Ten-axis CNC bending equipment and bending method

Abstract

The present invention discloses a ten-axis CNC bending device and a bending method. The ten-axis CNC bending device comprises a mounting plate, an X-axis linear module, two four-axis mechanisms and a workpiece fixture; the X-axis linear module is mounted on the mounting plate; the X-axis linear module drives the two four-axis mechanisms to move along the X-axis direction to form a ten-axis linkage; each four-axis mechanism comprises a first base, a first rotating arm, a second rotating arm, a second base and a Y-axis linear module; the first base is driven by the X-axis linear module; one end of the first rotating arm is rotatably mounted on the first base and driven by a first motor on the first base to rotate around the X-axis; the other end of the first rotating arm is rotated on one end of the second rotating arm and driven by a second motor on the second rotating arm to rotate around the X-axis; the second base is rotatably mounted on the other end of the second rotating arm and driven by a third motor mounted on the second rotating arm to rotate around the X-axis. The present invention has the advantage of a larger bending range for the workpiece.

Description

Technical Field

[0001] The present invention relates to the technical field of numerical control bending equipment, and in particular to a ten-axis numerical control bending equipment and a bending method. Background Art

[0002] With the development of science and technology, automation technology has become increasingly mature. Automation equipment has gradually replaced manual operations with its advantages of high efficiency, high precision, and low human resource costs. Among them, existing bending operations often use CNC bending equipment for bending operations.

[0003] The existing CNC bending equipment usually has a clamping device that clamps the workpiece, and then a cylinder or oil cylinder drives a bending punch to make a linear motion to bend the workpiece; the existing CNC bending equipment has a simple structure and is only suitable for bending simple workpieces, and the bending angle cannot be adjusted.

[0004] Therefore, the prior art needs to be improved and enhanced. Summary of the invention

[0005] The technical problem solved by the present invention is to provide a ten-axis CNC bending device and a bending method in view of the problems in the above-mentioned prior art.

[0006] According to the first aspect of the present invention, the present invention provides a technical solution as follows: a ten-axis CNC bending equipment, comprising a mounting plate, an X-axis linear module, two four-axis mechanisms and a workpiece fixture; the X-axis linear module is mounted on the mounting plate; the X-axis linear module drives the two four-axis mechanisms to move along the X-axis direction to form a ten-axis linkage; each of the four-axis mechanisms comprises a first base, a first rotating arm, a second rotating arm, a second base and a Y-axis linear module; the first base is driven by the X-axis linear module; one end of the first rotating arm is rotatably mounted on the first base and driven by a first motor on the first base to rotate around the X-axis; the other end of the first rotating arm is rotated on one end of the second rotating arm and driven by a second motor arranged on the second rotating arm to rotate around the X-axis; the second base is rotatably mounted on the other end of the second rotating arm and driven by a third motor mounted on the second rotating arm to rotate around the X-axis; the Y-axis linear module is mounted on the second base and drives the workpiece fixture to move along the Y-axis direction.

[0007] As a further elaboration of the above technical solution:

[0008] In the above technical solution, the workpiece fixture includes a transverse plate, a first suction nozzle and a positioning block; eight of the first suction nozzles are arranged in two rows and four columns on the transverse plate; two positioning blocks are arranged in parallel, and one column of the first suction nozzles is located between the two positioning blocks.

[0009] In the above technical scheme, the workpiece fixture also includes a base, a guide rail, a first slider, a connecting plate, a guide rod mounting block, a guide rod, a reset block and a reset spring; the base is driven by the Y-axis linear module; the guide rail is installed on the upper part of the base along the Y-axis direction; the first slider is slidably installed on the guide rail; the connecting plate is installed on the first slider and is fixedly connected to the cross plate; the guide rod mounting block is installed at the bottom of the connecting plate; the guide rod is installed on the guide rod mounting block and is arranged parallel to the guide rail; the reset block is movably mounted on the guide rod and fixed on the base; the reset spring is mounted on the guide rod, and its two ends respectively abut against the guide rod mounting block and the reset block; the base is also provided with a limit block for limiting the sliding stroke of the connecting plate; the limit block close to the reset spring is equipped with a limit switch that movably cooperates with the connecting plate.

[0010] In the above technical solution, the X-axis linear module is a linear motor module; the linear motor module drives the two stages to move along the X-axis direction; the first bases of the two sets of the four-axis mechanisms are respectively installed on one of the stages.

[0011] In the above technical solution, it also includes a rotating mechanism; the rotating mechanism includes a bracket, a rotating cylinder, a nozzle mounting plate and a second nozzle; the bracket is installed on one of the loading platforms; the rotating cylinder is installed on the bracket and drives the nozzle mounting plate to rotate; the second nozzle is installed on the nozzle mounting plate.

[0012] In the above technical solution, the Y-axis linear module includes a chassis, a motor base, a fourth motor, a driving pulley, a driven pulley, a screw, a synchronous belt, a screw nut, and a second slider; the chassis is fixedly connected to the second base; the motor base is installed at the end of the chassis; the fourth motor is installed on the motor base; the driving pulley is sleeved on the output shaft of the fourth motor; the driven pulley is installed on the screw and is driven by the driving pulley through the synchronous belt; the screw is rotatably installed on the chassis; the screw nut is threadedly screwed on the screw and is fixedly connected to the second slider; the second slider is slidably installed on the chassis and is fixedly connected to the base.

[0013] The above technical solution also includes a clamping device and a six-axis manipulator; the clamping device is used to clamp one end of the workpiece located on the workpiece fixture; the six-axis manipulator is used to transport the workpiece between the external loading and unloading area, the workpiece fixture and the rotating mechanism.

[0014] According to the second aspect of the present invention, another technical solution adopted by the present invention is as follows: a ten-axis CNC bending method, comprising a ten-axis CNC bending device as described in the first aspect, and further comprising the following steps:

[0015] Step 1: The X-axis linear module drives the two four-axis mechanisms to move synchronously to the bending operation position, and the six-axis manipulator clamps a workpiece from the external loading and unloading area and transports it to the four-axis mechanism, and the two workpiece fixtures respectively clamp the two ends of the workpiece;

[0016] Step 2: First, the Y-axis linear modules of the two workpiece fixtures synchronously drive the two workpiece fixtures to move, so that the end of the workpiece extends into the avoidance position; then, the clamping device clamps the end of the workpiece;

[0017] Step 3: The first motors of the two four-axis mechanisms drive the corresponding first rotating arms to rotate synchronously, the second motors of the two four-axis mechanisms drive the corresponding second rotating arms to rotate synchronously, and the third motors of the two four-axis mechanisms drive the corresponding second bases to rotate synchronously; the two groups of workpiece fixtures relatively bend the end of the workpiece clamped by the clamping device and the part of the workpiece sucked by the two groups of workpiece fixtures to obtain a once-bent workpiece;

[0018] Step 4: First, the six-axis manipulator transfers the workpiece that has been bent once in step 3 to the rotating mechanism; then, the second suction nozzle of the rotating mechanism sucks the workpiece, and the rotating cylinder of the second rotating mechanism drives the workpiece to rotate; finally, the six-axis manipulator transfers the workpiece that has been rotated at a certain angle to the workpiece fixture and repeats the bending action in step 3 for a second bending;

[0019] Step 5: The clamping device and the workpiece fixture release the workpiece, and the six-axis manipulator transfers the workpiece that has completed the secondary bending operation in step 4 to the loading and unloading area.

[0020] As a further elaboration of the above technical solution:

[0021] In the above technical solution, in step 1, the six-axis manipulator clamps a workpiece from the external loading and unloading area and transports it to the front of the four-axis mechanism, and the X-axis linear module drives the two four-axis mechanisms to move relative to each other.

[0022] In the above technical scheme, after the clamping device releases the workpiece in step five and before the workpiece fixture releases the workpiece, the following steps are also included: first, the two Y-axis linear modules work to move the workpiece out of the avoidance position; then, the first motors of the two four-axis mechanisms drive the corresponding first rotating arms to rotate asynchronously, the second motors of the two four-axis mechanisms drive the corresponding second rotating arms to rotate asynchronously, and the third motors of the two four-axis mechanisms drive the corresponding second bases to rotate asynchronously; the parts of the workpiece that are sucked by the two workpiece fixtures are relatively twisted.

[0023] The beneficial effects of the present invention are:

[0024] The present invention forms a ten-axis linkage by driving two four-axis mechanisms to move by an X-axis linear module. During the operation, the operating range is expanded by the X-axis linear module and the Y-axis linear module. The linkage of the two groups of four-axis mechanisms not only makes the clamping of the workpiece more stable, but also makes the bending angle range of the workpiece more variable and has better applicability. At the same time, the asynchronous operation between the two groups of four-axis mechanisms can also realize the twisting and bending between the ends of the workpiece clamped by two workpiece fixtures, which is more suitable for the bending and forming operations of complex workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a stereogram of the present invention;

[0026] Figure 2 It is a schematic diagram of the structure of some parts of the present invention;

[0027] Figure 3 It is an exploded view of the Y-axis linear module of the present invention;

[0028] Figure 4 It is an exploded view of some parts of the workpiece fixture of the present invention.

[0029] The numbers in the figure are: 1, mounting plate; 2, X-axis linear module; 3, four-axis mechanism; 4, first base; 5, first rotating arm; 6, first motor; 7, second rotating arm; 8, second motor; 9, second base; 10, third motor; 11, Y-axis linear module; 12, workpiece fixture; 13, horizontal plate; 14, first suction nozzle; 15, positioning block; 16, base; 17, guide rail; 18, first slider; 19, connecting plate; 20, guide rod mounting block; 21, guide rod; 22, reset block; 23, Return spring; 24. Limit block; 25. Limit switch; 26. Loading table; 27. Rotating mechanism; 28. Chassis; 29. ​​Motor seat; 30. Fourth motor; 31. Driving pulley; 32. Driven pulley; 33. Screw; 34. Synchronous belt; 35. Screw nut; 36. Second slider; 37. Clamping device; 38. Frame; 39. Moving assembly; 40. Fixed assembly; 41. Avoidance; 42. Bracket; 43. Rotating cylinder; 44. Suction nozzle mounting plate; 45. Second suction nozzle; 46. Six-axis manipulator. DETAILED DESCRIPTION

[0030] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0031] The embodiments described with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and cannot be understood as limiting the present application. In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, "several" and "multiple" mean two or more, unless otherwise clearly and specifically defined. In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a communication between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances. In this application, unless otherwise clearly specified and limited, the first feature "above" or "below" the second feature can include the first and second features being in direct contact, or it can include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly above and obliquely above the second feature, or simply means that the first feature is lower in level than the second feature.

[0032] Example 1

[0033] Attached Figure 1-4 The specific embodiment of the ten-axis CNC bending equipment of the present invention is shown in the following example. Figure 1-4A ten-axis CNC bending equipment comprises a mounting plate 1, an X-axis linear module 2, two four-axis mechanisms 3 and a workpiece fixture 12. The X-axis linear module 2 is mounted on the mounting plate 1; the X-axis linear module 2 drives the two four-axis mechanisms 3 to move along the X-axis direction to form a ten-axis linkage. Each of the four-axis mechanisms 3 comprises a first base 4, a first rotating arm 5, a second rotating arm 7, a second base 9 and a Y-axis linear module 11. The first base 4 is driven by the X-axis linear module 2; one end of the first rotating arm 5 is rotatably mounted on the first base 4, and is driven by the first motor 6 on the first base 4 to rotate around the X-axis. The other end of the first rotating arm 5 rotates on one end of the second rotating arm 7, and is driven by the second motor 8 provided on the second rotating arm 7 to rotate around the X-axis; the second base 9 is rotatably installed on the other end of the second rotating arm 7, and is driven by the third motor 10 installed on the second rotating arm 7 to rotate around the X-axis; the Y-axis linear module 11 is installed on the second base 9, and drives the workpiece fixture 12 to move along the Y-axis direction.

[0034] Furthermore, the workpiece fixture 12 includes a horizontal plate 13, a first suction nozzle 14 and a positioning block 15. The eight first suction nozzles 14 are arranged in two rows and four columns on the horizontal plate 13, and are all connected to an external air source. The two positioning blocks 15 are arranged in parallel, and one column of the first suction nozzles 14 is located between the two positioning blocks 15. The working principle of the workpiece fixture 12 is as follows: first, after the external workpiece is placed on the horizontal plate 13, the two positioning blocks 15 cooperate with the positioning part at the bottom of the workpiece; then, the external air source drives the first suction nozzle 14 to suck the workpiece tightly.

[0035] Preferably, the workpiece fixture 12 further includes a base 16, a guide rail 17, a first slider 18, a connecting plate 19, a guide rod mounting block 20, a guide rod 21, a reset block 22 and a reset spring 23. The base 16 is driven by the Y-axis linear module 11. The guide rail 17 is installed on the upper part of the base 16 along the Y-axis direction. The first slider 18 is slidably installed on the guide rail 17; the connecting plate 19 is installed on the first slider 18 and is fixedly connected to the cross plate 13. The guide rod mounting block 20 is installed at the bottom of the connecting plate 19; the guide rod 21 is installed on the guide rod mounting block 20 and is arranged parallel to the guide rail 17; the reset block 22 is movably mounted on the guide rod 21 and fixed on the base 16; the reset spring 23 is mounted on the guide rod 21, and its two ends respectively abut against the guide rod mounting block 20 and the reset block 22; the base 16 is also provided with a limit block 24 for limiting the sliding stroke of the connecting plate 19; the limit block 24 close to the reset spring 23 is installed with a limit switch 25 that movably cooperates with the connecting plate 19. During actual use, the present invention also needs to cooperate with another clamping device to operate. When the Y-axis linear module 11 drives the workpiece fixture 12 to push an end portion of the clamped workpiece to be bent into the clamping position of another clamping device, when the workpiece touches the limiting part on the clamping device, the Y-axis linear module 11 continues to work, the reset spring 23 is compressed, and the connecting plate 19 slides on the base 16 toward the reset block 22, playing a buffering role to prevent the workpiece from being crushed; in addition, the distance that the Y-axis linear module 11 drives the base 16 to move is greater than the actual distance the workpiece needs to move, which can also avoid the problem of the workpiece not being pushed into place due to the stroke error of the Y-axis linear module 11, thereby improving the accuracy of the present invention.

[0036] Furthermore, the X-axis linear module 2 is a linear motor module, which is a standard accessory in the prior art and has the advantages of high positioning accuracy, fast response speed, and long service life. The linear motor module drives two stages 26 to move along the X-axis direction; the first bases 4 of the two sets of the four-axis mechanisms 3 are respectively installed on one stage 26.

[0037] Furthermore, it also includes a set of rotating mechanisms 27; the rotating mechanism 27 includes a bracket 42, a rotating cylinder 43, a nozzle mounting plate 44 and a second nozzle 45. The bracket 28 is installed on one of the loading platforms 26; the rotating cylinder 29 is installed on the bracket 28 and drives the nozzle mounting plate 30 to rotate; the second nozzle 31 is installed on the nozzle mounting plate 30. During use, after the workpiece is placed on the nozzle mounting plate 44, the second nozzle 45 is driven by an external air source to suck the workpiece tightly, and then the rotating cylinder 43 connected to the external air source drives the nozzle mounting plate 44 to rotate synchronously with the workpiece to complete the angle adjustment of the workpiece.

[0038] Preferably, the Y-axis linear module 11 includes a chassis 28, a motor base 29, a fourth motor 30, a driving pulley 31, a driven pulley 32, a screw 33, a synchronous belt 34, a screw nut 35, and a second slider 36. The chassis 28 is fixedly connected to the second base 9; the motor base 29 is installed at the end of the chassis 28; the fourth motor 30 is installed on the motor base 29; the driving pulley 31 is sleeved on the output shaft of the fourth motor 30; the driven pulley 32 is installed on the screw rod 33, and is transmitted to the driving pulley 31 through the synchronous belt 31; the screw rod 33 is rotatably installed on the chassis 28; the screw nut 35 is threadedly screwed on the screw rod 33 and is fixedly connected to the first slider 18; the first slider 18 is slidably installed on the chassis 28 and is fixedly connected to the base 16; and then when the fourth motor 30 is driven by an external power supply to start working, the output shaft of the fourth motor 30 drives the screw rod 33 to rotate through the synchronous belt transmission, and when the screw rod 33 rotates, it drives the second slider 36 to slide through the screw rod transmission.

[0039] Preferably, a clamping device 37 is also included for clamping one end of the workpiece located on the workpiece fixture 12. The clamping device 37 includes a frame 38, a power device (not shown in the figure), a moving component 39 and a fixed component 40. A clearance position 41 for the movement of the workpiece is provided in the middle of the frame 38; the fixed component 40 is installed on the frame 38 and is located at the lower wall edge of the clearance position 41; the moving component 39 is slidably installed on the frame 1; the power device is installed on the frame 1 and is used to drive the moving component 39 to perform linear reciprocating motion toward the fixed component 40 to clamp or release the workpiece. The mounting plate 1 is installed on the frame 38 and is located at the lower side of the clearance position 41.

[0040] Preferably, a six-axis manipulator 46 is also included for transporting workpieces between the external loading and unloading area, the workpiece fixture 12 and the rotating mechanism 27.

[0041] The working principle of the present invention is: the six-axis manipulator 46 drives the workpiece to move between the external loading and unloading area, the workpiece fixture 12 and the rotating mechanism 27; when the workpiece is placed on the workpiece fixture 12, the Y-axis linear module 11 pushes one end of the workpiece into the avoidance position 41 of the clamping device 37, and the clamping device 37 clamps the end of the workpiece. Finally, the four-axis mechanism 3 drives the workpiece fixture 12 to bend the part of the workpiece clamped by the workpiece fixture 12 and the part of the workpiece clamped by the clamping device 37.

[0042] Example 2

[0043] A ten-axis CNC bending method includes the ten-axis CNC bending device as described in Example 1, and further includes the following steps:

[0044] Step 1: The X-axis linear module 2 drives the two four-axis mechanisms 3 to move synchronously to the bending operation position, and the six-axis manipulator 46 clamps a workpiece from the external loading and unloading area and transports it to the four-axis mechanism 3, and the two workpiece fixtures 12 respectively clamp the two ends of the workpiece.

[0045] Step 2: First, the Y-axis linear modules 11 of the two workpiece fixtures 12 synchronously drive the two workpiece fixtures 12 to move, so that the end of the workpiece extends into the avoidance position 41; then, the clamping device 37 clamps the end of the workpiece.

[0046] Step three, the first motors 6 of the two four-axis mechanisms 3 drive the corresponding first rotating arms 5 to rotate synchronously, the second motors 8 of the two four-axis mechanisms 3 drive the corresponding second rotating arms 7 to rotate synchronously, and the third motors 10 of the two four-axis mechanisms 3 drive the corresponding second bases 9 to rotate synchronously; the two groups of workpiece fixtures 12 relatively bend the end of the workpiece clamped by the clamping device 37 and the part of the workpiece sucked by the two groups of workpiece fixtures 12 to obtain a once bent workpiece.

[0047] Step 4. First, the six-axis manipulator 46 transfers the workpiece that has been bent once in step 3 to the rotating mechanism 27; then, the second suction nozzle 45 of the rotating mechanism 27 sucks the workpiece, and the rotating cylinder 43 of the second rotating mechanism 27 drives the workpiece to rotate; finally, the six-axis manipulator 46 transfers the workpiece that has been rotated by a certain angle to the workpiece fixture 12 and repeats the bending action in step 3 for a second bending.

[0048] Step 5: The clamping device 37 and the workpiece fixture 12 release the workpiece, and the six-axis manipulator 46 transfers the workpiece that has completed the secondary bending operation in step 4 to the loading and unloading area.

[0049] Preferably, in step 1, the six-axis robot 46 grabs a workpiece from the external loading and unloading area and transports it to the front of the four-axis mechanism 3, and the X-axis linear module 2 drives the two four-axis mechanisms 3 to move relative to each other to make adaptive adjustments according to the size of the workpiece.

[0050] Furthermore, after the clamping device 37 releases the workpiece in step five and before the workpiece fixture 12 releases the workpiece, the following steps are also included: first, the two Y-axis linear modules 11 work to move the workpiece out of the avoidance position 41; then, the first motors 6 of the two four-axis mechanisms 3 drive the corresponding first rotating arms 5 to rotate asynchronously, the second motors 8 of the two four-axis mechanisms 3 drive the corresponding second rotating arms 7 to rotate asynchronously, and the third motors 10 of the two four-axis mechanisms 3 drive the corresponding second bases 9 to rotate asynchronously; the parts of the workpiece that are respectively clamped by the two workpiece fixtures 12 are relatively twisted; when the parts of the workpiece that are clamped by the two workpiece fixtures 12 are relatively twisted, the X-axis linear module 2 drives the two four-axis mechanisms 3 to move relative to each other.

[0051] The present invention forms a ten-axis linkage by driving the two four-axis mechanisms 3 to move by the X-axis linear module 2. During the operation, the operating range is expanded by the X-axis linear module 2 and the Y-axis linear module 11; the linkage of the two groups of four-axis mechanisms 3 not only makes the clamping of the workpiece more stable, but also makes the bending angle range of the workpiece more variable and has better applicability. At the same time, the asynchronous operation between the two groups of four-axis mechanisms 3 can also realize the twisting and bending between the ends of the workpiece clamped by the two workpiece fixtures 12, which is more suitable for the fully automatic bending and forming operation of complex workpieces.

[0052] The above does not limit the technical scope of the present invention in any way. Any modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A ten-axis CNC bending equipment, characterized in that , including a mounting plate, an X-axis linear module, two four-axis mechanisms and a workpiece fixture; the X-axis linear module is mounted on the mounting plate; the X-axis linear module drives the two four-axis mechanisms to move along the X-axis direction to form a ten-axis linkage; each of the four-axis mechanisms includes a first base, a first rotating arm, a second rotating arm, a second base and a Y-axis linear module; the first base is driven by the X-axis linear module; one end of the first rotating arm is rotatably mounted on the first base, and is driven by the first motor on the first base to rotate around the X-axis; the other end of the first rotating arm is rotated on one end of the second rotating arm, and is driven by the second motor set on the second rotating arm to rotate around the X-axis; the second base is rotatably mounted on the other end of the second rotating arm, and is driven by the third motor installed on the second rotating arm to rotate around the X-axis; the Y-axis linear module is mounted on the second base, and drives the workpiece fixture to move along the Y-axis direction.

2. A ten-axis CNC bending equipment according to claim 1, characterized in that The workpiece fixture includes a horizontal plate, a first suction nozzle and a positioning block; eight of the first suction nozzles are arranged on the horizontal plate in two rows and four columns; two positioning blocks are arranged in parallel, and one column of the first suction nozzles is located between the two positioning blocks.

3. A ten-axis CNC bending device according to claim 2, characterized in that The workpiece fixture also includes a base, a guide rail, a first slider, a connecting plate, a guide rod mounting block, a guide rod, a reset block and a reset spring; the base is driven by the Y-axis linear module; the guide rail is installed on the upper part of the base along the Y-axis direction; the first slider is slidably installed on the guide rail; the connecting plate is installed on the first slider and is fixedly connected to the cross plate; the guide rod mounting block is installed at the bottom of the connecting plate; the guide rod is installed on the guide rod mounting block and is arranged parallel to the guide rail; the guide rod movably passes through the reset block, and the reset block is fixed to the base; the reset spring is sleeved on the guide rod, and its two ends respectively abut against the guide rod mounting block and the reset block; the base is also provided with a limit block for limiting the sliding stroke of the connecting plate; the limit block close to the reset spring is equipped with a limit switch that movably cooperates with the connecting plate.

4. A ten-axis CNC bending device according to claim 3, characterized in that , the X-axis linear module is a linear motor module; the linear motor module drives the two stages to move along the X-axis direction; the first bases of the two sets of the four-axis mechanisms are respectively installed on one of the stages.

5. A ten-axis CNC bending device according to claim 4, characterized in that , also includes a set of rotating mechanisms; the rotating mechanism includes a bracket, a rotating cylinder, a nozzle mounting plate and a second nozzle; the bracket is installed on one of the loading platforms; the rotating cylinder is installed on the bracket and drives the nozzle mounting plate to rotate; the second nozzle is installed on the nozzle mounting plate.

6. A ten-axis CNC bending device according to claim 5, characterized in that The Y-axis linear module includes a chassis, a motor base, a fourth motor, a driving pulley, a driven pulley, a screw, a synchronous belt, a screw nut, and a second slider; the chassis is fixedly connected to the second base; the motor base is installed at the end of the chassis; the fourth motor is installed on the motor base; the driving pulley is sleeved on the output shaft of the fourth motor; the driven pulley is installed on the screw and is driven by the driving pulley through the synchronous belt; the screw is rotatably installed on the chassis; the screw nut is threadedly screwed on the screw and fixedly connected to the second slider; the second slider is slidably installed on the chassis and fixedly connected to the base.

7. A ten-axis CNC bending device according to claim 6, characterized in that , also includes a clamping device and a six-axis manipulator; the clamping device is used to clamp one end of the workpiece located on the workpiece fixture, the clamping device includes a frame, a power device, a moving component and a fixed component, and a clearance position for the movement of the workpiece is provided in the middle of the frame; the fixed component is installed on the frame and is located at the lower wall end edge of the clearance position; the moving component is slidably installed on the frame; the power device is installed on the frame, and is used to drive the moving component to perform linear reciprocating motion toward the fixed component to clamp or release the workpiece; the six-axis manipulator is used for transporting the workpiece between the external loading and unloading area, the workpiece fixture and the rotating mechanism.

8. A ten-axis CNC bending method, characterized in that: The ten-axis CNC bending device according to claim 7 further comprises the following steps: Step 1: The X-axis linear module drives the two four-axis mechanisms to move synchronously to the bending operation position, and the six-axis manipulator clamps a workpiece from the external loading and unloading area and transports it to the four-axis mechanism, and the two workpiece fixtures respectively clamp the two ends of the workpiece; Step 2: First, the Y-axis linear modules of the two workpiece fixtures synchronously drive the two workpiece fixtures to move, so that the end of the workpiece extends into the avoidance position; then, the clamping device clamps the end of the workpiece; Step 3: The first motors of the two four-axis mechanisms drive the corresponding first rotating arms to rotate synchronously, the second motors of the two four-axis mechanisms drive the corresponding second rotating arms to rotate synchronously, and the third motors of the two four-axis mechanisms drive the corresponding second bases to rotate synchronously; the two groups of workpiece fixtures relatively bend the end of the workpiece clamped by the clamping device and the part of the workpiece sucked by the two groups of workpiece fixtures to obtain a once-bent workpiece; Step 4: First, the six-axis manipulator transfers the workpiece that has been bent once in step 3 to the rotating mechanism; then, the second suction nozzle of the rotating mechanism sucks the workpiece, and the rotating cylinder of the second rotating mechanism drives the workpiece to rotate; finally, the six-axis manipulator transfers the workpiece that has been rotated at a certain angle to the workpiece fixture and repeats the bending action in step 3 for a second bending; Step 5: The clamping device and the workpiece fixture release the workpiece, and the six-axis manipulator transfers the workpiece that has completed the secondary bending operation in step 4 to the loading and unloading area.

9. A ten-axis CNC bending method according to claim 8, characterized in that: In step 1, the six-axis robot grips a workpiece from the external loading and unloading area and transports it to the front of the four-axis mechanism, and the X-axis linear module drives the two four-axis mechanisms to move relative to each other.

10. A ten-axis CNC bending method according to claim 9, characterized in that: After the clamping device releases the workpiece in step five and before the workpiece fixture releases the workpiece, the following steps are also included: first, the two Y-axis linear modules work to move the workpiece out of the avoidance position; then, the first motors of the two four-axis mechanisms drive the corresponding first rotating arms to rotate asynchronously, the second motors of the two four-axis mechanisms drive the corresponding second rotating arms to rotate asynchronously, and the third motors of the two four-axis mechanisms drive the corresponding second bases to rotate asynchronously; the parts of the workpiece that are sucked by the two workpiece fixtures are relatively twisted.

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