A rotatable fixed platform for robot bending and its operation method

Abstract

This invention belongs to the field of robotic bending technology and discloses a rotatable fixed platform for robotic bending and its operating method. The platform includes a fixed platform body, with a sheet metal body connected to its top and an extension support plate fixedly connected to one side. This invention uses an external robot axis and an elastic plate to place the sheet metal body on the fixed platform body and connects it to the robot via an electromagnet. The external robot axis controls a bending machine to bend the sheet metal body according to a bending program and parameters. The bending machine, driven by a servo motor, automatically adjusts based on parameters such as the sheet metal body's thickness, material, and dimensions. The elastic plate automatically adjusts according to the deformation of the sheet metal body, achieving the goal of eliminating the gap between the sheet metal body and the fixed platform body during bending, thus improving the positioning accuracy and bending quality of the sheet metal body.

Description

Technical Field

[0001] This invention belongs to the field of robot bending technology, specifically a rotatable fixed platform for robot bending and its operation method. Background Technology

[0002] In the automatic bending process of metal sheets, the robot works in conjunction with the bending machine to complete the processes of material picking, centering, bending, edge changing and feeding, thus realizing the automation of sheet metal bending operations.

[0003] Modern automated bending machines feature high-speed, high-precision, and wide-angle motion range external axes. The bending machine is driven by a servo motor, and its control is integrated into the robot controller. The system has a high degree of integration, and after simple setup, it can achieve precise bending path following. It can also automatically adjust according to parameters such as sheet thickness, material, and size to ensure bending quality and stability.

[0004] However, the sheet material may deform during processing, resulting in a gap between the sheet material and the fixed table, which affects the positioning accuracy and bending quality of the sheet material. This may alter the pre-adjusted parameters, leading to non-compliant sheet material.

[0005] Secondly, before bending the sheet material, it needs to be limited. However, most devices can only limit one type of sheet material. If the sheet material is changed, the limit buckles on the upper surface of the fixed platform need to be manually adjusted, which is very inconvenient. Therefore, it is necessary to design a rotatable fixed platform for robotic bending and its operation method. Summary of the Invention

[0006] The purpose of this invention is to provide a rotatable fixed platform for robot bending and its operation method, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a rotatable fixed platform for robot bending, comprising a fixed platform body, a plate body connected to the top of the fixed platform body, an extension support plate fixedly connected to one side of the fixed platform body, a bending chamber fixedly connected to the inner surface of the extension support plate, a servo motor mounted on the upper surface of the bending chamber, an external robot axis mounted on the front of the fixed platform body, an auxiliary placement plate fixedly connected to the upper surface of the fixed platform body, an elastic plate fixedly connected to the upper surface of the auxiliary placement plate, a top plate attached to one side of the elastic plate, and a back of the top plate... A first meshing plate is fixedly connected to the surface of the plate. A first gear is meshed to one side of the first meshing plate. A second gear is fixedly connected to the bottom of the first gear. A second meshing plate is meshed to both sides of the second gear. A fixing plate is fixedly connected to the surface of the second meshing plate. A limiting plate is fixedly connected to one side of the fixing plate. A compression plate is inserted into the side of the limiting plate near the plate body. A movable groove is opened on the upper surface of the limiting plate. A pressure plate is movably connected inside the movable groove. An extrusion rod is connected to the bottom of the compression plate. A water storage bladder is attached to one side of the extrusion rod. A bending plate is connected to the output end of the servo motor.

[0008] As a further technical solution of the present invention, a positioning plate is fixedly connected to one side inside the limiting plate, and a top rod is fixedly connected to the upper surface of the middle part of the compression plate. A second compression spring is connected inside the top rod, and the second compression spring itself is in a compressed state.

[0009] As a further technical solution of the present invention, a sliding rod is slidably connected to the upper surface of the first meshing plate, and a rotating column is fixedly connected to the upper surface of the first gear.

[0010] As a further technical solution of the present invention, a first compression spring is connected to the bottom of the limiting plate, and an adhesive plate is connected to the end of the first compression spring away from the limiting plate.

[0011] As a further technical solution of the present invention, the bottom of the fixing plate and the limiting plate are fixed to each other without affecting the movement of the extrusion rod.

[0012] As a further technical solution of the present invention, the second gear is located at the bottom of the fixed swing platform body, and the bottom of the limiting plate is in close contact with the surface of the elastic plate.

[0013] As a further technical solution of the present invention, the pressure plate is connected to the inner wall of the limiting plate by a torsion spring.

[0014] As a further technical solution of the present invention, the inner walls of the compression plate and the limiting plate are slidably connected, and the length of the top plate is equivalent to the length of the elastic plate.

[0015] As a further technical solution of the present invention, the elastic plate is a material with memory effect and recovery performance, which can deform when subjected to external force and return to its original shape after the external force disappears.

[0016] A method for operating a rotatable fixed platform for robot bending, as described in any one of the claims, includes the following steps:

[0017] S1. The staff first controls the robot's external axis to insert the sheet material through the gap between the fixed swing table body and the bending chamber;

[0018] S2. While the plate is being inserted, the top plate is pushed to move the first meshing plate backward, and the movement of the first meshing plate drives the first gear to rotate.

[0019] S3. The rotation of the first gear simultaneously drives the rotation of the second gear, and the rotation of the second gear drives the second meshing plates on both sides to move inward toward the elastic plate;

[0020] S4. At this time, the second meshing plate drives the limiting plate to fit together with the plate body, and the limiting plate continues to push, first pushing the compression plate that is in contact with the plate body towards the inside of the limiting plate.

[0021] S5. After the compression plate moves a certain distance, the positioning plate first releases its limit on the top rod. Then, under the release of the second compression spring, the top rod lifts the bottom of the compression plate, and under the action of the torsion spring, the top of the compression plate presses down to lock the plate body.

[0022] S6. The staff starts the servo motor;

[0023] S7. The extrusion rod is used to compress the water storage bladder;

[0024] S8. While the servo motor drives the bending plate to work, the water reservoir sprays water onto the surface of the bending plate.

[0025] The beneficial effects of this invention are as follows:

[0026] 1. This invention utilizes a fixed platform, a sheet metal body, a servo motor, a robot external axis, and an elastic plate. The sheet metal body is placed on the fixed platform and connected to the robot via an electromagnet. The sheet metal body parameters and bending requirements are input through a human-machine interface, and the robot controller automatically generates the optimal bending program and parameters. The robot external axis controls the bending machine to bend the sheet metal body according to the bending program and parameters. The bending machine, driven by the servo motor, automatically adjusts based on parameters such as the sheet metal body's thickness, material, and dimensions. The elastic plate automatically adjusts according to the deformation of the sheet metal body, eliminating the gap between the sheet metal body and the fixed platform, thus improving the positioning accuracy and bending quality of the sheet metal body. This achieves the goal of eliminating the gap between the sheet metal body and the fixed platform during the bending process, thereby improving the positioning accuracy and bending quality of the sheet metal body.

[0027] 2. In this invention, during the process of placing the sheet body onto the elastic plate, the sheet body first pushes the top plate backward, then drives the first meshing plate to move. At this time, the first gear and the second gear rotate. The rotation of the second gear drives the fixed plate and the limiting plate to move. The movement of the limiting plate limits the sheet body. The compression plate inside the limiting plate first contacts the sheet body. At this time, the compression plate pushes the top rod and the second compression spring to cancel the limiting relationship with the positioning plate. The second compression spring is released, and the auxiliary top rod lifts the top of the pressure plate. Through the setting of the torsion spring in the middle of the pressure plate, the top of the pressure plate is pressed down, so that the pressure plate and the limiting plate limit the sheet body. At this time, the servo motor is started to drive the bending plate to bend the sheet body. At the same time, the movement of the compression plate drives the extrusion rod to extrude the water storage bladder. The extrusion of the water storage bladder causes the water inside to be sprayed onto the surface of the bending plate. Along the bending plate, the sheet body is cooled down while being bent, thus achieving the purpose of cooling the sheet body while bending it. Attached Figure Description

[0028] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0029] Figure 2 This is a schematic diagram of the auxiliary placement plate structure of the present invention;

[0030] Figure 3 This is a schematic diagram of the top plate structure of the present invention;

[0031] Figure 4 This is a schematic diagram of the bottom structure of the limiting plate of the present invention;

[0032] Figure 5 This is a schematic diagram of the limiting plate structure of the present invention;

[0033] Figure 6 This is a schematic diagram of the cross-sectional structure of the limiting plate of the present invention;

[0034] Figure 7 This is a schematic cross-sectional view of the bending chamber structure of the present invention.

[0035] In the diagram: 1. Fixed platform body; 2. Plate body; 3. Extension support plate; 4. Bending chamber; 5. Servo motor; 6. Robot external axis; 7. Auxiliary placement plate; 8. Elastic plate; 9. Top plate; 10. First meshing plate; 11. First gear; 12. Second gear; 13. Second meshing plate; 14. Fixed plate; 15. Limiting plate; 16. Slide rod; 17. Rotating column; 18. First compression spring; 19. Adhesive plate; 20. Compression plate; 21. Movable groove; 22. Pressure plate; 23. Positioning plate; 24. Top rod; 25. Second compression spring; 26. Extrusion rod; 27. Bending plate; 28. Water storage bladder. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Example 1

[0038] like Figures 1 to 2 As shown in the embodiment of the present invention, a rotatable fixed platform for robot bending includes a fixed platform body 1, a plate body 2 connected to the top of the fixed platform body 1, an extension support plate 3 fixedly connected to one side of the fixed platform body 1, a bending chamber 4 fixedly connected to the inner surface of the extension support plate 3, a servo motor 5 installed on the upper surface of the bending chamber 4, a robot external axis 6 installed at the front of the fixed platform body 1, an auxiliary placement plate 7 fixedly connected to the upper surface of the fixed platform body 1, and an elastic plate 8 fixedly connected to the upper surface of the auxiliary placement plate 7. The elastic plate 8 is a material with memory effect and recovery performance, which can deform when subjected to external force and return to its original shape after the external force disappears.

[0039] Compared with existing technologies, the advantages are as follows: When the device is in use, the sheet body 2 is placed on the fixed platform body 1, and the fixed platform body 1 is connected to the robot through an electromagnet. The parameters of the sheet body 2 and the bending requirements are input through the human-machine interface, and the robot controller automatically generates the optimal bending program and parameters. The robot's external axis 6 controls the bending machine to bend the sheet body 2 according to the bending program and parameters. The bending machine driven by the servo motor 5 automatically adjusts according to the thickness, material, size and other parameters of the sheet body 2. The elastic plate 8 adjusts automatically according to the deformation of the sheet body 2, eliminating the gap between the sheet body 2 and the fixed platform body 1, and improving the positioning accuracy and bending quality of the sheet body 2.

[0040] Example 2

[0041] like Figures 2 to 7 As shown in the embodiment of the present invention, a rotatable fixed platform for robot bending has a top plate 9 attached to one side of an elastic plate 8. A first meshing plate 10 is fixedly connected to the back of the top plate 9. A first gear 11 is meshed to one side of the first meshing plate 10. A second gear 12 is fixedly connected to the bottom of the first gear 11. A second meshing plate 13 is meshed to both sides of the second gear 12. A fixing plate 14 is fixedly connected to the surface of the second meshing plate 13. A limiting plate 15 is fixedly connected to one side of the fixing plate 14. A compression plate 20 is inserted into the side of the limiting plate 15 near the plate body 2. A movable groove 21 is formed on the upper surface of the limiting plate 15. A pressure plate 22 is movably connected inside the movable groove 21. A pressing rod 26 is connected to the bottom of the compression plate 20. A water storage bladder 28 is attached to one side of the pressing rod 26. A bending plate 27 is connected to the output end of the servo motor 5. A bending plate 27 is connected inside the limiting plate 15. A positioning plate 23 is fixedly connected to the side. A top rod 24 is fixedly connected to the upper surface of the middle part of the compression plate 20. A second compression spring 25 is connected inside the top rod 24. A slide rod 16 is slidably connected to the upper surface of the first meshing plate 10. A rotating column 17 is fixedly connected to the upper surface of the first gear 11. A first compression spring 18 is connected to the bottom of the limiting plate 15. A fitting plate 19 is connected to the end of the first compression spring 18 away from the limiting plate 15. The fixed plate 14 and the bottom of the limiting plate 15 are fixed to each other and will not affect the movement of the extrusion rod 26. The second gear 12 is located at the bottom of the fixed swing table body 1. The bottom of the limiting plate 15 is in close contact with the surface of the elastic plate 8. The pressure plate 22 is connected to the inner wall of the limiting plate 15 by a torsion spring. The second compression spring 25 itself is in a compressed state. The compression plate 20 is slidably connected to the inner wall of the limiting plate 15. The length of the top plate 9 is equivalent to the length of the elastic plate 8.

[0042] Compared with the prior art, the advantages are as follows: During the process of placing the plate body 2 onto the elastic plate 8, the plate body 2 first pushes the top plate 9 backward, and then drives the first meshing plate 10 to move. At this time, the first gear 11 and the second gear 12 rotate. The rotation of the second gear 12 drives the fixed plate 14 and the limiting plate 15 to move. The movement of the limiting plate 15 limits the plate body 2. The compression plate 20 inside the limiting plate 15 first contacts the plate body 2. At this time, the compression plate 20 pushes the top rod 24 and the second compression spring 25 to cancel the limiting relationship with the positioning plate 23. The second compression spring 25 is released, and the auxiliary top rod 24 lifts the top of the pressure plate 22. Through the setting of the torsion spring in the middle of the pressure plate 22, the top of the pressure plate 22 is pressed down, so that the pressure plate 22, together with the limiting plate 15, limits the plate body 2. At this time, the servo motor 5 is started to drive the bending plate 27 to bend the plate body 2. At the same time, the movement of the compression plate 20 drives the extrusion rod 26 to extrude the water storage bladder 28. The extrusion of the water storage bladder 28 causes the water inside to be sprayed onto the surface of the bending plate 27, and cools the plate body 2 as it bends along the bending plate 27.

[0043] A method for operating a rotatable fixed platform for robot bending, comprising the following steps:

[0044] S1. The staff first controls the robot's external axis 6 to insert the sheet material through the gap between the fixed swing table body 1 and the bending chamber 4;

[0045] S2. While the plate is being inserted, the top plate 9 is pushed to drive the first meshing plate 10 to move backward. At the same time, the movement of the first meshing plate 10 drives the first gear 11 to rotate.

[0046] S3. The rotation of the first gear 11 simultaneously drives the rotation of the second gear 12, and the rotation of the second gear 12 drives the second meshing plates 13 on both sides to move toward the interior of the elastic plate 8.

[0047] S4. At this time, the second meshing plate 13 drives the limiting plate 15 to fit together with the plate body 2. At the same time, the limiting plate 15 continues to push, first pushing the compression plate 20 that is fitted with the plate body 2 toward the inside of the limiting plate 15.

[0048] S5. At this time, after the compression plate 20 moves a certain distance, the positioning plate 23 first releases the limit of the top rod 24. At this time, under the release of the second compression spring 25, the top rod 24 lifts the bottom of the pressure plate 22. Under the action of the torsion spring, the top of the pressure plate 22 presses down to lock the plate body 2.

[0049] S6. The staff starts servo motor 5;

[0050] S7. Extrusion rod 26 extrudes the water storage bladder 28;

[0051] S8. While the servo motor 5 drives the bending plate 27 to work, the water storage bag 28 sprays water onto the surface of the bending plate 27.

[0052] Working principle and usage process: The sheet body 2 is placed on the fixed platform body 1, and the fixed platform body 1 is connected to the robot via an electromagnet. The parameters of the sheet body 2 and bending requirements are input through the human-machine interface, and the robot controller automatically generates the optimal bending program and parameters. The robot's external axis 6 controls the bending machine to bend the sheet body 2 according to the bending program and parameters. The bending machine, driven by the servo motor 5, automatically adjusts according to the thickness, material, size and other parameters of the sheet body 2. During the process of placing the sheet body 2 onto the elastic plate 8, the sheet body 2 first pushes the top plate 9 backward, and then drives the first meshing plate 10 to move. At this time, the first gear 11 and the second gear 12 rotate. The rotation of the second gear 12 drives the fixed plate 14 and the limiting plate 15 to move. The movement of motor 5 limits the plate body 2. The compression plate 20 inside the limiting plate 15 first contacts the plate body 2. At this time, the compression plate 20 pushes the top rod 24 and the second compression spring 25 to cancel the limiting relationship with the positioning plate 23. The second compression spring 25 is released, and the auxiliary top rod 24 lifts the top of the pressure plate 22. Through the setting of the torsion spring in the middle of the pressure plate 22, the top of the pressure plate 22 is pressed down, so that the pressure plate 22 cooperates with the limiting plate 15 to limit the plate body 2. At this time, the servo motor 5 is started to drive the bending plate 27 to bend the plate body 2. At the same time, the movement of the compression plate 20 drives the extrusion rod 26 to extrude the water storage bladder 28. The extrusion of the water storage bladder 28 causes the water inside to spray onto the surface of the bending plate 27, and cools the plate body 2 as it bends along the bending plate 27.

[0053] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A rotatable fixed platform for robot bending, comprising a fixed platform body (1), characterized in that: The top of the fixed platform body (1) is connected to the plate body (2), and an extension tray (3) is fixedly connected to one side of the fixed platform body (1). A bending chamber (4) is fixedly connected to the inner surface of the extension tray (3). A servo motor (5) is installed on the upper surface of the bending chamber (4). An external robot axis (6) is installed at the front of the fixed platform body (1). An auxiliary placement plate (7) is fixedly connected to the upper surface of the fixed platform body (1). An elastic plate (8) is fixedly connected to the upper surface of the auxiliary placement plate (7). A top plate (9) is attached to one side of the elastic plate (8). A first meshing plate (10) is fixedly connected to the back of the top plate (9). A first gear (11) is meshed to one side of the first meshing plate (10). The bottom of the first gear (11) is fixedly connected to the second gear (12). The two sides of the second gear (12) are meshed with the second meshing plate (13). The surface of the second meshing plate (13) is fixedly connected to the fixing plate (14). The side surface of the fixing plate (14) is fixedly connected to the limiting plate (15). The side of the limiting plate (15) close to the plate body (2) is connected to the compression plate (20). The upper surface of the limiting plate (15) is provided with a movable groove (21). The inside of the movable groove (21) is movably connected to the pressure plate (22). The bottom of the compression plate (20) is connected to the extrusion rod (26). The side of the extrusion rod (26) is attached to the water storage bag (28). The output end of the servo motor (5) is connected to the bending plate (27). A positioning plate (23) is fixedly connected to one side inside the limiting plate (15), a top rod (24) is fixedly connected to the upper surface of the middle part of the compression plate (20), and a second compression spring (25) is connected inside the top rod (24), the second compression spring (25) itself is in a compressed state; a slide rod (16) is slidably connected to the upper surface of the first meshing plate (10), and a rotating column (17) is fixedly connected to the upper surface of the first gear (11); a first compression spring (18) is connected to the bottom of the limiting plate (15), and a fitting plate (19) is connected to the end of the first compression spring (18) away from the limiting plate (15); the fixing plate ( 14) The bottom of the limiting plate (15) is fixed to each other and will not affect the movement of the extrusion rod (26); the second gear (12) is located at the bottom of the fixed swing body (1), and the bottom of the limiting plate (15) is close to the surface of the elastic plate (8); the pressure plate (22) is connected to the inner wall of the limiting plate (15) by means of a torsion spring; the compression plate (20) is slidably connected to the inner wall of the limiting plate (15), and the top plate (9) is equivalent to the length of the elastic plate (8); the elastic plate (8) is a material with memory effect and recovery performance, which can deform when subjected to external force and recover its original shape after the external force disappears.

2. The method for operating a rotatable fixed platform for robot bending according to claim 1, characterized in that: Includes the following steps: S1. The staff first controls the robot's external axis (6) to insert the sheet metal through the gap between the fixed table body (1) and the bending chamber (4); S2. While the plate is being inserted, the top plate (9) is pushed to drive the first meshing plate (10) to move backward. At the same time, the movement of the first meshing plate (10) drives the first gear (11) to rotate. S3. The rotation of the first gear (11) simultaneously drives the rotation of the second gear (12), and the rotation of the second gear (12) drives the second meshing plates (13) on both sides to move toward the interior of the elastic plate (8); S4. At this time, the second meshing plate (13) drives the limiting plate (15) to fit together with the plate body (2), and the limiting plate (15) continues to push, first pushing the compression plate (20) that is fitted with the plate body (2) towards the inside of the limiting plate (15); S5. After the compression plate (20) moves a certain distance, the positioning plate (23) first releases the limit of the top rod (24). At this time, under the release of the second compression spring (25), the top rod (24) lifts the bottom of the pressure plate (22). Under the action of the torsion spring, the top of the pressure plate (22) presses down to lock the plate body (2). S6. The staff starts the servo motor (5); S7. The extrusion rod (26) extrudes the water reservoir (28); S8. While the servo motor (5) drives the bending plate (27) to work, the water storage bag (28) sprays water onto the surface of the bending plate (27).

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