Bending equipment

Abstract

This application relates to the field of workpiece bending automation, and particularly to a bending device. This application provides a bending device, including: a feeding module for providing an unbended workpiece; a bending module including a conveying device, a first bending device, and a second bending device. The conveying device is used to receive and carry the unbended workpiece past the first bending device and the second bending device. The first bending device and the second bending device are used to perform bending on the same workpiece in different processes; a discharging module for taking out the bent workpiece from the conveying device. This bending device can perform automatic multi-channel bending on workpieces, improving the bending quality and efficiency of workpieces.

Description

Technical Field

[0001] The present application relates to the technical field of workpiece bending automation, and in particular to a bending device. Background Art

[0002] Flex cables are crucial metal components within electronic products like cameras and batteries, ensuring electrical connections between multiple components. Due to the structural characteristics of these products, the quality of their bending can impact both assembly quality and the safety of the product.

[0003] At present, semi-automatic methods are mainly used to bend the wire arrangement. If the workpiece needs to be bent in multiple steps, workers need to use different bending devices to perform bending in each step. This not only consumes a lot of manpower, but also has low bending quality and efficiency. Summary of the Invention

[0004] The present application discloses a bending device capable of automatically performing multiple-pass bending on a workpiece, thereby improving the bending quality and bending efficiency of the workpiece.

[0005] In order to achieve the above-mentioned objectives, some embodiments of the present application disclose a bending device, including: a loading module for providing an unbent workpiece; a bending module, including a conveying device, a first bending device and a second bending device, the conveying device is used to receive the unbent workpiece and carry the unbent workpiece through the first bending device and the second bending device, the first bending device and the second bending device are used to perform different bending processes on the same workpiece; a receiving module is used to take out the bent workpiece from the conveying device.

[0006] Optionally, the conveying device includes: a turntable, around which the first bending device and the second bending device are arranged; a carrier, which is provided on the turntable and is used to clamp the workpiece; and a turntable drive, which is used to drive the turntable to rotate so as to carry the workpiece through the first bending device and the second bending device via the carrier.

[0007] Optionally, there are multiple carriers, and the multiple carriers are arranged along the circumference of the turntable. The carrier includes: a carrier, fixedly mounted on the turntable; a clamp, switching between a clamping position and an avoidance position, when the clamp is located at the clamping position, the clamp is configured to clamp the workpiece together with the carrier, and when the clamp is located at the avoidance position, the clamp releases the workpiece and exposes the workpiece.

[0008] Optionally, the vehicle further includes: an axial driving assembly for driving the clamping plate to approach or move away from the carrier along the axis of the turntable to clamp or release the workpiece; a radial driving assembly for driving the clamping plate to approach or move away from the carrier along the radial direction of the turntable to move to a position corresponding to the workpiece or expose the workpiece.

[0009] Optionally, one side of the carrier close to the clamping plate has adsorption holes.

[0010] Optionally, the first bending device is used to bend the workpiece along a first direction. The first bending device includes: a first frame; a pressing block movably mounted on the first frame to be able to abut against the workpiece from one side of the workpiece along the first direction; a first bending mechanism including a first driving assembly and a first roller. The first driving assembly is mounted on the first frame. The axis of the first roller extends along a first axis. The first driving assembly is used to drive the first roller to move towards the pressing block to bend the workpiece along the first direction; the first axis is perpendicular to the first direction.

[0011] Optionally, the first driving assembly includes: a first bending driving member mounted on the first frame; a pushing plate mounted on the output end of the first bending driving member. The pushing plate has a sliding groove; a sliding member slidably mounted on the first frame. The sliding member has a protruding portion inserted into the sliding groove; the first roller is mounted at one end of the sliding member. When the first bending driving member drives the pushing plate to move along the first direction, the protruding portion is configured to slide in the sliding groove to drive the sliding member to slide relative to the first frame, and the sliding member drives the first roller to approach or move away from the pressing block.

[0012] Optionally, the second bending device is used to bend two edges of the workpiece simultaneously along a second direction, including: a second frame; a supporting block and a pressing block, at least one of the supporting block and the pressing block being movably mounted on the second frame to enable the supporting block and the pressing block to jointly clamp the workpiece along the second direction; a second bending mechanism including a second driving assembly and two second rollers. The axes of the second rollers extend along a second axis. Along a third direction, the two second rollers are respectively located on both sides of the pressing block. The second driving assembly is used to drive the two second rollers to move towards the supporting block to bend the workpiece along the second direction; the second axis is perpendicular to the second direction and the third direction pairwise.

[0013] Optionally, the workpiece includes a first part, a second part, and a third part. There is a first bending line between the first part and the second part, and a second bending line between the second part and the third part. The bending module further includes a first detection device located downstream of the first bending device and the second bending device. The first detection device includes: a third rack; a positioning mechanism installed on the rack for selectively fixing the third part; a camera module installed on the third rack for photographing and detecting the workpiece. Wherein, the conveying device is configured to move the workpiece to the first detection device and selectively fix the first part.

[0014] Optionally, the bending module further includes a second detection device located downstream of the first detection device for performing three-dimensional detection on the workpiece.

[0015] Optionally, the bending device further includes: a transfer module disposed between the loading module and the bending module; the loading module is configured to provide workpieces to the transfer module, and the transfer module is used to provide workpieces to the bending module.

[0016] Optionally, there are two bending modules, and the transfer module is used to provide workpieces to the two bending modules.

[0017] Compared with the prior art, the beneficial effects of this application are as follows:

[0018] The bending device of the embodiment of this application includes a loading module, a bending module, and a unloading module. The bending module includes a conveying device, a first bending device, and a second bending device. The loading module provides workpieces to the conveying device. The conveying device carries the workpiece through the first bending device for a first bending, and then through the second bending device for another bending. The unloading module takes out the bent workpiece from the conveying device, thereby realizing the full automation of multiple bending processes of the workpiece and improving the bending efficiency and quality of the workpiece. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 is a schematic diagram of a bending device provided by an embodiment of this application;

[0021] Figure 2 is a schematic structural diagram of a bending module of a bending device provided by an embodiment of this application;

[0022] Figure 3 It is a schematic structural diagram of a carrier mounted on a turntable in a bending module of a bending device provided by an embodiment of the present application;

[0023] Figure 4 It is Figure 3 a partial enlarged view of C in

[0024] Figure 5 It is a schematic structural diagram of a carrier in a bending module of a bending device provided by an embodiment of the present application;

[0025] Figure 6 It is a partial schematic diagram of a carrier in a bending module of a bending device provided by an embodiment of the present application;

[0026] Figure 7 It is a schematic structural diagram of a first bending device in a bending module of a bending device provided by an embodiment of the present application;

[0027] Figure 8 It is Figure 7 a partial enlarged view of A in

[0028] Figure 9 It is a schematic structural diagram of a second bending device in a bending module of a bending device provided by an embodiment of the present application;

[0029] Figure 10 It is Figure 9 a partial enlarged view of B in

[0030] Figure 11 It is a schematic structural diagram of a first detection device in a bending module of a bending device provided by an embodiment of the present application;

[0031] Figure 12 It is a state diagram of a workpiece before bending corresponding to a bending device provided by an embodiment of the present application;

[0032] Figure 13 It is a state diagram of a workpiece after bending corresponding to a bending device provided by an embodiment of the present application.

[0033] Explanation of main reference numerals: 100- bending equipment; 110- loading module; 111- loading bin; 112- loading manipulator; 120- bending module; 130- receiving module; 131- receiving bin; 1311- first receiving bin; 1312- second receiving bin; 132- receiving manipulator; 140- transfer module; 141- transfer station; 142- transfer manipulator; 150- conveying device; 151- turntable; 1511- loading station; 1512- unloading station; 152- carrier; 1521- bearing member; 15211- adsorption hole; 15212- limiting portion; 15213- mounting portion; 1522- splint; 1523- axial drive Dynamic assembly; 15231-axial driving member; 15232-axial reset member; 1524-radial driving assembly; 15241-radial driving member; 15252-radial reset member; 1525-axial slider; 15251-abutting portion; 1526-radial slider; 1527-U-shaped connecting member; 15271-clamping portion; 1528-first bracket; 1529-second bracket; 160-first bending device; 161-first frame; 162-pressing mechanism; 1621-pressing block; 1622-pressing driving member; 1623-pressing block mounting plate; 163-first bending mechanism; 1631-first driving assembly; 1632-first roller; 1633-first bending drive member; 1634-push plate; 16341-sliding groove; 1635-sliding member; 16351-protrusion; 1636-spring; 1637-first mounting block; 1638-second mounting block; 1639-guide groove; 170-second bending device; 171-second frame; 172-support mechanism; 1721-support block; 1722-support block mounting plate; 1723-support block drive member; 173-pressing block mechanism; 1731-pressing block; 1732-pressing block drive member; 1733-pressing block mounting plate; 174-second bending mechanism; 1741-second drive assembly; 1742-second roller; 180-first Detection device; 181-third frame; 182-positioning mechanism; 183-camera module; 183a-first camera; 183b-second camera; 183c-third camera; 1831-camera position adjustment module; 1832-camera body; 190-second detection device; 200-workpiece; 210-first part; 220-second part; 230-third part; 240-first bending line; 250-second bending line; 260-first marking portion; 270-second marking portion; Z-first direction; X-second direction; Y-third direction; W-fourth direction; P1-first axis; P2-second axis; Q-third axis; R-first radial direction. DETAILED DESCRIPTION

[0034] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0035] In the present application, terms such as "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit that the indicated devices, elements or components must have a specific orientation, or be constructed and operated in a specific orientation.

[0036] Moreover, in addition to being able to represent the orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present application can be understood according to the specific situation.

[0037] Some embodiments of the present application disclose a bending device 100 for automatically bending a workpiece 200.

[0038] As Figure 12 and Figure 13 shown, before bending, the shape of the workpiece 200 is an unfolded sheet structure. After the bending process, the workpiece 200 includes a first part 210, a second part 220, and a third part 230. There is a first bending line 240 extending along the third direction Y between the first part 210 and the second part 220, and a second bending line 250 extending along the first direction Z between the second part 220 and the third part 230. The third part 230 has a first marking portion 260, and the first part 210 has a second marking portion 270.

[0039] In some embodiments of the present application, the workpiece 200 is a flexible cable of a camera, and the first marking portion 260 is formed on the third part 230 by coating, and the second marking portion 270 is a chip; in other embodiments, the workpiece 200 may also be a bent part made of metal for other purposes, and the first marking portion 260 and the second marking portion 270 may also be in other forms.

[0040] In some embodiments of the present application, the workpiece 200 has two third parts 230, and the two third parts 230 are bent and extended from two edges of the second part 220 along the third direction Y respectively. Each third part 230 includes one or more first marking parts 260. In other embodiments, the workpiece 200 may also include only one third part 230.

[0041] As Figure 1 shown, the bending device 100 includes a loading module 110, a bending module 120 and a unloading module 130. The loading module 110 is used to provide the unbent workpiece 200. The bending module 120 includes a conveying device 150, a first bending device 160 and a second bending device 170. The conveying device 150 is used to receive the unbent workpiece 200 and carry the unbent workpiece 200 past the first bending device 160 and the second bending device 170. The first bending device 160 and the second bending device 170 are used to perform bending on the same workpiece 200 in different processes. The unloading module 130 is used to take out the bent workpiece 200 from the conveying device 150.

[0042] The bending device 100 in the embodiments of the present application includes a loading module 110, a bending module 120 and a unloading module 130. The bending module 120 includes a conveying device 150, a first bending device 160 and a second bending device 170. The loading module 110 provides the workpiece 200 to the conveying device 150. The conveying device 150 carries the workpiece 200 past the first bending device 160 for one-time bending, and then passes through the second bending device 170 for another bending. The unloading module 130 takes out the bent workpiece 200 from the conveying device 150, so as to realize the full automation of multiple bending processes of the workpiece 200, and improve the bending efficiency and bending quality of the workpiece 200.

[0043] Hereinafter, the technical solutions of the present application will be further described in conjunction with specific embodiments and the accompanying drawings.

[0044] As Figure 1 shown, the loading module 110 includes a loading bin 111 and a loading manipulator 112. The loading bin 111 is used to store the unbent workpiece 200. The loading manipulator 112 is used to grab one or more workpieces 200 from the loading bin 111 and directly or indirectly transfer them to the conveying device 150.

[0045] As Figure 1 shown, the unloading module 130 includes an unloading bin 131 and an unloading manipulator 132. The unloading bin 131 is used to store the unbent workpiece 200. The unloading manipulator 132 is used to grab one or more workpieces 200 from the conveying device 150 and directly or indirectly transfer them to the unloading bin 131.

[0046] As Figure 1As shown, in some embodiments of the present application, the bending device 100 further includes a transfer module 140, which is arranged between the loading module 110 and the bending module 120. The loading module 110 is configured to provide the workpiece 200 to the transfer module 140, and the transfer module 140 is used to provide the workpiece 200 to the bending module 120.

[0047] With this arrangement, the loading operation of the workpiece 200 can be split. Each workpiece 200 is temporarily stored in the transfer module 140 and then sent to the conveying device 150 by the transfer module 140, thereby simplifying the stroke of the loading manipulator 112 and the structure of the loading module 110.

[0048] As Figure 1 shown, the transfer module 140 includes a transfer station 141 and a transfer manipulator 142. The transfer station 141 is used to receive the workpiece 200 grabbed by the loading manipulator 112, and the transfer manipulator 142 is used to grab a workpiece 200 from the transfer station 141 and transfer it to the loading station 1511 of the conveying device 150.

[0049] In some embodiments of the present application, there are two bending modules 120, and the transfer module 140 is used to provide the workpiece 200 to the two bending modules 120.

[0050] The transfer module 140 is located between the two bending modules 120 to achieve substantially the same distance from the two bending modules 120.

[0051] With this arrangement, the two bending modules 120 perform the bending process of the workpiece 200 simultaneously, which can improve the bending efficiency of the workpiece 200.

[0052] Correspondingly, there are also two transfer stations 141. Each transfer station 141 corresponds to the loading station 1511 of the conveying device 150 of one bending module 120. The transfer manipulator 142 grabs one workpiece 200 each time and sends it into the corresponding conveying device 150. To further improve the bending efficiency, the loading manipulator 112 grabs two workpieces 200 at a time and transfers them to the transfer module 140, feeding the workpieces 200 to the two transfer stations 141 at a time.

[0053] In other embodiments, there may be only one bending module 120, or there may be three, four, etc. bending modules 120.

[0054] Further, the transfer module 140 further includes a deviation rectifying camera and a position adjusting mechanism. After the workpiece 200 is loaded onto the transfer station 141, the thickness direction of the workpiece 200 extends in the vertical direction. There are two deviation rectifying cameras. One deviation rectifying camera performs visual inspection on the workpiece 200 from the bottom, and the other deviation rectifying camera performs visual inspection on the workpiece 200 from the top. The position adjusting mechanism adjusts the position and posture of the workpiece 200 according to the feedback of the deviation rectifying camera, so that the transfer manipulator 142 is located at a position convenient for the transfer manipulator 142 to pick up the material. The position adjusting mechanism includes three linear movement modules and a rotation module, which will not be further elaborated here.

[0055] The conveying device 150 is used to carry the workpiece 200 through different bending devices in sequence to complete multiple bending processes.

[0056] As Figure 1 and Figure 2 shown, in some embodiments of the present application, the conveying device 150 includes a turntable 151, a carrier 152, and a turntable driving member (not marked in the figure). The first bending device 160 and the second bending device 170 are arranged around the turntable 151. The carrier 152 is arranged on the turntable 151, and the carrier 152 is used to clamp the workpiece 200. The turntable driving member is used to drive the turntable 151 to rotate, so as to carry the workpiece 200 through the first bending device 160 and the second bending device 170 by means of the carrier 152.

[0057] The turntable driving member is a motor or other rotational driving member.

[0058] In this way, the first bending device 160 and the second bending device 170 can be arranged as compactly as possible, reducing the occupied area of the bending module 120 and making the bending equipment 100 have a compact structure.

[0059] A plurality of carriers 152 can be arranged. The plurality of carriers 152 are circumferentially arranged at intervals around the turntable 151. For example, the number of carriers 152 is eight; for another example, the number of carriers 152 can also be six, ten, etc.

[0060] During the rotation of the turntable 151, it carries the carrier 152 through each device and specific stations in sequence. In some embodiments of the present application, a loading station 1511 and an unloading station 1512 are further arranged around the turntable 151. When the turntable 151 rotates to drive the carrier 152 to reach the loading station 1511, the transfer manipulator 142 places the workpiece 200 into the carrier 152; when the turntable 151 drives the carrier 152 to reach the unloading station 1512, the receiving manipulator 132 takes out the workpiece 200 from the carrier 152 and places it in the receiving bin 131 for storage.

[0061] In other embodiments, the conveying device 150 also conveys the workpiece 200 in a linear direction, and the loading station 1511, the first bending device 160, the second bending device 170, and the unloading station 1512 are arranged at intervals along the traveling direction of the conveying device 150.

[0062] As Figure 3 , Figure 4 , Figure 5 and Figure 6 shown, in some embodiments of the present application, the carrier 152 includes a bearing member 1521, a clamping plate 1522, an axial driving assembly 1523, and a radial driving assembly 1524. The bearing member 1521 is fixedly installed on the turntable 151, and the clamping plate 1522 switches between a clamping position and an avoidance position. When the clamping plate 1522 is in the clamping position, the clamping plate 1522 is configured to jointly clamp the workpiece 200 with the bearing member 1521; when the clamping plate 1522 is in the avoidance position, the clamping plate 1522 releases the workpiece 200 and exposes the workpiece 200. The axial driving assembly 1523 is used to drive the clamping plate 1522 to approach or move away from the bearing member 1521 along the axis direction of the turntable 151 to clamp or release the workpiece 200; the radial driving assembly 1524 is used to drive the clamping plate 1522 to approach or move away from the bearing member 1521 along the radial direction of the turntable 151 to move to a position corresponding to the workpiece 200 or expose the workpiece 200.

[0063] As Figure 2 shown, the axis direction of the turntable 151 extends along the third axis Q, and the radial direction is the first radial direction R.

[0064] With this arrangement, it is possible to both clamp the workpiece 200 to transfer the workpiece 200 and expose the workpiece 200 when the workpiece 200 stays at different devices, so as to facilitate the bending treatment, detection of the workpiece 200, or facilitate the extraction by other manipulators, etc.

[0065] In some embodiments of the present application, the axial driving assembly 1523 includes an axial driving member 15231 and an axial reset member 15232, and the radial driving assembly 1524 includes a radial driving member 15241 and a radial reset member 15242. The axial driving member 15231 and the radial driving member 15241 are both installed on the turntable 151 and are both separated from the clamping plate 1522, and drive the clamping plate 1522 to move to the avoidance position by abutting or hooking, and the axial reset member 15232 and the radial reset member 15242 are used to drive the clamping plate 1522 to reset to the clamping position.

[0066] As Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, the vehicle 152 further includes an axial slider 1525, a radial slider 1526, a U-shaped connecting member 1527, a first bracket 1528, and a second bracket 1529. Both the first bracket 1528 and the second bracket 1529 are fixedly installed on the turntable 151. The axial driving member 15231 is installed on the first bracket 1528, and the radial driving member 15241 is installed on the second bracket 1529. The axial slider 1525 is slidably installed on the installation portion 15213 of the carrier 1521 along the third axis Q, and the radial slider 1526 is slidably installed on the axial slider 1525 along the first radial direction R. The middle of the carrier 1521 has a hollow structure. The axial slider 1525 penetrates through the carrier 1521 from the hollow structure. One end thereof is installed with the radial slider 1526, and the other end has an abutting portion 15251 for abutting against the execution end of the axial driving member 15231.

[0067] More specifically, one end of the axial slider 1525 close to the radial slider 1526 is provided with a slide rail mounting plate, and a radial slide rail is installed on the slide rail mounting plate. The radial slider 1526 is slidably installed on the radial slide rail. The installation portion 15213 is provided with an axial slide rail, and the axial slider 1525 is slidably installed on the axial slide rail.

[0068] The clamping plate 1522 is installed on the radial slider 1526, and the U-shaped connecting member 1527 is installed on the side of the clamping plate 1522 close to the center of the turntable 151 along the first radial direction R. The U-shaped connecting member 1527 has a clamping portion 15271, and the execution end of the radial driving member 15241 is used for hooking connection with the clamping portion 15271.

[0069] The execution end of the axial driving member 15231 extends to abut against the abutting portion 15251 of the axial slider 1525. The axial slider 1525 drives the radial slider 1526, the clamping plate 1522, and the U-shaped connecting member 1527 to move away from the carrier 1521 along the third axis Q. The execution end of the radial driving member 15241 is in the extended state. The execution end of the radial driving member 15241 falls into the U-shaped connecting member 1527 to achieve hooking connection with the clamping portion 15271. The radial driving member 15241 retracts to drive the U-shaped connecting member 1527 to move towards the center of the turntable 151, so as to move the clamping plate 1522 to the avoidance position. At this time, the axial reset member 15232 is in a compressed state, and the radial reset member 15242 is in a stretched state.

[0070] Both ends of the axial reset member 15232 are respectively connected to the abutting portion 15251 of the axial slider 1525 and the carrier 1521. Both ends of the radial reset member 15242 are respectively connected to the U-shaped connecting member 1527 and the carrier 1521. After the axial driving member 15231 and the radial driving member 15241 are unloaded, under the elastic restoring force of the axial reset member 15232 and the elastic restoring force of the radial reset member 15242, the clamping plate 1522 is reset to the clamping position.

[0071] Further, the carrier 1521 further includes a limiting portion 15212. When the clamping plate 1522 moves to the avoidance position, the end of the U-shaped connecting member 1527 abuts against the limiting portion 15212 along the first radial direction R to limit the extreme position of the clamping plate 1522 along the first radial direction R.

[0072] In other embodiments, the clamping plate 1522 can also approach or move away from the carrier 1521 obliquely, and only one driving member is provided to drive the clamping plate 1522 to switch obliquely between the clamping position and the avoidance position; alternatively, the axial driving member can be installed on the turntable 151, the radial driving member can be installed at the execution end of the axial driving member, and the clamping plate 1522 can be installed at the execution end of the radial driving member.

[0073] As Figure 6 shown, further, one side of the carrier 1521 close to the clamping plate 1522 has an adsorption hole 15211. When the workpiece 200 is loaded onto the carrier 152, the carrier 1521 can adsorb and fix the workpiece 200 through the adsorption hole 15211 to prevent the workpiece 200 from falling.

[0074] In some embodiments of the present application, the third axis Q extends in the vertical direction, the carrier 1521 and the clamping plate 1522 are arranged vertically opposite to each other, the upper surface of the carrier 1521 is used for placing the workpiece 200, and the adsorption hole 15211 is arranged on the upper surface of the carrier 1521.

[0075] In other embodiments, according to the actual layout pose of the turntable 151, the adsorption hole 15211 of the carrier 1521 can also be arranged downward or laterally.

[0076] The first bending device 160 is used to bend the workpiece 200 along the first direction Z, that is, to form a first bending line 240.

[0077] As Figure 7 and Figure 8 shown, the first bending device 160 includes a first frame 161, a pressing mechanism 162 and a first bending mechanism 163. The pressing mechanism 162 includes a pressing block 1621, and the pressing block 1621 is movably installed on the first frame 161 so as to be able to abut against the workpiece 200 from one side of the workpiece 200 along the first direction Z. The first bending mechanism 163 includes a first driving component 1631 and a first roller 1632. The first driving component 1631 is installed on the first frame 161, the axis of the first roller 1632 extends along the first axis P1, and the first driving component 1631 is used to drive the first roller 1632 to move towards the direction close to the pressing block 1621 to bend the workpiece 200 along the first direction Z; the first axis P1 is perpendicular to the first direction Z.

[0078] In this way, the workpiece 200 can be bent along the first direction Z, and the first roller 1632 abuts against the surface of the workpiece 200, which can reduce the scratching of the surface of the workpiece 200, improve the bending quality of the workpiece 200, and extend the service life of the first bending device 160.

[0079] The pressing mechanism 162 further includes a pressing driving member 1622 and a pressing block mounting plate 1623. The pressing driving member 1622 is mounted on the first frame 161, the execution end of the pressing driving member 1622 is provided with the pressing block mounting plate 1623, the pressing block 1621 is mounted on the pressing block mounting plate 1623, and the pressing driving member 1622 drives the pressing block 1621 to approach or move away from the workpiece 200 along the first direction Z through the pressing block mounting plate 1623.

[0080] In other embodiments, the pressing block 1621 can also approach or move away from the workpiece 200 along other directions.

[0081] As Figure 7 and Figure 8 shown, the first driving assembly 1631 includes a first bending driving member 1633, a push plate 1634 and a sliding member 1635. The first bending driving member 1633 is mounted on the first frame 161, the push plate 1634 is mounted on the output end of the first bending driving member 1633, and the push plate 1634 has a sliding groove 16341. The sliding member 1635 is slidably mounted on the first frame 161 along the fourth direction W, the sliding member 1635 has a protruding portion 16351, and the protruding portion 16351 is inserted into the sliding groove 16341. The first roller 1632 is mounted on one end of the sliding member 1635. When the first bending driving member 1633 drives the push plate 1634 to move along the first direction Z, the protruding portion 16351 is configured to slide in the sliding groove 16341 to drive the sliding member 1635 to rotate, and the sliding member 1635 drives the first roller 1632 to approach or move away from the pressing block 1621.

[0082] Specifically, the sliding groove 16341 extends along a direction perpendicular to the first direction Z, and the fourth direction W is inclined with respect to the first direction Z. In other embodiments, the fourth direction W can also be parallel to the first direction Z.

[0083] In this way, the first roller 1632 can be made to linearly approach or move away from the pressing block 1621 along the fourth direction W to bend the workpiece 200, with a simple structure and easy assembly.

[0084] Furthermore, the protruding portion 16351 is provided with a roller, and the roller of the protruding portion 16351 moves in the sliding groove 16341 in a rolling manner to reduce the frictional resistance between the protruding portion 16351 and the sliding groove 16341.

[0085] Further, the first driving assembly 1631 further includes a spring 1636. The sliding member 1635 includes a first mounting block 1637 and a second mounting block 1638 that are separately arranged. The first frame 161 has a guiding groove 1639 extending along the fourth direction W. Both the first mounting block 1637 and the second mounting block 1638 are slidably mounted in the guiding groove 1639 along the fourth direction W. The first roller 1632 is mounted on the first mounting block 1637, and a protruding portion 16351 is formed on the second mounting block 1638. The spring 1636 is supported between the first mounting block 1637 and the second mounting block 1638 along the fourth direction W to buffer the acting force on the roller when the first roller 1632 abuts against the workpiece 200.

[0086] The second bending device 170 is used to bend two edges of the workpiece 200 simultaneously along the second direction X, that is, two second bending lines 250 are formed by bending.

[0087] As Figure 9 and Figure 10 shown, the second bending device 170 includes a second frame 171, a supporting mechanism 172, a pressing block mechanism 173, and a second bending mechanism 174. The supporting mechanism 172 includes a supporting block 1721, the pressing block mechanism 173 includes a pressing block 1731, and at least one of the supporting block 1721 and the pressing block 1731 is movably mounted on the second frame 171 to enable the supporting block 1721 and the pressing block 1731 to jointly clamp the workpiece 200 along the second direction X. The second bending mechanism 174 includes a second driving assembly 1741 and two second rollers 1742. The axis of the second roller 1742 extends along the second axis P2. Along the third direction Y, the two second rollers 1742 are respectively located on both sides of the pressing block 1731. The second driving assembly 1741 is used to drive the two second rollers 1742 to move towards the direction close to the supporting block 1721 to bend the workpiece 200 along the second direction X. The second axis P2 is perpendicularly arranged with the second direction X and the third direction Y in pairs.

[0088] The supporting block 1721 and the pressing block 1731 are used to jointly clamp the workpiece 200. The second driving assembly 1741 drives the two second rollers 1742 to move from one side of the pressing block 1731 to the side of the supporting block 1721. The two second rollers 1742 push the two edges of the workpiece 200 to bend towards the side of the supporting block 1721 to form two third parts 230. In the above process, since the second rollers 1742 roll while abutting against the workpiece 200, the scratching degree on the surface of the workpiece 200 can be reduced, the wear degree of the second bending device 170 is reduced, so that the second bending device 170 still has good precision after long-term use, the bending quality of the workpiece 200 and the service life of the second bending device 170 are improved, and the second bending device 170 does not need to be frequently calibrated and debugged, improving the bending efficiency of the workpiece 200.

[0089] As an exemplary embodiment, the support mechanism 172 further includes a support block mounting plate 1722 and a support block driving member 1723, and the pressing block mechanism 173 further includes a pressing block driving member 1732. The support block driving member 1723 and the pressing block driving member 1732 are both mounted on the second frame 171. The support block mounting plate 1722 is slidably mounted on the second frame 171 along the first direction Z. The support block 1721 is mounted at the end of the support block mounting plate 1722. The execution end of the support block driving member 1723 is mounted with the support block mounting plate 1722. The support block driving member 1723 drives the support block 1721 to approach or move away from the workpiece 200 along the first direction Z through the support block mounting plate 1722. The pressing block driving member 1732 drives the pressing block 1731 to approach or move away from the support block 1721 along the second direction X through the pressing block mounting plate 1733. The second driving assembly 1741 is mounted on the pressing block mounting plate 1733. The second driving assembly 1741 can be a pair of linear driving members, or a single driving member can be used to drive two second rollers 1742 to move synchronously at the same time, which will not be further elaborated here.

[0090] It can be understood that the arrangement quantity and arrangement order of the first bending device 160 and the second bending device 170 can be flexibly adjusted according to the bending method of the workpiece 200.

[0091] In some embodiments of the present application, the axial driving member 15231, the radial driving member 15241, the first bending driving member 1633, etc. are all linear electric cylinders, with rapid response and high movement accuracy; in other embodiments, the above driving members can also be other linear driving members such as air cylinders, lead screw nut mechanisms, electric slides, etc.

[0092] As Figure 1 shown, in some embodiments of the present application, the bending module 120 further includes a first detection device 180. The first detection device 180 is located downstream of the first bending device 160 and the second bending device 170. The first detection device 180 is used for visually detecting the bent workpiece 200.

[0093] As Figure 11 shown, the first detection device 180 includes a third frame 181, a clamping and positioning mechanism 182 and a camera module 183. The clamping and positioning mechanism 182 and the camera module 183 are both mounted on the third frame 181. The conveying device 150 is configured to move the workpiece 200 to the first detection device 180 and selectively fix the first part 210 of the workpiece 200. The positioning mechanism 182 is used to selectively fix the third part 230. The camera module 183 is used for photographing and detecting the workpiece 200.

[0094] Specifically, when the vehicle 152 drives the workpiece 200 to move to the first detection device 180, the carrier 1521 adsorbs or releases the first part 210 through the adsorption holes 15211.

[0095] The positioning mechanism 182 is a vacuum finger with an adsorption function. Based on the embodiment in which the aforementioned third part 230 has two, there are two positioning mechanisms 182, and each positioning mechanism 182 corresponds to one third part 230.

[0096] The camera module 183 includes a camera position adjustment module 1831 and a camera body 1832. The camera position adjustment module 1831 is installed on the third rack 181, and the camera body 1832 is installed at the execution end of the camera position adjustment module 1831. The camera position adjustment module 1831 further includes an X-direction module, a Y-direction module, a Z-direction module, and a rotation module to flexibly adjust the pose of the camera body 1832.

[0097] In some embodiments of the present application, there are three camera modules 183. Two of the camera modules 183 are oppositely arranged along the third direction Y for photographing and detecting the workpiece 200 from both sides along the third direction Y, and the other camera module 183 is used for photographing and detecting the workpiece 200 along the first direction Z. Through the above arrangement form, the photographing and detecting quality of the camera module 183 can be improved, and the detecting quality of the workpiece 200 can be improved. Specifically, the three camera modules 183 are respectively a first camera 183a, a second camera 183b, and a third camera 183c. The first camera 183a and the second camera 183b are oppositely arranged along the third direction Y, and the first camera 183a and the second camera 183b are used for photographing and detecting the workpiece 200 from both sides along the third direction Y. The third camera 183c is located between the first camera 183a and the second camera 183b. Along the first direction Z, the vehicle 152 and the third camera 183c are spaced apart. The vehicle 152 supports and fixes the workpiece 200 from the lower side, and the third camera 183c photographs and detects the workpiece 200 from the upper side.

[0098] Through the above arrangement form, the pose of the workpiece 200 can be quickly fixed by the conveying device 150 and the clamping and positioning mechanism 182, reducing the possibility that the photographing accuracy of the workpiece 200 becomes poor due to jitter, thereby improving the photographing accuracy of the camera module 183, shortening the detection cycle of the workpiece 200, and further improving the bending detection quality and detection efficiency of the workpiece 200.

[0099] As Figure 1 shown, in some embodiments of the present application, the bending module 120 further includes a second detection device 190, which is located downstream of the first detection device 180 and is used for three-dimensional detection of the workpiece 200.

[0100] The second detection device 190 includes a fourth frame, a 3D camera, and a camera position adjustment mechanism. The specific structure is similar to the camera module 183 in the first detection device 180 and will not be further described here.

[0101] By adding the second detection device 190 , the bending quality of the workpiece 200 can be better detected, qualified products and defective products can be better distinguished, and the probability of qualified products being mixed with defective products can be reduced.

[0102] like Figure 1 As shown, correspondingly, the material receiving bin 131 includes a first material receiving bin 1311 and a second material receiving bin 1312, which are used to store qualified products and defective products respectively. The material receiving robot 132 places the workpiece 200 into the first material receiving bin 1311 or the second material receiving bin 1312 according to the detection results of the first detection device 180 and the second detection device 190.

[0103] The working principle of the bending device 100 in the embodiment of the present application is as follows:

[0104] Loading module 110: The loading bin 111 stores a plurality of unbent workpieces 200. The loading robot 112 takes out two workpieces 200 from the loading bin 111 and places them on two transfer stations 141 respectively.

[0105] Transfer module 140: The transfer robot 142 takes the workpiece 200 from the transfer station 141 , and the turntable 151 carrying the carrier 152 rotates to the loading station 1511 , where the transfer robot 142 places the workpiece 200 on the carrier 152 ;

[0106] Conveying device 150 : The clamping plate 1522 of the carrier 152 switches to the clamping position to clamp the workpiece 200 together with the carrier 1521 ;

[0107] First bending device 160: The turntable 151 rotates to carry the carrier 152 to the first bending device 160. The clamping plate 1522 switches from the clamping position to the avoidance position. The pressing block 1621 descends along the first direction Z and abuts against one side of the workpiece 200. The first roller 1632 approaches the workpiece 200 from the other side along the fourth direction W, bending the workpiece 200 upward to form a first bending line 240. The workpiece 200 is folded into a first portion 210 and a second portion 220 (including the unfolded third portion 230).

[0108] The second bending device 170: the clamp 1522 switches to the clamping position, the turntable 151 rotates to carry the carrier 152 to the second bending device 170, the clamp 1522 switches from the clamping position to the avoidance position, the support block 1721 descends along the first direction Z and abuts against one side of the second part 220, the pressing block 1731 approaches and abuts against the other side of the second part 220 along the second direction X, and the two second rollers 1742 extend from one side of the pressing block 1731, abutting against the second part 220 while bending the second part 220 laterally to form two second bending lines 250, and the two side edges of the second part 220 along the third direction Y are folded into two third parts 230.

[0109] First detection device 180: the clamping plate 1522 switches to the clamping position, the turntable 151 rotates to carry the carrier 152 to the first detection device 180, and the clamping plate 1522 switches from the clamping position to the avoidance position. First, by taking a photo and tracking the first marking part 260, the position of the third part 230 relative to the first part 210 is adjusted to fix the workpiece 200 in a preset posture; secondly, the workpiece 200 is photographed and detected, and the first position of the second marking part 270 is recorded as a reference parameter, because the first position is based on the state that the first part 210 and the third part 230 are fixed; thirdly, the third part 230 is released, and the second position of the second marking part 270 is recorded as a comparison parameter; finally, the offset of the second position relative to the first position is compared to see whether it meets the requirements. If the offset meets the requirements, it is determined that the bending quality of the workpiece 200 is qualified;

[0110] Second inspection device 190: The clamping plate 1522 switches to the clamping position, and the turntable 151 rotates to carry the carrier 152 to the second inspection device 190. The clamping plate 1522 switches from the clamping position to the avoidance position. The second inspection device 190 performs a three-dimensional inspection on the workpiece 200 to determine whether the bending quality of the workpiece 200 is qualified.

[0111] If the detection results of the first detection device 180 and the second detection device 190 are both qualified, the workpiece 200 is determined to be a qualified product, otherwise it is a defective product;

[0112] Receiving module 130: The turntable 151 carrying the carrier 152 rotates to the unloading station 1512, and the receiving robot 132 grabs the workpiece 200, puts the qualified products into the first receiving bin 1311, and puts the defective products into the second receiving bin 1312.

[0113] The bending device 100 of the embodiment of the present application is used to bend the workpiece 200, and the loading, bending, inspection, and unloading of the workpiece 200 can all be fully automated, with high bending efficiency and bending quality.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A bending device (100), characterized in that, Including: A loading module (110) for providing an unbended workpiece (200); A bending module (120) including a conveying device (150), a first bending device (160), and a second bending device (170). The conveying device (150) is used to receive and carry the unbended workpiece (200) past the first bending device (160) and the second bending device (170). The first bending device (160) and the second bending device (170) are used to perform bending on the same workpiece (200) with different processes; The first bending device (160) is used to bend the workpiece (200) along a first direction. The first bending device (160) includes: A first frame (161); A pressing block (1621) movably mounted on the first frame (161) to be able to abut against the workpiece (200) from one side of the workpiece (200) along the first direction; A first bending mechanism (163) including a first driving component (1631) and a first roller (1632). The first driving component (1631) is mounted on the first frame (161). The axis of the first roller (1632) extends along a first axis. The first driving component (1631) is used to drive the first roller (1632) to move towards the direction close to the pressing block (1621) to bend the workpiece (200) along the first direction; The second bending device (170) is used to bend two edges of the workpiece (200) simultaneously along a second direction. The second bending device (170) includes: A second frame (171); A supporting block (1721) and a pressing block (1731). At least one of the supporting block (1721) and the pressing block (1731) is movably mounted on the second frame (171) to enable the supporting block (1721) and the pressing block (1731) to jointly clamp the workpiece (200) along the second direction; A second bending mechanism (174) including a second driving component (1741) and two second rollers (1742). The axis of the second roller (1742) extends along a second axis. Along a third direction, the two second rollers (1742) are respectively located on both sides of the pressing block (1731). The second driving component (1741) is used to drive the two second rollers (1742) to move towards the direction close to the supporting block (1721) to bend the workpiece (200) along the second direction; A receiving module (130) for taking out the bent workpiece (200) from the conveying device (150); Wherein, the first axis is perpendicular to the first direction, and the second axis is perpendicular to the second direction and the third direction pairwise.

2. The bending device (100) according to claim 1, characterized in that, The conveying device (150) includes: A turntable (151) around which the first bending device (160) and the second bending device (170) are arranged; A carrier (152) is disposed on the turntable (151), and the carrier (152) is used to clamp a workpiece (200); A turntable driving member is used to drive the turntable (151) to rotate so as to carry the workpiece (200) through the first bending device (160) and the second bending device (170) via the carrier (152).

3. The bending device (100) according to claim 2, characterized in that, The carrier (152) includes: A carrier (1521) fixedly mounted on the turntable (151); The clamping plate (1522) switches between a clamping position and an avoidance position. When the clamping plate (1522) is located at the clamping position, the clamping plate (1522) is configured to clamp the workpiece (200) together with the carrier (1521). When the clamping plate (1522) is located at the avoidance position, the clamping plate (1522) releases the workpiece (200) and exposes the workpiece (200).

4. The bending device (100) according to claim 3, characterized in that, There are multiple carriers (152), and the multiple carriers (152) are arranged along the circumference of the turntable (151). The carriers (152) further include: an axial drive assembly (1523), located on a side of the carrier (1521) facing away from the clamping plate (1522), and used for driving the clamping plate (1522) to move closer to or away from the carrier (1521) along the axis of the turntable (151) to clamp or release the workpiece (200); A radial drive assembly (1524) is located between the center of the turntable (151) and the clamping plate (1522), and is used to drive the clamping plate (1522) to approach or move away from the carrier (1521) along the radial direction of the turntable (151) to move to a position corresponding to the workpiece (200) or to expose the workpiece (200).

5. The bending device (100) according to claim 3, characterized in that, A side of the carrier (1521) close to the clamping plate (1522) has an adsorption hole (15211).

6. The bending device (100) according to claim 1, characterized in that, The first driving assembly (1631) comprises: A first bending drive member (1633) is mounted on the first frame (161); A push plate (1634) is installed at the output end of the first bending drive member (1633), and the push plate (1634) has a sliding groove (16341); A sliding member (1635) is slidably mounted on the first frame (161), wherein the sliding member (1635) has a protrusion (16351), and the protrusion (16351) is inserted into the sliding groove (16341); The first roller (1632) is installed on one end of the sliding member (1635), the first bending drive member (1633) drives the push plate (1634) to move along the first direction, and the protrusion (16351) is configured to slide in the sliding groove (16341) to drive the sliding member (1635) to slide relative to the first frame (161), and the sliding member (1635) drives the first roller (1632) to approach or move away from the pressure block.

7. The bending device (100) according to claim 1, characterized in that, The workpiece (200) includes a first part (210), a second part (220), and a third part (230). There is a first bending line (240) between the first part (210) and the second part (220), and a second bending line (250) between the second part (220) and the third part (230). The bending module (120) further includes a first detection device (180), which is located downstream of the first bending device (160) and the second bending device (170). The first detection device (180) includes: A third frame (181); A positioning mechanism (182), installed on the third frame (181) for fixing the third part (230); A camera module (183), installed on the third frame (181) for photographically detecting the workpiece (200); Wherein, the conveying device (150) is configured to move the workpiece (200) to the first detection device (180) and can be used to fix the first part (210).

8. The bending device (100) according to claim 7, characterized in that, The bending module (120) further includes a second detection device (190), which is located downstream of the first detection device (180) for three-dimensional detection of the workpiece (200).

9. The bending device (100) according to claim 1, characterized in that, The bending equipment (100) further includes: A transfer module (140), arranged between the loading module (110) and the bending module (120); The loading module (110) is configured to provide the workpiece (200) to the transfer module (140), and the transfer module (140) is used to provide the workpiece (200) to the bending module (120).

10. The bending device (100) according to claim 9, characterized in that, There are two bending modules (120), and the transfer module (140) is used to provide workpieces to the two bending modules (120).

Images