diagram of a stepping transport mechanism according to an embodiment of the present invention;
图13B为图13A的俯视图。Figure 13B is a top view of Figure 13A.
其中，附图标记
1第一折弯机构
11框架平台
12第一定位机构
121动态成型块
122成型定位块
123折弯压板
1231压板滑轨
1232压板横梁
124弹簧压片
13举升机构
131导引口
132举升梁
133举升缸
14第一成型机构
141第一折弯加压缸
142压力摆臂
143摆臂中间轴
144承压滑块
145缸杆销轴
146限位螺栓
147弹簧
148弹簧调整杆
149成型弹性压块
15第一凹槽
2第二折弯机构
21安装基板
22第二定位机构
221定位块
222折弯固定块
223折弯移动块
224中间限位块
23第二成型机构
231第二折弯加压缸
232第二折弯滑板
233第二折弯导轨
234第二移动折弯底座滑块
235第二底座滑块销轴
236第二折弯滑板导轨
237第二折弯连杆
238第二限位螺杆
24第二凹槽
3第三折弯机构
31基板
32第三定位机构
321定位件
322折弯固定件
323折弯移动件
324中间限位件
33第三成型机构
331第三折弯加压缸
332第三折弯滑板
3321第三折弯滑板导轨
333第三折弯滑块
3331第三折弯滑块导轨
3332第三折弯滑块转接块
334第三限位螺杆
335第三折弯连杆
3351第三连接销轴
336第三折弯摆杆
3361第三固定转轴
3362第三折弯滑块销轴
337第三对中限位滑块
34第三凹槽
4第四折弯机构
41立式框架
42第四定位机构
421端部折弯块
422固定块
43上成型机构
431上折弯加压缸
432上折弯滑板
4321上折弯滑板导轨
433上折弯滑块
4331上折弯滑块导轨
434端部折弯压块
435上限位螺杆
436上弹簧调整螺套
437调整螺套定位块
438上折弯弹簧
44下成型机构
441下折弯加压缸
442下折弯滑块
443下折弯滑块导轨
45第四凹槽
5步进搬运机构
51主机架
52升降机构
521升降导轨
522升降滑块
523升降框架
524升降限位件
525升降缸
53平移机构
531平移横梁
532平移挡块
533平移限位件
534平移缸
535平移导轨
536横移滑块
54第一搬运手爪
55第二搬运手爪
6金属线
7吊耳
A第一工位
B第二工位
C第三工位
D第四工位
E移出工位Among them, reference signs
1First bending mechanism
11 frame platform
12First positioning mechanism
121 dynamic forming block
122 molding positioning block
123 bending plate
1231 pressure plate slide rail
1232 pressure plate beam
124 spring pressure piece
13 Lifting mechanism
131 guide port
132 lifting beam
133 lifting cylinder
14First forming mechanism
141 first bending pressurizing cylinder
142 pressure swing arm
143 swing arm intermediate shaft
144 pressure slider
145 cylinder rod pin
146 limit bolt
147 spring
148 spring adjustment lever
149 molded elastic pressing block
15 first groove
2 Second bending mechanism
21Installation base plate
22Second positioning mechanism
221 positioning block
222 bending fixed block
223 bending moving block
224 middle limit block
23 Second forming mechanism
231 second bending pressurizing cylinder
232 second bending skateboard
233 second bending guide rail
234 second mobile bending base slider
235 second base slider pin
236 second bending skateboard guide rail
237 second bending connecting rod
238 second limit screw
24 second groove
3Third bending mechanism
31 substrate
32Third positioning agency
321 positioning parts
322 bending fasteners
323 bending moving parts
324 middle limiter
33Third forming mechanism
331 third bending pressurizing cylinder
332 third bending skateboard
3321 third bending skateboard guide rail
333 third bending slider
3331 third bending slider guide rail
3332 Third bending slider adapter block
334 third limit screw
335 third bending connecting rod
3351 third connecting pin
336 third bending swing rod
3361 third fixed shaft
3362 third bending slider pin
337 third centering limit slider
34 third groove
4Fourth bending mechanism
41 vertical frame
42Fourth positioning mechanism
421 end bending block
422 fixed block
43 upper forming mechanism
431 upper bending pressurized cylinder
432 upper bending skateboard
4321 upper bending skateboard guide rail
433 upper bending slider
4331 upper bending slider guide rail
434 end bending block
435 upper limit screw
436 upper spring adjustment screw sleeve
437 adjusting screw sleeve positioning block
438 upper bending spring
44 lower forming mechanism
441 lower bending pressurized cylinder
442 lower bending slider
443 lower bending slider guide rail
45 fourth groove
5 step-by-step transport mechanism
51 main rack
52 lifting mechanism
521 lifting guide rail
522 lifting slider
523 lifting frame
524 lifting limiter
525 lift cylinder
53 translation mechanism
531 translation beam
532 translation stop
533 translation limiter
534 translation cylinder
535 translation guide rail
536 traverse slider
54 first handling claw
55 second handling claw
6 metal wires
7 lifting lugs
A first station
B second station
C third station
D fourth station
E moves out of work station
具体实施方式Detailed ways
下面结合附图对本发明的结构原理和工作原理作具体的描述：The structural principle and working principle of the present invention will be described in detail below in conjunction with the accompanying drawings:
参见图1A及图1B，图1A、1B为本发明一实施例不同工作状态的结构示意图。本发明的金属线自动折弯机，用于实现金属吊耳7产品的自动化生产，该金属线自动折弯机包括：步进搬运机构5，包括主机架51、升降机构52和平移机构53，所述升降机构52安装在所述主机架51上并沿所述主机架51上下移动，所述平移机构53与所述升降机构52连接，所述平移机构53相对于 所述主机架51分别在顺序设置的第一工位A、第二工位B、第三工位C、第四工位D和移出工位E之间水平切换，所述平移机构53上相对于所述第一工位A、第二工位B和第三工位C分别设置有第一搬运手爪54，相对于所述第四工位D设置有第二搬运手爪55；第一折弯机构1，设置在所述第一工位A上，用于将定长金属直线对称折弯成U型金属线6；第二折弯机构2，设置在所述第二工位B上，用于将所述步进搬运机构5搬运至所述第二工位B的所述U型金属线6的端部对称折弯成外翻结构；第三折弯机构3，设置在所述第三工位C上，用于将所述步进搬运机构5搬运至所述第三工位C的端部为外翻结构的所述U型金属线6对称内折成型；以及第四折弯机构4，设置在所述第四工位D上，用于将所述步进搬运机构5搬运至所述第四工位D的内折成型的所述U型金属线6折弯成型为吊耳7成品。Referring to Figures 1A and 1B, Figures 1A and 1B are schematic structural diagrams of different working states according to an embodiment of the present invention. The automatic metal wire bending machine of the present invention is used to realize the automated production of metal lifting lugs 7 products. The automatic metal wire bending machine includes: a stepping transport mechanism 5, including a main frame 51, a lifting mechanism 52 and a translation mechanism 53. The lifting mechanism 52 is installed on the main frame 51 and moves up and down along the main frame 51. The translation mechanism 53 is connected with the lifting mechanism 52. The translation mechanism 53 is relative to the main frame 51. The main frame 51 switches horizontally between the first station A, the second station B, the third station C, the fourth station D and the removal station E respectively arranged in sequence. A first carrying claw 54 is provided at the first station A, the second station B and the third station C respectively, and a second carrying claw 55 is arranged relative to the fourth station D; the first The bending mechanism 1 is arranged on the first station A and is used to symmetrically bend fixed-length metal straight lines into U-shaped metal wires 6; the second bending mechanism 2 is arranged on the second station B. , the ends of the U-shaped metal wire 6 used to transport the stepping transport mechanism 5 to the second station B are symmetrically bent into an everted structure; the third bending mechanism 3 is provided on the On the third station C, the U-shaped metal wire 6 whose end is an everted structure for transporting the stepping transport mechanism 5 to the third station C is symmetrically folded inwards; and the fourth fold The bending mechanism 4 is provided on the fourth station D, and is used to transport the stepper transport mechanism 5 to the fourth station D and bend the U-shaped metal wire 6 formed into Lifting ear 7 finished product.
参见图2，图2为本发明一实施例的自动化折弯工艺过程图。本发明的金属线6自动折弯方法，包括如下步骤：Referring to Figure 2, Figure 2 is a process diagram of an automated bending process according to an embodiment of the present invention. The automatic bending method of metal wire 6 of the present invention includes the following steps:
步骤S100、将定长金属直线在金属线自动折弯机的第一工位A上定位，第一折弯机构1将所述金属直线对称折弯成U型金属线6；Step S100: Position the fixed-length metal straight line on the first station A of the automatic metal wire bending machine, and the first bending mechanism 1 symmetrically bends the metal straight line into a U-shaped metal wire 6;
步骤S200、步进搬运机构5将所述U型金属线6搬运到第二工位B，第二折弯机构2将所述U型金属线6的端部对称折弯成外翻结构；Step S200, the stepping transport mechanism 5 transports the U-shaped metal wire 6 to the second station B, and the second bending mechanism 2 symmetrically bends the ends of the U-shaped metal wire 6 into an everted structure;
步骤S300、所述步进搬运机构5将端部为外翻结构的所述U型金属线6搬运到第三工位C，第三折弯机构3将所述U型金属线6对称内折成型；Step S300: The stepping transport mechanism 5 transports the U-shaped metal wire 6 with an everted end structure to the third station C, and the third bending mechanism 3 symmetrically folds the U-shaped metal wire 6 inwards. forming;
步骤S400、所述步进搬运机构5将内折成型的所述U型金属线6搬运到第四工位D，第四折弯机构4将所述U型金属线6折弯成型为吊耳7成品；以及Step S400, the stepping transport mechanism 5 transports the inward-folded U-shaped metal wire 6 to the fourth station D, and the fourth bending mechanism 4 bends the U-shaped metal wire 6 into a lifting lug. 7finished product; and
步骤S500、所述步进搬运机构5将所述吊耳7成品搬运下线。Step S500: The stepping transport mechanism 5 transports the finished product of the lifting lug 7 off the production line.
参见图3-图5B，图3为本发明一实施例的第一折弯机构1结构示意图，图4为图3的剖视图，图5A、5B为第一折弯机构1工作过程示意图。本实施例中，所述第一折弯机构1包括：框架平台11，设置在所述第一工位A处，所述框架平台11的台面上设置有导引槽；举升机构13，包括举升梁132、举升缸133和导引口131，所述导引口131安装在所述导引槽的一侧，所述举升梁132位于所述框架平台11的台面下方并正对所述导引槽设置，所述举升缸133安装在所述框架平台11上并与所述举升梁132连接；第一定位机构12， 包括成型定位块122、动态成型块121和折弯压板123，所述成型定位块122安装在所述框架平台11的台面上并位于所述导引槽的一侧，框架平台11上对应于所述成型定位块122设置有第一凹槽15，为手爪抓取放置预留空间；所述折弯压板123通过压板滑轨1231安装在所述框架平台11的台面上并位于所述导引槽的另一侧；所述动态成型块121对应于所述成型定位块122对称设置并与所述折弯压板123铰接，所述动态成型块121具有与所述成型定位块122适配的成型表面；以及第一成型机构14，包括第一折弯加压缸141和压力摆臂142，所述第一折弯加压缸141安装在所述框架平台11上并与所述压力摆臂142连接，所述压力摆臂142通过压板横梁1232与所述折弯压板123连接。Referring to Figures 3-5B, Figure 3 is a schematic structural diagram of the first bending mechanism 1 according to an embodiment of the present invention. Figure 4 is a cross-sectional view of Figure 3. Figures 5A and 5B are schematic diagrams of the working process of the first bending mechanism 1. In this embodiment, the first bending mechanism 1 includes: a frame platform 11, which is arranged at the first work station A, and a guide groove is provided on the table of the frame platform 11; a lifting mechanism 13, including Lifting beam 132, lifting cylinder 133 and guide port 131. The guide port 131 is installed on one side of the guide groove. The lifting beam 132 is located under the table of the frame platform 11 and faces it. The guide groove is provided, and the lifting cylinder 133 is installed on the frame platform 11 and connected with the lifting beam 132; the first positioning mechanism 12, It includes a forming positioning block 122, a dynamic forming block 121 and a bending pressure plate 123. The forming positioning block 122 is installed on the table of the frame platform 11 and is located on one side of the guide groove. The frame platform 11 corresponds to the The molded positioning block 122 is provided with a first groove 15 to reserve space for the claw to grasp and place; the bending pressure plate 123 is installed on the table of the frame platform 11 through the pressure plate slide rail 1231 and is located on the guide The other side of the slot; the dynamic forming block 121 is symmetrically arranged corresponding to the forming positioning block 122 and is hingedly connected with the bending pressure plate 123. The dynamic forming block 121 has a molding that is adapted to the forming positioning block 122. surface; and the first forming mechanism 14, including a first bending pressure cylinder 141 and a pressure swing arm 142. The first bending pressure cylinder 141 is installed on the frame platform 11 and connected with the pressure swing arm 142 The pressure swing arm 142 is connected to the bending pressure plate 123 through the pressure plate beam 1232 .
其中，所述折弯压板123上还设置有弹性驱动件，包括成型弹性压块149、弹簧调整杆148和弹簧147，所述弹簧调整杆148安装在所述折弯压板123上，所述成型弹性压块149的前端与所述动态成型块121的后端抵接，所述弹簧147的两端分别与所述弹簧调整杆148和成型弹性压块149的后端抵接。框架平台11下方对应于压力摆臂142还设置有限位螺栓146。Among them, the bending pressure plate 123 is also provided with an elastic driving member, including a molded elastic pressure block 149, a spring adjustment rod 148 and a spring 147. The spring adjustment rod 148 is installed on the bending pressure plate 123. The front end of the elastic pressure block 149 is in contact with the rear end of the dynamic molding block 121 , and the two ends of the spring 147 are in contact with the rear ends of the spring adjustment rod 148 and the molded elastic pressure block 149 respectively. Limiting bolts 146 are also provided below the frame platform 11 corresponding to the pressure swing arm 142 .
定长输送设备将定长切断好并调直的金属线6经过导引口131，输送到举升梁132上方到位，该举升梁132在举升缸133的举升到达与框架平台11的上表面持平，两端的弹簧压片124有微小弹力将金属线6压住保持稳定不动；第一折弯加压缸141的缸杆伸出，缸杆销轴145带动压力摆臂142沿摆臂中间轴143摆动，该压力摆臂142上方的承压滑块144内面推动压板横梁1232，带动折弯压板123沿压板滑轨1231向前移动；对称设置的两动态成型块121的前端首先接触定长金属直线，在成型定位块122的反作用力下，金属直线开始被折弯，最终两动态成型块121的内弧面将成型定位块122的外弧面完全包裹，定长金属直线被对称折弯成U型金属线6。The fixed-length conveying equipment transports the fixed-length cut and straightened metal wire 6 through the guide opening 131 to the top of the lifting beam 132 and reaches the position above the lifting beam 132. The lifting beam 132 reaches the position of the frame platform 11 when the lifting cylinder 133 is lifted. The upper surface is flat, and the spring pressing pieces 124 at both ends have a slight elastic force to press the metal wire 6 to keep it stable; the cylinder rod of the first bending pressurizing cylinder 141 extends, and the cylinder rod pin 145 drives the pressure swing arm 142 to swing along The arm intermediate shaft 143 swings, and the inner surface of the pressure-bearing slider 144 above the pressure swing arm 142 pushes the pressure plate beam 1232, driving the bending pressure plate 123 to move forward along the pressure plate slide rail 1231; the front ends of the two symmetrically arranged dynamic forming blocks 121 first contact The fixed-length metal straight line begins to be bent under the reaction force of the forming positioning block 122. Finally, the inner arc surfaces of the two dynamic forming blocks 121 completely wrap the outer arc surface of the forming positioning block 122, and the fixed-length metal straight line is symmetrical. Bend it into a U-shaped metal wire 6.
成型弹性压块149在弹簧147的作用下，该成型弹性压块149的前端始终顶着两动态成型块121的后端面，以防止在折弯过程中对称折弯成U型金属线6底部的反变形，保证折弯成型的质量，弹簧147的弹力可通过弹簧调整杆148调整。举升缸133和第一折弯加压缸141返回原位后，步进搬运机构5上的第一搬运手爪54可以从第一凹槽15处，将对称折弯成U型金属线6的工件取走放到第二折弯机构2进行下一步折弯。Under the action of the spring 147, the front end of the forming elastic pressing block 149 always presses against the rear end surfaces of the two dynamic forming blocks 121 to prevent the bottom of the U-shaped metal wire 6 from being symmetrically bent during the bending process. Anti-deformation to ensure the quality of bending molding, the elastic force of the spring 147 can be adjusted through the spring adjustment rod 148. After the lifting cylinder 133 and the first bending pressure cylinder 141 return to their original positions, the first carrying claw 54 on the stepping transport mechanism 5 can symmetrically bend the U-shaped metal wire 6 from the first groove 15 The workpiece is removed and placed in the second bending mechanism 2 for the next step of bending.
参见图6A-7B，图6A为本发明一实施例的第二折弯机构2结构示意图， 图6B为图6A的另一面结构示意图，图7A、7B为第二折弯机构2工作过程示意图。所述第二折弯机构2包括：安装基板21，设置在所述第二工位B上；第二定位机构22，包括定位块221、折弯固定块222、折弯移动块223和中间限位块224，所述定位块221设置在所述安装基板21上，所述中间限位块224对应于所述定位块221设置，所述折弯固定块222对称设置在所述中间限位块224的两侧，所述折弯移动块223对应于所述折弯固定块222对称设置在所述中间限位块224的一端，所述折弯移动块223与所述折弯固定块222上分别设置有互相适配的加工面；所述安装基板21上对应于所述定位块221设置有第二凹槽24，为手爪抓取放置预留空间；以及第二成型机构23，包括第二折弯加压缸231、第二折弯滑板232、第二折弯导轨233、第二移动折弯底座滑块234、第二折弯滑板导轨236和第二折弯连杆237，所述第二折弯加压缸231与所述第二折弯滑板232连接，所述第二折弯滑板232通过所述第二折弯滑板导轨236安装在所述安装基板21的底面上，对称设置的所述第二折弯连杆237的一端分别与所述第二折弯滑板232铰接，所述第二折弯连杆237的另一端分别与所述第二移动折弯底座滑块234连接，所述第二移动折弯底座滑块234通过所述第二折弯导轨233安装在所述安装基板21的底面上，所述第二折弯底座滑块分别与所述折弯移动块223连接，并带动所述折弯移动块223同步相向或相背移动。Referring to Figures 6A-7B, Figure 6A is a schematic structural diagram of the second bending mechanism 2 according to an embodiment of the present invention. FIG. 6B is a schematic structural diagram of the other side of FIG. 6A , and FIGS. 7A and 7B are schematic diagrams of the working process of the second bending mechanism 2 . The second bending mechanism 2 includes: a mounting base plate 21, which is arranged on the second station B; a second positioning mechanism 22, including a positioning block 221, a bending fixed block 222, a bending moving block 223 and an intermediate limiter. Position block 224, the positioning block 221 is disposed on the mounting base plate 21, the middle limiting block 224 is disposed corresponding to the positioning block 221, the bending fixing block 222 is symmetrically disposed on the middle limiting block On both sides of 224, the bending moving block 223 is symmetrically arranged on one end of the intermediate limiting block 224 corresponding to the bending fixed block 222. The bending moving block 223 and the bending fixed block 222 Each is provided with mutually adapted processing surfaces; the mounting base plate 21 is provided with a second groove 24 corresponding to the positioning block 221 to reserve space for the claw to grasp and place; and a second forming mechanism 23 includes a third The second bending pressure cylinder 231, the second bending slide plate 232, the second bending guide rail 233, the second mobile bending base slider 234, the second bending slide plate guide rail 236 and the second bending connecting rod 237, as described The second bending pressure cylinder 231 is connected to the second bending slide plate 232. The second bending slide plate 232 is installed on the bottom surface of the installation base plate 21 through the second bending slide plate guide rail 236 and is arranged symmetrically. One end of the second bending connecting rod 237 is respectively hinged with the second bending sliding plate 232, and the other end of the second bending connecting rod 237 is respectively connected with the second mobile bending base slider 234. , the second mobile bending base slider 234 is installed on the bottom surface of the installation base plate 21 through the second bending guide rail 233, and the second bending base slider is connected to the bending moving block 223 respectively. connection, and drive the bending moving blocks 223 to move toward or away from each other synchronously.
第一折弯机构1将折弯完成的工件，被第一搬运手爪54抓取到第二折弯机构2后，在定位块221处定位，第二折弯加压缸231开始动作，缸杆伸出，带动第二折弯滑板232沿第二折弯滑板导轨236移动，该第二折弯滑板232前端的销轴与对称的两个第二折弯连杆237连接，该第二折弯连杆237通过第二底座滑块销轴235与第二移动折弯底座滑块234连接，从而带动该第二移动折弯底座滑块234沿第二折弯导轨233向两侧移动，移动第二折弯底座滑块的另一侧安装有第二折弯移动块223，两第二折弯移动块223对称向两侧移动，对称折弯成U型金属线6的工件端部开始被折弯，由于对称设置的两折弯固定块222的限位作用以及中间限位块224的防金属线6变形作用，最后对称设置的两折弯移动块223的斜端面与折弯固定块222压到位，工件被折弯成端部对称外翻结构；第二限位螺杆238起到移动限位的作用；之后第二折弯加压缸231带动机构退回原位，第一搬运手爪54在第二凹槽24位置将其抓取离开， 放置在第三折弯机构3进行下一步折弯。After the first bending mechanism 1 grabs the bent workpiece to the second bending mechanism 2 by the first transport claw 54, it is positioned at the positioning block 221. The second bending pressurizing cylinder 231 starts to operate. The rod extends to drive the second bending slide plate 232 to move along the second bending slide plate guide rail 236. The pin at the front end of the second bending slide plate 232 is connected to the two symmetrical second bending connecting rods 237. The bending connecting rod 237 is connected to the second mobile bending base slider 234 through the second base slider pin 235, thereby driving the second mobile bending base slider 234 to move to both sides along the second bending guide rail 233. A second bending moving block 223 is installed on the other side of the second bending base slider. The two second bending moving blocks 223 move symmetrically to both sides, and the end of the workpiece symmetrically bent into the U-shaped metal wire 6 begins to be During bending, due to the limiting effect of the two symmetrically arranged bending fixed blocks 222 and the anti-deformation effect of the middle limiting block 224 on the metal wire 6 , finally the inclined end surfaces of the two symmetrically arranged bending moving blocks 223 are in contact with the bending fixed blocks 222 Pressed in place, the workpiece is bent into a symmetrically everted end structure; the second limit screw 238 serves as a movement limiter; then the second bending pressure cylinder 231 drives the mechanism back to the original position, and the first handling claw 54 Grab it at the second groove 24 position and leave it, Place it on the third bending mechanism 3 for the next step of bending.
参见图8A-9B，图8A为本发明一实施例的第三折弯机构3结构示意图，图8B为图8A的另一面结构示意图，图9A、9B为第三折弯机构3工作过程示意图。本实施例的所述第三折弯机构3包括：基板31，设置在所述第三工位C上；第三定位机构32，安装在所述基板31上，包括定位件321、折弯固定件322、折弯移动件323和中间限位件324，所述定位件321设置在所述基板31上，所述中间限位件324对应于所述定位件321设置，所述折弯固定件322对称设置在所述中间限位件324的两侧，所述折弯移动件323对应于所述折弯固定件322对称设置在所述中间限位件324的两侧，所述折弯移动件323和所述中间限位件324上分别设置有互相适配的加工面；所述基板31上对应于所述定位件321设置有第三凹槽34，为手爪抓取放置预留空间；以及第三成型机构33，包括第三折弯加压缸331、第三折弯滑板332、第三折弯滑块333、第三折弯摆杆336、第三折弯连杆335，所述第三折弯加压缸331与所述第三折弯滑板332连接，所述第三折弯滑板332通过第三折弯滑板导轨3321安装在所述基板31的底面上，所述第三折弯滑块333通过第三折弯滑块导轨3331安装在所述基板31上，对称设置的所述第三折弯连杆335的一端分别与所述第三折弯滑板332铰接，所述第三折弯连杆335的另一端分别与所述第三折弯摆杆336的一端连接，所述第三折弯摆杆336的另一端与所述第三折弯滑块333连接，所述第三折弯滑块333与所述折弯移动件323连接，并带动所述折弯移动件323同步相向或相背移动。对应于第三折弯滑板332还设置有第三对中限位滑块337。Referring to Figures 8A-9B, Figure 8A is a schematic structural diagram of the third bending mechanism 3 according to an embodiment of the present invention. Figure 8B is a schematic structural diagram of the other side of Figure 8A. Figures 9A and 9B are schematic diagrams of the working process of the third bending mechanism 3. The third bending mechanism 3 in this embodiment includes: a base plate 31, which is arranged on the third work station C; a third positioning mechanism 32, which is installed on the base plate 31 and includes a positioning member 321, a bending fixing member 321 and a bending fixing member 321. part 322, a bending moving part 323 and an intermediate limiting part 324. The positioning part 321 is provided on the base plate 31. The intermediate limiting part 324 is provided corresponding to the positioning part 321. The bending fixing part 322 is symmetrically arranged on both sides of the middle limiting member 324, and the bending moving member 323 is symmetrically arranged on both sides of the middle limiting member 324 corresponding to the bending fixing member 322. The member 323 and the intermediate limiting member 324 are respectively provided with processing surfaces that match each other; the base plate 31 is provided with a third groove 34 corresponding to the positioning member 321 to reserve space for the claw to grasp and place. ; And the third forming mechanism 33 includes a third bending pressurizing cylinder 331, a third bending slide plate 332, a third bending slider 333, a third bending swing bar 336, and a third bending connecting rod 335, so The third bending pressure cylinder 331 is connected to the third bending slide plate 332. The third bending slide plate 332 is installed on the bottom surface of the base plate 31 through a third bending slide plate guide rail 3321. The bending slider 333 is installed on the base plate 31 through the third bending slider guide rail 3331. One end of the symmetrically arranged third bending connecting rod 335 is respectively hinged with the third bending slide plate 332. The other end of the third bending connecting rod 335 is connected to one end of the third bending rocker 336, and the other end of the third bending rocker 336 is connected to the third bending slider 333, so The third bending slider 333 is connected to the bending moving part 323, and drives the bending moving part 323 to move toward or away from each other synchronously. Corresponding to the third bending sliding plate 332, a third centering limiting slide block 337 is also provided.
第二折弯机构2将折弯完成的工件，被第一搬运手爪54抓取到第三折弯机构3后，在定位件321处定位，第三折弯加压缸331开始动作，缸杆伸出，带动第三折弯滑板332沿第三折弯滑板导轨3321移动，该第三折弯滑板332前端的销轴与对称的两个第三折弯连杆335连接，该第三折弯连杆335通过第三连接销轴3351与第三折弯摆杆336连接，该第三折弯摆杆336沿第三固定转轴3361摆动，第三折弯摆杆336又带动第三折弯滑块转接块3332移动，第三折弯滑块转接块3332又通过第三折弯滑块销轴3362与第三折弯滑块333连接，从而带动该第三折弯滑块333沿第三折弯滑块导轨3331相向移动，第三折弯滑块333的另一侧安装有折弯移动件323，两折弯移动件323对称相向 移动，工件开始被折弯，由于两对称设置的折弯固定件322的防金属线6变形作用，以及中间限位件324的限位作用，最后折弯移动件323的斜端面与中间限位件324压到位，工件被对称内折成型；第三限位螺杆334起到移动限位的作用；之后第三折弯加压缸331带动机构退回原位，第一搬运手爪54在第三凹槽34位置将其抓取离开，放置在第四折弯机构4进行下一步折弯。The workpiece that has been bent by the second bending mechanism 2 is grasped by the first transport claw 54 to the third bending mechanism 3 and is positioned at the positioning member 321. The third bending pressurizing cylinder 331 starts to operate. The rod stretches out to drive the third bending slide plate 332 to move along the third bending slide plate guide rail 3321. The pin at the front end of the third bending slide plate 332 is connected to the two symmetrical third bending connecting rods 335. The bending connecting rod 335 is connected to the third bending rocker 336 through the third connecting pin 3351. The third bending rocker 336 swings along the third fixed rotating axis 3361, and the third bending rocker 336 in turn drives the third bending lever 336. The slider adapter block 3332 moves, and the third bending slider adapter block 3332 is connected to the third bending slider 333 through the third bending slider pin 3362, thereby driving the third bending slider 333 along the The third bending slider guide rails 3331 move toward each other. A bending moving part 323 is installed on the other side of the third bending slider 333. The two bending moving parts 323 are symmetrically facing each other. Move, the workpiece begins to be bent. Due to the anti-deformation effect of the two symmetrically arranged bending fixing parts 322 of the metal wire 6 and the limiting effect of the middle limiter 324, the inclined end surface of the bending moving part 323 and the middle limiter are finally bent. The workpiece 324 is pressed in place, and the workpiece is symmetrically folded inwards; the third limiting screw 334 serves as a movement limiter; then the third bending pressurizing cylinder 331 drives the mechanism back to its original position, and the first handling claw 54 moves in the third position. It is grabbed away from the groove 34 position and placed on the fourth bending mechanism 4 for the next step of bending.
参见图10-12，图10为本发明一实施例的第四折弯机构4结构示意图，图11为图10的剖视图，图12为图10另一工位加工剖视图。本实施例中，所述第四折弯机构4包括：立式框架41，设置在所述第四工位D上，包括底座和立柱；第四定位机构42，设置在所述底座的上表面，包括端部折弯块421和固定块422，所述固定块422上设置有第四凹槽45，为手爪抓取放置预留空间；上成型机构43，包括上折弯加压缸431、上折弯滑板432和上折弯滑块433，所述上折弯加压缸431安装在所述立柱上，所述上折弯滑板432通过上折弯滑板导轨4321安装在所述立柱上，所述上折弯滑块433通过上折弯滑块导轨4331安装在所述上折弯滑板432上，所述上折弯滑板432的底部设置有端部折弯压块434；以及下成型机构44，对应于所述第四定位机构42设置在所述底座的倾斜面上，包括下折弯加压缸441和下折弯滑块442，所述下折弯加压缸441与所述下折弯滑块442连接，所述下折弯滑块442通过下折弯滑块导轨443安装在所述底座上。Referring to Figures 10-12, Figure 10 is a schematic structural diagram of the fourth bending mechanism 4 according to an embodiment of the present invention, Figure 11 is a cross-sectional view of Figure 10, and Figure 12 is a cross-sectional view of another station processing in Figure 10. In this embodiment, the fourth bending mechanism 4 includes: a vertical frame 41, which is arranged on the fourth station D, including a base and a column; a fourth positioning mechanism 42, which is arranged on the upper surface of the base. , including an end bending block 421 and a fixed block 422. The fixed block 422 is provided with a fourth groove 45 to reserve space for the claw to grab and place; the upper forming mechanism 43 includes an upper bending and pressurizing cylinder 431 , the upper bending slide plate 432 and the upper bending slide block 433, the upper bending pressure cylinder 431 is installed on the column, the upper bending slide plate 432 is installed on the column through the upper bending slide plate guide rail 4321 , the upper bending slider 433 is installed on the upper bending sliding plate 432 through the upper bending slider guide rail 4331, and the bottom of the upper bending sliding plate 432 is provided with an end bending pressing block 434; and a lower molding Mechanism 44 is provided on the inclined surface of the base corresponding to the fourth positioning mechanism 42, and includes a lower bending pressurizing cylinder 441 and a lower bending slider 442. The lower bending pressurizing cylinder 441 is connected to the lower bending pressurizing cylinder 441. The lower bending slider 442 is connected, and the lower bending slider 442 is installed on the base through the lower bending slider guide rail 443.
其中，所述上成型机构43还包括弹性调节机构，包括调整螺套定位块437、上限位螺杆435和上折弯弹簧438，所述上限位螺杆435通过上弹簧调整螺套436安装在所述调整螺套定位块437内并与所述上折弯滑块433的顶部连接，所述上折弯弹簧438的两端分别抵接在所述上折弯滑块433的顶面和所述上弹簧调整螺套436的底端。Among them, the upper forming mechanism 43 also includes an elastic adjustment mechanism, including an adjusting screw sleeve positioning block 437, an upper limit screw 435 and an upper bending spring 438. The upper limit screw 435 is installed on the upper limit screw 435 through an upper spring adjusting screw sleeve 436. The adjusting screw sleeve is in the positioning block 437 and connected to the top of the upper bending slider 433. The two ends of the upper bending spring 438 are respectively in contact with the top surface of the upper bending slider 433 and the upper bending slider 433. The spring adjusts the bottom end of the screw sleeve 436.
第三折弯机构3折弯完成的工件，被第一搬运手爪54抓取到第四折弯机构4后，手爪移动到第四凹槽45处，将其放置到位，上折弯加压缸431开始动作，缸杆伸出，带动上折弯滑板432沿上折弯滑板导轨4321向下移动，上折弯滑块433先接触工件，上折弯滑板432继续下行，上折弯弹簧438收缩对上折弯滑块433起到压力作用，上折弯弹簧438的压力也可通过上弹簧调整螺套436进行调节，上限位螺杆435对上折弯弹簧438起导向限位作用；上折弯滑板432的继续下行使端部折弯压块434开始接触工件，在端部折弯块421、 折弯固定块222的共同夹持下完成端部折弯；下折弯加压缸441开始动作，下折弯滑块442沿下折弯滑块导轨443斜向上移动，下折弯滑块442与工件接触后再与上折弯滑块433共同作用将工件的前端完成直立折弯；上折弯加压缸431和下折弯加压缸441退回原位，第二搬运手爪55在第四凹槽45位置将其抓取离开，并移出折弯机下线。After the workpiece that has been bent by the third bending mechanism 3 is grasped by the first handling claw 54 to the fourth bending mechanism 4, the claw moves to the fourth groove 45, places it in place, and the upper bending machine The press cylinder 431 starts to move, and the cylinder rod extends, driving the upper bending slide plate 432 to move downward along the upper bending slide plate guide 4321. The upper bending slide block 433 first contacts the workpiece, and the upper bending slide plate 432 continues to move downward, and the upper bending slide plate 432 moves downward. The contraction of 438 exerts pressure on the upper bending slider 433. The pressure of the upper bending spring 438 can also be adjusted through the upper spring adjustment screw sleeve 436. The upper limit screw 435 acts as a guide and limiter on the upper bending spring 438; The continuous downward movement of the bending slide plate 432 causes the end bending pressing block 434 to start contacting the workpiece, and the end bending block 421, The end bending is completed under the joint clamping of the bending fixed blocks 222; the lower bending pressure cylinder 441 starts to move, the lower bending slider 442 moves diagonally upward along the lower bending slider guide rail 443, and the lower bending slider 442 After contacting the workpiece, it cooperates with the upper bending slider 433 to complete the upright bending of the front end of the workpiece; the upper bending pressurizing cylinder 431 and the lower bending pressurizing cylinder 441 return to their original positions, and the second handling claw 55 is in the The four-groove 45 position is used to grab it away and move it out of the press brake line.
参见图13A、13B，图13A为本发明一实施例的步进搬运机构5结构示意图，图13B为图13A的俯视图。本实施例的所述升降机构52包括升降框架523、升降缸525、升降导轨521、升降滑块522和升降限位件524，所述升降导轨521安装在所述主机架51上，所述升降框架523通过所述升降滑块522与所述升降导轨521连接，所述升降缸525安装在所述主机架51的底部并与所述升降框架523连接，以带动所述升降框架523相对于所述主框架上下移动；所述升降限位件524对应于所述升降导轨521的底端安装在所述主机架51上，以保证所述升降框架523的下降高度与工件的抓取位置高度适配。其中，所述平移机构53包括：平移缸534、平移横梁531、平移导轨535、横移滑块536、平移挡块532和平移限位件533，所述平移横梁531安装在所述平移导轨535上，平移导轨535与所述横移滑块536连接，所述横移滑块536安装在所述升降框架523的前面板上，所述平移缸534与所述平移横梁531连接并带动所述平移横梁531往返水平移动，所述平移挡块532安装在所述平移横梁531下端，与所述平移限位件533配合以保证平移的步进距离，所述平移横梁531的前侧分别对应于所述第一工位A、第二工位B和第三工位C安装有所述第一搬运手爪54，对应于所述第四工位D安装有所述第二搬运手爪55。Referring to Figures 13A and 13B, Figure 13A is a schematic structural diagram of the stepping transport mechanism 5 according to an embodiment of the present invention, and Figure 13B is a top view of Figure 13A. The lifting mechanism 52 in this embodiment includes a lifting frame 523, a lifting cylinder 525, a lifting guide rail 521, a lifting slider 522 and a lifting limiter 524. The lifting guide rail 521 is installed on the main frame 51. The frame 523 is connected to the lifting guide rail 521 through the lifting slider 522. The lifting cylinder 525 is installed at the bottom of the main frame 51 and connected to the lifting frame 523 to drive the lifting frame 523 relative to the lifting frame 523. The main frame moves up and down; the lifting limiter 524 is installed on the main frame 51 corresponding to the bottom end of the lifting guide rail 521 to ensure that the descending height of the lifting frame 523 is suitable for the grabbing position of the workpiece. match. The translation mechanism 53 includes: a translation cylinder 534, a translation beam 531, a translation guide rail 535, a translation slide block 536, a translation block 532 and a translation limiter 533. The translation beam 531 is installed on the translation guide rail 535. On the top, the translation guide rail 535 is connected to the transverse slide block 536, which is installed on the front panel of the lifting frame 523. The translation cylinder 534 is connected to the translation beam 531 and drives the translation beam 531. The translation beam 531 moves horizontally back and forth. The translation stop 532 is installed at the lower end of the translation beam 531 and cooperates with the translation limiter 533 to ensure the translation step distance. The front sides of the translation beam 531 respectively correspond to The first carrying claw 54 is installed at the first station A, the second station B and the third station C, and the second carrying claw 55 is installed corresponding to the fourth station D.
步进搬运机构5用于搬运第一到第四工位D的折弯工件，并实现工件的步进输送，最终实现整机的折弯搬运自动化；主机架51的下方安装有升降缸525，可以顶起升降框架523实现其升降，两个升降限位件524可以保证其下降高度满足手爪对工件的抓取位置高度；升降导轨521与升降滑块522保证升降路径稳定。The stepping transport mechanism 5 is used to transport the bending workpieces from the first to the fourth stations D, and realizes the step-by-step transport of the workpieces, and ultimately realizes the automation of the bending and transporting of the entire machine; a lifting cylinder 525 is installed below the main frame 51. The lifting frame 523 can be jacked up to realize its lifting, and the two lifting limiters 524 can ensure that its descending height meets the height of the gripper's grasping position of the workpiece; the lifting guide rail 521 and the lifting slider 522 ensure a stable lifting path.
升降框架523的前面板安装有横移滑块536，平移导轨535与之配合装配，平移横梁531安装在平移导轨535上，平移缸534杆的伸缩能实现平移横梁531的往返水平移动；横梁下端安装平移挡块532，其在往返移动时与两端的平移限位件533接触到位，以保证平移的步进距离；平移横梁531前端分别安 装有四组搬运手爪，分别与四个折弯机构一一对应。The front panel of the lifting frame 523 is equipped with a transverse slide block 536, and the translation guide rail 535 is assembled with it. The translation beam 531 is installed on the translation guide rail 535. The expansion and contraction of the translation cylinder 534 rod can realize the reciprocating horizontal movement of the translation beam 531; the lower end of the beam Install the translation stop 532, which contacts the translation stoppers 533 at both ends when moving back and forth to ensure the translation step distance; the front ends of the translation beams 531 are installed respectively. It is equipped with four sets of handling claws, corresponding to the four bending mechanisms.
最初步进搬运机构5的升降框架523在升降限位件524处停止定位，四个折弯机构上部的第一搬运手爪54和第二搬运手爪55同步处在低位，手爪张开，根据各工位自动折弯完成后手爪闭合抓住工件，升降缸525的缸杆顶升，升降框架523提升，平移横梁531前端的第一搬运手爪54和第二搬运手爪55分别将工件提起，平移缸534动作，缸杆伸出，平移横梁531向右侧水平移动一个工位距离，即第一、二、三、四工位的工件被同时移动一个工位，之后升降缸525下落，第一、二、三、四折弯机构的工件被分别放置在了第二、三、四机构和移出工位E，第一搬运手爪54和第二搬运手爪55松开，升降缸525的缸杆再次顶升，空搬运手爪提升，平移缸534的缸杆收回，平移横梁531返回原位，升降缸525的缸杆再次下落，第一搬运手爪54和第二搬运手爪55返回原位，至此步进搬运机构5完成一个步进搬运循环，下一个搬运过程按上述进行。Initially, the lifting frame 523 of the stepping transport mechanism 5 stops positioning at the lifting limiter 524, the first transporting claws 54 and the second transporting claws 55 on the upper parts of the four bending mechanisms are in a low position simultaneously, and the claws are opened. After automatic bending is completed according to each station, the hand claws are closed to grasp the workpiece, the cylinder rod of the lifting cylinder 525 is lifted, the lifting frame 523 is lifted, and the first carrying claw 54 and the second carrying claw 55 at the front end of the translation beam 531 respectively lift The workpiece is lifted, the translation cylinder 534 moves, the cylinder rod extends, and the translation beam 531 moves horizontally to the right by one station distance, that is, the workpieces in the first, second, third, and fourth stations are moved by one station at the same time, and then the lifting cylinder 525 falling, the workpieces of the first, second, third, and fourth bending mechanisms are placed in the second, third, and fourth mechanisms and the removal station E respectively. The first carrying claw 54 and the second carrying claw 55 are released and lifted. The cylinder rod of the cylinder 525 is lifted again, the empty handling claw is lifted, the cylinder rod of the translation cylinder 534 is retracted, the translation beam 531 is returned to the original position, the cylinder rod of the lifting cylinder 525 is dropped again, the first transporting claw 54 and the second transporting hand The claw 55 returns to the original position. At this point, the stepping conveying mechanism 5 completes a stepping conveying cycle, and the next conveying process is carried out as described above.
该金属线自动折弯机的前端与金属线定长输送设备配合使用，即定长输送设备将定长切断好并调直的金属线6输送到金属线自动折弯机上进行自动折弯；后端可与自动机械手配合使用，即折弯成型的吊耳7被步进搬运机构5输送出来放置后，机械手可以将其自动取走。通过自动化动作，完成从定长金属直线到吊耳7成品的自动折弯过程，最终折弯成型为合格的金属吊耳7产品。The front end of the automatic metal wire bending machine is used in conjunction with the fixed-length metal wire conveying equipment, that is, the fixed-length conveying equipment transports the cut and straightened metal wire 6 to the automatic metal wire bending machine for automatic bending; The end can be used in conjunction with an automatic manipulator, that is, after the bent lifting lugs 7 are transported out and placed by the stepping transport mechanism 5, the manipulator can automatically take them away. Through automated actions, the automatic bending process from the fixed-length metal straight line to the finished lifting lug is completed, and finally the bending is formed into a qualified metal lifting lug product.
本发明可以自动实现金属吊耳7的折弯生产，该自动折弯机实现了结构机构的块化，整体结构简单紧凑，方便操作、维修和维护；能实现标准直径的金属线材自动化折弯，可实现金属线材铝、铜、铁等金属材质以及复合材料线材的自动化折弯。The invention can automatically realize the bending production of metal lifting lugs 7. The automatic bending machine realizes the blockization of the structural mechanism, the overall structure is simple and compact, and is convenient for operation, repair and maintenance; it can realize automatic bending of standard diameter metal wires, It can realize the automatic bending of metal wires such as aluminum, copper, iron and composite material wires.
当然，本发明还可有其它多种实施例，在不背离本发明精神及其实质的情况下，熟悉本领域的技术人员当可根据本发明作出各种相应的改变和变形，但这些相应的改变和变形都应属于本发明所附的权利要求的保护范围。 Of course, the present invention can also have various other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention. However, these corresponding Changes and deformations should fall within the protection scope of the appended claims of the present invention.

Claims (10)

  1. 一种金属线自动折弯机，其特征在于，包括：An automatic metal wire bending machine, which is characterized by including:
    步进搬运机构，包括主机架、升降机构和平移机构，所述升降机构安装在所述主机架上并沿所述主机架上下移动，所述平移机构与所述升降机构连接，所述平移机构相对于所述主机架分别在顺序设置的第一工位、第二工位、第三工位、第四工位和移出工位之间水平切换，所述平移机构上相对于所述第一工位、第二工位和第三工位分别设置有第一搬运手爪，相对于所述第四工位设置有第二搬运手爪；The stepping transport mechanism includes a main frame, a lifting mechanism and a translation mechanism. The lifting mechanism is installed on the main frame and moves up and down along the main frame. The translation mechanism is connected to the lifting mechanism. The translation mechanism Relative to the main frame, horizontal switching is performed between the first station, the second station, the third station, the fourth station and the removal station respectively arranged in sequence. The translation mechanism is arranged relative to the first station. The work station, the second work station and the third work station are each provided with a first carrying claw, and a second carrying claw is provided relative to the fourth work station;
    第一折弯机构，设置在所述第一工位上，用于将定长金属直线对称折弯成U型金属线；A first bending mechanism is provided at the first station and is used to symmetrically bend fixed-length metal straight lines into U-shaped metal wires;
    第二折弯机构，设置在所述第二工位上，用于将所述步进搬运机构搬运至所述第二工位的所述U型金属线的端部对称折弯成外翻结构；A second bending mechanism is provided on the second station, and is used for symmetrically bending the ends of the U-shaped metal wires transported by the stepping transport mechanism to the second station into an everted structure. ;
    第三折弯机构，设置在所述第三工位上，用于将所述步进搬运机构搬运至所述第三工位的端部为外翻结构的所述U型金属线对称内折成型；以及A third bending mechanism is provided on the third station for symmetrically folding inwardly the U-shaped metal wire with an everted structure at its end for transporting the stepping transport mechanism to the third station. forming; and
    第四折弯机构，设置在所述第四工位上，用于将所述步进搬运机构搬运至所述第四工位的内折成型的所述U型金属线折弯成型为吊耳成品。A fourth bending mechanism is provided on the fourth station, and is used to transport the step-carrying mechanism to the fourth station and bend the U-shaped metal wire formed into lifting lugs. Finished product.
  2. 如权利要求1所述的金属线自动折弯机，其特征在于，所述升降机构包括升降框架、升降缸、升降导轨、升降滑块和升降限位件，所述升降导轨安装在所述主机架上，所述升降框架通过所述升降滑块与所述升降导轨连接，所述升降缸安装在所述主机架的底部并与所述升降框架连接，以带动所述升降框架相对于所述主框架上下移动；所述升降限位件对应于所述升降导轨的底端安装在所述主机架上，以保证所述升降框架的下降高度与工件的抓取位置高度适配。The automatic metal wire bending machine according to claim 1, wherein the lifting mechanism includes a lifting frame, a lifting cylinder, a lifting guide rail, a lifting slide block and a lifting limiter, and the lifting guide rail is installed on the main machine. On the frame, the lifting frame is connected to the lifting guide rail through the lifting slider, and the lifting cylinder is installed at the bottom of the main frame and connected to the lifting frame to drive the lifting frame relative to the The main frame moves up and down; the lifting limiter is installed on the main frame corresponding to the bottom end of the lifting guide rail to ensure that the descending height of the lifting frame is highly adapted to the grabbing position of the workpiece.
  3. 如权利要求2所述的金属线自动折弯机，其特征在于，所述平移机构包括：平移缸、平移横梁、平移导轨、横移滑块、平移挡块和平移限位件，所述平移横梁安装在所述平移导轨上，平移导轨与所述横移滑块连接，所述横移滑块安装在所述升降框架的前面板上，所述平移缸与所述平移横梁连接并带动所述平移横梁往返水平移动，所述平移挡块安装在所述平移横梁下端，与所述平移限位件配合以保证平移的步进距离，所述平移横梁的前侧分别对应于所述 第一工位、第二工位和第三工位安装有所述第一搬运手爪，对应于所述第四工位安装有所述第二搬运手爪。The automatic metal wire bending machine according to claim 2, characterized in that the translation mechanism includes: a translation cylinder, a translation beam, a translation guide rail, a translation slide block, a translation block and a translation limiter, and the translation mechanism The cross beam is installed on the translation guide rail, the translation guide rail is connected to the transverse slide block, the transverse slide block is installed on the front panel of the lifting frame, the translation cylinder is connected to the translation cross beam and drives the The translation beam moves horizontally back and forth. The translation stop is installed at the lower end of the translation beam and cooperates with the translation limiter to ensure the translation step distance. The front sides of the translation beam respectively correspond to the The first carrying claw is installed at the first, second and third working stations, and the second carrying claw is installed corresponding to the fourth working station.
  4. 如权利要求1、2或3所述的金属线自动折弯机，其特征在于，所述第一折弯机构包括：The automatic metal wire bending machine according to claim 1, 2 or 3, characterized in that the first bending mechanism includes:
    框架平台，设置在所述第一工位处，所述框架平台的台面上设置有导引槽；A frame platform is provided at the first work station, and a guide groove is provided on the table of the frame platform;
    举升机构，包括举升梁、举升缸和导引口，所述导引口安装在所述导引槽的一侧，所述举升梁位于所述框架平台的台面下方并正对所述导引槽设置，所述举升缸安装在所述框架平台上并与所述举升梁连接；The lifting mechanism includes a lifting beam, a lifting cylinder and a guide port. The guide port is installed on one side of the guide groove. The lifting beam is located under the table of the frame platform and faces the target. The guide groove is provided, and the lifting cylinder is installed on the frame platform and connected with the lifting beam;
    第一定位机构，包括成型定位块、动态成型块和折弯压板，所述成型定位块安装在所述框架平台的台面上并位于所述导引槽的一侧，对应于所述成型定位块设置有第一凹槽；所述折弯压板通过压板滑轨安装在所述框架平台的台面上并位于所述导引槽的另一侧；所述动态成型块对应于所述成型定位块对称设置并与所述折弯压板铰接，所述动态成型块具有与所述成型定位块适配的成型表面；以及The first positioning mechanism includes a forming positioning block, a dynamic forming block and a bending pressure plate. The forming positioning block is installed on the table of the frame platform and is located on one side of the guide groove, corresponding to the forming positioning block. A first groove is provided; the bending pressure plate is installed on the table of the frame platform through a pressure plate slide rail and is located on the other side of the guide groove; the dynamic forming block is symmetrical to the forming positioning block Disposed and hinged with the bending pressure plate, the dynamic forming block has a forming surface adapted to the forming positioning block; and
    第一成型机构，包括第一折弯加压缸和压力摆臂，所述第一折弯加压缸安装在所述框架平台上并与所述压力摆臂连接，所述压力摆臂通过压板横梁与所述折弯压板连接。The first forming mechanism includes a first bending pressurizing cylinder and a pressure swing arm. The first bending pressurizing cylinder is installed on the frame platform and connected to the pressure swing arm. The pressure swing arm passes through the pressure plate. The cross beam is connected to the bending pressure plate.
  5. 如权利要求4所述的金属线自动折弯机，其特征在于，所述折弯压板上还设置有弹性驱动件，包括成型弹性压块、弹簧调整杆和弹簧，所述弹簧调整杆安装在所述折弯压板上，所述成型弹性压块的前端与所述动态成型块的后端抵接，所述弹簧的两端分别与所述弹簧调整杆和成型弹性压块的后端抵接。The automatic metal wire bending machine according to claim 4, characterized in that the bending pressure plate is also provided with an elastic driving member, including a molded elastic pressing block, a spring adjustment rod and a spring, and the spring adjustment rod is installed on On the bending pressure plate, the front end of the shaped elastic pressing block is in contact with the rear end of the dynamic forming block, and the two ends of the spring are respectively in contact with the rear ends of the spring adjustment rod and the forming elastic pressing block. .
  6. 如权利要求1、2或3所述的金属线自动折弯机，其特征在于，所述第二折弯机构包括：The automatic metal wire bending machine according to claim 1, 2 or 3, characterized in that the second bending mechanism includes:
    安装基板，设置在所述第二工位上；Install the substrate and set it on the second station;
    第二定位机构，包括定位块、折弯固定块、折弯移动块和中间限位块，所述定位块设置在所述安装基板上，所述中间限位块对应于所述定位块设置，所述折弯固定块对称设置在所述中间限位块的两侧，所述折弯移动块对应于所述折弯固定块对称设置在所述中间限位块的一端，所述折弯移动块与所述折弯固定块上分别设置有互相适配的加工面；所述安装基板上对应于所述定位块设置有第二凹槽；以及 The second positioning mechanism includes a positioning block, a bending fixed block, a bending moving block and an intermediate limiting block. The positioning block is arranged on the mounting base plate, and the intermediate limiting block is arranged corresponding to the positioning block. The bending fixed blocks are symmetrically arranged on both sides of the middle limiting block, and the bending moving blocks are symmetrically arranged at one end of the middle limiting block corresponding to the bending fixed blocks. The bending moving blocks The block and the bending fixed block are respectively provided with processing surfaces that match each other; the mounting base is provided with a second groove corresponding to the positioning block; and
    第二成型机构，包括第二折弯加压缸、第二折弯滑板、第二折弯导轨、第二移动折弯底座滑块、第二折弯滑板导轨和第二折弯连杆，所述第二折弯加压缸与所述第二折弯滑板连接，所述第二折弯滑板通过所述第二折弯滑板导轨安装在所述安装基板的底面上，对称设置的所述第二折弯连杆的一端分别与所述第二折弯滑板铰接，所述第二折弯连杆的另一端分别与所述第二移动折弯底座滑块连接，所述第二移动折弯底座滑块通过所述第二折弯导轨安装在所述安装基板的底面上，所述第二折弯底座滑块分别与所述折弯移动块连接，并带动所述折弯移动块同步相向或相背移动。The second forming mechanism includes a second bending pressurizing cylinder, a second bending slide plate, a second bending guide rail, a second movable bending base slider, a second bending slide plate guide rail and a second bending connecting rod. The second bending pressurizing cylinder is connected to the second bending slide plate. The second bending slide plate is installed on the bottom surface of the installation base plate through the second bending slide plate guide rail. The symmetrically arranged third bending slide plate One end of the two bending connecting rods is respectively hinged with the second bending sliding plate, and the other end of the second bending connecting rod is respectively connected with the second movable bending base slider. The base slider is installed on the bottom surface of the installation base plate through the second bending guide rail. The second bending base slider is connected to the bending moving block respectively, and drives the bending moving block to face each other synchronously. Or move in opposite directions.
  7. 如权利要求1、2或3所述的金属线自动折弯机，其特征在于，所述第三折弯机构包括：The automatic metal wire bending machine according to claim 1, 2 or 3, characterized in that the third bending mechanism includes:
    基板，设置在所述第三工位上；The substrate is arranged on the third station;
    第三定位机构，安装在所述基板上，包括定位件、折弯固定件、折弯移动件和中间限位件，所述定位件设置在所述基板上，所述中间限位件对应于所述定位件设置，所述折弯固定件对称设置在所述中间限位件的两侧，所述折弯移动件对应于所述折弯固定件对称设置在所述中间限位件的两侧，所述折弯移动件和所述中间限位件上分别设置有互相适配的加工面；所述基板上对应于所述定位件设置有第三凹槽；以及The third positioning mechanism is installed on the base plate and includes a positioning piece, a bending fixing piece, a bending moving piece and an intermediate limiting piece. The positioning piece is arranged on the base plate, and the middle limiting piece corresponds to The positioning part is provided, the bending fixing part is symmetrically arranged on both sides of the intermediate limiting part, and the bending moving part is symmetrically arranged on both sides of the intermediate limiting part corresponding to the bending fixing part. On the side, the bending moving part and the intermediate limiting part are respectively provided with processing surfaces that match each other; the base plate is provided with a third groove corresponding to the positioning part; and
    第三成型机构，包括第三折弯加压缸、第三折弯滑板、第三折弯滑块、第三折弯摆杆、第三折弯连杆，所述第三折弯加压缸与所述第三折弯滑板连接，所述第三折弯滑板通过第三折弯滑板导轨安装在所述基板的底面上，所述第三折弯滑块通过第三折弯滑块导轨安装在所述基板上，对称设置的所述第三折弯连杆的一端分别与所述第三折弯滑板铰接，所述第三折弯连杆的另一端分别与所述第三折弯摆杆的一端连接，所述第三折弯摆杆的另一端与所述第三折弯滑块连接，所述第三折弯滑块与所述折弯移动件连接，并带动所述折弯移动件同步相向或相背移动。The third forming mechanism includes a third bending and pressurizing cylinder, a third bending slide plate, a third bending slider, a third bending swing rod, and a third bending connecting rod. The third bending and pressurizing cylinder Connected to the third bending slide plate, the third bending slide plate is installed on the bottom surface of the base plate through a third bending slide plate guide rail, and the third bending slide block is installed through a third bending slide block guide rail On the base plate, one end of the symmetrically arranged third bending connecting rod is hinged to the third bending slide plate respectively, and the other end of the third bending connecting rod is respectively connected to the third bending pendulum. One end of the rod is connected, and the other end of the third bending swing rod is connected to the third bending slider. The third bending slider is connected to the bending moving part and drives the bending The moving parts move toward or away from each other synchronously.
  8. 如权利要求1、2或3所述的金属线自动折弯机，其特征在于，所述第四折弯机构包括：The automatic metal wire bending machine according to claim 1, 2 or 3, characterized in that the fourth bending mechanism includes:
    立式框架，设置在所述第四工位上，包括底座和立柱；A vertical frame, arranged on the fourth station, including a base and a column;
    第四定位机构，设置在所述底座的上表面，包括端部折弯块和固定块，所述固定块上设置有第四凹槽； A fourth positioning mechanism is provided on the upper surface of the base and includes an end bending block and a fixed block, the fixed block is provided with a fourth groove;
    上成型机构，包括上折弯加压缸、上折弯滑板和上折弯滑块，所述上折弯加压缸安装在所述立柱上，所述上折弯滑板通过上折弯滑板导轨安装在所述立柱上，所述上折弯滑块通过上折弯滑块导轨安装在所述上折弯滑板上，所述上折弯滑板的底部设置有端部折弯压块；以及The upper forming mechanism includes an upper bending pressurizing cylinder, an upper bending sliding plate and an upper bending slider. The upper bending pressurizing cylinder is installed on the column. The upper bending sliding plate passes through the upper bending sliding plate guide rail. Installed on the upright column, the upper bending slider is installed on the upper bending slide plate through the upper bending slider guide rail, and the bottom of the upper bending slide plate is provided with an end bending pressure block; and
    下成型机构，对应于所述第四定位机构设置在所述底座的倾斜面上，包括下折弯加压缸和下折弯滑块，所述下折弯加压缸与所述下折弯滑块连接，所述下折弯滑块通过下折弯滑块导轨安装在所述底座上。A lower forming mechanism is provided on the inclined surface of the base corresponding to the fourth positioning mechanism, and includes a lower bending pressurizing cylinder and a lower bending slider. The lower bending pressurizing cylinder is connected to the lower bending pressurizing cylinder. The slide blocks are connected, and the lower bending slide block is installed on the base through the lower bending slide block guide rail.
  9. 如权利要求8所述的金属线自动折弯机，其特征在于，所述上成型机构还包括弹性调节机构，包括调整螺套定位块、上限位螺杆和上折弯弹簧，所述上限位螺杆通过上弹簧调整螺套安装在所述调整螺套定位块内并与所述上折弯滑块的顶部连接，所述上折弯弹簧的两端分别抵接在所述上折弯滑块的顶面和所述上弹簧调整螺套的底端。The automatic metal wire bending machine according to claim 8, wherein the upper forming mechanism further includes an elastic adjustment mechanism, including an adjusting screw sleeve positioning block, an upper limit screw and an upper bending spring, and the upper limit screw The upper spring adjusting screw sleeve is installed in the adjusting screw sleeve positioning block and connected to the top of the upper bending slider. The two ends of the upper bending spring are respectively in contact with the upper bending slider. The top surface and the bottom end of the upper spring adjustment screw sleeve.
  10. 一种金属线自动折弯方法，其特征在于，包括如下步骤：An automatic metal wire bending method, characterized by including the following steps:
    S100、将定长金属直线在金属线自动折弯机的第一工位上定位，第一折弯机构将所述金属直线对称折弯成U型金属线；S100. Position the fixed-length metal straight line on the first station of the automatic metal wire bending machine, and the first bending mechanism symmetrically bends the metal straight line into a U-shaped metal wire;
    S200、步进搬运机构将所述U型金属线搬运到第二工位，第二折弯机构将所述U型金属线的端部对称折弯成外翻结构；S200. The stepping transport mechanism transports the U-shaped metal wire to the second station, and the second bending mechanism symmetrically bends the ends of the U-shaped metal wire into an everted structure;
    S300、所述步进搬运机构将端部为外翻结构的所述U型金属线搬运到第三工位，第三折弯机构将所述U型金属线对称内折成型；S300. The stepping transport mechanism transports the U-shaped metal wire with an everted end structure to the third station, and the third bending mechanism symmetrically folds the U-shaped metal wire inwards;
    S400、所述步进搬运机构将内折成型的所述U型金属线搬运到第四工位，第四折弯机构将所述U型金属线折弯成型为吊耳成品；以及S400. The stepping transport mechanism transports the inward-folded U-shaped metal wire to the fourth station, and the fourth bending mechanism bends the U-shaped metal wire into a finished lifting lug; and
    S500、所述步进搬运机构将所述吊耳成品搬运下线。 S500. The stepping transport mechanism transports the finished lifting lug off the assembly line.
PCT/CN2023/093718 2022-07-04 2023-05-11 Automatic metal wire bending machine and automatic bending method thereof WO2024007730A1 (en)

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CN117583436A (en) * 2024-01-19 2024-02-23 中城投集团新能源有限责任公司 Bending processing device and method for photovoltaic building integrated medium-wave crest roof board
CN117583436B (en) * 2024-01-19 2024-04-19 中城投集团新能源有限责任公司 Bending processing device and method for photovoltaic building integrated medium-wave crest roof board
CN117619963A (en) * 2024-01-26 2024-03-01 连云港德耀机械科技有限公司 Shaping device for steel structure production
CN117619963B (en) * 2024-01-26 2024-03-26 连云港德耀机械科技有限公司 Shaping device for steel structure production

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