A windshield wiper steel bar bending device

Abstract

A device for bending wiper steel bars, which realizes the bending operation of the steel bar by setting a cam mechanism 1, and at the same time, a cam mechanism 2 is set between the cam mechanism 1 and the mid-position cutting servo, and the bending stress generated by the steel bar passing through the cam mechanism 1 is eliminated by means of the movement of the cam mechanism 2; the mid-position cutting servo is set in the mid-position cutting transmission device, and the steel bar cutting servo is set in the steel bar cutting transmission device, and the mid-position cutting servo and the steel bar cutting servo can respectively operate on the transmission track 1 of the mid-position cutting transmission device and the transmission track 2 of the steel bar cutting transmission device to control the cutting point and the cutting point, thereby facilitating the control of the cutting length of the steel bar, and on the other hand, it can also reduce the shaking of the steel bar during cutting or cutting, thereby ensuring the accuracy of the cutting and cutting positions of the steel bar.

Description

Technical Field

[0001] The invention relates to the field of automobile accessories, in particular to a bending device for a wiper steel bar. Background Art

[0002] Because both the front and rear windshields of a car have a certain curvature, the wipers installed on them also need to match the curvature of the glass. Currently, steel bar bending machines are commonly used to bend the steel bars on the wipers. Furthermore, since the wiper dimensions, bending curves, and stresses vary for each car model, the bending curve of the steel bars needs to be adapted to the curvature of the front and rear windshields of each model. Therefore, steel bar bending machines must consider universal performance, and traditional steel bar bending machines can generally meet these requirements. Traditional steel bar bending machines are divided into two categories: domestic and imported. Domestic bending machines have a single function and poor precision, resulting in unstable product performance and prone to deformation after long-term use. In contrast, imported bending machines have complex structures and high precision, and the performance of the products they produce is more stable. However, imported bending machines are expensive, placing a heavy burden on small and medium-sized enterprises. Therefore, there is a need for a high-precision, simple, and low-cost wiper bar bending machine. Summary of the Invention

[0003] The purpose of the present invention is to solve the deficiencies of the prior art and provide a windshield wiper steel bar bending device with a simple structure and easy use.

[0004] A windshield wiper steel bar bending equipment, including a main control system, a steel bar unwinding mechanism, a transmission servo, a bending servo, a stress relief servo, a center cutting servo, a steel bar cut-off servo, a center cutting transmission device and a steel bar cut-off transmission device; wherein the center cutting servo is arranged in the center cutting transmission device, and the steel bar cut-off servo is arranged in the steel bar cut-off transmission device; the transmission servo is located between the steel bar unwinding mechanism and the bending servo; the stress relief servo is located between the bending servo and the center cutting servo; the center cutting servo is located between the stress relief servo and the steel bar cut-off servo; the main control system is respectively communicated with the steel bar unwinding mechanism, the transmission servo, the bending servo, the stress relief servo, the center cutting servo, the steel bar cut-off servo, the center cutting transmission servo and the steel bar cut-off transmission servo.

[0005] Furthermore, the main control system includes a motion controller and a touch screen, the motion controller is used to control the rotation direction and rotation speed of the servo motor; the touch screen serves as an HMI human-machine interface;

[0006] The steel bar unwinding mechanism includes a steel bar unwinding motor and an unwinding detection sensor, wherein the unwinding detection sensor can detect the transmission speed of the steel bar, and the rotation speed of the unwinding motor is adjusted according to the processing speed of the steel bar;

[0007] The transmission servo is used to transmit the steel bar to the working area of ​​the bending servo, wherein the transmission path is a linear transmission; the transmission servo is an EtherCat bus servo;

[0008] The bending servo is an EtherCat bus servo, and the bending servo is driven by an absolute value servo motor. The bending servo also includes a cam mechanism, wherein the cam mechanism simulates the cam motion trajectory curve control to achieve the bending operation of the steel bar;

[0009] The stress relief servo is an EtherCat bus servo, which is driven by an absolute value servo motor. The stress relief servo also includes a second cam mechanism, which simulates the cam motion trajectory curve control.

[0010] The middle cutting servo is an EtherCat bus servo, which is used to cut the installation hole in the middle part of the steel bar;

[0011] The mid-position cutting transmission device includes a mid-position cutting transmission servo and a transmission track 1, and the mid-position cutting servo is arranged on the transmission track 1; the steel bar cutting transmission device includes a steel bar cutting transmission servo and a transmission track 2, and the steel bar cutting servo is arranged on the transmission track 2.

[0012] Furthermore, the transmission servo includes at least two groups of transmission wheels, each group of transmission wheels includes two transmission wheels; the two transmission wheels in the same group of transmission wheels are symmetrically arranged about the steel bar; the line connecting the axes of the transmission wheels located on the same side of the steel bar is parallel to the steel bar.

[0013] Furthermore, it also includes an origin detection sensor, which is a zero position detection switch; the origin detection sensors are respectively arranged at the center cutting servo and the steel bar cutting servo, and are used to provide positioning detection for the center cutting servo and the steel bar cutting servo.

[0014] A method for bending a wiper steel bar comprises the following steps:

[0015] Step 1: The motion controller downloads the steel bar processing recipe based on the input from the HMI human-machine interface;

[0016] Step 2: The motion controller adjusts the processing recipe based on the input from the HMI (Human Machine Interface), including adjusting the steel bar data and fitting the electronic cam parameters. The steel bar data includes the cut length and production quantity, and the electronic cam parameters include curve offset, curve translation, data scaling, and curve symmetry data. The adjusted processing recipe data is then sent to the controller.

[0017] Step 3: The motion controller controls the center cutting servo and the steel bar cutting servo to the specified position;

[0018] Step 4: The motion controller controls the steel bar unwinding mechanism and the transmission servo to start the action, continuously feeding the steel bar;

[0019] Step 5: The motion controller controls the bending servo and the stress relief servo to perform linkage feeding according to the fitted and adjusted electronic cam parameters;

[0020] Step 6: After the length of the steel bar fed by the transmission servo reaches the cut-off length, the motion controller controls the center cutting servo and the steel bar cut-off servo to move;

[0021] Step 7: The motion controller determines whether the production quantity of steel bars meets the input cutting quantity requirement; if it is less than the input production quantity, it returns to step 4; otherwise, it ends the step.

[0022] Furthermore, the input of the HMI human-machine interface in step 1 includes manual control options, parameter settings, curve settings, and curve recipe saving and downloading; wherein the manual control option is used to realize the jog control of each axis; the parameter setting is used to set the equipment parameters, including the operating speed of each servo; the curve setting includes two modes, long size and short size, and the long size and short size are determined according to the truncation length of the steel bar, and the data points of the long size mode are more than the data points of the short size mode; the saving and downloading of the curve recipe can save the optimal parameters for the corresponding steel bar production and customize the name of the saved parameter file.

[0023] Furthermore, the fitting adjustment of the electronic cam parameters in step 2 includes the following steps:

[0024] Step 21: Fit the cam trajectory curve according to the set fitting conversion table;

[0025] Step 22: Perform symmetry correction on the fitted cam curve by setting the curve setting of the first half and using the curve symmetry function to achieve symmetry between the first half and the second half;

[0026] Step 23: Cache and back up the curve data;

[0027] Step 24: performing a curve translation operation on the curve data that has completed symmetry correction in step 22;

[0028] Step 25: Perform a curve scaling operation on the translated curve data, vertically zoom in or out the motion trajectory curve data of the simulated cam 1, and obtain the motion trajectory curve data of the simulated cam 2, thereby achieving overall data adjustment;

[0029] Step 26: Re-establish the cam trajectory curve of the simulated cam 1, and establish the cam trajectory curve of the simulated cam 2 according to the offset.

[0030] Furthermore, in step 22, the fitting curve is symmetrically corrected to achieve symmetrical settings of the first half and the second half. The symmetrical correction formula of the cam track curve of the electronic cam is shown as follows:

[0031] If the cam track curve of the simulated cam is divided by X point data, where:

[0032] TF[(X-n+1)]=TF[n]When M=0;n>=1;

[0033] TF[(X-n+1)]=TF[n+2M]M>0,M<=5;n>=2;

[0034] TF[(X-n+1)+2M]=TF[n]M<0,M>=-5;n>=2;

[0035] Where n represents the number of curve points, TF[n] represents the vertical coordinate value corresponding to the n-th curve point of the simulated cam; M represents the translation parameter.

[0036] Furthermore, the curve translation operation in step 24 is as shown below:

[0037] TF[n]=Copy_TF[nM]nM>0 and n>=2;

[0038] Where M represents the translation parameter; TF[n] is the vertical coordinate value of the n-th curve point after symmetric correction in step 22; Copy_TF[nM] represents the cache backup array of the nM-th point of the cache backup data of the simulated cam 1 in step 23.

[0039] Furthermore, in order to re-establish the cam curve in step 26, it is necessary to convert and transform the relationship between the actual bending servo and the cam table fitting curve; wherein the virtual stroke length of the spindle is set to Y, and the motion trajectory curve of the cam is divided by X point data, then the spindle feed corresponding to each curve point is expressed as P, P=Y / (XZ), and Z represents the number of segments contained in the median segment of the motion trajectory curve of the cam; the scaling parameter K of the spindle is expressed as K=L / Y, and L represents the steel bar cutoff length set in step 2; the spindle position is shown in the following formula:

[0040] ZD[n]=P*(n-1);

[0041]

[0042] ZD[n]=P*(nZ);

[0043] Where ZD[n] represents the horizontal coordinate corresponding to the nth curve point in the simulated cam track curve;

[0044] The simulated cam position is shown as follows:

[0045] CD[n]=TF[n];1<=n<=X;

[0046] Wherein, CD[n] represents the position of the simulated cam 1 corresponding to the n-th curve point in the trajectory curve of the simulated cam 1; TF[n] represents the vertical coordinate value corresponding to the n-th curve point of the simulated cam 1;

[0047] The linkage speed of the simulated cam 1 is shown as follows:

[0048] V[n]=(CD[n]-CD[n-1]) / P; and

[0049] V[n]=(CD[n]-CD[n-1]) / (P / Z);

[0050] V[1]=V[2];n=1;

[0051] Where V[n] represents the velocity in the vertical direction at the nth curve point in the trajectory curve of the simulated cam 1;

[0052] Assume that the actual translation fine adjustment of the simulated cam 2 is E, and the converted translation fine adjustment is e, e = E / K, and the spindle position is shown as follows:

[0053] ZDX[n]=P*(n-1); 1<=n<=(1+2M);

[0054] ZDX[n]=P*(n-1)+e;

[0055]

[0056] ZDX[n]=P*(nZ)+e;

[0057] Where ZDX[n] represents the horizontal coordinate corresponding to the nth curve point in the trajectory curve of the simulated cam 2;

[0058] The simulated cam second position is shown as follows:

[0059] CDX[n]=TW[n]+g; 1<=n<=X;

[0060] Wherein, CDX[n] represents the position of the simulated cam 2 at the n-th curve point in the trajectory curve of the simulated cam 2; TW[n] represents the vertical coordinate value of the position of the n-th curve point in the trajectory curve of the simulated cam 2; g represents the position offset between the simulated cam 1 and the simulated cam 2;

[0061] The linkage speed of the simulated cam 2 is shown as follows:

[0062] VX[n]=(CD[n]-CD[n-1]) / P; and

[0063] VX[n]=(CD[n]-CD[n-1]) / (P / Z);

[0064] VX[1]=VX[2];n=1;

[0065] Where VX[n] represents the velocity in the vertical direction when simulating the nth curve point of the cam second track curve.

[0066] The beneficial effects of the present invention are:

[0067] The bending operation of the steel bar is realized by setting a cam mechanism 1, and a cam mechanism 2 is set between the cam mechanism 1 and the mid-position cutting servo. With the help of the movement of the cam mechanism 2, the bending stress generated by the steel bar passing through the cam mechanism 1 is eliminated;

[0068] By setting the mid-position cutting servo in the mid-position cutting transmission device and the steel bar cutting servo in the steel bar cutting transmission device, and the mid-position cutting servo and the steel bar cutting servo can respectively operate on the transmission track 1 of the mid-position cutting transmission device and the transmission track 2 of the steel bar cutting transmission device, the cutting point and the cutting point can be accurately controlled, thereby facilitating the control of the cutting length of the steel bar. On the other hand, it can also reduce the shaking of the steel bar during cutting or cutting, thereby ensuring the accuracy of the cutting and cutting positions of the steel bar.

[0069] By setting up two simulated electronic cams and synchronously controlling cam mechanism one and cam mechanism two, stress relief operation of steel bar bending is achieved, which improves the stability and service life of the product. On the other hand, setting up electronic cams for simulation facilitates machine debugging and can improve product debugging efficiency. By fitting and adjusting the electronic cam parameters, including symmetry correction, curve translation, and curve scaling, better steel bar bending effects are achieved.

[0070] By setting the median line segment to include the Z line segment, the position of the cam can be accurately controlled when the steel bar is bent and the stress relief operation passes through the inflection point. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1This is a schematic diagram of the positional relationship connection of the devices according to the first embodiment of the present invention;

[0072] Figure 2 This is a schematic diagram of the device control relationship of the first embodiment of the present invention;

[0073] Figure 3 Schematic diagram of the bending servo and stress relief servo according to the first embodiment of the present invention;

[0074] Figure 4 This is a flow chart of a method according to embodiment 1 of the present invention;

[0075] Figure 5 The cam trajectory curve fitted in step 21 of the first embodiment of the present invention;

[0076] Figure 6 The trajectory curve after symmetrical correction in step 22 of the first embodiment of the present invention;

[0077] Figure 7 The trajectory curve before the curve translation in step 24 of the first embodiment of the present invention;

[0078] Figure 8 The trajectory curve after the curve is translated in step 24 of the first embodiment of the present invention;

[0079] Figure 9 The trajectory curve before the curve is scaled in step 25 of the first embodiment of the present invention;

[0080] Figure 10 This is the trajectory curve after the curve is scaled in step 25 of the first embodiment of the present invention.

[0081] Description of the accompanying drawings: transmission servo 1, bending servo 2, cam 1 21, pressure block 1 22, stress relief servo 3, cam 2 31, steel bar 4. DETAILED DESCRIPTION

[0082] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0083] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0084] Example 1:

[0085] like Figure 1 、 2 The figure shows a windshield wiper steel bar bending device, comprising a main control system, a steel bar unwinding mechanism, a transmission servo 1, a bending servo 2, a stress relief servo 3, a center-cutting servo, a steel bar cutting servo, a center-cutting transmission device, and a steel bar cutting transmission device. The center-cutting servo is located within the center-cutting transmission device, and the steel bar cutting servo is located within the steel bar cutting transmission device. The transmission servo is located between the steel bar unwinding mechanism and the bending servo; the stress relief servo is located between the bending servo and the center-cutting servo; and the center-cutting servo is located between the stress relief servo and the steel bar cutting servo. The main control system is in communication with the steel bar unwinding mechanism, the transmission servo, the bending servo, the stress relief servo, the center-cutting servo, the steel bar cutting servo, the center-cutting transmission servo, and the steel bar cutting transmission servo.

[0086] The main control system includes a motion controller and a touch screen. The motion controller controls the servo motor's rotation direction and speed, while the touch screen serves as the human-machine interface (HMI) for parameter setting, function control, bar bending curve adjustment, and recipe storage. The motion controller and the bar unwinding mechanism are controlled digitally, and information exchange between the motion controller and the HMI is achieved via Ethernet.

[0087] The steel bar unwinding mechanism includes a steel bar unwinding motor and an unwinding detection sensor, wherein the unwinding detection sensor can detect the transmission speed of the steel bar, and the rotation speed of the unwinding motor can be adjusted according to the processing speed of the steel bar to achieve the purpose of adaptively adapting to different production rhythms.

[0088] The transmission servo 1 is used to transport the steel bar 4 to the working area of ​​the bending servo 2, with the transport path being a straight line. The transmission servo 1 is an EtherCat bus servo. The transmission servo 1 includes at least two sets of transmission wheels, each consisting of two transmission wheels. The two transmission wheels in the same set are symmetrically arranged about the steel bar 4, and the line connecting the axis of the transmission wheels on the same side of the steel bar is parallel to the steel bar. This ensures that the steel bar remains straight as it passes through the transmission servo.

[0089] like Figure 3As shown, the bending servo 2 is an EtherCat bus servo, driven by an absolute servo motor. It also includes a cam mechanism 1, which simulates the cam's motion trajectory to achieve control and complete the steel bar bending operation. The cam mechanism 1 includes a cam 1 21 and a pressure block 1 22, the position of which relative to the cam 1 21 is adjustable. The steel bar 4 is positioned between the pressure block 1 22 and the cam 1 21. During operation, the cam 1 21 presses the steel bar 4 against the pressure block 1 22, completing the bending operation of the steel bar 4 passing between the cam 1 21 and the pressure block 1 22.

[0090] The stress relief servo 3 is an EtherCat bus servo, which is driven by an absolute value servo motor. The stress relief servo also includes a cam mechanism 2, which is controlled by simulating the cam motion trajectory curve. After the steel bar is bent and formed by the bending servo, the bending stress is removed. The cam mechanism 2 includes a cam 2 31, which moves along a set motion trajectory to squeeze the steel bar 4 to remove the bending stress. The bottom of the cam 2 31 is provided with a roller. In this example, the roller contacts the protruding side of the bent steel bar 4, squeezing the steel bar 4 and releasing the stress generated by the bending.

[0091] The center-cutting servo is an EtherCat bus servo, which is used to cut mounting holes in the middle of the steel bar, where the mounting holes are used to install and connect the steel bar with other components of the wiper.

[0092] The steel bar cutting servo is an EtherCat bus servo, and the steel bar cutting servo is used to implement the steel bar cutting operation.

[0093] The center-cutting transmission device includes a center-cutting transmission servo and a first transmission track, with the center-cutting servo mounted on the first transmission track. The steel bar cutting transmission device includes a steel bar cutting transmission servo and a second transmission track, with the steel bar cutting servo mounted on the second transmission track. In this example, the center-cutting servo can slide on the first transmission track in response to the movement of the center-cutting transmission servo, while the steel bar cutting servo can slide on the second transmission track in response to the movement of the steel bar cutting transmission servo. Both the center-cutting transmission servo and the steel bar cutting transmission servo utilize absolute servo motors.

[0094] The machine also includes an origin detection sensor, which is a zero-position detection switch. In this example, the origin detection sensors are located at the center cutting servo and the steel bar cutting servo, respectively, to provide positioning detection for the center cutting servo and the steel bar cutting servo, thereby achieving precise cutting or cutting. The origin detection sensor and the motion controller of the main control system transmit information via digital signals.

[0095] During the implementation process, the bending operation of the steel bar is realized by cam mechanism 1, and at the same time, a cam mechanism 2 is arranged between the cam mechanism 1 and the mid-position cutting servo, and the bending stress generated by the steel bar passing through the cam mechanism 1 is eliminated by the cam mechanism 2; by setting the mid-position cutting servo in the mid-position cutting transmission device, and setting the steel bar cutting servo in the steel bar cutting transmission device, and the mid-position cutting servo and the steel bar cutting servo can respectively operate on the transmission track 1 of the mid-position cutting transmission device and the transmission track 2 of the steel bar cutting transmission device, accurately controlling the cutting point and the cutting point, thereby facilitating the control of the cutting length of the steel bar, and on the other hand, reducing the shaking of the steel bar during cutting or cutting, and ensuring the accuracy of the cutting and cutting positions of the steel bar.

[0096] like Figure 4 As shown, a method for bending a wiper steel bar includes the following steps:

[0097] Step 1: The motion controller downloads the steel bar processing recipe based on the input from the HMI human-machine interface;

[0098] Step 2: The motion controller adjusts the processing recipe based on the input from the HMI (human-machine interface), including adjusting the steel bar data (such as cut length and production quantity) and fitting the electronic cam parameters. The steel bar data includes curve offset, curve translation, data scaling, and curve symmetry. The adjusted processing recipe data is then sent to the controller.

[0099] Step 3: The motion controller controls the center cutting servo and the steel bar cutting servo to the specified position;

[0100] Step 4: The motion controller controls the steel bar unwinding mechanism and the transmission servo to start the action, continuously feeding the steel bar;

[0101] Step 5: The motion controller controls the bending servo and the stress relief servo to perform linkage feeding according to the fitted and adjusted electronic cam parameters;

[0102] Step 6: After the length of the steel bar fed by the transmission servo reaches the cut-off length, the motion controller controls the center cutting servo and the steel bar cut-off servo to move;

[0103] Step 7: The motion controller determines whether the production quantity of steel bars meets the input cutting quantity requirement; if it is less than the input production quantity, it returns to step 4; otherwise, it ends the step.

[0104] The input of the HMI human-machine interface in step 1 includes manual control options, parameter settings, curve settings, curve recipe saving and downloading, etc. The manual control option is used to realize the jog control (JOG) of each axis. When debugging the equipment, it is convenient to install and adjust the equipment by controlling the movement of each axis. The parameter setting is used to set the equipment parameters, including the operating speed of each servo. The curve setting includes two modes: long size and short size. The long size and short size are determined according to the actual cut-off length of the steel bar. The long size mode has more data points than the short size mode. Because the bending process of the long-size steel bar takes longer, more data points need to be set to achieve precise control. In this example, the long-size mode decomposes the electronic cam curve simulation into 63 points of data. The electronic cam includes simulated cam 1 and simulated cam 2, corresponding to the simulated states of cam mechanism 1 and cam mechanism 2, respectively. The short-size mode decomposes the electronic cam trajectory curve simulation into 43 points of data. By dividing the cam motion trajectory curves of simulated cam 1 and simulated cam 2, compared to the conventional simple control of cam motion distance, controlling the cam mechanism according to the cam motion trajectory curve can achieve higher precision and smoother bending effects. Saving and downloading curve recipes can save the optimal parameters for corresponding steel bar production and customize the name of the saved parameter file. Saving and downloading curve recipes can save time configuring parameters for repeated or batch production.

[0105] The fitting adjustment of the electronic cam parameters in step 2 includes the following steps:

[0106] Step 21: Fit the cam trajectory curve according to the set fitting conversion table;

[0107] Step 22: Perform symmetry correction on the fitted cam curve by setting the curve setting of the first half and using the curve symmetry function to achieve symmetry between the first half and the second half;

[0108] Step 23: Cache and back up the curve data;

[0109] Step 24: Perform a curve translation operation on the curve data that has completed the symmetry correction in step 22, and compensate the curve data by shifting the curve left and right to achieve a midpoint symmetric effect;

[0110] Step 25: Perform a curve scaling operation on the translated curve data, vertically zoom in or out the motion trajectory curve data of the simulated cam 1, and obtain the motion trajectory curve data of the simulated cam 2, thereby achieving overall data adjustment;

[0111] Step 26: Re-establish the cam trajectory curve of the simulated cam 1, and establish the cam trajectory curve of the simulated cam 2 according to the offset.

[0112] like Figure 5 As shown, the horizontal axis of the cam trajectory curve in step 21 represents the spindle position, that is, the virtual length of the transmission servo feeding steel bar, and the vertical axis represents the position of the electronic cam. The fitting conversion table includes a 43-point fitting conversion table and a 63-point fitting conversion table. The 43-point fitting conversion table is shown in Table 1, and the 63-point fitting conversion table is shown in Table 2:

[0113] Table 1 43-point cam curve fitting conversion table

[0114]

[0115]

[0116]

[0117] Table 2 63-point cam curve fitting conversion table

[0118]

[0119]

[0120]

[0121]

[0122] The velocities and accelerations in Tables 1 and 2 are all vectors in the longitudinal direction, that is, the direction perpendicular to the feeding direction of the steel bar.

[0123] like Figure 6 As shown, in step 22, the fitting curve is symmetrically corrected to achieve symmetrical settings of the front half and the back half, greatly improving the user's adjustment efficiency. The symmetrical correction formula of the cam track curve of the electronic cam is shown as follows:

[0124] If the cam trajectory curve of the simulated cam 1 is divided by 43 points, that is, the length of the steel bar is set to the short size, where:

[0125] TF[(43-n+1)]=TF[n]M=0; n>=1;

[0126] TF[(43-n+1)]=TF[n+2M]M>0,M<=5;n>=2;

[0127] TF[(43-n+1)+2M]=TF[n]M<0,M>=-5;n>=2;

[0128] Where n represents the number of curve points, TF[n] represents the vertical coordinate value corresponding to the n-th curve point in the trajectory curve of the simulated cam one; M represents the translation parameter. It should be noted that, in this embodiment, the translation of the curve is performed after the symmetry correction of the curve, and M is 0 at this time. In some other implementation methods, the translation operation of the curve can also be performed first, and then the symmetry correction of the curve can be performed.

[0129] If the cam trajectory curve of the simulated cam is divided by 63 points, that is, the length of the steel bar is set to the long dimension, where:

[0130] TF[(63-n+1)]=TF[n]M=0; n>=1;

[0131] TF[(63-n+1)]=TF[n+2M]M>0,M<=5;n>=2;

[0132] TF[(63-n+1)+2M]=TF[n]M<0,M>=-5;n>=2;

[0133] Where n represents the number of curve points, TF[n] represents the vertical coordinate value of the position of the nth curve point in the trajectory curve of the simulated cam 1; M represents the translation parameter.

[0134] like Figure 7 、 8 As shown, the curve translation operation in step 24 is as shown in the following formula:

[0135] TF[n]=Copy_TF[nM]nM>0 and n>=2;

[0136] Where M represents the translation parameter; TF[n] represents the vertical coordinate value of the n-th curve point in the trajectory curve of the simulated cam 1, which in this case is the vertical coordinate value of the n-th curve point after the symmetrical correction in step 22; Copy_TF[nM] represents the cache backup array of the nM-th point of the cached backup data of the simulated cam 1 in step 23.

[0137] like Figure 9 、 10 As shown, in step 25, the formula for curve scaling is as follows:

[0138] TW[n]=TF[n]*s;

[0139] Where TF[n] represents the vertical coordinate value of the nth curve point in the trajectory curve of simulated cam 1; TW[n] represents the vertical coordinate value of the nth curve point in the trajectory curve of simulated cam 2; s represents the scaling ratio. If the short size is selected, 1<=n<=43; if the long size is selected, 1<=n<=63.

[0140] Reestablishing the cam curve in step 26 requires conversion and data conversion between the actual bending servo and the cam table fitting curve. The 43-point short dimension is divided evenly into 39 segments, with the 20th segment being the median segment, which includes four smaller segments. Similarly, the 63-point long dimension is divided evenly into 59 segments, with the 30th segment being the median segment, which includes four smaller segments. By including smaller segments in the median segment, the cam's trajectory is more accurate when processing the steel bar at the center bend, achieving a smooth transition in the bend. Taking the short dimension as an example, according to Table 1, the virtual spindle stroke length for the simulated cam 1 is 29250, where the spindle feed corresponding to each curve point is expressed as P, P = 29250 / 39, the spindle represents the transmission servo, and the virtual spindle stroke length represents the length of the steel bar fed by the transmission servo; the spindle scaling parameter K is expressed as K = L / 29250, where L represents the steel bar cutoff length set in step 2, and the scaling parameter K represents the actual spindle feed steel bar length, that is, the multiple relationship between the actual cutoff length and the simulated virtual spindle stroke length. The spindle position is shown in the following formula:

[0141] ZD[n]=P*(n-1); 1<=n<=20;

[0142] ZD[n]=P*19+(P / 4)*(n-20); 21<=n<=23;

[0143] ZD[n]=P*(n-4); 24<=n<=43;

[0144] Where ZD[n] represents the feed length of the spindle when the spindle feeds the steel bar from the nth curve point to the simulation cam 1, and is represented as the horizontal coordinate corresponding to the nth curve point in the trajectory curve of the simulation cam 1;

[0145] The simulated cam position is shown as follows:

[0146] CD[n]=TF[n]; 1<=n<=43;

[0147] Wherein CD[n] represents the position of the corresponding simulated cam 1 when the steel bar is fed to the nth curve point;

[0148] The linkage speed of the simulated cam 1 is shown as follows:

[0149] V[n]=(CD[n]-CD[n-1]) / P; 2<=n<=20 and 24<=n<=43;

[0150] V[n]=(CD[n]-CD[n-1]) / (P / 4); 21<=n<=23;

[0151] V[1]=V[2]; n=1;

[0152] Wherein V[n] represents the velocity in the longitudinal direction at the nth curve point in the trajectory curve of the simulated cam 1.

[0153] Similarly, according to Table 1, the virtual spindle stroke length corresponding to the set simulated cam 2 is also 29250, so the spindle displacement per point P is expressed as P = 29250 / 39; the spindle scaling parameter K is expressed as K = L / 29250, where L represents the cutoff length of the steel bar set in step 2; the actual translation fine adjustment is E, and the converted translation fine adjustment is e, e = E / K. It should be noted that the translation fine adjustment is the compensation for the curve translation. The spindle position is shown in the following formula:

[0154] ZDX[n]=P*(n-1); 1<=n<=(1+2M);

[0155] ZDX[n]=P*(n-1)+e; (1+2M) <n<=(20+M);

[0156] ZDX[n]=P*(20+M)+(P / 4)*(n-20); (21+M)<=n<=(23+M);

[0157] ZDX[n]=P*(n-4)+e; (24+M)<=n<=43;

[0158] Where ZDX[n] represents the feed length of the spindle corresponding to the nth curve point of the simulated cam 2, and is represented as the horizontal coordinate of the nth curve point in the steel bar trajectory curve of the simulated cam 2;

[0159] The simulated cam second position is shown as follows:

[0160] CDX[n]=TW[n]+g; 1<=n<=43;

[0161] Wherein, CDX[n] represents the position of the simulated cam 2 corresponding to the n-th curve point in the trajectory curve of the simulated cam 2; g represents the position offset between the simulated cam 1 and the simulated cam 2, that is, the distance between the simulated cam 1 and the simulated cam 2;

[0162] The linkage speed of the simulated cam 2 is shown as follows:

[0163] VX[n]=(CD[n]-CD[n-1]) / P; 2<=n<=(20+M) and (24+M)<=n<=43;

[0164] VX[n]=(CD[n]-CD[n-1]) / (P / 4); (21+M)<=n<=(23+M);

[0165] VX[1]=VX[2]; n=1;

[0166] Where VX[n] represents the velocity in the vertical direction when simulating the nth curve point of the cam second track curve.

[0167] The number of steel bars produced in step 7 is determined based on the number of actions of the median cutting servo or the steel bar truncation servo, where the number of steel bars produced is w, and the number of actions of the median cutting servo or the steel bar truncation servo is v, where w = v - 1. During implementation, the median cutting servo and the steel bar truncation servo perform their first action to cut off one end of steel bar a1 and cut and punch a hole in the middle of steel bar a1. The median cutting servo and the steel bar truncation servo perform their second action to separate steel bar a1 from steel bar a2 and cut and punch a hole in the middle of steel bar a2. Therefore, after v actions, w steel bars are produced.

[0168] During the implementation process, by setting up two simulated electronic cams and synchronously controlling cam mechanism one and cam mechanism two, stress relief operation of steel bar bending is achieved, thereby improving the stability and service life of the product; on the other hand, setting up the electronic cam for simulation facilitates machine debugging and can improve the debugging efficiency of the product; by fitting and adjusting the electronic cam parameters, including symmetry correction, curve translation, and curve scaling operations, better steel bar bending effects are achieved.

[0169] The above description is merely a specific example of the present invention and does not constitute any limitation thereto. It is apparent to those skilled in the art, after understanding the content and principles of the present invention, that various modifications and alterations in form and detail may be made without departing from the principles and structure of the present invention. However, such modifications and alterations based on the concepts of the present invention remain within the scope of protection of the claims of the present invention.

Claims

1. A windshield wiper steel bar bending device, characterized in that: It includes a main control system, a steel bar unwinding mechanism, a transmission servo, a bending servo, a stress relief servo, a center cutting servo, a steel bar cutting servo, a center cutting transmission device and a steel bar cutting transmission device; wherein the center cutting servo is arranged in the center cutting transmission device, and the steel bar cutting servo is arranged in the steel bar cutting transmission device; the transmission servo is located between the steel bar unwinding mechanism and the bending servo; the stress relief servo is located between the bending servo and the center cutting servo; the center cutting servo is located between the stress relief servo and the steel bar cutting servo; the main control system is respectively connected to the steel bar unwinding mechanism, the transmission servo, the bending servo, the stress relief servo, the center cutting servo, and the steel bar cutting servo. The stress servo, the center cutting servo, the steel bar cutting servo, the center cutting transmission servo and the steel bar cutting transmission servo are communicated and also include an origin detection sensor, which is a zero detection switch; the origin detection sensors are respectively arranged at the center cutting servo and the steel bar cutting servo, and are used to provide positioning detection for the center cutting servo and the steel bar cutting servo. The steel bar cutting servo is an EtherCat bus servo, and the steel bar cutting servo is used to realize the steel bar cutting operation. The origin detection sensor and the motion controller of the main control system realize information transmission through digital quantity. The motion controller downloads the processing formula of the steel bar according to the input of the HMI human-machine interface; the motion controller adjusts the processing formula according to the input of the HMI human-machine interface, including the adjustment of the steel bar data and the fitting adjustment of the electronic cam parameters; wherein the steel bar data includes the truncation length and the production quantity, the electronic cam includes the analog cam 1 and the analog cam 2, which correspond to the simulation states of the cam mechanism 1 and the cam mechanism 2 respectively, and the electronic cam parameters include the curve offset, the curve translation, the data scaling and the curve symmetry data; and sends the adjusted processing formula data; the motion controller controls the center cutting servo and the steel bar truncation servo to the specified position; the motion controller controls the steel bar unwinding mechanism and the transmission servo to start the action and continuously feed the steel bar; the motion controller controls the bending servo and the stress relief servo to feed in conjunction according to the fitted and adjusted electronic cam parameters; after the steel bar length fed by the transmission servo reaches the truncation length, the motion controller controls the center cutting servo and the steel bar truncation servo to act; the motion controller determines whether the production quantity of the steel bar has met the input cutting quantity requirement; if it is less than the input production quantity, the steel bar continues to be fed; otherwise, the operation is terminated.

2. The windshield wiper steel strip bending device according to claim 1, characterized in that: The main control system includes a motion controller and a touch screen. The motion controller is used to control the rotation direction and rotation speed of the servo motor; the touch screen serves as the HMI human-machine interface; The steel bar unwinding mechanism includes a steel bar unwinding motor and an unwinding detection sensor, wherein the unwinding detection sensor can detect the transmission speed of the steel bar, and the rotation speed of the unwinding motor is adjusted according to the processing speed of the steel bar; The transmission servo is used to transmit the steel bar to the working area of ​​the bending servo, wherein the transmission path is a linear transmission; the transmission servo is an EtherCat bus servo; The bending servo is an EtherCat bus servo, and the bending servo is driven by an absolute value servo motor. The bending servo also includes a cam mechanism, wherein the cam mechanism simulates the cam motion trajectory curve control to achieve the bending operation of the steel bar; The stress relief servo is an EtherCat bus servo, which is driven by an absolute value servo motor. The stress relief servo also includes a second cam mechanism, which simulates the cam motion trajectory curve control. The middle cutting servo is an EtherCat bus servo, which is used to cut the installation hole in the middle part of the steel bar; The mid-position cutting transmission device includes a mid-position cutting transmission servo and a transmission track 1, and the mid-position cutting servo is arranged on the transmission track 1; the steel bar cutting transmission device includes a steel bar cutting transmission servo and a transmission track 2, and the steel bar cutting servo is arranged on the transmission track 2.

3. The bending device for a wiper steel bar according to claim 2, characterized in that: The transmission servo includes at least two groups of transmission wheels, each group of transmission wheels includes two transmission wheels; the two transmission wheels in the same group of transmission wheels are symmetrically arranged about the steel bar; the line connecting the axes of the transmission wheels on the same side of the steel bar is parallel to the steel bar.

4. The windshield wiper steel bar bending device according to claim 2, characterized in that: The motion controller and the steel bar unwinding mechanism are controlled by digital quantities.

5. The windshield wiper steel bar bending device according to claim 2, characterized in that: The motion controller and the HMI human-machine interface implement information interaction via Ethernet.

6. The windshield wiper steel bar bending device according to claim 2, characterized in that: The cam mechanism 1 includes a cam 1 and a pressure block 1, wherein the position of the pressure block 1 relative to the cam 1 can be adjusted.

7. The windshield wiper steel bar bending device according to claim 6, characterized in that: The steel bar is located between the first pressing block and the first cam.

8. The windshield wiper steel bar bending device according to claim 7, characterized in that: The cam 1 presses the steel bar toward the pressure block 1, thereby achieving a bending operation of the steel bar passing between the cam 1 and the pressure block 1.

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