A robot turning and bending control system and a bending robot

Abstract

The present invention belongs to the field of robot technology, and specifically discloses a robot flipping and bending control system and a bending robot, including a mounting frame, which is used to provide a mounting position; a walking adjustment mechanism, which is located at the top of the mounting frame and is used to adjust the position and angle of the structure thereon; a clamping and bending mechanism, which is located at the bottom of the walking adjustment mechanism and is used to bend the plate; a cleaning mechanism, which is located at the bottom of the mounting frame and is used to clean the bent plate; a camera, which is located at the top inner side of the mounting frame and is used to provide image data; and a walking adjustment mechanism is provided on the top of the mounting frame. Through the cooperation of the walking adjustment mechanism and the clamping and bending mechanism, bending can be achieved while also transferring or hoisting the plate, so one device can achieve three functions, reducing equipment costs, further reducing production costs, and improving the practicability of the device.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and specifically discloses a robot flipping and bending control system and a bending robot. Background Art

[0002] A bending robot is an automated device specifically used for sheet metal bending. It can simulate manual bending operations to achieve high-precision and high-efficiency production. Bending robots are usually equipped with advanced control systems and sensors, and can automatically complete bending tasks according to preset programs, including loading, positioning, bending and unloading. These robots are widely used in industries such as sheet metal processing, automobile manufacturing, aerospace, and electronic equipment production.

[0003] The bending robots in the prior art are mainly used to bend plates, and the transportation or lifting of plates requires additional equipment, thus increasing the cost of the equipment. At the same time, since the bending robots have a single function and cannot perform other tasks, the practicability of the device is reduced. Summary of the invention

[0004] In view of this, the purpose of the present invention is to propose a robot flipping and bending control system and a bending robot to solve the problem in the prior art that the transportation or lifting of plates requires additional equipment, thereby increasing the cost of the equipment and reducing the practicality of the device.

[0005] To achieve the above objectives, the present invention provides a bending robot, comprising:

[0006] A mounting frame, which is used to provide a mounting location;

[0007] A travel adjustment mechanism, which is located on the top of the mounting frame and is used for position adjustment and angle adjustment of the structure thereon;

[0008] A clamping and bending mechanism, which is located at the bottom of the walking and adjusting mechanism and is used for bending the plate;

[0009] A cleaning mechanism, which is located at the bottom of the mounting frame and is used to clean the bent plate;

[0010] A camera, which is located on the top inner side of the mounting frame and is used to provide image data;

[0011] The top of the mounting frame is provided with a walking adjustment mechanism, the bottom of the walking adjustment mechanism is provided with a clamping and bending mechanism, the bottom of the mounting frame is fixedly connected with a cleaning mechanism, and the top of the mounting frame is fixedly connected with a camera.

[0012] In the above technical scheme, preferably, the walking adjustment mechanism includes a cross beam, the two ends of the cross beam are respectively fixedly connected to the inside of the two ends of the top of the mounting frame, the top of the cross beam is fixedly connected to a toothed plate, both sides of the cross beam are fixedly connected to slide rails, the outside of the slide rails is slidably connected to a mounting frame, the outer wall of the mounting frame is fixedly connected to a reducer, the side of the reducer away from the mounting frame is fixedly and detachably connected to an electric motor, the output end of the motor is fixedly connected to the input end of the reducer, the output end of the reducer is fixedly connected to a rotating shaft, the side of the rotating shaft away from the reducer is fixedly connected to a gear, the bottom of the mounting frame is fixedly connected to a hydraulic cylinder, the output end of the hydraulic cylinder is fixedly connected to a mounting plate, and one side of the mounting plate is rotatably connected to a cylinder.

[0013] The top of the fixing plate is fixedly connected with a rotating seat, the top of the rotating seat is rotatably connected to the bottom of the fixing plate, both sides of the fixing plate are fixedly connected with mounting rods, the outside of the mounting rod is rotatably connected with a bending frame, the middle of the bending frame is fixedly connected with an intermediate shaft, one end of the fixing rod is rotatably connected with a hydraulic rod, the output end of the hydraulic rod is rotatably connected to one end of the intermediate shaft, the middle of the intermediate shaft is rotatably connected with a connecting plate, a connecting frame is rotatably connected between the two connecting plates, the bottom of the fixing plate is fixedly connected with a limiting sleeve, the inside of the limiting sleeve is slidably connected with a sliding limiting block, the bottom of the sliding limiting block is fixedly connected with an inner rod, the middle of the connecting frame is fixedly connected with a middle plate, the bottom of the middle plate is fixedly connected with a bending head, the bottom of the bending frame is fixedly connected with a tail rod, the bottom of the tail rod is fixedly connected with a clamping rod, and the outside of the clamping rod is fixedly connected with a pressure sensor.

[0014] In the above technical solution, preferably, the cleaning mechanism includes two side plates, the tops of the two side plates are respectively fixedly connected to the two sides of the bottom of the mounting frame, four limit rods are fixedly connected between the two side plates, the inner sides of the side plates are fixedly connected to a telescopic bag, the outside of the telescopic bag is fixedly connected to a plurality of stabilizing plates, the four corners of the plurality of stabilizing plates are slidably connected to the outsides of the four limit rods, two limit edge plates are slidably connected between the four limit rods, a water passing block is fixedly connected between the two limit edge plates, a one-way valve 1 is fixedly connected to the outside of the limit edge plates, a side of the one-way valve 1 away from the water passing block is fixedly connected to a connecting fixing pipe, the outside of the connecting fixing pipe is fixedly connected to the side of the telescopic bag away from the side plates, and the outside of the water passing block is fixedly connected to a connecting fixing pipe. The outer side of the side plate is fixedly connected with a one-way valve 2, the outer side of the one-way valve 2 is fixedly connected with a connecting fixed pipe, the bottom of the mounting frame is fixedly connected with a water tank, both ends of the water tank are fixedly connected with connecting elbows, one end of the connecting elbow close to the side plate is fixedly connected to the outside of the connecting fixed pipe, the top side of the mounting frame is fixedly connected with a sliding track, the outside of the sliding track is slidably connected with a sliding seat, the outside of the sliding seat is fixedly connected with a sliding connecting plate between the mounting frame, the bottom of the sliding connecting plate is fixedly connected with a driving bent rod, the bottom of the driving bent rod is fixedly connected to the outside of the water-passing block, the inside of the sliding connecting plate is fixedly connected with a nozzle, the top of the nozzle is fixedly connected with a hose, and the bottom end of the hose is fixedly connected to the outside of the connecting head.

[0015] In the above technical solution, preferably, a water receiving trough is fixedly connected to the top of the bottom end of the mounting frame, and a drainage pipe is fixedly connected to one side of the water receiving trough.

[0016] In the above technical solution, preferably, a water injection pipe is fixedly connected to one side of the water tank, and a threaded cap is threadedly connected to the top of the water injection pipe.

[0017] In the above technical solution, preferably, the top of the toothed plate is meshingly connected to the gear, and the output end of the cylinder is rotatably connected to one side of the top of the rotating seat.

[0018] In the above technical solution, preferably, the outside of the inner rod passes through the bottom of the limiting sleeve, and the bottom of the inner rod is fixedly connected to the top of the middle plate.

[0019] A robot flipping and turning control system includes a central control module, the central control module is connected to an execution module, the central control module is used to control the entire system, the execution module is used for automated power, the central control module is connected to a data acquisition module, the data acquisition module is used to collect and transmit various data, the data acquisition module is connected to a data acquisition device, the data acquisition device is used to collect data, the central control module is connected to an operation module, and the operation module is used for human-computer interaction.

[0020] In the above technical solution, preferably, the execution module includes an electric motor, a hydraulic cylinder, a hydraulic rod and an air cylinder, the electric motor is used to provide power for position movement, the hydraulic cylinder is used to provide power for up and down movement of the clamping and bending mechanism, the air cylinder is used to provide power for angle adjustment of the clamping and bending mechanism, the hydraulic rod is used to provide power for expanding and merging the bending frame, and the data acquisition device includes a camera and a pressure sensor, the camera is used to provide image data, and the pressure sensor is used to provide pressure data.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The present invention can realize bending and also transfer or hoist the plate through the cooperation of the travel adjustment mechanism and the clamping and bending mechanism. Therefore, one device can realize three functions, which reduces the equipment cost, further reduces the production cost, and improves the practicability of the device.

[0023] The present invention can input and pressurize the cleaning liquid through the expansion and contraction of the telescopic bag, and can spray the cleaning liquid through the nozzle, and then can clean the plate, thereby preventing impurities from being caught between the mold and the plate during the bending process, causing scratches and indentations, thereby helping to improve product quality and also helping to maintain the service life of the bending mold and the smooth progress of the bending process. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A perspective view of the present invention;

[0025] Figure 2 It is a structural schematic diagram of the tooth plate in the present invention;

[0026] Figure 3 It is a structural schematic diagram of the cylinder in the present invention;

[0027] Figure 4 It is a structural schematic diagram of the connecting plate in the present invention;

[0028] Figure 5 It is a structural schematic diagram of the sliding limit block in the present invention;

[0029] Figure 6It is a structural schematic diagram of the one-way valve 2 in the present invention;

[0030] Figure 7 It is a schematic diagram of the structure of the water-passing block in the present invention;

[0031] Figure 8 It is a structural schematic diagram of the water receiving tank in the present invention;

[0032] Fig. 9 It is a structural schematic diagram of the water tank in the present invention;

[0033] Fig.10 It is a framework diagram of the control system in the present invention;

[0034] Fig.11 It is a framework diagram of the execution module of the present invention;

[0035] Fig.12 It is a framework diagram of the data acquisition device in the present invention.

[0036] In the figure: 1, mounting frame; 2, walking adjustment mechanism; 201, crossbeam; 202, tooth plate; 203, slide rail; 204, mounting frame; 205, reducer; 206, motor; 207, rotating shaft; 208, gear; 209, hydraulic cylinder; 210, mounting plate; 211, cylinder; 3, clamping and bending mechanism; 301, mounting fixed plate; 302, rotating seat; 303, mounting rod; 304, bending frame; 305, intermediate shaft; 306, hydraulic rod; 307, connecting plate; 308, connecting frame; 309, limiting sleeve; 310, sliding limiting block; 311, inner rod; 312, middle plate; 313, bending head; 314, tail rod; 315. Clamping rod; 316. Pressure sensor; 4. Cleaning mechanism; 401. Side plate; 402. Limit rod; 403. Telescopic bag; 404. Stabilizing plate; 405. Limit edge plate; 406. Water block; 407. One-way valve 1; 408. Connecting fixed pipe; 409. Connecting head; 410. One-way valve 2; 411. Connecting fixed pipe; 412. Water trough; 413. Drain pipe; 414. Water tank; 415. Water filling pipe; 416. Threaded cover; 417. Connecting elbow; 418. Sliding connecting plate; 419. Sliding seat; 420. Spray nozzle; 421. Hose; 422. Driving elbow; 423. Sliding track; 5. Camera. DETAILED DESCRIPTION

[0037] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0039] like Figure 1-Figure 12 A bending robot shown in the figure includes a mounting frame 1, which is used to provide a mounting position; a walking adjustment mechanism 2, which is located at the top of the mounting frame 1 and is used for position adjustment and angle adjustment of the structure thereon; a clamping and bending mechanism 3, which is located at the bottom of the walking adjustment mechanism 2 and is used for bending a plate; a cleaning mechanism 4, which is located at the bottom of the mounting frame 1 and is used for cleaning the bent plate; a camera 5, which is located on the inner side of the top of the mounting frame 1 and is used for providing image data; the walking adjustment mechanism 2 is provided at the top of the mounting frame 1, the clamping and bending mechanism 3 is provided at the bottom of the walking adjustment mechanism 2, the cleaning mechanism 4 is fixedly connected to the bottom of the mounting frame 1, and the camera 5 is fixedly connected to the top of the mounting frame 1.

[0040] The walking adjustment mechanism 2 includes a crossbeam 201, which provides an installation position. The two ends of the crossbeam 201 are respectively fixedly connected to the inside of the two ends of the top of the mounting frame 1. A toothed plate 202 is fixedly connected to the top of the crossbeam 201. Both sides of the crossbeam 201 are fixedly connected to slide rails 203. The slide rails 203 provide sliding positions. The outside of the slide rails 203 is slidably connected to a mounting frame 204. The mounting frame 204 can slide on the outside of the slide rails 203. The outer wall of the mounting frame 204 is fixedly connected to a reducer 205. The side of the reducer 205 away from the mounting frame 204 is fixedly and detachably connected to a motor 206. The motor 206 can provide power for movement and can be adjusted using the reducer 205. The output end of the motor 206 is fixedly connected to the input end of the reducer 205. The output end of the reducer 205 is fixedly connected to a rotating shaft 207. The rotating shaft 207 can play a connecting role. The side of the rotating shaft 207 away from the reducer 205 is fixedly connected to a gear 208. The gear 208 can cooperate The toothed plate 202 is moved, and a hydraulic cylinder 209 is fixedly connected to the bottom of the mounting frame 204. The hydraulic cylinder 209 can provide power for the clamping and bending mechanism 3 to move up and down. The output end of the hydraulic cylinder 209 is fixedly connected to a mounting plate 210, and the mounting plate 210 can provide a mounting position. One side of the mounting plate 210 is rotatably connected to a cylinder 211, and the cylinder 211 provides power for adjusting the angle of the clamping and bending mechanism 3. The top of the toothed plate 202 is meshed with the gear 208, and the output end of the cylinder 211 is rotatably connected to one side of the top of the rotating seat 302. The motor 206 is started, and the output end of the motor 206 is decelerated by the reducer 205, and the rotating shaft 207 is driven to rotate by the output end of the reducer 205. After the rotating shaft 207 rotates, the gear 208 can be driven to rotate. After the gear 208 rotates, the toothed plate 202 can be used to drive the mounting frame 204 to move, thereby driving the clamping and bending mechanism 3 to move through the hydraulic cylinder 209 and the mounting plate 210.

[0041] The clamping and bending mechanism 3 includes a mounting plate 301, which provides a mounting position. The top of the mounting plate 301 is fixedly connected to a rotating seat 302, and the top of the rotating seat 302 is rotatably connected to the bottom of the mounting plate 210. Both sides of the mounting plate 301 are fixedly connected to mounting rods 303, which provide power for mounting and rotation. The outside of the mounting rod 303 is rotatably connected to a bending frame 304, which can provide conditions for bending and clamping. The middle part of the bending frame 304 is fixedly connected to an intermediate shaft 305, and one end of the mounting rod 303 is rotatably connected to a hydraulic rod 306, which can drive the bending frame 304 to move toward the middle. The output end of the hydraulic rod 306 is rotatably connected to one end of the intermediate shaft 305, and the middle part of the intermediate shaft 305 is rotatably connected to a connecting plate 307, which can provide a connection function. A connecting frame 308 is rotatably connected between the two connecting plates 307, and the connecting frame 308 provides an installation position. The bottom of the installation fixing plate 301 is fixedly connected to a limiting sleeve 309, and the inner sliding connection of the limiting sleeve 309 is connected to a sliding limiting block 310, which can provide a limiting function. The bottom of the sliding limiting block 310 is fixedly connected to an inner rod 311, and the inner rod 311 cooperates with the limiting sleeve 309 to limit the moving trajectory of the connecting frame 308. The middle part of the connecting frame 308 is fixed The middle plate 312 is fixedly connected, and the bottom of the middle plate 312 is fixedly connected with a bending head 313, and the bending head 313 can press from the middle of the plate to prevent the plate from bending in the wrong position. The bottom of the bending frame 304 is fixedly connected with a tail rod 314, and the bottom of the tail rod 314 is fixedly connected with a clamping rod 315, and the outside of the clamping rod 315 is fixedly connected with a pressure sensor 316. The outside of the inner rod 311 passes through the bottom of the limiting sleeve 309, and the bottom of the inner rod 311 is fixedly connected to the top of the middle plate 312. The hydraulic cylinder 209 is started, and the output end of the hydraulic cylinder 209 extends out, thereby driving the clamping and bending mechanism 3 to move downward. When the clamping and bending mechanism 3 moves to the position of the plate to be bent, Start the hydraulic rod 306, and the output end of the hydraulic rod 306 contracts, thereby driving the intermediate shaft 305 to move toward the middle, and then driving the bending frame 304 to move from both sides to the middle, and then driving the tail rod 314 to move toward the middle, and using the clamping rod 315 and the pressure sensor 316 to bend the plate. When the clamping rod 315 moves toward the middle, it can drive one end of the connecting plate 307 to move toward the middle, and the other end will move downward, and then it can drive the connecting frame 308 to move toward the middle, and use the connecting frame 308 to drive the bending head 313 to move downward, thereby squeezing downward from the middle of the plate, so that the plate can be bent from the middle.

[0042] The cleaning mechanism 4 includes two side panels 401, and the side panels 401 can provide installation positions. The tops of the two side panels 401 are fixedly connected to the two sides of the bottom of the mounting frame 1 respectively. Four limiting rods 402 are fixedly connected between the two side panels 401, and the limiting rods 402 can provide restriction conditions. The inner side of the side panels 401 is fixedly connected with a telescopic bag 403, and the telescopic bag 403 can be expanded and retracted. The outside of the telescopic bag 403 is fixedly connected with a plurality of stabilizing plates 404, and the stabilizing plates 404 can limit the movement trajectory of the telescopic bag 403. The four corners of the plurality of stabilizing plates 404 are slidably connected to the outside of the four limiting rods 402. Two limiting edge plates 405 are slidably connected between the four limiting rods 402, and the limiting edge plates 405 can provide installation positions. A water-passing block 406 is fixedly connected between the limiting edge plates 405, and the water-passing block 406 can squeeze the telescopic bag 403. A one-way valve 407 is fixedly connected to the outer side of the limiting edge plate 405, and the one-way valve 407 can control the on-and-off of the water channel. A connecting fixed pipe 408 is fixedly connected to the side of the one-way valve 407 away from the water-passing block 406, and the connecting fixed pipe 408 can provide an installation position. The outside of the connecting fixed pipe 408 is fixedly connected to the side of the telescopic bag 403 away from the side plate 401. A connector 409 is fixedly connected to the outside of the water-passing block 406, and the connector 409 can provide a connection function. A one-way valve 410 is fixedly connected to the outer side of the side plate 401, and a connecting fixed pipe 411 is fixedly connected to the outer side of the one-way valve 410. The mounting frame 1 is fixedly connected to the bottom of the water tank 414, and the water tank 414 can store water. Both ends of the water tank 414 are fixedly connected to connecting elbows 417, and the connecting elbows 417 can provide a connection function. One end of the connecting elbow 417 close to the side plate 401 is fixedly connected to the outside of the connecting fixed pipe 411. The top side of the mounting frame 1 is fixedly connected to a sliding track 423, and the sliding track 423 can provide sliding conditions. The outside of the sliding track 423 is slidably connected to a sliding seat 419, and a sliding connecting plate 418 is fixedly connected between the outside of the sliding seat 419 and the mounting frame 204. The bottom of the sliding connecting plate 418 is fixedly connected to a driving bent rod 422, and the bottom of the driving bent rod 422 is fixedly connected to the outside of the water-passing block 406. The inner A nozzle 420 is fixedly connected to the top of the nozzle 420, a hose 421 is fixedly connected to the top of the nozzle 420, and the bottom end of the hose 421 is fixedly connected to the outside of the connector 409. A water tank 412 is fixedly connected to the top of the bottom end of the mounting frame 1, a drain pipe 413 is fixedly connected to one side of the water tank 412, a water injection pipe 415 is fixedly connected to one side of the water tank 414, and a threaded cover 416 is threadedly connected to the top of the water injection pipe 415. The movement of the mounting frame 204 can drive the sliding connecting plate 418 to move, and when the sliding connecting plate 418 moves, it can drive the bending rod 422 to move, and driving the bending rod 422 to move can drive the water block 406 to move, and after the water block 406 moves, it can drive the telescopic bag 403 on one side to expand.The other side of the bellows 403 contracts. When the bellows 403 is deployed, the second check valve 410 opens, and the first check valve 407 on the side close to the deployed bellows 403 is closed. Therefore, the cleaning liquid in the water tank 414 is sucked into the inside of the deployed bellows 403 through the connecting elbow 417. When the bellows 403 contracts, the second check valve 410 closes, and the first check valve 407 on the contracted side opens, so that the liquid in the bellows 403 enters the inside of the water block 406, and enters the inside of the hose 421 through the connector 409, and is sprayed out through the nozzle 420, and then the plate can be cleaned.

[0043] A robot flipping and turning control system includes a central control module, which is connected to an execution module and used to control the entire system. The execution module is used for power of automation. The central control module is connected to a data acquisition module and used to collect and transmit various data. The data acquisition module is connected to a data acquisition device and the data acquisition device is used to collect data. The central control module is connected to an operation module and the operation module is used for human-computer interaction.

[0044] The execution module includes an electric motor 206, a hydraulic cylinder 209, a hydraulic rod 306 and a pneumatic cylinder 211. The electric motor 206 is used to provide power for position movement, the hydraulic cylinder 209 is used to provide power for the up and down movement of the clamping and bending mechanism 3, the pneumatic cylinder 211 is used to provide power for angle adjustment of the clamping and bending mechanism 3, the hydraulic rod 306 is used to provide power for the expansion and merging of the bending frame 304, and the data acquisition equipment includes a camera 5 and a pressure sensor 316. The camera 5 is used to provide image data, and the pressure sensor 316 is used to provide pressure data.

[0045] Working principle: When bending a plate, first start the motor 206. The output end of the motor 206 is decelerated by the reducer 205, and the output end of the reducer 205 drives the rotating shaft 207 to rotate. After the rotating shaft 207 rotates, it can drive the gear 208 to rotate. After the gear 208 rotates, the toothed plate 202 can be used to drive the mounting frame 204 to move, so that the clamping and bending mechanism 3 can be driven to move through the hydraulic cylinder 209 and the mounting plate 210. At this time, the image transmitted by the camera 5 is used to determine the position of the bent plate. When the clamping and bending mechanism 3 stops at the position of the plate to be bent, the hydraulic cylinder 209 is started, and the output end of the hydraulic cylinder 209 extends, thereby driving the clamping and bending mechanism 3 to move downward. When After the clamping and bending mechanism 3 moves to the position of the plate to be bent, the hydraulic rod 306 is started, and the output end of the hydraulic rod 306 contracts, thereby driving the intermediate shaft 305 to move toward the middle, and then driving the bending frame 304 to move from both sides to the middle, and then driving the tail rod 314 to move toward the middle, and using the clamping rod 315 and the pressure sensor 316 to bend the plate, when the clamping rod 315 moves toward the middle, it can drive one end of the connecting plate 307 to move toward the middle, and the other end will move downward, and then can drive the connecting frame 308 to move toward the middle, and use the connecting frame 308 to drive the bending head 313 to move downward, so as to squeeze downward from the middle of the plate, so that the plate can be bent from the middle;

[0046] The movement of the mounting frame 204 can drive the sliding connecting plate 418 to move. When the sliding connecting plate 418 moves, it can drive the bending rod 422 to move. Driving the bending rod 422 to move can drive the water flow block 406 to move. After the water flow block 406 moves, it can drive the telescopic bag 403 on one side to expand, while the telescopic bag 403 on the other side to contract. When the telescopic bag 403 is expanded, the one-way valve 2 410 is opened, and the one-way valve 1 407 on the side close to the expanded telescopic bag 403 is closed. Therefore, the cleaning liquid in the water tank 414 is sucked into the interior of the expanded telescopic bag 403 through the connecting elbow 417. When the telescopic bag 403 contracts, the one-way valve 2 410 is closed, and the one-way valve 1 407 on the contracted side is opened, so that the liquid in the telescopic bag 403 enters the interior of the water flow block 406, and enters the interior of the hose 421 through the connecting head 409, and is sprayed out through the nozzle 420, and then the plate can be cleaned.

[0047] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A bending robot, characterized in that: include: A mounting frame (1) for providing a mounting position; A travel adjustment mechanism (2), which is located on the top of the mounting frame (1) and is used for adjusting the position and angle of the structure thereon; A clamping and bending mechanism (3), which is located at the bottom of the travel adjustment mechanism (2) and is used to bend the plate; A cleaning mechanism (4), which is located at the bottom of the mounting frame (1) and is used to clean the bent plate; A camera (5) located on the top inner side of the mounting frame (1) and used to provide image data; A walking adjustment mechanism (2) is arranged at the top of the mounting frame (1), a clamping and bending mechanism (3) is arranged at the bottom of the walking adjustment mechanism (2), a cleaning mechanism (4) is fixedly connected to the bottom of the mounting frame (1), and a camera (5) is fixedly connected to the top of the mounting frame (1); The clamping and bending mechanism (3) comprises a mounting plate (301), the top of the mounting plate (301) is fixedly connected to a rotating seat (302), the top of the rotating seat (302) is rotatably connected to the bottom of the mounting plate (210), both sides of the mounting plate (301) are fixedly connected to mounting rods (303), the outside of the mounting rods (303) is rotatably connected to a bending frame (304), the middle of the bending frame (304) is fixedly connected to an intermediate shaft (305), one end of the mounting rod (303) is rotatably connected to a hydraulic rod (306), the output end of the hydraulic rod (306) is rotatably connected to one end of the intermediate shaft (305), the middle of the intermediate shaft (305) is rotatably connected to a connecting plate (306), and the bottom of the intermediate shaft (305) is rotatably connected to the connecting plate (306). 7), a connecting frame (308) is rotatably connected between the two connecting plates (307), a limiting sleeve (309) is fixedly connected to the bottom of the mounting fixing plate (301), a sliding limiting block (310) is slidably connected inside the limiting sleeve (309), an inner rod (311) is fixedly connected to the bottom of the sliding limiting block (310), a middle plate (312) is fixedly connected to the middle of the connecting frame (308), a bending head (313) is fixedly connected to the bottom of the middle plate (312), a tail rod (314) is fixedly connected to the bottom of the bending frame (304), a clamping rod (315) is fixedly connected to the bottom of the tail rod (314), and a pressure sensor (316) is fixedly connected to the outside of the clamping rod (315).

2. A bending robot according to claim 1, characterized in that: The walking adjustment mechanism (2) comprises a crossbeam (201), the two ends of the crossbeam (201) are respectively fixedly connected to the inside of the two ends of the top of the mounting frame (1), the top of the crossbeam (201) is fixedly connected to a toothed plate (202), both sides of the crossbeam (201) are fixedly connected to slide rails (203), the outside of the slide rails (203) is slidably connected to a mounting frame (204), the outer wall of the mounting frame (204) is fixedly connected to a reducer (205), and the reducer (205) is fixedly and detachably connected to a side away from the mounting frame (204). An electric motor (206) is provided, the output end of the electric motor (206) being fixedly connected to the input end of the reducer (205), the output end of the reducer (205) being fixedly connected to a rotating shaft (207), a side of the rotating shaft (207) away from the reducer (205) being fixedly connected to a gear (208), a bottom of the mounting frame (204) being fixedly connected to a hydraulic cylinder (209), an output end of the hydraulic cylinder (209) being fixedly connected to a mounting plate (210), and one side of the mounting plate (210) being rotatably connected to a cylinder (211).

3. A bending robot according to claim 1, characterized in that: The cleaning mechanism (4) comprises two side plates (401), the tops of the two side plates (401) are respectively fixedly connected to the two sides of the bottom of the mounting frame (1), four limit rods (402) are fixedly connected between the two side plates (401), a telescopic bag (403) is fixedly connected to the inner side of the side plate (401), a plurality of stabilizing plates (404) are fixedly connected to the outside of the telescopic bag (403), four corners of the plurality of stabilizing plates (404) are slidably connected to the outside of the four limit rods (402), and the four limit rods (402) are slidably connected to each other. There are two limiting edge plates (405), a water flow block (406) is fixedly connected between the two limiting edge plates (405), a one-way valve (407) is fixedly connected to the outside of the limiting edge plate (405), a connecting fixing pipe (408) is fixedly connected to the side of the one-way valve (407) away from the water flow block (406), the outside of the connecting fixing pipe (408) is fixedly connected to the side of the telescopic bag (403) away from the side plate (401), the outside of the water flow block (406) is fixedly connected to a connector (409), and the side plate (401) is fixedly connected to the outside of the water flow block (406). A second one-way valve (410) is fixedly connected to the outside of the second one-way valve (410), and a connecting fixed pipe (411) is fixedly connected to the outside of the second one-way valve (410). A water tank (414) is fixedly connected to the bottom of the mounting frame (1), and both ends of the water tank (414) are fixedly connected to connecting elbows (417). One end of the connecting elbow (417) close to the side plate (401) is fixedly connected to the outside of the connecting fixed pipe (411). A sliding track (423) is fixedly connected to one side of the top of the mounting frame (1), and a sliding track (423) is slidably connected to the outside of the connecting fixed pipe (411). A sliding connection plate (418) is fixedly connected between the outside of the sliding seat (419) and the mounting frame (204), a driving bent rod (422) is fixedly connected to the bottom of the sliding connection plate (418), the bottom of the driving bent rod (422) is fixedly connected to the outside of the water flow block (406), a nozzle (420) is fixedly connected to the inside of the sliding connection plate (418), a hose (421) is fixedly connected to the top of the nozzle (420), and the bottom end of the hose (421) is fixedly connected to the outside of the connection head (409).

4. A bending robot according to claim 3, characterized in that: A water receiving trough (412) is fixedly connected to the top of the bottom end of the mounting frame (1), and a drainage pipe (413) is fixedly connected to one side of the water receiving trough (412).

5. A bending robot according to claim 3, characterized in that: A water injection pipe (415) is fixedly connected to one side of the water tank (414), and a threaded cover (416) is threadedly connected to the top of the water injection pipe (415).

6. A bending robot according to claim 2, characterized in that: The top of the toothed plate (202) is meshedly connected to the gear (208), and the output end of the cylinder (211) is rotatably connected to one side of the top of the rotating seat (302).

7. The bending robot according to claim 1, characterized in that: The exterior of the inner rod (311) passes through the bottom of the limiting sleeve (309), and the bottom of the inner rod (311) is fixedly connected to the top of the middle plate (312).

8. A robot turning and bending control system, a bending robot according to any one of claims 1 to 7, comprising a central control module, characterized in that: The central control module is connected to the execution module, the central control module is used to control the entire system, the execution module is used for automated power, the central control module is connected to the data acquisition module, the data acquisition module is used to collect and transmit various data, the data acquisition module is connected to the data acquisition device, the data acquisition device is used to collect data, the central control module is connected to the operation module, and the operation module is used for human-computer interaction.

9. A robot turning control system according to claim 8, characterized in that: The execution module comprises an electric motor (206), a hydraulic cylinder (209), a hydraulic rod (306) and a pneumatic cylinder (211); the electric motor (206) is used to provide power for position movement; the hydraulic cylinder (209) is used to provide power for the clamping and bending mechanism (3) to move up and down; the pneumatic cylinder (211) is used to provide power for angle adjustment of the clamping and bending mechanism (3); the hydraulic rod (306) is used to provide power for the bending frame (304) to unfold and merge; the data acquisition device comprises a camera (5) and a pressure sensor (316); the camera (5) is used to provide image data; and the pressure sensor (316) is used to provide pressure data.

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