Mechanical arm rotary follow-up control structure for sheet metal bending and method thereof

Abstract

The application discloses a mechanical arm rotary follow-up control structure for sheet metal bending and a method thereof, and belongs to the technical field of sheet metal bending. The mechanical arm rotary follow-up control structure for sheet metal bending comprises a first tray, a pair of fixing frames are arranged on one side of the center of the upper end of the first tray, a fixing ring is arranged outside the first tray, a lower transmission ring is welded at the lower end of the fixing ring, and a fan-shaped transmission gear is arranged at the lower end of the outside of the lower transmission ring. The application solves the problem that the existing rotary bus bending machine cannot independently adjust the rotating speed according to different thicknesses of metal materials in the actual use process. The position of the fan-shaped transmission gear in contact with the lower transmission ring can be adjusted through the transverse sliding of the fan-shaped transmission gear, and the fixing ring can rotate at different rotating speeds due to the different diameters of the fan-shaped transmission gears in contact.

Description

Technical Field

[0001] This invention relates to the field of sheet metal bending technology, specifically to a robotic arm rotation follow-up control structure and method for sheet metal bending. Background Technology

[0002] The robotic arm rotation follow-up control structure for sheet metal bending is a robotic arm control structure used for sheet metal bending. It has a follow-up control function and can automatically adjust the rotation angle and position of the robotic arm according to the position and shape of the workpiece to achieve precise bending operation.

[0003] Chinese patent CN207119661U discloses a rotary busbar bending machine, which includes a bending rod fixedly arranged along the rotation axis of a turntable. A clamping block bracket is also provided on the worktable, and a rectangular clamping block is provided on the clamping block bracket. The clamping block extends above the turntable. By utilizing the precise and controllable angular displacement of the servo motor, the bending accuracy can be guaranteed. This changes the drawbacks of the traditional hydraulic power method, which relies on changing the hydraulic press pressure or manually changing the mold to control the bending angle, resulting in large bending angle errors and cumbersome operation. The clamping block is provided with an elongated hole, and the clamping block bracket is provided with a clamping block fastening device, which can adjust the gap between the clamping block and the bending rod, and can adapt to busbars of different widths, increasing the applicability of this utility model.

[0004] In actual use, the rotary busbar bending machine of the above patent cannot independently adjust the rotation speed for metal materials of different thicknesses, and cannot be independently adjusted to meet different usage needs, which can easily cause sheet metal breakage. Summary of the Invention

[0005] The purpose of this invention is to provide a rotary follow-up control structure and method for a sheet metal bending robotic arm. The position of the sector drive gear in contact with the lower drive ring can be adjusted by the lateral sliding of the sector drive gear. The fixed ring can rotate at different speeds due to the different diameters of the sector drive gear at the time of contact, thus solving the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a rotary follow-up control structure for a sheet metal bending robotic arm, comprising a first tray, a pair of fixed frames provided on one side of the upper center of the first tray, a fixed ring provided on the outside of the first tray, a lower transmission ring welded to the lower end of the fixed ring, a sector-shaped transmission gear provided on the lower end of the outer side of the lower transmission ring, and the outer wall of the sector-shaped transmission gear meshing with the outer wall of the lower transmission ring.

[0007] Preferably, an output motor is provided at one end of the sector-shaped transmission gear, a support frame is provided at the lower end between the output motor and the sector-shaped transmission gear, a sliding display frame is provided at the lower end of the support frame, and the lower end of the support frame is connected to the internal sliding groove of the sliding display frame.

[0008] Preferably, a second transmission threaded rod is provided in the middle of the interior of the sliding display frame, and the outer side of the second transmission threaded rod is threadedly engaged with the lower end of the support frame.

[0009] Preferably, a first sliding bar is provided on one side of the upper outer end of the fixing ring, and the outer side of the first sliding bar is connected to the inner sliding groove of the fixing ring. A second limiting post is provided on the end of the first sliding bar facing the fixing frame.

[0010] Preferably, a second sliding bar is provided at the upper end of the outer side of one of the fixing frames, the outer side of the second sliding bar is connected to a sliding groove on one side of the outer side of the fixing frame, and a first limiting post is provided at the end of the second sliding bar facing the second limiting post.

[0011] Preferably, the first sliding bar has a second through hole arranged horizontally inside, the second sliding bar has a first through hole arranged horizontally inside, a second positioning block is arranged at the upper end of the second through hole, and a first positioning block is arranged at the upper end of the first through hole.

[0012] Preferably, the fixing frame has a clamping plate inside, and a first transmission threaded rod is provided through the clamping plate facing the inside of the fixing frame. The outer side of the first transmission threaded rod is threadedly engaged with the inner wall of the fixing frame.

[0013] Preferably, a second tray is provided in the middle of one side of the support frame. The second tray is located at the lower end of the output motor, and the second tray is fixedly connected to the outer wall of the output motor by bolts.

[0014] The present invention also provides another technical solution: a method for using a rotary follow-up control structure for a sheet metal bending robotic arm, comprising the following steps:

[0015] Step 1: Rotate the second transmission threaded rod. The rotation of the second transmission threaded rod can generate relative motion with the support frame. After the support frame is restricted by the sliding display frame, the rotational motion is transformed into a horizontal linear motion.

[0016] Step 2: The support frame slides within the display frame, allowing the sector gear to tilt and slide, so that different positions on the outer wall of the sector gear contact the lower transmission ring. By adjusting the position of the sector gear, different rotation speed requirements can be met.

[0017] Step 3: Manually rotate the first transmission threaded rod. The rotation of the first transmission threaded rod can generate relative movement with the inner wall of the fixed frame. After the clamping plate is restricted by the fixed frame, the rotational motion is transformed into a horizontal linear motion. The sheet metal is fixed by clamping the two clamping plates.

[0018] Step 4: The first sliding bar slides within the fixed ring to adjust the position of the second limiting post, and the second sliding bar slides within the fixed frame to adjust the position of the first limiting post.

[0019] Step 5: The second positioning block passes through the first sliding bar and the second through hole to fix the second limiting post for sliding adjustment, and the first positioning block passes through the first through hole and the second sliding bar to fix the first limiting post for sliding adjustment;

[0020] Step Six: The output shaft of the output motor drives the sector gear to rotate. The rotation of the sector gear can drive the lower transmission ring to rotate through meshing connection. The rotation of the lower transmission ring will drive the upper fixed ring to rotate. The fixed ring drives the second limiting post at one end to contact the clamped sheet metal through the first sliding bar. After the sheet metal is in contact, the sheet metal can be bent by the rotation of the second limiting post and the restriction of the first limiting post.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] 1. In this invention, the sector-shaped transmission gear, supported by the support frame and restricted by the sliding display frame, is rotated by the second transmission threaded rod, which drives the support frame to slide along the inside of the sliding display frame. The sliding allows the sector-shaped transmission gear to contact the lower transmission ring at different positions of its outer wall. By rotating at the same speed at different positions of the sector-shaped transmission gear, the lower transmission ring, the fixed ring, and the second limiting column connected to the upper end can rotate at different speeds. Different rotation speeds can handle the bending of sheet metal of different thicknesses, avoiding the sheet metal from breaking during bending due to the mismatch between bending speed and thickness.

[0023] 2. In this invention, a second positioning block is inserted into a second through hole to fix a second limiting post at one end, and a first positioning block is inserted into a first through hole to fix a first limiting post. The second limiting post and the first limiting post can be adjusted independently by sliding the first sliding bar and the second sliding bar laterally. The adjustment of the position of the second limiting post and the first limiting post can meet different bending requirements. The bending position can be directly adjusted by sliding to meet different usage requirements. Attached Figure Description

[0024] Figure 1 This is a perspective view of the overall external structure of the present invention;

[0025] Figure 2 This is a perspective view of the internal structure of the protective frame of the present invention;

[0026] Figure 3This is a cross-sectional view of the internal structure of the sliding display frame of the present invention;

[0027] Figure 4 For the present invention Figure 3 Enlarged view of a portion of region A in the middle;

[0028] Figure 5 This is a cross-sectional view of the internal structure of the fixing frame of the present invention;

[0029] Figure 6 For the present invention Figure 5 Enlarged view of a portion of region B in the middle;

[0030] Figure 7 This is a cross-sectional view of the internal structure of the second through hole in this invention;

[0031] Figure 8 For the present invention Figure 7 Enlarged view of a portion of region C.

[0032] In the diagram: 1. First tray; 2. Fixing ring; 3. Lower transmission ring; 4. Sector transmission gear; 5. Fixing frame; 6. Clamping piece; 7. First transmission threaded rod; 8. First limiting post; 9. Second limiting post; 10. First sliding bar; 11. Second sliding bar; 12. Support frame; 13. Second tray; 14. Output motor; 15. Sliding display frame; 16. Second transmission threaded rod; 18. First positioning block; 19. Second positioning block; 20. First through hole; 21. Second through hole; 22. Protective frame. Detailed Implementation

[0033] 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.

[0034] To address the problem that existing rotary busbar bending machines cannot independently adjust the rotation speed for metal materials of different thicknesses during actual use, and cannot adapt to different usage requirements, thus easily causing sheet metal breakage, this embodiment provides the following technical solution:

[0035] A rotary follow-up control structure for a sheet metal bending robotic arm includes a first tray 1, and a pair of fixed brackets 5 are provided on one side of the upper center of the first tray 1, such as... Figure 1 , Figure 2 , Figure 5 and Figure 6As shown, the sheet metal can be placed directly between two fixed brackets 5, which can support and restrict the sheet metal. The support and restriction can help the second limiting post 9 to contact and complete the bending.

[0036] In this embodiment, a fixing ring 2 is provided on the outside of the first tray 1, and a lower transmission ring 3 is welded to the lower end of the fixing ring 2, such as... Figure 1 , Figure 2 , Figure 3 , Figure 5 , Figure 7 and Figure 8 As shown, the fixed ring 2 and the lower transmission ring 3 can wrap around and support the outside of the first tray 1. A sector transmission gear 4 is provided at the lower end of the outer side of the lower transmission ring 3, and the outer wall of the sector transmission gear 4 meshes with the outer wall of the lower transmission ring 3. The rotation of the sector transmission gear 4 can drive the fixed ring 2 to rotate through the transmission of the lower transmission ring 3.

[0037] In this embodiment, an output motor 14 is provided at one end of the sector gear 4, and a support frame 12 is provided at the lower end between the output motor 14 and the sector gear 4. The support frame 12 is rotatably connected to the connecting shaft between the output motor 14 and the sector gear 4. Figure 2 and Figure 3 As shown, a sliding display frame 15 is provided at the lower end of the support frame 12. The support frame 12 can be supported by the sliding display frame 15, thereby fixing the output motor 14 and the sector transmission gear 4.

[0038] In this embodiment, the lower end of the support frame 12 is connected to the internal sliding slot of the sliding display frame 15, such as... Figure 3 As shown, the support frame 12 can slide inside the sliding display frame 15 to adjust the different positions of the sector transmission gear 4 in contact with the lower transmission ring 3. By adjusting the different contact positions, the sector transmission gear 4 can be adjusted to contact and drive the lower transmission ring 3 with different center sizes. Different center positions can make the fixed ring 2 and the connected second limiting column 9 rotate at different rotation speeds.

[0039] In this embodiment, a first sliding strip 10 is provided on one side of the upper outer end of the fixing ring 2, and the outer side of the first sliding strip 10 is connected to the inner sliding groove of the fixing ring 2, such as... Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 7 As shown, a second limiting post 9 is provided at one end of the first sliding bar 10 facing the fixed frame 5, and bending is completed by rotating the second limiting post 9 to contact the sheet metal;

[0040] In this embodiment, a second sliding bar 11 is provided at the upper end of the outer side of one of the fixing frames 5. The outer side of the second sliding bar 11 is connected to a sliding groove on one side of the outer side of the fixing frame 5, such as... Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, a first limiting post 8 is provided at one end of the second sliding bar 11 facing the second limiting post 9. The first limiting post 8 can be adjusted laterally by sliding. The adjustment of the lateral position can cope with different bending positions and is convenient for adjustment according to different usage needs.

[0041] In this embodiment, a second through hole 21 is provided laterally inside the first sliding bar 10, and a first through hole 20 is provided laterally inside the second sliding bar 11, such as... Figure 7 and Figure 8 As shown, a second positioning block 19 is provided at the upper end of the second through hole 21. The second positioning block 19 passes through the first sliding strip 10 and the fixing ring 2 to fix the telescopic position of the second limiting post 9. A first positioning block 18 is provided at the upper end of the first through hole 20. The first positioning block 18 passes through the first through hole 20 and the support frame 12 to fix the telescopic position of the first limiting post 8.

[0042] In this embodiment, as Figure 1 and Figure 2 As shown, a protective frame 22 is provided on one side of the output motor 14. The protective frame 22 can wrap around the sector transmission gear 4 to protect the transmission structure and prevent foreign objects from causing blockage at the connection between the sector transmission gear 4 and the lower transmission ring 3.

[0043] In this embodiment, a second transmission threaded rod 16 is provided in the middle of the interior of the sliding display frame 15. The outer side of the second transmission threaded rod 16 is threadedly engaged with the lower end of the support frame 12. Figure 3 and Figure 4 As shown, the support frame 12 can slide on the sliding display frame 15 by manually rotating the second transmission threaded rod 16. A second tray 13 is provided in the middle of one side of the support frame 12. The second tray 13 is located at the lower end of the output motor 14. The second tray 13 is fixedly connected to the outer wall of the output motor 14 by bolts.

[0044] In this embodiment, the fixing frame 5 is provided with a clamping piece 6 inside, such as... Figure 5 and Figure 6 As shown, a first transmission threaded rod 7 is provided through the clamping plate 6 facing the interior of the fixing frame 5. The outer side of the first transmission threaded rod 7 is threadedly engaged with the inner wall of the fixing frame 5. Through the rotation of the first transmission threaded rod 7 and the restriction of the fixing frame 5, the clamping plate 6 changes from rotational motion to lateral linear motion.

[0045] This embodiment also proposes a method for controlling the rotation of a robotic arm for sheet metal bending, including the following steps:

[0046] Rotating the second transmission threaded rod 16 allows relative movement between it and the support frame 12. The support frame 12, constrained by the sliding display frame 15, transitions from rotational motion to lateral linear motion. Sliding the support frame 12 along the sliding display frame 15 causes the sector transmission gear 4 to slide at an angle, resulting in different positions of the sector transmission gear 4 contacting the lower transmission ring 3. Adjusting the position of the sector transmission gear 4 addresses different rotational speed requirements. The sheet metal to be bent is placed between two fixed frames 5. Manually rotating the first transmission threaded rod 7 allows relative movement between it and the inner wall of the fixed frame 5. The clamping plate 6, constrained by the fixed frame 5, transitions from rotational motion to lateral linear motion, and the sheet metal is fixed by the clamping of the two clamping plates 6. The first sliding bar 10... The position of the second limiting post 9 is adjusted by sliding within the fixed ring 2, and the position of the first limiting post 8 is adjusted by sliding within the fixed frame 5 by the second sliding bar 11. The second positioning block 19 passes through the first sliding bar 10 and the second through hole 21 to fix the second limiting post 9 that is adjusted by sliding, and the first positioning block 18 passes through the first through hole 20 and the second sliding bar 11 to fix the first limiting post 8 that is adjusted by sliding. The output motor 14 is started, and the output shaft of the output motor 14 drives the sector transmission gear 4 to rotate. The rotation of the sector transmission gear 4 can drive the lower transmission ring 3 to rotate through meshing connection. The rotation of the lower transmission ring 3 will drive the upper fixed ring 2 to rotate. The fixed ring 2 drives the second limiting post 9 at one end to contact the clamped sheet metal through the first sliding bar 10. After the sheet metal is in contact, the sheet metal can be bent by the rotation of the second limiting post 9 and the restriction of the first limiting post 8.

[0047] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0048] 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 rotary follow-up control structure for a sheet metal bending robotic arm, comprising a first tray (1), wherein a pair of fixed brackets (5) are provided on one side of the upper center of the first tray (1), characterized in that, A fixing ring (2) is provided on the outside of the first tray (1). A lower transmission ring (3) is welded to the lower end of the fixing ring (2). A sector transmission gear (4) is provided on the lower end of one side of the lower transmission ring (3). The outer wall of the sector transmission gear (4) meshes with the outer wall of the lower transmission ring (3). An output motor (14) is provided at one end of the sector transmission gear (4). A support frame (12) is provided at the lower end between the output motor (14) and the sector transmission gear (4). A sliding display frame (15) is provided at the lower end of the support frame (12). The lower end of the support frame (12) is connected to the inner sliding groove of the sliding display frame (15). A second transmission threaded rod (16) is provided in the middle of the inner side of the sliding display frame (15). The outer side of the second transmission threaded rod (16) is threadedly engaged with the lower end of the support frame (12). A first sliding strip (10) is provided on one side of the upper end of the outer side of the fixing ring (2), and the outer side of the first sliding strip (10) is connected to the inner sliding groove of the fixing ring (2). A second limiting post (9) is provided at the end of the first sliding strip (10) facing the fixing frame (5).

2. The rotary follow-up control structure for a sheet metal bending robotic arm according to claim 1, characterized in that: One of the fixing frames (5) has a second sliding bar (11) on its upper outer side. The outer side of the second sliding bar (11) is connected to a sliding slot on one side of the fixing frame (5). A first limiting post (8) is provided at one end of the second sliding bar (11) facing the second limiting post (9).

3. The rotary follow-up control structure for a sheet metal bending robotic arm according to claim 2, characterized in that: The first sliding bar (10) has a second through hole (21) arranged horizontally inside, the second sliding bar (11) has a first through hole (20) arranged horizontally inside, the upper end of the second through hole (21) has a second positioning block (19) arranged outside, and the upper end of the first through hole (20) has a first positioning block (18).

4. The rotary follow-up control structure for a sheet metal bending robotic arm according to claim 3, characterized in that: The fixing frame (5) is provided with a clamping piece (6) inside. A first transmission threaded rod (7) is provided through the clamping piece (6) facing the inside of the fixing frame (5). The outside of the first transmission threaded rod (7) is threadedly engaged with the inner wall of the fixing frame (5).

5. The rotary follow-up control structure for a sheet metal bending robotic arm according to claim 1, characterized in that: A second tray (13) is provided in the middle of one side of the support frame (12). The second tray (13) is located at the lower end of the output motor (14). The second tray (13) is fixedly connected to the outer wall of the output motor (14) by bolts.

6. A method of using the rotary follow-up control structure for a sheet metal bending robotic arm based on the structure described in claim 4, characterized in that: Includes the following steps: Step 1: Rotate the second transmission threaded rod (16). The rotation of the second transmission threaded rod (16) can generate relative motion with the support frame (12). After the support frame (12) is restricted by the sliding display frame (15), the rotational motion is transformed into a horizontal linear motion. Step 2: The support frame (12) slides along the display frame (15) to make the sector transmission gear (4) slide at an angle, so that the outer wall of the sector transmission gear (4) contacts the lower transmission ring (3) at different positions. By adjusting the position of the sector transmission gear (4), different rotation speed requirements can be met. Step 3: Manually rotate the first transmission threaded rod (7). The rotation of the first transmission threaded rod (7) can generate relative movement with the inner wall of the fixed frame (5). After the clamping plate (6) is restricted by the fixed frame (5), the rotational motion is transformed into a horizontal linear motion. The sheet metal is fixed by clamping the two clamping plates (6). Step 4: The first sliding bar (10) slides within the fixed ring (2) to adjust the position of the second limiting post (9), and the second sliding bar (11) slides within the fixed frame (5) to adjust the position of the first limiting post (8); Step 5: The second positioning block (19) passes through the first sliding bar (10) and the second through hole (21) to fix the second limiting post (9) for sliding adjustment; the first positioning block (18) passes through the first through hole (20) and the second sliding bar (11) to fix the first limiting post (8) for sliding adjustment. Step 6: The output shaft of the output motor (14) drives the sector transmission gear (4) to rotate. The rotation of the sector transmission gear (4) can drive the lower transmission ring (3) to rotate through meshing connection. The rotation of the lower transmission ring (3) will drive the upper fixed ring (2) to rotate. The fixed ring (2) drives the second limiting post (9) at one end to contact the clamped sheet metal through the first sliding bar (10). After the sheet metal is in contact, the sheet metal can be bent as the second limiting post (9) rotates and the first limiting post (8) restricts it.

Images