A fully automated bending machine

Abstract

The present invention discloses a fully automated bending machine, which includes a bending machine main body and a positioning and clamping workbench; the bending machine main body includes a main body housing, and an electric servo bending center tool driving mechanism is arranged inside the main body housing. An automatic tool changing device cooperating with the electric servo bending center tool driving mechanism is installed at the bending operation port of the main body housing. A local bending mechanism is installed on the lower tool of the electric servo bending center tool driving mechanism. The local bending mechanism includes a local bending slide rail, a left local bending component and a right local bending component. The left local bending component and the right local bending component are slidably installed on the local bending slide rail and are symmetrically arranged at both ends of the lower tool; the positioning and clamping workbench includes a feeding and rotating manipulator and a supporting table. The supporting table includes a positioning device and a supporting table frame, and the positioning device is integrally connected with the supporting table frame. The present invention can significantly improve the bending efficiency, reduce the manual input and improve the degree of automation.

Description

Technical Field

[0001] The present invention relates to the technical field of bending machines, and more specifically, to a fully automatic bending machine. Background Art

[0002] A numerically controlled bending machine uses the equipped dies (general or special dies or tools) to bend cold metal sheets into workpieces with various geometric cross-sectional shapes. It is a sheet metal forming machine designed for cold-rolled sheet metal processing and is widely used in the sheet metal bending processing of industries such as automobile, aircraft manufacturing, light industry, shipbuilding, container, elevator, and railway vehicle.

[0003] Chinese Utility Model Patent CN210082466U discloses an electric servo bending center tool driving mechanism, including first and second servo motors, first and second transmission mechanisms, a connecting rod, a wedge-shaped tool holder, and a wedge block; the first servo motor is connected to the wedge-shaped tool holder through the first transmission mechanism and the connecting rod; a tool is installed on one side of the wedge-shaped tool holder, a wedge block is installed on the other side of the wedge-shaped tool holder, and the inclined wedge surface of the wedge-shaped tool holder cooperates with the right-angled vertical surface of the wedge block; a second servo motor is installed on the wedge-shaped tool holder, and the second servo motor is connected to the wedge block through the first transmission mechanism. The utility model has a simple and compact structure, small floor space, high cost performance, no oil leakage hidden danger, high control accuracy, energy saving and environmental protection.

[0004] Chinese Utility Model Patent CN210966511U discloses a hemming machine automatic tool changing device, including a frame; a guide rail, which is slidably arranged on the frame horizontally, and a groove is arranged on the lower side of the guide rail; a first power device, which is arranged on the frame and is used to drive the guide rail to move; a first tool, which is slidably arranged on the frame horizontally; a positioning device, a first installation cavity is arranged inside the first tool, and the positioning device is slidably arranged in the first installation cavity. When the positioning device moves to be opposite to the groove, the positioning device is used to move into the groove and clamp it so that the guide rail drives the first tool to move. Through the above technical solution, the problem that the position of the hemming tool in the prior art is not easy to adjust is solved.

[0005] The above two bending machine components each have their own characteristics. There is no bending machine main body in the prior art that has both of the above two bending machine components at the same time. Therefore, the development of bending machines still needs to be improved.

[0006] Moreover, the length of the bending tool of the existing automatic bending machine is unchangeable and is mostly the same as the maximum hemming length. When both ends of a product need to be bent while the middle part does not need to be bent, then this product cannot be bent on the automatic bending machine, making the operation of the bending machine have certain limitations.

[0007] Meanwhile, a sheet positioning device is often provided on the bending support table of a bending machine. The existing sheet positioning devices generally use two stoppers to position the parts to be bent. A single symmetric positioning mechanism can only be used for positioning symmetric-shaped sheet materials and is not applicable when the sheet material is asymmetric. When bending a complex bevel edge, due to the inability to accurately position, such parts often cannot be bent or the bending dimensions do not meet the requirements during production. At the same time, the support of the existing bending support table for the sheet material cannot meet the bending requirements. The contact surface between the table surface of the support table and the sheet material is large, which is not conducive to the movement of the sheet material on the table surface of the support table.

[0008] Chinese Utility Model Patent CN209792325U discloses a feeding and rotating manipulator, which includes a base and a material rack. Driven by a material rack driving device, the material rack can reciprocate horizontally relative to the base; the material rack is of a C-shaped structure, a horizontal moving seat is arranged on the upper part of the material rack, and an up-and-down moving seat is arranged on one side of the upper part of the material rack. The up-and-down moving seat is hinged to the horizontal moving seat through a connecting rod; an upper rotating device is arranged on the up-and-down moving seat, the upper rotating device drives and connects a pressure rod, and an upper pressing block is arranged at the lower end of the pressure rod; a lower rotating device is arranged on one side of the lower part of the material rack, and a lower pressing block is arranged on the output shaft of the lower rotating device; the lower pressing block is directly below the upper pressing block; the output shaft of the lower rotating device is coaxially arranged with the pressure rod; a material pushing device is arranged in the throat of the material rack. The manipulator of the present invention is used in cooperation with a bending main machine, and various bending processes can be realized without the need for three-dimensional movement of the sheet material. The positioning, translation and rotation of the sheet material on the workbench surface are all realized by this manipulator.

[0009] A feeding and rotating manipulator disclosed in Chinese Utility Model Patent CN209792325U only has rotating and clamping functions and cannot effectively position the sheet material.

[0010] Therefore, how to provide a fully automatic bending machine is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0011] In view of this, the present invention provides a fully automatic bending machine to at least solve one of the problems raised in the above-mentioned background technology section.

[0012] To achieve the above solution, the present invention adopts the following technical solutions:

[0013] A fully automatic bending machine includes a bending machine main body and a positioning and clamping workbench;

[0014] The main machine of the bending machine includes a main housing, an electric servo bending center tool driving mechanism is arranged in the main housing, an automatic tool changing device cooperating with the electric servo bending center tool driving mechanism is installed on the bending operation port of the main housing, a local bending mechanism is installed on the lower tool of the electric servo bending center tool driving mechanism, and the local bending mechanism includes a local bending slide rail, a left local bending assembly and a right local bending assembly, the left local bending assembly and the right local bending assembly are slidably installed on the local bending slide rail, and are symmetrically arranged at both ends of the lower tool;

[0015] The positioning and clamping workbench includes a feeding rotary manipulator and a supporting platform, the supporting platform includes a positioning device and a supporting frame, and the positioning device is connected to the supporting frame as a whole;

[0016] The positioning device comprises a left positioning device and a right positioning device, and a gap is left between the left positioning device and the right positioning device;

[0017] The left positioning device comprises a left frame and a front-and-rear movable frame, wherein the front-and-rear movable frame is slidably mounted in a concave cavity at the center of the left frame; the front-and-rear movable frame is transmission-connected to a front-and-rear movable driving assembly mounted on the left frame; comb-shaped movable brush plates are mounted on both sides of the top of the front-and-rear movable frame, and a left fixed brush plate matching and splicing with the movable brush plates on both sides of the front-and-rear movable frame is mounted on the left frame;

[0018] The right positioning device comprises a right frame and a right fixed brush plate installed on the top of the right frame;

[0019] The front and rear moving frames and the right frame are both equipped with a transverse moving assembly, and the transverse moving assembly includes a transverse moving driving device and a positioning card connected to the transverse moving driving device in a transmission manner;

[0020] The front-to-back moving frame is fixedly connected to the transverse moving driving device, and the front-to-back moving frame is slidably connected to the positioning clamp;

[0021] The right frame is fixedly connected to the transverse movement driving device, and the right frame is slidably connected to the positioning clamp;

[0022] Strip-shaped positioning card moving openings are respectively left between the movable brush plates arranged on both sides of the top of the front and rear movable frames and in the middle of the right fixed brush plate.

[0023] Preferably, in the above-mentioned fully automatic bending machine, the left partial bending assembly and the right partial bending assembly are both provided with a partial bending tool group and a tool selection cylinder;

[0024] The left partial bending assembly includes a left mounting frame and a left tool driving mechanism. The left tool driving mechanism is installed on the left mounting frame. The left tool driving mechanism includes a left driving motor, a left synchronous belt, a left driving synchronous pulley, a left driven synchronous pulley, a first guiding pulley, and a second guiding pulley;

[0025] The right partial bending assembly includes a right mounting frame and a right tool driving mechanism. The right tool driving mechanism is installed on the right mounting frame. The right tool driving mechanism includes a right driving motor, a right synchronous belt, a right driving synchronous pulley, a right driven synchronous pulley, a third guiding pulley, and a fourth guiding pulley;

[0026] The left driving motor is in transmission connection with the left driving synchronous pulley. The left synchronous belt is sleeved on the left driving synchronous pulley and the right driven synchronous pulley. The left synchronous belt is connected to the partial bending tool group close to the left partial bending assembly, and the left synchronous belt is guided by the first guiding pulley and the fourth guiding pulley;

[0027] The right driving motor is in transmission connection with the right driving synchronous pulley. The right synchronous belt is sleeved on the right driving synchronous pulley and the left driven synchronous pulley. The right synchronous belt is connected to the partial bending tool group close to the right partial bending assembly, and the right synchronous belt is guided by the second guiding pulley and the third guiding pulley;

[0028] The partial bending tool group is detachably connected into a whole by a plurality of partial bending tools through a snap pin mechanism. There are two tool selection cylinders, which are respectively installed on the left mounting frame and the right mounting frame, and are respectively located on one side of the two partial bending tool groups.

[0029] Preferably, in the above full-automatic bending machine, the snap pin mechanism includes a snap wheel and a spring snap pin. The snap wheel is fixed on one side of the partial bending tool through a stud. A snap wheel hole is opened on the other side of the partial bending tool, and a spring snap pin mounting hole is opened above the snap wheel hole, and the snap wheel hole communicates with the spring snap pin mounting hole above; The spring snap pin is installed in the spring snap pin mounting hole, and the snap ring on the spring snap pin can reciprocate along the axis of the spring snap pin mounting hole;

[0030] The snap wheel extends into the snap wheel hole of the adjacent partial bending tool and is locked by the snap ring of the spring snap pin to realize the locking between adjacent partial bending tools.

[0031] Preferably, in the above full-automatic bending machine, the acting end of the spring snap pin extends out of the partial bending tool, and a pressing block capable of cooperating with the acting end is arranged on the piston rod of the tool selection cylinder.

[0032] Preferably, in the above-mentioned fully automatic bending machine, the local bending tool is provided with a mounting groove matching the lower tool, and the mounting groove can be inserted into the convex strip on the top of the lower tool.

[0033] Preferably, in the above-mentioned fully automatic bending machine, one of the local bending tools of each of the local bending tool groups is slidably connected to the local bending slide rail via a slide block.

[0034] Preferably, in the above-mentioned fully automatic bending machine, the support frame includes a left support frame body, a right support frame body, a left table plate and a right table plate, the left table plate is installed on the top of the left support frame body, and the right table plate is installed on the top of the right support frame body; a plurality of flexible support bodies are distributed on the left table plate and the right table plate; a gap is left between the left support frame body and the right support frame body;

[0035] The base of the feeding rotary robot is installed under the supporting platform, and the material rack of the feeding rotary robot extends to the left and right table plates through the gap between the left supporting frame and the right supporting frame, and the material rack can reciprocate in the gap between the left supporting frame and the right supporting frame; the pushing device, the lower pressing block and the upper pressing block of the feeding rotary robot can move in the gap between the left supporting frame and the right supporting frame and the gap between the left positioning device and the right positioning device.

[0036] Preferably, in the above-mentioned fully automatic bending machine, the positioning card includes a shell, a tongue and a driving cylinder, a slider is provided on one side of the shell, and the front and rear movable frames and the right frame are provided with slide rails matching the slider; the middle part of the tongue is hinged on the top opening of the shell, the top end of the tongue extends out of the top opening of the shell, the bottom end of the tongue is located in the shell, and a strip hole is provided; the driving cylinder is fixedly connected to the outside of the shell, and the piston rod of the driving cylinder extends into the shell and is hinged to the strip hole at the bottom end of the tongue through a pin shaft; the tongue and the driving cylinder are provided in two groups and are arranged in parallel.

[0037] Preferably, in the above-mentioned fully automatic bending machine, the forward and backward moving drive assembly includes a first driving motor, a first lead screw and a first nut, the first nut is threadedly connected to the first lead screw, and the first nut is fixedly connected to the forward and backward moving frame; the first lead screw is fixed to the left frame through a bearing, and a first synchronous pulley installed at one end of the first lead screw is connected to a second synchronous pulley installed on the motor shaft of the first driving motor through a synchronous belt drive, and the first driving motor is fixedly installed at the bottom of the left frame.

[0038] Preferably, in the above-mentioned fully automatic bending machine, the lateral movement driving device includes a second driving motor, a second lead screw, and a second nut. The second nut is threadedly connected to the second lead screw, and the second nut is fixedly connected to the bottom of the housing; both the front-back moving frame and the right frame are fixed with the second lead screw thereon through bearings; a third synchronous pulley installed at one end of the second lead screw is connected to a fourth synchronous pulley installed on the motor shaft of the second driving motor through a synchronous belt; the second driving motor is installed on the front-back moving frame or the right frame.

[0039] As can be seen from the above technical solutions, compared with the prior art, the present invention discloses a fully automatic bending machine. The electric servo bending center tool driving mechanism of the bending machine main body has a simple and compact structure, small floor space, high cost performance, no hidden danger of oil leakage, high control accuracy, energy saving and environmental protection; the automatic tool changing device can automatically piece together different tool lengths according to different bending lengths required by different products to correspond to the corresponding bending lengths, and high-precision components are used to ensure the overall accuracy of the tool after tool change, and there is no need to calibrate the tool again. It saves a large amount of time cost and labor cost for enterprises.

[0040] The automatic bending machine with an added local bending mechanism can well solve the bending problem of products with both ends bent and the middle not bent, enabling the automatic bending machine to adapt to more products and better reflecting the flexibility of the automatic bending machine.

[0041] The positioning and clamping workbench can realize various bending processes for the sheet metal without three-dimensional movement through the feeding and rotating manipulator. The positioning, translation and rotation of the sheet metal on the workbench surface are all realized by this manipulator; the positioning device consists of two parts, the left and the right. Among them, the right positioning device part is fixed, and the left positioning device can move back and forth. Whether the sheet material is positioned with a collinear end face or not, this device can easily handle it; the contact surface between the tabletop of the supporting table and the sheet metal is small, which is convenient for the sheet metal to move on the tabletop of the supporting table. The support of the tabletop of the bending support table for the sheet metal can meet various bending requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0043] Figure 1 The drawings are the overall structural schematic diagram of the present invention;

[0044] Figure 2 The drawings are the structural schematic diagram of the bending machine main body;

[0045] Figure 3 The attached drawing is a schematic structural diagram of the main body of a bending machine when the automatic tool changer is not installed;

[0046] Figures 4-5 The attached drawing is a three-dimensional structural diagram of the local bending mechanism at different angles;

[0047] Figure 6 The attached drawing is a top view of the local bending mechanism;

[0048] Figure 7 The attached drawing is Figure 4 a cutaway view of part A in

[0049] Figure 8 The attached drawing is a schematic structural diagram of the positioning and clamping workbench;

[0050] Figure 9 The attached drawing is a schematic structural diagram of the supporting table;

[0051] Figure 10 The attached drawing is a schematic structural diagram of the positioning device;

[0052] Figure 11 The attached drawing is a schematic structural diagram of the left positioning device;

[0053] Figure 12 The attached drawing is a schematic structural diagram of the left positioning device when the movable brush plate and the left fixed brush plate are not installed;

[0054] Figure 13 The attached drawing is a schematic internal structure diagram of the left positioning device;

[0055] Figure 14 The attached drawing is a schematic structural diagram of the right positioning device when the right fixed brush plate is not installed;

[0056] Figure 15 The attached drawing is a schematic structural diagram of the positioning clip;

[0057] Figure 16 The attached drawing is Figure 9 an enlarged view of part B in

[0058] Figure 17 The attached drawing is a schematic structural diagram of the feeding rotary manipulator. Specific embodiments

[0059] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the attached drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0060] The embodiment of the present invention discloses a fully automatic bending machine, comprising a bending machine mainframe 1 and a positioning and clamping workbench 2;

[0061] The main bending machine comprises a main housing 1-25, in which an electric servo bending center tool driving mechanism 1-26 is arranged, and an automatic tool changing device 1-27 cooperating with the electric servo bending center tool driving mechanism 1-26 is installed on the bending operation port of the main housing 1-25, and a local bending mechanism 1-28 is installed on the lower tool 1-4 of the electric servo bending center tool driving mechanism 1-26, and the local bending mechanism 1-28 comprises a local bending slide rail 1-1, a left local bending assembly 1-2 and a right local bending assembly 1-3, and the left local bending assembly 1-2 and the right local bending assembly 1-3 are slidably installed on the local bending slide rail 1-1, and are symmetrically arranged at both ends of the lower tool 1-4;

[0062] The positioning and clamping workbench includes a feeding rotary manipulator 2-29, and also includes a supporting platform, the supporting platform includes a positioning device and a supporting frame, and the positioning device and the supporting frame are connected as one;

[0063] The positioning device includes a left positioning device 2-1 and a right positioning device 2-2, and a gap is left between the left positioning device 2-1 and the right positioning device 2-2;

[0064] The left positioning device 2-1 includes a left frame 2-3 and a front-and-rear moving frame 2-4, the front-and-rear moving frame 2-4 is slidably mounted in a concave cavity at the center of the left frame 2-3; the front-and-rear moving frame 2-4 is transmission-connected to a front-and-rear moving driving assembly mounted on the left frame 2-3; comb-shaped front-and-rear moving frames 2-5 are mounted on both sides of the top of the front-and-rear moving frame 2-4, and a left fixed brush plate 2-6 matching and splicing with the front-and-rear moving frames 2-5 on both sides of the front-and-rear moving frame 2-4 is mounted on the left frame 2-3;

[0065] The right positioning device 2-2 includes a right frame 2-7 and a right fixed brush plate 2-8 installed on the top of the right frame 2-7;

[0066] The front and rear moving frames 2-4 and the right frame 2-7 are both equipped with a transverse moving assembly, which includes a transverse moving driving device and a positioning card 2-9 which is transmission-connected to the transverse moving driving device;

[0067] The front and rear moving frame 2-4 is fixedly connected to the lateral moving driving device, and the front and rear moving frame 2-4 is slidably connected to the positioning card 2-9;

[0068] The right frame 2-7 is fixedly connected to the lateral movement driving device, and the right frame 2-7 is slidably connected to the positioning card 2-9;

[0069] There are strip-shaped positioning clip moving openings respectively left between the front and rear moving frames 2-5 arranged on both sides of the top of the front and rear moving frame 2-4 and in the middle of the right fixed brush plate 2-8.

[0070] To further optimize the above technical solution, local bending tool groups 1-5 and tool selection cylinders 1-6 are arranged on both the left local bending component 1-2 and the right local bending component 1-3;

[0071] The left local bending component 1-2 includes a left mounting frame 1-7 and a left tool driving mechanism. The left tool driving mechanism is installed on the left mounting frame 1-7. The left tool driving mechanism includes a left driving motor 1-8, a left synchronous belt 1-9, a left driving synchronous belt pulley 1-10, a left driven synchronous belt pulley 1-11, a first guide pulley 1-12 and a second guide pulley 1-13;

[0072] The right local bending component 1-3 includes a right mounting frame 1-14 and a right tool driving mechanism. The right tool driving mechanism is installed on the right mounting frame 1-14. The right tool driving mechanism includes a right driving motor 1-15, a right synchronous belt 1-16, a right driving synchronous belt pulley 1-17, a right driven synchronous belt pulley 1-18, a third guide pulley 1-19 and a fourth guide pulley 1-20;

[0073] The left driving motor 1-8 is in transmission connection with the left driving synchronous belt pulley 1-10. The left synchronous belt 1-9 is sleeved on the left driving synchronous belt pulley 1-10 and the right driven synchronous belt pulley 1-18. The left synchronous belt 1-9 is connected to the local bending tool group 1-5 close to the left local bending component 1-2, and the left synchronous belt 1-9 is guided by the first guide pulley 1-12 and the fourth guide pulley 1-20;

[0074] The right driving motor 1-15 is in transmission connection with the right driving synchronous belt pulley 1-17. The right synchronous belt 1-16 is sleeved on the right driving synchronous belt pulley 1-17 and the left driven synchronous belt pulley 1-11. The right synchronous belt 1-16 is connected to the local bending tool group 1-5 close to the right local bending component 1-3, and the right synchronous belt 1-16 is guided by the second guide pulley 1-13 and the third guide pulley 1-19;

[0075] The local bending tool group 1-5 is integrally formed by detachably connecting a plurality of local bending tools 1-21 through a pin mechanism. There are two tool selection cylinders 1-6, which are respectively installed on the left mounting frame 1-7 and the right mounting frame 1-14, and are respectively located on one side of the two local bending tool groups 1-5.

[0076] To further optimize the above technical solution, the clamping mechanism includes a clamping wheel 1-22 and a spring clamping pin 1-23. The clamping wheel 1-22 is fixed on one side of the partial bending tool 1-21 through a stud. A clamping wheel hole is provided on the other side of the partial bending tool 1-21, and a spring clamping pin mounting hole is provided above the clamping wheel hole, and the upper part of the clamping wheel hole communicates with the spring clamping pin mounting hole; the spring clamping pin 1-23 is installed in the spring clamping pin mounting hole, and the clamping ring 1-24 on the spring clamping pin 1-23 can reciprocate along the axis of the spring clamping pin mounting hole;

[0077] The clamping wheel 1-22 extends into the clamping wheel hole of the adjacent partial bending tool 1-21 and is locked by the clamping ring 1-24 of the spring clamping pin 1-23 to achieve the locking between adjacent partial bending tools 1-21.

[0078] To further optimize the above technical solution, the acting end of the spring clamping pin 1-23 extends out of the partial bending tool 1-21, and a pressing block capable of cooperating with the acting end is provided on the piston rod of the tool selection cylinder 1-6.

[0079] To further optimize the above technical solution, the partial bending tool 1-21 is provided with a mounting groove matching the lower tool 1-4, and the mounting groove can be clamped into the rib on the top of the lower tool 1-4 of the bending machine.

[0080] To further optimize the above technical solution, one of the partial bending tools 1-21 in each partial bending tool group 1-5 is slidably connected to the partial bending slide rail 1-1 through a slider respectively.

[0081] To further optimize the above technical solution, the support frame includes a left support frame body 2-23, a right support frame body 2-24, a left table plate 2-25 and a right table plate 2-26. The left table plate 2-25 is installed on the top of the left support frame body 2-23, and the right table plate 2-26 is installed on the top of the right support frame body 2-24; a number of flexible support bodies 2-27 are distributed on both the left table plate 2-25 and the right table plate 2-26; a gap is left between the left support frame body 2-23 and the right support frame body 2-24;

[0082] The base 2-30 of the feeding and rotating manipulator 2-29 is installed below the support frame. The material rack 2-31 of the feeding and rotating manipulator 2-29 extends out above the left table plate 2-25 and the right table plate 2-26 through the gap between the left support frame body 2-23 and the right support frame body 2-24, and the material rack 2-31 can reciprocate within the gap between the left support frame body 2-23 and the right support frame body 2-24; the pushing device 2-32, the lower pressing block 2-33 and the upper pressing block 2-34 of the feeding and rotating manipulator 2-29 can act within the gap between the left support frame body 2-23 and the right support frame body 2-24 and the gap between the left positioning device 2-1 and the right positioning device 2-2.

[0083] To further optimize the above technical solution, the positioning card member 2-9 includes a housing 2-10, a tongue 2-11, and a driving cylinder 2-12. A slider is provided on one side of the housing 2-10, and slide rails matching the slider are provided on the front and rear moving frame 2-4 and the right frame 2-7; the middle of the tongue 2-11 is hinged to the top opening of the housing 2-10, the top end of the tongue 2-11 extends outside the top opening of the housing 2-10, the bottom end of the tongue 2-11 is located inside the housing 2-10, and a strip-shaped hole is provided; the driving cylinder 2-12 is fixedly connected outside the housing 2-10, and the piston rod of the driving cylinder 2-12 extends into the housing 2-10 and is hinged to the strip-shaped hole at the bottom end of the tongue 2-11 through a pin shaft.

[0084] To further optimize the above technical solution, two sets of the tongue 2-11 and the driving cylinder 2-12 are provided and arranged in parallel.

[0085] To further optimize the above technical solution, the front and rear moving drive assembly includes a first drive motor 2-13, a first lead screw 2-14, and a first nut 2-15. The first nut 2-15 is threadedly connected to the first lead screw 2-14, and the first nut 2-15 is fixedly connected to the front and rear moving frame 2-4; the first lead screw 2-14 is fixed on the left frame 2-3 through a bearing, and a first synchronous pulley 2-16 installed at one end of the first lead screw 2-14 is connected to a second synchronous pulley 2-17 installed on the motor shaft of the first drive motor 2-13 through a synchronous belt. The first drive motor 2-13 is fixedly installed at the bottom of the left frame 2-3.

[0086] To further optimize the above technical solution, the lateral moving drive device includes a second drive motor 2-18, a second lead screw 2-19, and a second nut 2-20. The second nut 2-20 is threadedly connected to the second lead screw 2-19, and the second nut 2-20 is fixedly connected to the bottom of the housing 2-10; the front and rear moving frame 2-4 and the right frame 2-7 are both fixed with the second lead screw 2-19 thereon through bearings; a third synchronous pulley 2-21 installed at one end of the second lead screw 2-19 is connected to a fourth synchronous pulley 2-22 installed on the motor shaft of the second drive motor 2-18 through a synchronous belt; the second drive motor 2-18 is installed on the front and rear moving frame 2-4 or the right frame 2-7.

[0087] To further optimize the above technical solution, the flexible support 2-27 is a support brush, and the support brush is installed in the mounting holes evenly distributed on the tops of the left platen 2-25 and the right platen 2-26, and the bristles of the support brush extend outside the mounting holes.

[0088] To further optimize the above technical solution, extension plates 2-28 are connected to the sides of the left platen 2-25 and the right platen 2-26 away from the positioning device for installing a plate clamping device.

[0089] The feeding rotary manipulator 2-29 includes a base 2-30 and a rack 2-31. Driven by a rack driving device, the rack 2-31 can reciprocate horizontally relative to the base 2-30. The rack 2-31 is of a C-shaped structure. A horizontal moving seat is arranged on the upper part of the rack 2-31, and a vertical moving seat is arranged on one side of the upper part of the rack 2-31. The vertical moving seat is hinged to the horizontal moving seat through a connecting rod. An upper rotating device 2-36 is arranged on the vertical moving seat. The upper rotating device 2-36 drives and connects a pressure rod, and a upper pressing block 2-34 is arranged at the lower end of the pressure rod. A lower rotating device 2-35 is arranged on one side of the lower part of the rack 2-31, and a lower pressing block 2-33 is arranged on the output shaft of the lower rotating device. The lower pressing block 2-33 is directly below the upper pressing block 2-34. The output shaft of the lower rotating device is coaxially arranged with the pressure rod. A pushing device 2-32 is arranged in the throat of the rack.

[0090] Working principle of the positioning and clamping workbench:

[0091] When the end faces of the sheet materials are collinear, adjust the left positioning device 2-1 and the right positioning device 2-2 to be flush, and adjust the positions of the positioning clips 2-9 on the left positioning device 2-1 and the right positioning device 2-2 through the lateral moving driving devices on the left positioning device 2-1 and the right positioning device 2-2 to achieve pitch adjustment, and then position the two corners of the sheet material through the positioning clips 2-9.

[0092] When the end faces of the sheet materials are non-collinear, i.e., oblique lines or other irregular shapes, adjust the distance between the front and rear moving frames 2-4 through the front and rear moving driving components of the left positioning device 2-1, and then adjust the positions of the positioning clips 2-9 on the left positioning device 2-1 and the right positioning device 2-2 through the lateral moving driving devices on the left positioning device 2-1 and the right positioning device 2-2 to achieve pitch adjustment. Finally, position the two non-collinear corners of the sheet material through the positioning clips 2-9.

[0093] A number of flexible support bodies 2-27 on the support bench can meet the support requirements for the sheet materials;

[0094] Clamp the sheet material through the lower pressing block 2-33 and the upper pressing block 2-34 of the feeding rotary manipulator, and the sheet material can be rotated through the lower rotating device 2-35 and the upper rotating device 2-36. The sheet material can be moved to the positioning device for positioning through the pushing device 2-32, so as to cooperate with the bending host to achieve various bending processes. The positioning, translation and rotation of the sheet material on the workbench surface are all realized by this manipulator.

[0095] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For the relevant parts, reference can be made to the description in the method section.

[0096] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fully automated bending machine, comprising a bending machine main body and a positioning and clamping workbench; The host of the bending machine includes a host housing, an electric servo bending center tool driving mechanism is arranged inside the host housing, and an automatic tool changing device cooperating with the electric servo bending center tool driving mechanism is installed on the bending operation port of the host housing, and is characterized in that, A local bending mechanism is installed on the lower tool of the electric servo bending center tool driving mechanism. The local bending mechanism comprises a local bending slide rail, a left local bending assembly and a right local bending assembly. The left local bending assembly and the right local bending assembly are slidably installed on the local bending slide rail and are symmetrically arranged at both ends of the lower tool; The positioning and clamping workbench comprises a feeding and rotating manipulator and a supporting table. The supporting table comprises a positioning device and a supporting frame. The positioning device is integrally connected with the supporting frame; The positioning device comprises a left positioning device and a right positioning device, and a gap is left between the left positioning device and the right positioning device; The left positioning device comprises a left frame and a front-back moving frame. The front-back moving frame is slidably installed in a concave cavity at the center of the left frame; the front-back moving frame is in transmission connection with a front-back moving driving assembly installed on the left frame; comb-shaped moving brush plates are installed on both sides of the top of the front-back moving frame, and a left fixed brush plate matched and joined with the moving brush plates on both sides of the front-back moving frame is installed on the left frame; The right positioning device comprises a right frame and a right fixed brush plate installed on the top of the right frame; Transverse moving assemblies are installed on both the front-back moving frame and the right frame. The transverse moving assemblies comprise transverse moving driving devices and positioning clamping members in transmission connection with the transverse moving driving devices; The front-back moving frame is fixedly connected with the transverse moving driving device and is slidably connected with the positioning clamping member; The right frame is fixedly connected with the transverse moving driving device and is slidably connected with the positioning clamping member; Bar-shaped positioning clamping member moving openings are respectively left between the moving brush plates arranged on both sides of the top of the front-back moving frame and in the middle of the right fixed brush plate; Local bending tool groups and tool selection cylinders are arranged on both the left local bending assembly and the right local bending assembly; The left local bending assembly comprises a left mounting frame and a left tool driving mechanism. The left tool driving mechanism is installed on the left mounting frame. The left tool driving mechanism comprises a left driving motor, a left synchronous belt, a left driving synchronous belt pulley, a left driven synchronous belt pulley, a first guide pulley and a second guide pulley; The right local bending assembly comprises a right mounting frame and a right tool driving mechanism. The right tool driving mechanism is installed on the right mounting frame. The right tool driving mechanism comprises a right driving motor, a right synchronous belt, a right driving synchronous belt pulley, a right driven synchronous belt pulley, a third guide pulley and a fourth guide pulley; The left driving motor is in transmission connection with the left driving synchronous belt pulley. The left synchronous belt is sleeved on the left driving synchronous belt pulley and the right driven synchronous belt pulley. The left synchronous belt is connected with the local bending tool group close to the left local bending assembly and is guided by the first guide pulley and the fourth guide pulley; The right drive motor is drivingly connected to the right driving synchronous pulley. The right synchronous belt is sleeved on the right driving synchronous pulley and the left driven synchronous pulley. The right synchronous belt is connected to the partial bending tool group close to the right partial bending assembly, and the right synchronous belt is guided by the second guide pulley and the third guide pulley. The partial bending tool group is integrally formed by detachably connecting a plurality of partial bending tools through a snap pin mechanism. There are two tool selection cylinders, which are respectively installed on the left mounting frame and the right mounting frame and are respectively located on one side of the two partial bending tool groups. The snap pin mechanism includes a snap wheel and a spring snap pin. The snap wheel is fixed on one side of the partial bending tool through a stud. A snap wheel hole is formed on the other side of the partial bending tool, and a spring snap pin mounting hole is formed above the snap wheel hole. The upper part of the snap wheel hole communicates with the spring snap pin mounting hole. The spring snap pin is installed in the spring snap pin mounting hole, and the snap ring on the spring snap pin can reciprocate along the axis of the spring snap pin mounting hole. The snap wheel extends into the snap wheel hole of the adjacent partial bending tool and is locked by the snap ring of the spring snap pin, so as to realize the locking between adjacent partial bending tools.

2. The fully automated bending machine according to claim 1, wherein The acting end of the spring snap pin extends out of the partial bending tool, and a pressing block capable of cooperating with the acting end is arranged on the piston rod of the tool selection cylinder.

3. The fully automatic bending machine according to claim 2, characterized in that, The partial bending tool is provided with a mounting groove matching the lower tool.

4. An all - automatic bending machine according to claim 3, characterized in that, One of the partial bending tools in each partial bending tool group is slidably connected to the partial bending slide rail through a slider.

5. An all-automatic bending machine according to claim 1, characterized in that, The support platform frame includes a left support frame body, a right support frame body, a left table board and a right table board. The left table board is installed on the top of the left support frame body, and the right table board is installed on the top of the right support frame body. A plurality of flexible support bodies are distributed on both the left table board and the right table board. A gap is left between the left support frame body and the right support frame body. The base of the feeding and rotating manipulator is installed below the support platform frame. The material rack of the feeding and rotating manipulator extends out above the left table board and the right table board through the gap between the left support frame body and the right support frame body, and the material rack can reciprocate in the gap between the left support frame body and the right support frame body. The pushing device, the lower pressing block and the upper pressing block of the feeding and rotating manipulator can act in the gap between the left support frame body and the right support frame body and the gap between the left positioning device and the right positioning device.

6. The fully automated bending machine according to claim 5, characterized in that, The positioning clip includes a housing, a tongue and a driving cylinder. A slider is arranged on one side of the housing. Slide rails matching the slider are arranged on the front-back moving frame and the right machine frame. The middle part of the tongue is hinged on the top opening of the housing. The top end of the tongue extends out of the top opening of the housing. The bottom end of the tongue is located in the housing and is provided with a strip hole. The driving cylinder is fixedly connected outside the housing, and the piston rod of the driving cylinder extends into the housing and is hinged to the strip hole at the bottom end of the tongue through a pin shaft. There are two groups of the tongue and the driving cylinder, and they are arranged in parallel.

7. An all-automatic bending machine according to claim 6, characterized in that, The front-back movement driving assembly includes a first driving motor, a first lead screw, and a first nut. The first nut is threadedly connected to the first lead screw, and the first nut is fixedly connected to the front-back movement frame. The first lead screw is fixed to the left frame through bearings, and a first synchronous pulley mounted at one end of the first lead screw is connected to a second synchronous pulley mounted on the motor shaft of the first driving motor through a synchronous belt. The first driving motor is fixedly installed at the bottom of the left frame.

8. An all - automatic bending machine according to claim 7, characterized in that, The lateral movement driving device includes a second driving motor, a second lead screw, and a second nut. The second nut is threadedly connected to the second lead screw, and the second nut is fixedly connected to the bottom of the housing. The front-back movement frame and the right frame are both fixed with the second lead screw through bearings. A third synchronous pulley mounted at one end of the second lead screw is connected to a fourth synchronous pulley mounted on the motor shaft of the second driving motor through a synchronous belt. The second driving motor is installed on the front-back movement frame or the right frame.

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