Trolley frame body automatic bending device and method thereof

Abstract

The invention relates to an automatic bending device and method for a trolley frame. The automatic bending device comprises a rack; the abutting mechanism is used for extruding the bent position of the frame body; the bending mechanism is used for placing the two ends of the frame body and pressing and pushing the two ends of the frame body; the bending mechanism comprises two movable frames movably arranged on the rack, a driving assembly controlling the movable frames to move, rotating frames rotationally arranged on the movable frames, and a power assembly used for controlling the two rotating frames to rotate together. The clamping assembly is used for clamping the end part of the frame body; the monitoring assembly is used for monitoring the rotating angle of the rotating frame; and after one-time bending work is completed, the bending position of the frame body is adjusted through the clamping assembly, and then other positions of the frame body are bent again in combination with rotation position monitoring of the monitoring assembly. By adjusting the position and angle of the frame body after the first bending is completed, the effect of automatically completing multiple times of bending of the frame body at different positions and angles is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of trolley frame bending equipment, and in particular to an automatic trolley frame bending device and method thereof. Background Art

[0002] At present, the demand for children's strollers in people's daily lives is also increasing. In the process of producing children's strollers, the bending equipment of the stroller frame is an automated equipment that integrates mechanical, hydraulic / pneumatic and CNC (computer numerical control) technologies, and is specially used to automatically bend metal pipes or profiles into shape.

[0003] In the related art, after positioning the two ends of the frame, the bending part is squeezed, and finally the two ends of the frame are pushed and pressured to finally achieve the bending of the frame. However, most bending work can only be done once or requires manual adjustment before bending work can be performed, so there are defects in efficiency and applicability. Summary of the Invention

[0004] In order to improve the above technical problems, the present application provides a trolley frame automatic bending device and method.

[0005] The present application provides an automatic bending device for a trolley frame adopting the following technical solution: A trolley frame automatic bending device, comprising: frame; A pressing mechanism, used to press the bent position of the frame; The bending mechanism is used to place the two ends of the frame and apply pressure to push the two ends of the frame; The bending mechanism includes: Two movable frames movably arranged on the frame, a driving assembly for controlling the movement of the movable frames, a rotating frame rotatably arranged on the movable frame, a power assembly for controlling the two rotating frames to rotate together, a clamping assembly for clamping the ends of the frames, and a monitoring assembly for monitoring the rotation angle of the rotating frames; After completing one bending operation, the bending position of the frame is adjusted by the clamping assembly and the rotation position is monitored in conjunction with the monitoring assembly before bending the frame at other positions again.

[0006] Furthermore, the clamping assembly includes: A limiting frame provided on the rotating frame; A moving part movably arranged on the limiting frame, used for moving the frame in the X direction; The fixing portion is arranged on the moving portion, and is used to fix the frame and move along the X direction along with the moving portion.

[0007] Furthermore, the moving part includes: A U-shaped seat, movably arranged on the limiting frame and used to limit the frame; A reciprocating portion, used to realize the reciprocating motion of the U-shaped seat; The fixing portion is arranged on the U-shaped seat, and the limiting frame is provided with a moving opening for the movement of the U-shaped seat, and both ends of the moving opening along the X direction are closed.

[0008] Furthermore, the reciprocating portion includes: A slide plate is fixedly connected to the bottom of the U-shaped seat; Two guide rails are arranged on the limit frame along the X direction; A linear motion control member, used to achieve reciprocating motion of the slide along the guide rail; The slide plate is sleeved and slidably mounted on the two guide rails.

[0009] Furthermore, the fixing portion includes: A fixing rope is used to tie and fix the frame to the U-shaped seat; The winding group is used to straighten and relax the fixing rope.

[0010] Furthermore, the U-shaped seat includes a bottom frame and two side panels, the bottom frame and the side panels are both hollow and interconnected, the side panels are elastically arranged in the bottom frame, the inner cavity of the side panels is fixedly connected to a connecting rod, the connecting rod is tied with a connecting rope, and the winding group can also wind up or release the connecting rope.

[0011] Furthermore, the winding group includes: Two winding motors; Two winding rollers, used for winding or releasing the fixing rope; Two connecting rollers, used for winding or releasing the connecting rope; Two electromagnet groups, used for connecting or separating the winding roller and the connecting roller; When the winding roller winds up the fixing rope, the connecting roller releases the connecting rope; when the winding roller releases the fixing rope, the connecting roller winds up the connecting rope.

[0012] Furthermore, the power assembly includes: A power motor is used to control the rotation of any rotating frame; A power rod, used to connect the two rotating frames and ensure that the two rotating frames rotate together; A linear reciprocating member, used to realize the reciprocating motion of the power rod along the X direction; The two rotating frames are both provided with power holes, and when the two ends of the power rod are respectively located in the two power holes, the two rotating frames rotate together.

[0013] Furthermore, the pressing mechanism includes: The two sliders move away from or towards each other, adapting to the bending direction of the frame body and clamping the frame body; A moving assembly for moving the two sliders toward or away from each other; A supporting assembly is used to support the slider.

[0014] Furthermore, the support assembly includes: a bottom block, fixed on the frame; A support rod is hinged to the bottom block; A transmission rod, one end of which is hinged to the slider and the other end of which is hinged to the support rod; When the slider moves to clamp the frame, the support rod moves to abut against the back of the slider.

[0015] The present application also provides a method for automatically bending a trolley frame using the following technical solution: A method for automatically bending a trolley frame comprises the following steps: S1. Definition and preparation: define the bending sequence and bending path; S2. Perform the first bend: Start the first step in the Bend Sequence: Positioning: The controller reads the bending position set in the first bending step and drives the X-axis moving part to move the entire frame accurately to the target position; Pressing: After positioning is completed, the pressing mechanism is activated to squeeze and support the frame at that position to prepare for bending; Bending: The controller reads the bending angle set in the first bending step and then drives the power assembly to rotate the rotating frame.

[0016] Completion: When the real-time angle data matches the preset target angle value, the rotation of the rotating frame is stopped immediately. At this point, the first bend is accurately completed; S3. Automatic connection and execution of subsequent bending: Reset and confirmation: First, the pressing mechanism and the rotating frame will automatically reset and the robot arm will automatically take out the first bending frame and move it to the designated position, breaking away from contact with the frame. All related components have returned to a safe initial state.

[0017] Calculation and shifting: Read the target bending position of the next bending step; Perform the bend: After positioning, read the bend angle corresponding to this new position and repeat the "pressing" and "bending" actions in step 2 above to complete the bend; S4. Loop and end: The system will continue to repeat the "reset-calculation-shift-bend" cycle of S3, completing all bending steps one by one in the order defined in the "bending sequence". When the last step in the sequence is completed, the entire automated bending process ends and waits for the next cycle. In summary, the beneficial technical effects of this application are: 1. After the bending position is tightened by the pressing mechanism, the two ends of the frame are controlled by the bending mechanism to start moving, thereby realizing the bending of the frame; the movable frame moves along the extension direction of the track, and the frame bends during the movement of the movable frame along the track. After the first bending work is completed, the clamping component needs to adjust the bending position of the frame, and then control either end of the frame to start moving in the rotating frame until the bending position moves to the pressing mechanism, and the rotating frame can also be controlled to start rotating. After the rotating position is rotated by the monitoring component, the frame can be bent at its position and other bending angles, and the rotation angle of the bending position is also controlled by the monitoring component; 2. The fixed rope can be used to tie the frame to the U-shaped seat with the cooperation of the two winding rollers. Of course, the winding roller and the connecting roller can also be connected through the electromagnet group to control the connecting roller to start winding the connecting rope. The connecting rope moves the corresponding side panel downward, and then the connecting roller and the winding roller are disconnected to control the fixed rope to start straightening. However, since the side panel is lowered at this time, the connection positions between the fixed rope and the frame increase, further consolidating the firmness of the fixed rope in fixing the frame to the U-shaped seat. That is, when the guide rail is energized, the slide is affected by the Ampere force and moves on the guide rail along the length of the moving port, thereby driving the slide and the U-shaped seat to move. The above operations are all performed after the first bending of the frame is completed, and a second position or a second bending angle adjustment is required. 3. This method ensures machining accuracy by implementing closed-loop control of both the bending position and angle. The actual position / angle values ​​fed back by the sensor are compared in real time with the target values ​​set in the program, and dynamic adjustments are made until they are consistent. This eliminates cumulative errors caused by mechanical wear, voltage fluctuations, or material variations, ensuring highly consistent dimensions and shapes for every workpiece and every batch of products, significantly improving product quality and yield. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application; Figure 2 This is a schematic diagram of the moving part in the embodiment of the present application; Figure 3 This is a cross-sectional view of a U-shaped seat in an embodiment of the present application; Figure 4 It is a right side view of the cross section of the U-shaped seat in the embodiment of the present application; Figure 5 It is a schematic diagram of the motion trajectory between the transmission rod, the support rod and the slider in the embodiment of the present application.

[0019] Description of reference numerals: 1. Frame; 2. Movable rack; 3. Rotating frame; 31. Limiting frame; 32. U-shaped seat; 33. Moving opening; 34. Slide plate; 35. Guide rail; 361. Fixing rope; 362. Winding roller; 363. Connecting roller; 364. Electromagnet assembly; 321. Bottom frame; 322. Side plate; 323. Connecting rod; 4. Monitoring components; 5. Power motor; 51. Power rod; 52. Linear reciprocating member; 53. Power hole; 61. Slider; 63. Double-threaded rod; 64. Sliding rod; 65. Bottom block; 66. Support rod; 67. Transmission rod; 7. Track. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solution of this application in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application. Example 1

[0021] The embodiment of the present application discloses an automatic bending device for a trolley frame. Figure 1-Figure 5 , which includes: a frame 1; a pressing mechanism for squeezing the bending position of the frame; a bending mechanism for placing both ends of the frame and applying pressure to the two ends of the frame; after the bending position is pressed tightly by the pressing mechanism, the bending mechanism is used to control the two ends of the frame to start moving, thereby realizing the bending of the frame; the bending mechanism includes: two movable frames 2 movably arranged on the frame 1, a driving component for controlling the movement of the movable frames 2, a rotating frame 3 rotatably arranged on the movable frame 2, a power component for controlling the two rotating frames 3 to rotate together, a clamping component for clamping the ends of the frame, and a monitoring component 4 for monitoring the rotation angle of the rotating frame 3.

[0022] The movable frame 2 is set in the X direction along its length direction. The ends of the two movable frames 2 along the X direction are open and the other ends are closed. The length of the two movable frames 2 is larger than the length of the frame body by default in this embodiment, and a track 7 for the movement of the movable frame 2 is provided on the frame 1. A driving block for sliding in the track 7 is fixedly connected to the bottom of the movable frame 2. The driving block moves along the extension direction of the track 7. Of course, the length of the track 7 also meets the bending angle of the frame body. The driving component adopts a cylinder or an electric push rod in this embodiment, preferably a cylinder. The shell of the cylinder is hinged to the frame 1, and the output end of the cylinder is connected to the frame 1. It is also arranged to be hinged with the movable frame 2; thus, the movable frame 2 can move along the extension direction of the track 7, and during the movement of the movable frame 2 along the track 7, the frame body bends. After the first bending work is completed, the clamping component is required to adjust the bending position of the frame body, and then control either end of the frame body to start moving in the rotating frame 3 until the bending position moves to the pressing mechanism, and the rotating frame 3 can also be controlled to start rotating. After the rotation position is rotated by using the monitoring component 4, the position of the frame body and other bending angles can be bent, and the rotation angle of the bending position is also controlled by the monitoring component 4.

[0023] In this embodiment, the monitoring component 4 adopts an angle encoder to directly monitor and control. Since the angle encoder adopts the existing technology, it is not repeated in this embodiment. The power component can adopt a power motor 5. The power motor 5 controls any rotating frame 3 to rotate. The power component also includes a power rod 51 for connecting the two rotating frames 3 and ensuring that the two rotating frames 3 rotate together; a linear reciprocating member 52 is used to realize the reciprocating motion of the power rod 51 along the X direction; the linear reciprocating member 52 can also be an electric push rod or an oil cylinder. Power holes 53 are provided on the two rotating frames 3. The initial position of the power rod 51 is located in one of the rotating frames 3. When it is necessary to control the two rotating frames 3 to start rotating, it is necessary to control the power rod 51 to move until the two ends are respectively located in the two power holes 53, and the power rod 51 is set to a square in this embodiment to control the two rotating frames 3 to rotate together. During the rotation process, the adjustment of the second bending position angle of the bending can be completed.

[0024] The clamping assembly includes: a limiting frame 31 provided on the rotating frame 3; The movable portion movably provided on the limiting frame 31 is used to move the frame in the X direction and to limit the frame; The fixed part provided on the moving part is used to fix the frame and move along the X direction with the moving part. Under the action of the fixed part, the frame is fixed on the moving part, and then the moving part controls the frame to start moving along the X direction. When the frame bends for the second time, the moving part controls the frame to move until it moves to the specified position. There can be one or two moving parts. If there are two, they are respectively located on the two rotating frames 3.

[0025] The movable part includes: a U-shaped seat 32, which is movably arranged on the limiting frame 31 and is used to limit the frame body, and the cross-sectional size of the frame body is adapted to the cross-sectional size of the U-shaped seat 32; a reciprocating part, which is used to realize the reciprocating motion of the movable frame; a fixed part is arranged on the U-shaped seat 32, and the limiting frame 31 is provided with a moving opening 33 for the movement of the U-shaped seat 32, and the two ends of the moving opening 33 along the X direction are both closed. The length dimension of the moving opening 33 is greater than the length dimension of the U-shaped seat 32, so the U-shaped seat 32 can move along the length direction of the moving opening 33, and the cross-section of the U-shaped seat 32 is also set to be concave.

[0026] The reciprocating portion includes: a slide 34 fixedly connected to the bottom of the U-shaped seat 32; two guide rails 35 arranged on the limit frame 31 along the X direction; the slide 34 is sleeved and slides on the two guide rails 35, and a linear motion control member (not shown in the figure) is used to realize the reciprocating motion of the slide 34 along the guide rails. The linear motion control member can be an electric push rod or a cylinder. The guide rail 35 is set below the U-shaped seat 32, that is, it is fixed below the limit frame 31. In the initial state, the U-shaped seat 32 is located near one end of the moving opening 33. Therefore, when the frame needs to be moved, the linear motion control component controls the slide rod to move along the guide rail, and the U-shaped seat 32 realizes the reciprocating motion effect of the U-shaped seat 32.

[0027] The fixing part includes: a fixing rope 361, which is used to tie and fix the frame to the U-shaped seat 32; a winding group, which is used to straighten and relax the fixing rope 361. When the fixing rope 361 begins to straighten, the friction between the fixing rope 361 and the upper part of the frame wall increases. In this embodiment, the friction between the fixing rope 361 and the frame is sufficient to make the frame move with the U-shaped seat 32, that is, the frame is tied to the U-shaped seat 32 as described above. The U-shaped seat 32 includes a bottom frame 321 and two side plates 322. The bottom frame 321 and the side plates 322 are both hollow and interconnected. The side plates 322 are elastically arranged in the bottom frame 321, and the inner cavity of the side plates 322 is fixedly connected to the connecting rod 323. The cam 322 is fastened to the top of the cam 323 and the cam 324 is engaged with the cam 326. The cam 326 can be engaged with the cam 326 by pressing the pulley 312 on the cam 328 to engage the pulley 312.

[0028] The winding group includes: two winding motors; two winding rollers 362 for winding or releasing the fixed rope 361; two connecting rollers 363 for winding or releasing the connecting rope; two electromagnet groups 364 for connecting or separating the winding rollers 362 and the connecting rollers 363; when the winding rollers 362 wind the fixed rope 361, the connecting rollers 363 release the connecting rope, and when the winding rollers 362 release the fixed rope 361, the connecting rollers 363 wind the connecting rope. The winding motors are respectively arranged outside the bottom frame 321, and the output end of the winding motor is connected to the winding rollers 362. One end of the winding roller 362 is connected, and the winding roller 362 is rotatably set in the bottom frame 321, and the length direction of the winding roller 362 is set along the X direction. The connecting roller 363 is also rotatably connected to the other end of the bottom frame 321, and the electromagnet group 364 is provided in plurality and can be evenly distributed at the end of the connecting roller 363 or the winding roller 362, thereby realizing the connection or separation of the winding roller 362 and the connecting roller 363, and the winding direction of the connecting rope on the connecting roller 363 is opposite to the winding direction of the fixed rope 361 on the winding roller 362, so the winding and releasing actions between the fixed rope 361 and the connecting rope are opposite.

[0029] When it is only necessary to prevent the frame from falling when the rotation angle is greater than 90°, the electromagnet group 364 will not connect the winding roller 362 and the connecting roller 363. Therefore, it is only necessary to control the two winding rollers 362 to cooperate with each other to tighten the fixing rope 361. At this time, the fixing rope 361 restricts the frame to the U-shaped seat 32. However, when the U-shaped seat 32 is needed to drive the frame to move, one of the U-shaped seats 32 needs to be operated. If the fixing rope 361 is in a loose state in the initial state, it is necessary to connect the winding roller 362 and the connecting roller 363 through the electromagnet group 364, and control the connecting roller 363 to start winding the connecting rope. The connecting rope moves the corresponding side plate 322 downward, and then disconnects the connecting roller 363 and the winding roller 362, and controls the fixing rope 361 to start straightening. However, since the side plate 322 drops at this time, the connection position between the fixing rope 361 and the frame becomes more. , further consolidating the firmness of the fixing rope 361 in fixing the frame to the U-shaped seat 32, and when the U-shaped seat 32 has been rotated by more than 90 degrees, that is, the upper opening of the U-shaped seat 32 is facing downward or tilted downward, there are already many connection positions between the frame and the fixing rope 361, and there is no need to control the movement of the side plate 322, that is, it is only necessary to ensure that the fixing rope 361 is straight; and when the frame needs to be taken away, the fixing rope 361 is released at this time and it is necessary to release the fixing rope 361 for a certain distance. After the frame is taken away, the winding roller 362 and the connecting roller 363 can be reconnected to control the release of the connecting rope. Although the fixing rope 361 will be wound up, since more fixing rope 361 was released before, the fixing rope 361 is wound up to the initial state, and a new frame can be placed between the fixing rope 361 and the U-shaped seat 32, and the side plate 322 returns to its initial position under the action of the spring to restore its original shape.

[0030] The pressing mechanism includes: two sliders 61, which move away from or toward each other, adapt to the bending direction of the frame body and clamp the frame body; an opposite movement component, used to realize the movement of the two sliders 61 toward or away from each other; a support component, used to support the slider 61. In this embodiment, the relative movement component adopts the transmission method of the double-headed threaded rod 63, that is, the relative movement component includes a second motor, a double-headed threaded rod 63 and a slide rod 64, the slider 61 is sleeved and slid on the slide rod 64, and the bottom of the slider 61 is spirally matched with the double-headed threaded rod 63, and the two sliders 61 are respectively located at the two ends of the double-headed threaded rod 63, thereby realizing the relative movement of the two sliders 61. In this embodiment, the surface of the slider 61 that abuts against the frame body is set to an arc shape, which is to ensure the normal operation of the complete frame body.

[0031] See also Figure 5The support assembly includes: a bottom block 65, fixed to the frame 1; a support rod 66, hinged to the bottom block 65; a transmission rod 67, one end of which is hinged to the slider 61, and the other end is hinged to the support rod 66; when the slider 61 moves to clamp the frame body, the support rod 66 moves to abut against the back of the slider 61, and the bottom block 65 is vertically arranged, and the axis direction of the hinge axis of the support rod 66 and the bottom block 65 is parallel to the axis direction of the hinge axis of the transmission rod 67 and the support rod 66. In the initial state, the movable end of the support rod 66 is located above the slider 61. As the slider 61 moves toward the frame body, the support rod 66 swings downward under the action of the transmission rod 67, and the transmission rod 67 pulls the support rod 66 toward the back of the slider 61 during the downward swinging process around the hinge point with the slider 61. This embodiment provides that when the slider 61 moves to abut against the frame, the support rod 66 just swings to abut against the back of the slider 61, and the end face of the support rod 66 is set to an arc surface, that is, the support rod 66 is still tilted upward, which can ensure that when the slider 61 moves toward the initial position, the support rod 66 can swing upward to the initial position, that is, when the two sliders 61 move in the direction away from each other, the transmission rod 67 swings upward around the hinge point with the slider 61, and the support rod 66 is driven to swing in the direction away from the slider 61. Since the slider 61 needs to be subjected to a large force when bending, the support of the slider 61 by the support rod 66 effectively reduces the load between the slider 61 and the double-headed threaded rod 63, thereby extending the matching life of the slider 61 and the double-headed threaded rod 63. In this embodiment, the length of the support rod 66 is smaller than the length of the transmission rod 67, which can ensure that when the slider 61 returns to its initial position, the transmission rod pushes the support rod 66 to a position away from the slider 61; of course, the transmission rod 67 can also adopt the existing technology in which the end of the transmission rod 67 is slidably connected with the bottom surface of the support rod 66, and the transmission rod 67 is hinged with a moving block, and a moving groove is provided on the bottom surface of the support rod 66, and the moving block and the moving groove cross-section are set to T-shaped, so when the support rod 66 and the transmission rod 67 undergo transmission movement, the moving block moves in the moving groove, and the support rod 66 can swing.

[0032] The implementation principle of the automatic bending device of the trolley frame in the embodiment of the present application is as follows: the fixing rope 361 can tie the frame to the U-shaped seat 32 under the cooperation of the two winding rollers 362. Of course, the winding roller 362 and the connecting roller 363 can be connected by the electromagnet group 364 to control the connecting roller 363 to start winding the connecting rope, and the connecting rope will move the corresponding side plate 322 downward, and then disconnect the connecting roller 363 and the winding roller 362 to control the fixing rope 361 to start straightening. However, since the side plate 322 is lowered at this time, the connection position between the fixing rope 361 and the frame becomes more, further stabilizing the fixing rope 361 to fix the frame to the U-shaped seat 32; the linear motion control part drives the slide plate 34 and the U-shaped seat 32 to move. The above operations are all after the first bending work of the frame is completed, and a second position or a second bending angle adjustment is required. After the first bend, there are two ways to adjust the frame. One is to manually remove the first-bend frame from the two U-shaped seats 32, return the two movable frames 2 to their initial positions, place the second-bend portion of the frame on one of the U-shaped seats 32, and then adjust the second bend by moving the U-shaped seat 32 and rotating the frame 3. Alternatively, a multi-axis robot gripper arm can be installed to remove the first-bend frame and wait until the two movable frames 2 return to their initial positions before placing the portion of the frame to be bent on the U-shaped seat 32 on either movable frame 2.

[0033] When angle adjustment is required, the two rotating frames 3 need to be connected through the power rod 51. After controlling the rotation of one rotating frame 3, the second bending operation is achieved by clamping the two sliders 61 and moving the movable frame 2. During the bending operation, the support rod 66 swings downward under the action of the transmission rod 67. When the slider 61 moves to abut against the frame body, the support rod 66 just swings to abut against the back of the slider 61. The support of the slider 61 by the support rod 66 effectively reduces the load between the slider 61 and the double-headed threaded rod 63, thereby extending the matching life of the slider 61 and the double-headed threaded rod 63. Example 2

[0034] A method for automatically bending a trolley frame comprises the following steps: S1. Definition and preparation: Define the bending sequence and bending path. First, define or call a "bending sequence" through the human-computer interaction interface to plan the bending path of the entire frame. Each "bending step" in the sequence clearly specifies two core information: a bending position, which is the point on the frame where the bend should be made, and a bending angle, which is the degree to which the point needs to be bent. After completing the definition, the operator places the straight frame to be processed on the equipment, and the clamping component performs the initial fixation. S2. Perform the first bend: Start the first step in the Bend Sequence: Positioning: The controller reads the bending position set in the first bending step and drives the X-axis moving part to move the entire frame accurately to the target position.

[0035] Pressing: After positioning is completed, the pressing mechanism will be activated to squeeze and support the frame at that position to prepare for bending.

[0036] Bending: The controller reads the bending angle set in the first bending step and then drives the power assembly to rotate the rotating frame.

[0037] Completion: When the real-time angle data matches the preset target angle value, the rotation of the rotating frame is stopped immediately. At this point, the first bend is accurately completed; S3, automatic connection and execution of subsequent bending: After completing one bending step, the system starts to execute the next bending step in the sequence; Reset and confirmation: First, the pressing mechanism and the rotating frame will automatically reset and the robot arm will automatically take out the first bending frame and move it to the designated position, breaking away from contact with the frame. All related components have returned to a safe initial state.

[0038] Calculation and shifting: Read the target bending position of the next bending step; automatically calculate the relative movement distance between the current position and the next target position. The controller drives the X-axis moving part to move the frame by the calculated relative distance, thereby accurately delivering the next bending point to the processing position. Perform the bend: After positioning, read the bend angle corresponding to this new position and repeat the "pressing" and "bending" actions in step 2 above to complete the bend; S4. Loop and end: The system will continue to repeat the "reset-calculate-shift-bend" cycle of S3, completing all bending steps one by one in the order defined in the "bending sequence". When the last step in the sequence is completed, the entire automated bending process ends and waits for the next cycle.

[0039] Unless otherwise defined, the technical or scientific terms used in this application shall have the usual meanings understood by persons of ordinary skill in the field to which this application belongs. The words "first", "second", "third" and similar terms used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "one" or "a" do not indicate a quantity limitation, but rather indicate the existence of at least one. Words such as "include" or "comprise" mean that the elements or objects appearing before "include" or "comprises" cover the elements or objects listed after "include" or "comprises" and their equivalents, and do not exclude other elements or objects. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0040] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. An automatic bending device for a trolley frame, characterized in that: include: Rack (1); A pressing mechanism, used to press the bent position of the frame; The bending mechanism is used to place the two ends of the frame and apply pressure to push the two ends of the frame; The bending mechanism includes: Two movable frames (2) movably arranged on the frame (1), a driving assembly for controlling the movement of the movable frames (2), a rotating frame (3) rotatably arranged on the movable frame (2), a power assembly for controlling the two rotating frames (3) to rotate together, a clamping assembly for clamping the ends of the frame body, and a monitoring assembly (4) for monitoring the rotation angle of the rotating frame (3); After completing one bending operation, the bending position of the frame is adjusted by the clamping assembly and the rotation position is monitored in conjunction with the monitoring assembly (4) before bending the frame at other positions again.

2. The automatic bending device for a trolley frame according to claim 1, characterized in that: The clamping assembly comprises: A limiting frame (31) provided on the rotating frame (3); A moving part movably arranged on the limiting frame (31) is used to move the frame in the X direction and to limit the frame; The fixing portion is arranged on the moving portion, and is used to fix the frame and move along the X direction along with the moving portion.

3. The automatic bending device for a trolley frame according to claim 2, characterized in that: The moving part includes: A U-shaped seat (32) is movably arranged on the limiting frame (31) and is used to limit the frame; A reciprocating portion, used to realize the reciprocating motion of the U-shaped seat (32); The fixing portion is arranged on the U-shaped seat (32), and the limiting frame (31) is provided with a moving opening (33) for moving the U-shaped seat (32), and both ends of the moving opening (33) along the X direction are closed.

4. The automatic bending device for a trolley frame according to claim 3, characterized in that: The reciprocating portion comprises: A slide plate (34) fixedly connected to the bottom of the U-shaped seat (32); Two guide rails (35) are arranged on the limiting frame (31) along the X direction; A linear motion control member, used to enable the slide plate (34) to reciprocate along the guide rail (35); The slide plate (34) is sleeved and slidably mounted on the two guide rails (35).

5. The automatic bending device for a trolley frame according to claim 4, characterized in that: The fixing portion includes: A fixing rope (361) is used to tie and fix the frame to the U-shaped seat (32); A reeling group is used to realize the straightening and loosening of the fixing rope (361); the U-shaped seat (32) includes a bottom frame (321) and two side plates (322); the bottom frame (321) and the side plates (322) are both provided with cavities and are interconnected; the side plates (322) are elastically provided in the bottom frame (321); the inner cavity of the side plates (322) is fixedly connected to a connecting rod (323); the connecting rod (323) is tied with a connecting rope; the reeling group can also reel in or release the connecting rope; The winding group includes: Two winding motors; Two winding rollers (362) for winding or releasing the fixing rope (361); Two connecting rollers (363) for winding or releasing the connecting rope; Two electromagnet groups (364) for connecting or separating the winding roller (362) and the connecting roller (363); When the winding roller (362) winds up the fixing rope (361), the connecting roller (363) releases the connecting rope; when the winding roller (362) releases the fixing rope (361), the connecting roller (363) winds up the connecting rope.

6. The automatic bending device for a trolley frame according to claim 4, characterized in that: The power assembly includes: A power motor (5) for controlling the rotation of any rotating frame (3); A power rod (51) is used to connect the two rotating frames (3) and ensure that the two rotating frames (3) rotate together; A linear reciprocating member (52) is used to realize reciprocating motion of the power rod (51) along the X direction; The two rotating frames (3) are both provided with a power hole (53), and when the two ends of the power rod (51) are respectively located in the two power holes (53), the two rotating frames (3) rotate together.

7. The automatic bending device for a trolley frame according to claim 6, characterized in that: The pressing mechanism comprises: Two sliders (61) move away from or towards each other, adapting to the bending direction of the frame body and clamping the frame body; A moving-towards component, used to enable the two sliders (61) to move toward or away from each other; A support assembly is used to support the slider (61).

8. A method for automatically bending a trolley frame, based on the automatic trolley frame bending device according to any one of claims 1 to 7, characterized in that: The steps include: S1. Definition and preparation: define the bending sequence and bending path; S2. Perform the first bend: Start the first step in the "Bending Sequence": Positioning: The controller reads the bending position set in the first bending step and drives the X-axis moving part to move the entire frame accurately to the target position; Pressing: After positioning is completed, the pressing mechanism is activated to squeeze and support the frame at that position to prepare for bending; Bending: The controller reads the bending angle set in the first bending step and then drives the power assembly to rotate the rotating frame; Completion: When the real-time angle data matches the preset target angle value, the rotation of the rotating frame stops immediately and the first bend is completed accurately; S3. Automatic connection and execution of subsequent bending: Reset and confirmation: First, the pressing mechanism and the rotating frame will automatically reset and the robot arm will automatically take out the first bending frame and move it to the designated position, breaking away from the contact with the frame. All related components have returned to the safe initial state; Calculation and shifting: Read the target bending position of the next bending step; Perform the bend: After positioning, read the bend angle corresponding to this new position and repeat the "press" and "bend" actions in step 2 above to complete the bend; S4. Loop and end: The system will continue to repeat the "reset-calculate-shift-bend" cycle of S3, completing all bending steps one by one in the order defined in the "bending sequence". When the last step in the sequence is completed, the entire automated bending process ends and waits for the next cycle.

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