High-precision multi-stage Z-shaped bending equipment

Abstract

The application provides a high-precision multi-stage Z-shaped bending equipment, which comprises a manipulator, a material taking mechanism arranged on the manipulator, an upper and lower feeding device and a bending device arranged on one side of the manipulator; the bending device comprises a bearing fixture, a jacking mechanism and a bending mechanism; the jacking mechanism comprises a gap piece arranged on the bearing fixture and used for jacking the product bending area; the bending mechanism is arranged on the bearing fixture, and the bending device comprises a pressing assembly used for positioning the product bending area and a roller pressing assembly used for bending; the pressing assembly is located on one side of the gap piece, and the roller pressing assembly is located on the other side of the gap piece. The bearing fixture and the jacking mechanism cooperate to lift the graphite sheet to form an arch, the pressing assembly of the bending mechanism presses the graphite sheet to position, the roller pressing assembly rolls from the other direction to complete the Z-shaped bending of the graphite sheet, the graphite sheet can be bent and formed once by using one positioning mechanism, the deformation trend of the product is stable, and the structure is simplified.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of display panel manufacturing equipment, and in particular to a high-precision multi-stage Z-shaped bending equipment. BACKGROUND

[0002] With the maturation of display panel technology, consumers have more diversified requirements for display panels, and folding screen technology has become the most eye-catching design because it can not only achieve the ultimate visual effect of a large screen, but also reduce the size of the body and improve the portability of the entire machine. The touch sensing layer, as the core component of the mobile phone display module, has a graphite sheet bending area width of 3.5mm, and a bending crease width requirement of 1.6mm, which is extremely harsh. To meet the bending requirements of the graphite sheet in a small scale range, the industry usually adopts a twice-bending method to achieve it, that is, when bending, one side of the product is fixed, the other side of the product is clamped by the equipment for folding and pressing, the first bending is completed, and then the product is clamped in the opposite direction for folding and pressing, and finally the Z-shaped bending of the product is realized. Figure 1 、 Figure 2

[0003] However, this method has the following defects: since there are multiple bending points, multiple automatic modules need to be coordinated to complete the bending of the product; secondly, the deformation trend of the product in the multi-step bending process is different, which directly leads to low bending shape stability and bending precision. SUMMARY

[0004] To solve the above problems, the purpose of the present application is to provide a high-precision multi-stage Z-shaped bending equipment, which uses a bearing jig and a jacking mechanism to lift the graphite sheet up and arch, a pressing assembly of a bending mechanism to press and position the graphite sheet, and a roller assembly to roll from the other direction to complete the Z-shaped bending of the graphite sheet, so that the product can be bent and formed once by a positioning mechanism, the deformation trend of the product is stable, and the structure is simplified.

[0005] The present application is implemented by the following method: a high-precision multi-stage Z-shaped bending equipment, comprising a mechanical hand, a material taking mechanism is arranged on the mechanical hand, an upper and lower device and a bending device are arranged beside the mechanical hand; the bending device comprises a bearing jig, a jacking mechanism and a bending mechanism; the jacking mechanism comprises a gap piece arranged on the bearing jig for jacking the product bending area; the bending mechanism is arranged on the bearing jig, the bending device comprises a pressing assembly for positioning the product bending area and a roller assembly for bending, the pressing assembly is located on one side of the gap piece, and the roller assembly is located on the other side of the gap piece.

[0006] ​In one embodiment of the present invention, the support fixture includes a support plate, on which a plurality of vacuum suction cups are arranged in an array. A first driving component is respectively provided at both ends of the support plate. The two first driving components respectively drive a push block to move toward the gap plate or away from the gap plate, for adjusting the spacing between the components connected at both ends of the product bending area.

[0007] In one embodiment of the present invention, the pressing assembly is disposed on one side of the supporting fixture. The pressing assembly includes a mounting arm, a pressing cylinder is mounted on the top of the mounting arm, and a pressing plate is connected to the extended end of the pressing cylinder. The pressing cylinder drives the pressing plate to approach or move away from the bending area of ​​the product.

[0008] In one embodiment of the present invention, the pressing cylinder is inclined and fixed to a first rotating plate. One end of the first rotating plate is connected to the top side of the mounting arm near the supporting fixture via a rotating shaft. A first arc-shaped groove is formed on the rotating plate with the rotating shaft as the center. A bolt passes through the first arc-shaped groove and into the positioning hole of the mounting arm. The extended end of the pressing cylinder is connected to a second rotating plate. One side of the second rotating plate is connected to the extended end of the pressing cylinder via a rotating shaft. A second arc-shaped groove is formed on the second rotating plate with the rotating shaft as the center. A bolt passes through the second arc-shaped groove to adjust the angle of the second rotating plate. The pressing plate is disposed on the side of the second rotating plate facing the graphite sheet.

[0009] In one embodiment of the present invention, the mounting arm is mounted on a movable base and is driven by a second drive assembly to approach or move away from the support fixture.

[0010] In one embodiment of the present invention, the roller pressing assembly is mounted on the support fixture, the roller pressing assembly includes a driving member, the driving member is connected to a pressure roller, and the pressure roller moves along the surface of the support fixture toward or away from the pressing assembly.

[0011] In one embodiment of the present invention, the driving component is connected to a movable frame, the pressure roller is installed in the movable frame through an elastic connector, the two sides of the bearing fixture are respectively provided with first guide rails, the bottom of the two sides of the movable frame is connected to the corresponding first guide rails through first sliders, the driving component drives the movable frame to move along the first guide rails, and drives the pressure roller to roll and bend the graphite sheet along a specified route.

[0012] In one embodiment of the present invention, the elastic connector includes an elastic element and a mounting frame. The elastic element is mounted on the top of the mounting frame, and the top of the elastic element is fixed to the lower surface of the upper frame of the movable frame. The mounting frame and the movable frame are in a Z-shape. The pressure roller is mounted on the bottom of the mounting frame, and the surface of the pressure roller is covered with a flexible material.

[0013] In an embodiment of the present application, the jacking mechanism comprises a connecting seat mounted on the lower side of the bearing fixture, a third driving assembly mounted on the connecting seat, a lifting plate mounted on the third driving assembly, and the gap piece mounted on the lifting plate.

[0014] In an embodiment of the present application, the material taking mechanism comprises a mounting frame, a first suction cup group, and a second suction cup group, the mounting frame is mounted on the end of the mechanical arm, the second suction cup group is mounted on the left part of the mounting frame, and the first suction cup group is mounted on the right part of the mounting frame through a fourth driving assembly, for adjusting the distance between the first suction cup group and the second suction cup group.

[0015] In an embodiment of the present application, the fourth driving assembly comprises a second guide rail mounted on the mounting frame and a distance adjusting cylinder, a mounting plate is connected to the second guide rail through a sliding block, the first suction cup group is fixed on the mounting plate, and the distance adjusting cylinder drives the mounting plate.

[0016] In an embodiment of the present application, a detection camera is arranged above the bearing fixture, for detecting whether the bent product meets the quality requirements, the feeding and discharging device comprises an OK discharging conveyor belt, an NG discharging conveyor belt, and a feeding conveyor belt, the mechanical arm drives the material taking mechanism to suck the product to be bent from the feeding conveyor belt and place it on the bearing fixture, and then takes the bent product from the bearing fixture and places it on the OK discharging conveyor belt or the NG discharging conveyor belt.

[0017] The present application has the following technical effects:

[0018] 1. The graphite sheet on the product is guided and fixed in the deformation direction by the gap piece before the product is formed, ensuring the accuracy and stability of the deformation mode.

[0019] 2. The present application adopts roll forming instead of clamping and bending forming, without the need for multiple motion modules to work together, the device structure is simpler, the cost of the device is reduced, and the floor space occupied by the device is also reduced.

[0020] 3. The roll forming method is simpler and smoother, one side of the graphite sheet is pressed by the pressing assembly, and the other side is rolled by the rolling assembly, thus realizing Z-type bending of the graphite sheet at one time, so that the running speed of the whole machine can be greatly improved, the production efficiency is improved, and the production capacity is greatly improved.

[0021] 4. The scheme combines the deformation characteristics of the product, the structure design adopts visual positioning, limiting principle and mechanical guiding principle, the action design adopts visual guiding alignment principle, and the operation is stable and reliable; the bending forming of the graphite sheet is quickly completed, and the NG / OK detection of the formed product is completed, and the product is placed on the OK unloading conveying belt and the NG unloading conveying belt through mechanical grabbing.

[0022] 5. The product core technology is not only suitable for the bending of the graphite layer in the mobile phone display screen, but also can meet the bending of the flexible circuit board of the tablet computer, especially the popular foldable display screen technology. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a schematic view of the graphite sheet after the first bending forming.

[0024] Figure 2 is a schematic view of the graphite sheet after the second bending forming.

[0025] Figure 3 is a structure schematic view of a high-precision multi-stage Z-shaped bending equipment according to an embodiment of the present application.

[0026] Figure 4 is a structure schematic view of a bending device of a high-precision multi-stage Z-shaped bending equipment according to an embodiment of the present application.

[0027] Figure 5 is another perspective view of a bending device of a high-precision multi-stage Z-shaped bending equipment according to an embodiment of the present application.

[0028] Figure 6 is a connection schematic view of a moving frame and a compression roller of a high-precision multi-stage Z-shaped bending equipment according to an embodiment of the present application.

[0029] Figure 7 is a structure schematic view of a material taking mechanism of a high-precision multi-stage Z-shaped bending equipment according to an embodiment of the present application.

[0030] Figure 8 is a state schematic view of a pressing assembly and a gap sheet cooperating to press a bending area of a product of a high-precision multi-stage Z-shaped bending equipment according to an embodiment of the present application.

[0031] Figure 9 is a state schematic view of a pressing assembly and a roller pressing assembly cooperating to bend a bending area of a product of a high-precision multi-stage Z-shaped bending equipment according to an embodiment of the present application.

[0032] BRIEF DESCRIPTION OF DRAWINGS

[0033] 1-mechanical arm, 11-material taking mechanism, 111-mounting frame, 112-first suction cup group, 113-second suction cup group, 114-fourth driving assembly,

[0034] 2-bending device, 21-carrier fixture, 211-carrier disc, 212-first driving assembly, 213-push block,

[0035] 22-lifting mechanism, 221-clearance piece, 222-third driving assembly, 223-lifting plate,

[0036] 23-bending mechanism, 231-pressing assembly, 2311-mounting arm, 2312-pressing cylinder, 2313-pressing piece, 2314-first rotating plate, 2315-second rotating plate, 2316-moving seat, 2317-second driving group,

[0037] 232-roller assembly, 2321-driving piece, 2322-connection with pressing roller, 2323-moving frame, 2324-first guide rail, 2325-elastic piece, 2326-mounting frame,

[0038] 3-feeding and discharging device, 31-OK discharging conveyor belt, 32-NG discharging conveyor belt, 33-feeding conveyor belt, 34-detection camera DETAILED DESCRIPTION

[0039] The application will be further described below in conjunction with the drawings and specific embodiments.

[0040] Please refer to Figures 3 to 9 A high-precision multi-stage Z-shaped bending device, comprising a mechanical hand 1, a material taking mechanism 11 is arranged on the mechanical hand 1, a feeding and discharging device 3 and a bending device 2 are arranged beside the mechanical hand 1; the bending device 2 comprises a carrier fixture 21, a lifting mechanism 22 and a bending mechanism 23; the lifting mechanism 22 comprises a clearance piece 221 arranged on the carrier fixture 21 for lifting the product bending area; the bending mechanism 23 is arranged on the carrier fixture 21, the bending device 2 comprises a pressing assembly 231 for positioning the product bending area and a roller assembly 232 for bending, the pressing assembly 231 is located on one side of the clearance piece 221, and the roller assembly 232 is located on the other side of the clearance piece 221. The mechanical hand 1 drives the material taking mechanism 11 to take the product to be bent from the feeding and discharging device 3 and place it on the carrier fixture 21 of the bending device 2, the clearance piece 221 of the lifting mechanism 22 makes the product bending area arch upward, the carrier fixture 21 fixes the product, then the pressing assembly 231 presses one side of the product bending area, the clearance piece 221 retracts downward, and the roller assembly 232 rolls over from the other side of the product bending area to complete the Z-shaped bending; compared with the traditional sequential bending forming mode, the process is greatly simplified, the corresponding procedures and the equipment for forming are reduced, the procurement cost and the space occupation of the equipment are reduced, the production efficiency is greatly improved, and the product yield is greatly improved.

[0041] Please refer to Figures 3 to 5 In an embodiment of the present application, the bearing fixture 21 comprises a bearing disc 211, a plurality of vacuum suction cups (not shown) are arranged on the bearing disc 211, and a first driving assembly 212 is arranged at each end of the bearing disc 211. The two first driving assemblies 212 respectively drive a push block 213 to move towards or away from the gap sheet 221, so as to adjust the distance between the components connected at both ends of the product bending area. When the first driving assembly 212 works, the two push blocks 213 are pushed to approach each other. Under the action of the two push blocks 213, the components connected at both ends of the product bending area are caused to approach the gap sheet 221. Under the guiding action of the gap sheet 221, the product bending area is arched in place, thereby providing a prerequisite for subsequent precise bending.

[0042] Please refer to Figures 3 to 5 In an embodiment of the present application, the pressing assembly 231 is arranged on one side of the bearing fixture 21. The pressing assembly 231 comprises a mounting arm 2311. A pressing cylinder 2312 is mounted on the top of the mounting arm 2311 and located above the bearing disc 211. A pressing sheet 2313 is connected to the extending end of the pressing cylinder 2312. The pressing cylinder 2312 drives the pressing sheet 2313 to approach or move away from the bending area of the product. When the pressing cylinder 2312 is pushed out, the pressing sheet 2313 is pressed against one side of the product bending area, thereby serving as a crease positioning point for Z-shaped bending of the product.

[0043] Please refer to Figures 3 to 5 In an embodiment of the present application, the pressing cylinder 2312 is arranged obliquely. The pressing cylinder 2312 is fixed on a first rotating plate 2314. One end of the first rotating plate 2314 is connected to the top of the side of the mounting arm 2311 near the bearing fixture 21 through a rotating shaft. A first arc-shaped sliding groove is formed on the rotating plate with the rotating shaft as the center. A bolt is arranged in the first arc-shaped sliding groove and passes through a positioning hole in the mounting arm 2311. The extending end of the pressing cylinder 2312 is connected to a second rotating plate 2315. One side of the second rotating plate 2315 is connected to the extending end of the pressing cylinder 2312 through a rotating shaft. A second arc-shaped sliding groove is formed on the second rotating plate 2315 with the rotating shaft as the center. A bolt is arranged in the second arc-shaped sliding groove to adjust the angle of the second rotating plate 2315. The pressing sheet 2313 is arranged on the side of the second rotating plate 2315 facing the graphite sheet. By rotating the first rotating plate 2314, the pushing angle of the pressing cylinder 2312 can be adjusted. When the angle is appropriate, the bolt is locked to fix the pressing cylinder 2312. By rotating the second rotating plate 2315, the pressing angle of the pressing sheet 2313 can be adjusted. The two can be matched to adjust the pressing position of the pressing sheet 2313 on the product bending area, thereby adjusting the position of the crease.

[0044] Please refer to Figures 3 to 5In an embodiment of the present application, the mounting arm 2311 is mounted on the moving seat 2316, and the mounting arm 2311 is driven by the second driving assembly 2317 to approach or move away from the carrier fixture 21. Preferably, the second driving assembly 2317 can be a cylinder or a screw-nut driving mechanism, but is not limited thereto. When the product needs to be placed on or taken away from the carrier disc 211, the moving seat 2316 is driven by the second driving assembly 2317 to move away from the carrier fixture 21, so as to avoid interference with the robot 1 when the product is placed or taken away.

[0045] Please refer to Figures 3 to 6 、 Figure 8 、 Figure 9 In an embodiment of the present application, the roller pressing assembly 232 is mounted on the carrier fixture 21, and the roller pressing assembly 232 comprises a driving member 2321 connected with a pressing roller 2322. The pressing roller 2322 moves along the surface of the carrier fixture 21 towards or away from the pressing assembly 231. Preferably, the driving member 2321 can be a telescopic cylinder, an electric telescopic cylinder, a gear and rack driving mode, and is not limited thereto, as long as it can drive the pressing roller 2322 to approach or move away from the bending area of the product. The driving member 2321 is arranged above the first driving assembly 212, so as to avoid mutual interference. The push block 213 connected with the first driving assembly 212 on the same side as the pressing roller 2322 is arranged on both sides of the travel track of the pressing roller 2322, so as to avoid interference with the movement of the pressing roller 2322.

[0046] Please refer to Figures 3 to 6 、 Figure 8 、 Figure 9In an embodiment of the present application, the driving member 2321 is connected with a moving frame 2323, the compression roller 2322 is installed in the moving frame 2323 through an elastic connecting member, the two side edges of the bearing fixture 21 are respectively provided with first guide rails 2324, the bottom of the two side edges of the moving frame 2323 is connected with the corresponding first guide rail 2324 through a first sliding block, the driving member 2321 drives the moving frame 2323 to move along the first guide rail 2324, and the compression roller 2322 is driven to roll and compress the graphite sheet along a specified route to form a bend. The elastic connecting member comprises an elastic member 2325 and a mounting frame 2326, preferably the elastic member 2325 can be a spring or a rubber block, the elastic member 2325 is installed at the top end of the mounting frame 2326, the top end of the elastic member 2325 is fixed on the lower surface of the upper frame of the moving frame 2323, the mounting frame 2326 and the moving frame 2323 are in a character shape, the compression roller 2322 is installed at the bottom of the mounting frame 2326, and the surface of the compression roller 2322 is covered with a flexible material. The compression roller 2322 is installed on the moving frame 2323 through the elastic member 2325, so that the compression roller 2322 has an elastic expansion function and can be flexibly adjusted according to the height of the compression position, which not only ensures the full contact between the compression roller 2322 and the product, but also effectively prevents the damage of the product caused by the hard contact of the compression roller 2322.

[0047] Please refer to Figures 3 to 5 、 Figure 8 In an embodiment of the present application, the jacking mechanism 22 comprises a connecting seat installed at the lower side of the bearing fixture 21, a third driving assembly 222 is installed on the connecting seat, a lifting plate 223 is installed on the third driving assembly 222, a gap piece 221 is installed on the lifting plate 223, and an avoiding groove is formed in the bearing fixture 21 for the gap piece 221 to pass through. The third driving assembly 222 can be a telescopic air cylinder, or a screw nut driving member, a gear and rack driving member, a synchronous belt and pulley driving member, but is not limited thereto. The third driving assembly 222 drives the lifting plate 223 to lift, and then drives the gap piece 221 to move upwards to arch the product bending area, and the product is completed after being arched upwards, and then drives the gap piece 221 to descend.

[0048] Please refer to Figure 3 、 Figure 7In an embodiment of the present application, the material taking mechanism 11 comprises a mounting frame 111, a first suction cup group 112 and a second suction cup group 113, the mounting frame 111 is mounted at the end of the mechanical arm 1, the left part of the mounting frame 111 is mounted with the second suction cup group 113, the right part of the mounting frame 111 is mounted with the first suction cup group 112 through a fourth driving assembly 114, which is used for adjusting the distance between the first suction cup group 112 and the second suction cup group 113. The first suction cup group 112 comprises two vacuum cups, and the second suction cup group 113 comprises four vacuum suction cups. The fourth driving assembly 114 comprises a second guide rail and a distance adjusting cylinder mounted on the mounting frame 111, a mounting plate is connected with the second guide rail through a sliding block, the first suction cup group 112 is fixed on the mounting plate, and the distance adjusting cylinder drives the mounting plate. The distance adjusting cylinder drives the mounting plate to move along the second guide rail, the first suction cup group 112 moves towards the second suction cup group 113, the distance between the two parts of the product bending area (graphite sheet) is reduced, and the bending area (graphite sheet) is arched, but the arching is random, and there are two cases of upward arching and downward arching. The subsequent gap piece 221 is needed to adjust the arching condition, and the bending area is upward arched.

[0049] Please refer to Figure 3 , Figure 7 In an embodiment of the present application, a sliding groove is formed on the mounting plate, two vacuum suction heads of the first suction cup group 112 are mounted in the sliding groove, and the vacuum suction heads can move in the sliding groove, the distance between the two vacuum suction heads can be adjusted, and a scale line is arranged on the upper surface of the mounting plate. The second suction cup group 113 comprises four vacuum suction heads, and two vacuum suction heads are mounted on each of two second mounting plates. The distance between the two second mounting plates is adjustable, a sliding groove is also formed on each second mounting plate to adjust the distance between the vacuum suction heads, and a scale line is also arranged on each second mounting plate. The distance between the vacuum suction heads is adjusted according to the size of the product, so that the product is uniformly stressed.

[0050] Please refer to Figure 3 In an embodiment of the present application, a detection camera 34 is arranged above the bearing jig 21, which is used for detecting whether the bent product meets the quality requirements. The feeding and discharging device 3 comprises an OK discharging conveying belt 31, an NG discharging conveying belt 32 and a feeding conveying belt 33. The mechanical arm 1 drives the material taking mechanism 11 to suck the product to be bent from the feeding conveying belt 33 and place it on the bearing jig 21, and then takes the bent product from the bearing jig 21 and places it on the OK discharging conveying belt 31 or the NG discharging conveying belt 32. The product is detected immediately after bending, and is discharged in different areas, which is helpful to reduce the production process and improve the production efficiency, compared with the detection after discharging and then separate conveying. The detection camera is a prior art device, so it will not be described in detail, and no specific protection requirements are made.

[0051] Please refer to Figure 3In an embodiment of the present application, the mechanical hand 1 picks up the product from the feeding conveyor 33 and places it on the bending device 2, and a fine positioning camera 4 is arranged on the path, which is used to take a photo of the product for positioning and transmit the position information of the product to the material taking mechanical hand 1, so that the mechanical hand 1 can accurately place the product on the specified position of the bearing disc 211 of the bearing jig 21, and ensure that the area to be bent (graphite sheet) of the product is located on the position of the gap sheet 221. The fine positioning camera is a prior art device, so it will not be described in detail, and no specific protection is required

[0052] The present application has the following working principle:

[0053] 1. The mechanical hand takes the material: the mechanical hand 1 drives the material taking mechanism 11 to move, the first suction cup group 112 and the second suction cup group 113 on the material taking mechanism 11 are opened, and the product to be bent is picked up from the feeding conveyor 33; the spacing adjustment cylinder of the fourth driving assembly 114 of the material taking mechanism 11 drives the mounting plate to move along the second guide rail, the first suction cup group 112 moves towards the second suction cup group 113, the spacing of the two side parts of the product graphite sheet is reduced, and the area to be bent (graphite sheet) is arched. The arching of the area to be bent (graphite sheet) is random, which can be upward arching or downward arching. If it is upward arching, the subsequent positioning and bending can be directly performed, and if it is downward arching, it can be adjusted by subsequent actions.

[0054] 2. Visual positioning combined with mechanical hand to realize accurate placement of the product: the mechanical hand 1 drives the material taking mechanism 11 to pass through the fine positioning camera, the product is visually positioned by the fine positioning camera, and the product is accurately placed on the predetermined position of the bearing disc 211, so that the area to be bent of the product is above the gap sheet 221 in the middle of the jig; the gap sheet 221 in the middle of the jig drives the lifting plate 223 to move upwards through the third assembly, which drives the gap sheet 221 to be lifted and protrude above the bearing disc 211, thereby ensuring that the area to be bent (graphite sheet) of the product is arched upwards, which guides the deformation of the product. Then the first driving assembly 212 at both ends of the bearing disc 211 works to push the two push blocks 213 to move closer to each other, which drives the parts connected at both ends of the product graphite sheet to move closer to the gap sheet 221 under the action of the two push blocks 213, and under the limiting action of the gap sheet 221, the area to be bent of the product is further arched, which completes the alignment and provides a prerequisite for the subsequent precise bending.

[0055] 3. Z-shaped bending deformation guiding of graphite product: the vacuum suction cup on the bearing disc 211 of the bearing jig 21 fixes the product by negative pressure; the pressing cylinder 2312 of the pressing assembly 231 is pushed out, which drives the pressing sheet 2313 connected thereto to move close to and press one side of the arched part of the product, and then the gap sheet 221 is lowered, which completes the fixation of the crease position of the product, thereby guiding the deformation of the product.

[0056] 4. Flexible roller rolling forming: after the deformation guide of the product bending part is completed, the driving part 2321 of the roller pressing assembly 232 drives the moving frame 2323 to move along the first guide rail 2324, thereby driving the pressing roller 2322 installed thereon to pass through the arching position of the product, completing the preliminary Z-shaped bending of the product. Then the driving part 2321 reverses to make the pressing roller 2322 retreat, and then the driving part 2321 forwards again to make the pressing roller 2322 forward again to roll over the bending area of the product, and the driving part 2321 retreats again to the initial position, and the product completes the Z-shaped bending (the pressing roller 2322 of the roller pressing assembly 232 is installed on the moving frame 2323 through the elastic element 2325, so that it has the function of elastic stretching and contraction, and can be flexibly adjusted according to the height of the rolling position. This function not only ensures the full contact between the pressing roller 2322 and the product, but also effectively prevents the damage of the pressing roller 2322 to the product in hard contact.

[0057] 5. Automatic detection after product bending: after the product completes the bending forming on the bearing jig 21 of the bending device 2, the upper detection camera works to take a photo of the bending position, and the qualified product is grabbed by the manipulator 1 to the unloading conveyor belt for unloading, and the unqualified product is grabbed by the manipulator 1 to the NG conveyor belt for unloading.

[0058] It should be noted that in the description of the present application, it should be noted that unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, which can be mechanical connection or electrical connection, or the communication between two elements, or direct connection. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationship, and when the absolute position of the described object changes, the relative positional relationship may change.

[0059] Secondly: the present application discloses the structure involved in the embodiment of the present application, and other structures can be referred to the general design. In the case of no conflict, the same embodiment and different embodiments of the present application can be combined with each other.

[0060] Finally, the above-mentioned is only the preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiment. Any technical scheme falling within the idea of the present application shall be within the protection scope of the present application.

[0061] It should be noted that for ordinary skilled persons in the art, some improvements and decorations without departing from the principle of the present application shall be considered as the protection scope of the present application.

Claims

1. A high-precision multi-stage Z-bending device comprising a robot, characterized in that: The mechanical arm is provided with a material taking mechanism, and a feeding and discharging device and a bending device are arranged beside the mechanical arm; the bending device comprises a bearing jig, a jacking mechanism and a bending mechanism; the jacking mechanism comprises a gap piece arranged on the bearing jig to jack the product bending area; the bending mechanism is arranged on the bearing jig, and the bending device comprises a pressing assembly for positioning the product bending area and a roller pressing assembly for bending; the pressing assembly is located on one side of the gap piece, and the roller pressing assembly is located on the other side of the gap piece; the material taking mechanism is driven by the mechanical arm to take the product to be bent from the feeding and discharging device and place it on the bearing jig of the bending device; the gap piece of the jacking mechanism makes the product bending area arch upward, the bearing jig fixes the product, then the pressing assembly presses one side of the product bending area, the gap piece retracts downward, and the roller pressing assembly rolls over from the other side of the product bending area to complete Z-type bending; the pressing assembly is arranged on one side of the bearing jig, and the pressing assembly comprises a mounting arm, a pressing cylinder is mounted at the top of the mounting arm, a pressing piece is connected to the extending end of the pressing cylinder, and the pressing cylinder drives the pressing piece to approach or move away from the product bending area; the roller pressing assembly is mounted on the bearing jig, and the roller pressing assembly comprises a driving piece, the driving piece is connected with a pressing roller, and the pressing roller moves along the surface of the bearing jig towards or away from the pressing assembly.

2. The high-precision multi-stage Z-shaped bending apparatus according to claim 1, characterized in that: The bearing jig comprises a bearing disc, a plurality of vacuum suction cups are arranged on the bearing disc in an array, and a first driving assembly is arranged at each end of the bearing disc; the two first driving assemblies respectively drive a push block to move towards or away from the gap piece, so as to adjust the distance between the components connected at both ends of the product bending area.

3. The high-precision multi-stage Z-bending apparatus according to claim 1, characterized in that: The pressing cylinder is obliquely arranged, the pressing cylinder is fixed on a first rotating plate, one end of the first rotating plate is connected to the top of the side of the mounting arm near the bearing jig through a rotating shaft, a first arc-shaped sliding groove is formed in the rotating plate with the rotating shaft as the center, a bolt is arranged in the first arc-shaped sliding groove and penetrates the positioning hole of the mounting arm; the extending end of the pressing cylinder is connected with a second rotating plate, one side of the second rotating plate is connected with the extending end of the pressing cylinder through a rotating shaft, a second arc-shaped sliding groove is formed in the second rotating plate with the rotating shaft as the center, and a bolt is arranged in the second arc-shaped groove to adjust the angle of the second rotating plate; the pressing piece is arranged on the side of the second rotating plate facing the graphite piece; the mounting arm is mounted on a moving seat, and the mounting arm is driven by a second driving assembly to approach or move away from the bearing jig.

4. The high-precision multi-stage Z-bending apparatus according to claim 1, characterized in that: The driving piece is connected with a moving frame, the pressing roller is mounted in the moving frame through an elastic connecting piece, first guide rails are arranged on the two side edges of the bearing jig, the bottom of the two side edges of the moving frame is connected with the corresponding first guide rails through first sliding blocks, the driving piece drives the moving frame to move along the first guide rails, and drives the pressing roller to roll the graphite piece along a specified route to form a bending shape.

5. The high-precision multi-stage Z-bending apparatus according to claim 4, characterized in that: The elastic connecting piece comprises an elastic piece and a mounting frame, the elastic piece is mounted at the top end of the mounting frame, the top end of the elastic piece is fixed on the lower surface of the upper frame of the moving frame, the mounting frame and the moving frame are in the shape of a Chinese character 'z', the compression roller is mounted at the bottom of the mounting frame, and the surface of the compression roller is covered with flexible material.

6. The high-precision multi-stage Z-bending apparatus according to claim 1, characterized in that: The jacking mechanism comprises a connecting seat mounted on the lower side of the bearing fixture, a third driving assembly mounted on the connecting seat, a lifting plate mounted on the third driving assembly, and the gap piece mounted on the lifting plate.

7. The high-precision multi-stage Z-bending apparatus according to claim 1, characterized in that: The material taking mechanism comprises a mounting frame, a first suction cup group and a second suction cup group, the mounting frame is mounted at the end of the mechanical hand, the second suction cup group is mounted at the left part of the mounting frame, and the first suction cup group is mounted at the right part of the mounting frame through a fourth driving assembly, so as to adjust the distance between the first suction cup group and the second suction cup group.

8. The high-precision multi-stage Z-bending apparatus according to claim 1, characterized in that: A detection camera is arranged above the bearing fixture to detect whether the bent product meets the quality requirements, the feeding and discharging device comprises an OK discharging conveyor belt, an NG discharging conveyor belt and a feeding conveyor belt, the mechanical hand drives the material taking mechanism to suck the product to be bent from the feeding conveyor belt and place it on the bearing fixture, and then takes the bent product from the bearing fixture and places it on the OK discharging conveyor belt or the NG discharging conveyor belt.

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