Tool changing mechanism, bending machine based on the tool changing mechanism, and bending method

Abstract

The present invention relates to the technical field of bending processing, and specifically to a tool changing mechanism, a bending machine based on the tool changing mechanism, and a bending method. It includes a tool magazine, a variable track, and a tool picking robot for transporting tools between the tool magazine and the variable track. The variable track is provided with a mounting groove for mounting and conveying an upper knife or a lower knife; when the variable track is docked with an upper knife beam, it is used for performing an upper knife tool changing operation; when the variable track is docked with a lower knife beam, it is used for performing a lower knife tool changing operation. The present invention docks with an upper knife beam or a lower knife beam respectively through a variable track, and cooperates with a tool picking and placing trolley to convey the upper knife or the lower knife to a designated position on the upper knife beam or the lower knife beam respectively, while the tool changing mechanism and the outside of the bending machine, and the tool changing mechanism and the bending machine exist independently. When the tool changing mechanism is accidentally damaged, it does not affect the continued use of the bending machine.

Description

Technical Field

[0001] The present invention relates to the technical field of bending processing, and in particular to a tool changing mechanism, a bending machine based on the tool changing mechanism, and a bending method. Background Art

[0002] The bending machine is a special equipment for bending sheet metal. When bending sheet metal of different sizes or thicknesses, it is necessary to adapt the upper blade on the upper blade beam and the lower blade on the lower blade beam of the bending machine. At present, the more advanced bending machines are equipped with automatic tool changing devices, which are used to remove the tools on the upper blade beam and the lower blade beam and replace them with new tools during the production changeover to adapt to the sheet metal parts being processed in the re-bending operation.

[0003] Most of the existing bending machines with tool changing function realize the rotation between fixed tool combinations, such as an end bending machine with automatic tool changing disclosed in Chinese patent publication number CN216226263U, which realizes automatic tool changing of the bending frame by setting an automatic tool changing frame on the gantry, that is, the motor drives the support shaft to flip through the gear belt, so as to realize the flipping of the bending tool head mounting blocks on both sides of the support shaft. It is impossible to replace the number and position of the tools in a single tool group. That is, it is impossible to adjust a single tool combination.

[0004] Compared with the above-mentioned patents, Chinese patent publication number CN115365335A discloses a high-precision intelligent tool magazine bending center and its bending method. The rotating mechanism in the combined tool magazine device can drive the rotating push knife block to rotate, and push the rotating push knife block into connection with the blade knife through the horizontal push knife mechanism. Then, under the action of the rotating mechanism, the blade knife connected to the rotating push knife block is rotated, thereby completing the tool changing operation to adjust the position of the blade knife. The combined tool magazine device can automatically adjust the position and length of the blade knife to achieve a blade knife group of any length.

[0005] Another example is a tool changing system for a bending machine disclosed in Chinese Patent Publication No. CN220311510U, which replaces or adjusts the length or position of a tool on an upper tool beam through a first tool changing mechanism and a second tool changing mechanism.

[0006] The existing technologies that can adjust the tool length or position are only for bending machines that only need to replace the upper tool, that is, simply replace or adjust the tool on the upper tool beam. The tool changing structure is generally integrated inside the bending machine, resulting in a more complex structure and a higher failure rate. If there is a problem with the tool changing mechanism, the entire equipment needs to be shut down for maintenance, so that processing cannot continue.

[0007] Based on the shortcomings of the tool changing device in the current prior art that can achieve changes in tool length and position in a bending machine, the present application aims to provide a tool changing mechanism, a bending machine based on the tool changing mechanism, and a bending method. Summary of the invention

[0008] In view of the above problems, a tool changing mechanism, a bending machine based on the tool changing mechanism and a bending method are provided. The tool changing mechanism is connected to the upper tool beam or the lower tool beam through a variable track, and the upper tool or the lower tool is transported to the specified position on the upper tool beam or the lower tool beam respectively in cooperation with the tool pick-up and placement trolley. The tool changing mechanism is external to the bending machine, and the tool changing mechanism and the bending machine exist independently. When the tool changing mechanism is accidentally damaged, it will not affect the continued use of the bending machine.

[0009] In order to solve the problems of the prior art, the present invention provides a tool changing mechanism, including a tool magazine, a variable track and a tool picking robot for transporting tools between the tool magazine and the variable track, wherein a mounting slot for mounting and conveying an upper knife or a lower knife is provided on the variable track; when the variable track is docked with an upper knife beam, it is used for performing an upper knife changing operation; when the variable track is docked with a lower knife beam, it is used for performing a lower knife changing operation; the variable track also includes a direction switching mechanism for driving the variable track to flip around a horizontal axis, when the direction switching mechanism drives the variable track to flip to a downwardly disposed mounting slot, the variable track is docked with the upper knife beam for performing an upper knife changing operation; when the direction switching mechanism drives the variable track to flip to a upwardly disposed mounting slot, the variable track is docked with the lower knife beam for performing a lower knife changing operation.

[0010] Preferably, the mounting groove comprises an upper knife mounting groove for mounting an upper knife and a lower knife mounting groove for mounting a lower knife, the upper knife mounting groove and the lower knife mounting groove are symmetrically arranged relative to a horizontal plane, and the upper knife mounting groove is located below the lower knife mounting groove.

[0011] Preferably, the variable track has an upper docking position and a lower docking position in the vertical direction; the tool changing mechanism also includes a first track changing driving mechanism for driving the variable track to change position between the upper docking position and the lower docking position.

[0012] Preferably, the variable track includes a first fixed track, a second fixed track and a revolving track docked between the first fixed track and the second fixed track. When both ends of the revolving track are docked with the first fixed track and the second fixed track respectively, the first fixed track, the revolving track and the second fixed track are docked in a straight line in sequence.

[0013] Preferably, the circulating track has a first working position docking with the first fixed track and the second fixed track and a second working position docking with the tool picking robot, and the automatic tool changing device also includes a second track changing drive mechanism for driving the circulating track to change position between the first working position and the second working position.

[0014] Preferably, each variable track has one turnover track; or, each variable track has at least two turnover tracks.

[0015] Preferably, when there are at least two revolving tracks, the two revolving tracks rotate synchronously around a vertical axis to change positions between the first working position and the second working position; or, the two revolving tracks rotate synchronously around a horizontal axis to change positions between the first working position and the second working position.

[0016] A bending machine comprises the tool changing mechanism in the above solution.

[0017] A bending method, including the bending machine in the above scheme, comprises the following steps:

[0018] S1: First, the staff selects a tool of appropriate length or shape according to the size or thickness of the product. The variable track moves to the second working position. The tool-picking robot pushes the tool in the tool magazine into the variable track. The variable track moves to the first working position, and the second track docks with the upper tool beam or the lower tool beam.

[0019] S2: The pick-up and place tool trolley moves between the variable tracks, pushes the upper tool or lower tool on the variable track into the upper tool beam or lower tool beam, and gradually installs the upper tool or lower tool on the bending machine according to the above steps.

[0020] S3: The staff inserts the product to be processed between the upper knife and the lower knife of the bending machine by manual or automatic loading. The upper knife and the lower knife are brought close to each other under the action of the hydraulic system to bend the edge of the product to be processed into shape.

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

[0022] (1) The present invention adopts a variable track to connect the upper tool beam and the lower tool beam, and cooperates with a tool pick-up and placement trolley to achieve rapid and accurate tool replacement, greatly shorten the tool change time, and improve production efficiency. The tool changing mechanism can independently complete the tool replacement task, so that the bending machine can adapt to more types and more complex processing tasks, and enhance production flexibility. Since the tool changing mechanism exists independently of the bending machine, when the tool changing mechanism fails, it will not affect the normal use of the bending machine, thereby ensuring the continuity and stability of production.

[0023] (2) The tool changing mechanism of the present invention adopts an adaptive adjustment mechanism, which can automatically adjust the relative position between the upper tool beam and the lower tool beam according to the tool replacement situation to ensure accurate alignment between the tools. This mechanism reduces the error caused by manual adjustment and improves the processing accuracy.

[0024] (3) The present invention adopts a modular tool design, which allows the tools to be flexibly combined and replaced. Tool modules of different lengths, shapes and materials can be quickly replaced according to processing requirements to meet the bending requirements of different sheet metal parts. This design not only improves the utilization rate of the tool, but also reduces the tool cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a first structural schematic diagram of a tool changing mechanism of the present invention having two variable tracks docking with an upper tool beam and a lower tool beam.

[0026] Figure 2 It is a first structural schematic diagram of a bending machine based on the tool changing mechanism of the present invention.

[0027] Figure 3 It is a second structural schematic diagram of a bending machine based on the tool changing mechanism of the present invention.

[0028] Figure 4 It is a structural schematic diagram of a tool changing mechanism of the present invention having a variable track and the variable track moving between an upper docking position and a lower docking position.

[0029] Figure 5 It is a structural schematic diagram of a tool changing mechanism of the present invention when a variable track is flipped around a horizontal axis.

[0030] Figure 6 It is a structural schematic diagram of a turnover track in a variable track of a tool changing mechanism of the present invention moving between a first working position and a second working position.

[0031] Figure 7 It is a second structural schematic diagram of a tool changing mechanism of the present invention having two variable tracks respectively docked with an upper tool beam and a lower tool beam.

[0032] Figure 8 It is a structural schematic diagram of a tool changing mechanism of the present invention that synchronously rotates around a vertical axis to change position between a first working position and a second working position.

[0033] Fig. 9 It is a first three-dimensional structural schematic diagram of a tool-taking robot of a tool-changing mechanism of the present invention.

[0034] Fig.10 It is a second stereoscopic structural schematic diagram of a tool-picking robot of a tool-changing mechanism of the present invention.

[0035] Fig.11 A tool changing mechanism of the present invention Figure 1 Enlarged structural diagram at A in the middle.

[0036] Fig.12It is a structural schematic diagram of a tool changing mechanism of the present invention when only the second fixed track is transferred.

[0037] The numbers in the figure are: 100, variable track; 100a, first fixed track; 100b, turnover track; 100c, second fixed track; 100d, tool pick-up and placement trolley; 100e, upper tool mounting slot; 100f, lower tool mounting slot; 100-1, upper variable track; 100-2, lower variable track; 101, tool magazine; 102, bending machine; 102a, lower tool beam; 102b, upper tool beam; 103, tool pick-up robot; 1031, reciprocating linear motion mechanism; 10311, first lead screw; 10312, first driven wheel; 10313, first driving wheel; 10314, first drive motor; 1032, lifting mechanism; 10321, support plate; 10322, second lead screw; 10323, second driven wheel; 10324, second drive motor; 10325, second driving wheel. DETAILED DESCRIPTION

[0038] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0039] Reference Figure 1 , Figure 2 and Figure 3 A tool changing mechanism shown in the figure includes a tool magazine 101, a variable track 100 and a tool picking robot 103 for transporting tools between the tool magazine 101 and the variable track 100. The variable track 100 is provided with a mounting groove for mounting and conveying an upper knife or a lower knife. When the variable track 100 is docked with an upper knife beam 102b, it is used for performing an upper knife tool changing operation. When the variable track 100 is docked with a lower knife beam 102a, it is used for performing a lower knife tool changing operation. The variable track 100 is also provided with a tool picking and placing trolley 100d that moves back and forth on the variable track 100. The tool picking and placing trolley 100d has a picking and placing head that can contact the upper knife or the lower knife.

[0040] The pick-and-place head is a mechanical gripper. As another form of the pick-and-place head, the front end of the pick-and-place head has a pneumatic suction cup. As a more complex combination, the pick-and-place head can be a mechanical gripper and a pneumatic suction cup.

[0041] refer to Figure 4 As shown, the mounting groove includes an upper knife mounting groove 100e for mounting an upper knife and a lower knife mounting groove 100f for mounting a lower knife. The upper knife mounting groove 100e and the lower knife mounting groove 100f are symmetrically arranged relative to a horizontal plane, and the upper knife mounting groove 100e is located below the lower knife mounting groove 100f.

[0042] As the first specific embodiment of the variable track 100 in the present invention, refer to Figure 4 As shown, the variable track 100 has an upper docking position and a lower docking position in the vertical direction; the tool changing mechanism also includes a first track changing drive mechanism for driving the variable track 100 to change position between the upper docking position and the lower docking position. The first track changing drive mechanism may be a linear drive, that is, driving the variable track 100 to move linearly between the upper docking position and the lower docking position. Specifically, the variable track 100 may have a base, and the first track changing drive mechanism is a hydraulic lifting mechanism 1032 or an electric drive mechanism for driving the base to rise and fall. Both the hydraulic lifting mechanism 1032 and the electric drive mechanism are obviously prior art, and will not be described in detail in this application. Similarly, the first track changing drive mechanism can drive the variable track to move non-linearly between the upper docking position and the lower docking position, such as moving along a curved trajectory, which will not be described in detail in this application.

[0043] refer to Figure 5 As shown, the variable track 100 also includes a direction switching mechanism that drives the variable track 100 to flip around the horizontal axis. When the direction switching mechanism drives the variable track 100 to flip to the mounting slot to be set downward, the variable track 100 docks with the upper knife beam 102b to perform an upper knife change operation; when the direction switching mechanism drives the variable track 100 to flip to the mounting slot to be set upward, the variable track 100 docks with the lower knife beam 102a to perform a lower knife change operation. The direction switching mechanism can use a rotary drive, that is, drive the variable track 100 between the upper docking position and the lower docking position. Conversion, specifically, the variable track 100 is installed on a rotating disk, and the direction switching mechanism drives the rotating disk to rotate the variable track 100, and this direction switching structure can use a driving motor, or a mechanism in which a motor drives a rack to drive a gear to rotate. As long as it is a mechanism with a rotating function, it can be applicable, and the direction switching mechanism should also have a lifting function. To realize the lifting function, a cylinder drive or a screw drive can be used. As long as the structure has a lifting function, it can be applicable. The lifting function enables the variable track 100 to dock with the upper knife beam 102b and the lower knife beam 102a respectively.

[0044] When the variable track 100 is docked with the upper knife beam 102b, it is used to pick up and place the upper knife. When the upper knife is to be installed on the upper knife beam 102b of the bending machine 102, the knife pick-up and placement trolley 100d moves to the upper knife, and fixes the upper knife by a pneumatic suction cup or a mechanical claw. The knife pick-up and placement trolley 100d pushes the upper knife to move to the upper knife beam 102b for fixation. When the upper knife is to be taken out, the pneumatic suction cup contacts the side of the upper knife, or the mechanical claw is used to clamp the side of the upper knife, and the knife pick-up and placement trolley 100d pulls the upper knife from the upper knife beam 102b to the variable track 100.

[0045] When the variable track 100 is flipped and docked with the lower knife beam 102a through the switching mechanism, it is used to pick up and place the lower knife. When the lower knife is to be installed on the lower knife beam 102a of the bending machine 102, the knife pick-up and placement trolley 100d moves to the lower knife, and the upper knife is fixed by a pneumatic suction cup or a mechanical claw. The knife pick-up and placement trolley 100d pushes the lower knife to move to the lower knife beam 102a for fixation. When the lower knife is to be taken out, the pneumatic suction cup contacts the side of the lower knife, or the mechanical claw is used to clamp the side of the lower knife, and the knife pick-up and placement trolley 100d pulls the lower knife from the lower knife beam 102a to the variable track 100.

[0046] As a second specific embodiment of the variable track 100 in the present invention, the variable track 100 includes a first fixed track 100a, a second fixed track 100c and a revolving track 100b docked between the first fixed track 100a and the second fixed track 100c. When the two ends of the revolving track 100b are docked with the first fixed track 100a and the second fixed track 100c respectively, the first fixed track 100a, the revolving track 100b and the second fixed track 100c are docked in a straight line in sequence, and the pick-up and placement trolley 100d is in a standby position in the second fixed track 100c. State, when they are straightly connected, the knife picking and placing trolley 100d can move smoothly on the variable track 100, more specifically, especially when loading the knife, the knife picking and placing trolley 100d needs to move from the first fixed track to the second fixed track 100c to send the tool into the upper knife beam 102b or the lower knife beam 102a. Therefore, if the knife picking and placing trolley 100d is parked on the second fixed track 100c or the revolving track 100b, the knife loading action cannot be achieved, so it needs to stay at the first fixed track 100a in advance. This state is the standby state of the knife picking and placing trolley 100d.

[0047] refer to Figure 6 and Figure 8 As shown, the revolving track 100b has a first working position docked with the first fixed track 100a and the second fixed track 100c and a second working position docked with the tool picking robot, and the automatic tool changing device also includes a second track changing drive mechanism for driving the revolving track 100b to change position between the first working position and the second working position. It should be noted that since two variable tracks 100 are set, the revolving track 100b in each variable track 100 should have a first working position and a second working position. The specific purpose of its setting is the same as the purpose of setting the first working position and the second working position in the first specific embodiment of the aforementioned variable track 100, which will not be repeated here.

[0048] refer to Figure 7As shown, there are two variable rails 100, including an upper variable rail 100-1 connected to the upper blade beam 102b and a lower variable rail 100-2 connected to the lower blade beam 102a. It should be noted that the upper variable rail 100-1 and the lower variable rail 100-2 are symmetrically arranged.

[0049] The tool changing process includes a tool loading action and a tool unloading action; in the tool loading action, the tool picking robot 103 takes an upper knife or a lower knife from the tool magazine, and transports the upper knife or the lower knife to the turnover track 100b of the variable track 100, and the upper knife or the lower knife is pushed onto the upper knife beam 102b or the lower knife beam 102a through the first fixed track 100a by the tool picking and placing trolley 100d; in the tool unloading action, the tool picking and placing trolley 100d passes through the second fixed track 100c, the turnover track 100b and the first fixed track 100a once, then enters the upper knife beam 102b or the lower knife beam 102a, grabs the upper knife or the lower knife, and transports the upper knife or the lower knife to the turnover track 100b.

[0050] Each variable track 100 has one revolving track 100b; or, each variable track 100 has at least two revolving tracks 100b, when there is only one revolving track 100b, the revolving track 100b moves between the first working position and the second working position. When there are two revolving tracks 100b, the two revolving tracks 100b simultaneously replace positions between the first working position and the second working position.

[0051] When there are at least two revolving tracks 100b, as a first specific embodiment in which the two revolving tracks 100b simultaneously replace the position between the first working position and the second working position, the two revolving tracks 100b change the position between the first working position and the second working position around a vertical axis or rotate synchronously; as a second specific embodiment in which the two revolving tracks 100b simultaneously replace the position between the first working position and the second working position, the two revolving tracks 100b synchronously rotate around a horizontal axis to change the position between the first working position and the second working position. It should be noted that since two variable tracks 100 are set, the revolving track 100b in each variable track 100 should have a first working position and a second working position. The specific purpose of its setting is the same as the purpose of setting the first working position and the second working position in the first specific embodiment of the aforementioned variable track 100, which will not be repeated here.

[0052] refer to Fig. 9 , Fig.10 , Fig.11As shown, in the specific embodiment 1: when there are two variable tracks 100, they include an upper variable track 100-1 docking with the upper knife beam 102b and a lower variable track 100-2 docking with the lower knife beam 102a, there are also two turnover tracks 100b, which are docked with the upper and lower first fixed tracks 100a and the second fixed track 100c respectively. There are material taking and placing trolleys on the two variable tracks 100. When the knife on the upper knife beam 102b or the lower knife beam 102a is to be taken out, one end of the two material taking and placing trolleys contacts the upper knife or the lower knife, The upper knife or the lower knife is taken out by a suction cup or a mechanical claw, and the upper knife or the lower knife is transferred to the circulating track 100b. The two circulating tracks 100b respectively transfer the upper knife or the lower knife from the first working position to the second working position. At this time, the knife-taking robot 103 has two, which respectively take and place the upper knife or the lower knife on the circulating track 100b, transfer the upper knife or the lower knife on the circulating track 100b to the tool magazine 101, or transfer the upper knife or the lower knife in the tool magazine 101 to the circulating track 100b.

[0053] The revolving track 100b rotates synchronously around a vertical axis to change its position between the first working position and the second working position. The revolving track 100b adopts a turntable structure. The turntable is rectangular. The revolving track 100b can be designed as one, or four distributed on the four sides of the turntable, and a rotating drive mechanism is also installed at the bottom of the turntable. This rotating drive mechanism can adopt a driving motor, or a reduction motor, or a cylinder-driven rack-driven gear-driven mechanism, etc., which belong to the prior art and will not be repeated in this application.

[0054] The material picking robot includes a reciprocating linear motion mechanism 1031, a lifting mechanism 1032, and a material picking and placing trolley installed on the lifting mechanism 1032. The reciprocating linear motion is used to move the lifting mechanism 1032 between the tool magazine 101 and the turnover track 100b. The reciprocating linear motion mechanism 1031 includes a first lead screw 10311, a first driven wheel 10312 installed on the lead screw, a first driving wheel 10313, and a first drive motor 10314. The output of the first drive motor 10314 The output end is connected to the first driving wheel 10313, and the first driving wheel 10313 is connected to the first driven wheel 10312 through a belt. When the first driving motor 10314 rotates, it drives the first driving wheel 10313 to rotate, and then the first lead screw 10311 rotates through the rotation of the belt, and then the lifting mechanism 1032 is driven to move between the tool magazine 101 and the circulating track 100b. The reciprocating linear motion mechanism 1031 is also equipped with a slide rail for keeping the lifting mechanism 1032 in linear motion.

[0055] The lifting mechanism 1032 includes a support plate 10321, which is movably connected to the first lead screw 10311 through a threaded sleeve, a second lead screw 10322 is vertically arranged at the center of the support plate 10321, a second driven wheel 10323 is fixed to one end of the second lead screw 10322, and a second drive motor 10324 is fixed to one side of the support plate 10321 through bolts, a second driving wheel 10325 is fixedly connected to the output end of the second drive motor 10324, the second driving wheel 10325 and the second driven wheel 10323 are connected to each other through a belt, a movable plate is connected to the second lead screw 10322 through a threaded sleeve, and a slide rail is symmetrically installed on the support plate 10321, and the slide rail is used to make the movable plate reciprocate up and down, when the second drive motor 10324 rotates, the second drive motor 10324 rotates the second driving wheel 10325, The second driving wheel 10325 drives the second driven wheel 10323 to rotate through the belt, thereby rotating the second screw 10322, and the second screw 10322 causes the movable plate to move up and down. When the movable plate moves up and down, the material picking and placing trolley on the movable plate moves up and down in the tool magazine 101, and the movable plate is provided with a groove corresponding to the upper knife or the lower knife, the groove on the movable plate is used to dock with the upper knife or the lower knife, and when the movable plate moves to the turnover track 100b and docks with the turnover track 100b, the groove on the movable plate docks with the mounting groove on the turnover track 100b, and the groove on the movable plate supports the knife or the lower knife. There is a driving wheel inside the material picking and placing trolley for driving the material picking and placing trolley to move, and the material picking and placing trolley reciprocates on the movable plate and the turnover track 100b, moves the upper knife or the lower knife on the turnover track 100b to the movable plate, or pushes the upper knife or the lower knife on the movable plate onto the turnover track 100b.

[0056] Reciprocating linear motion can be achieved by using a mechanism in which a motor, gears and racks cooperate with each other, or by using a linear module, or by using a pneumatic slide, etc. Whether it is a mechanism in which a motor, gears and racks cooperate with each other, or by using a linear module, or by using a pneumatic slide, they all belong to the prior art and will not be described in detail in this application.

[0057] The lifting mechanism 1032 can also adopt a mechanism in which a motor, a gear and a rack cooperate with each other, or a linear module, or a pneumatic slide, etc. Whether it is a mechanism in which a motor, a gear and a rack cooperate with each other, or a linear module, or a pneumatic slide, they all belong to the existing technology and will not be repeated in this application.

[0058] A cylinder can be used as a power source between the moving plate and the material picking and placing trolley thereon, or other linear mechanisms can be used to drive the material picking and placing trolley to move on the moving plate and the turnover track 100b.

[0059] Specific embodiment two: When the two circulating rails 100b rotate synchronously around a horizontal axis to change position between the first working position and the second working position, at this time, the circulating rail 100b is connected with the first fixed rail 100a and the second fixed rail 100c in a straight line, and the circulating rail 100b is in a horizontal state between the second working positions. At this time, the lifting mechanism 1032 has an angle adjustment mechanism for changing the direction of the material picking and placing trolley thereon, and the material picking and placing trolley transfers the upper or lower knife on the circulating rail 100b to the tool magazine 101, or transfers the upper or lower knife in the tool magazine 101 to the circulating rail 100b.

[0060] refer to Fig.12 As shown, specific embodiment three: the variable track 100 is only designed with a second fixed track 100c, and the material picking and placing trolley is at one end of the second track. The second fixed track 100c has the function of docking with the upper knife beam 102b and the lower knife beam 102a. The second fixed track 100c also has a third track-changing drive mechanism that enables it to dock with the first upper knife beam 102b or the lower knife beam 102a. The third track-changing drive mechanism can adopt a mechanism in which a motor, a gear and a rack cooperate with each other, or a linear module, or a pneumatic slide, etc. Whether it is a mechanism in which a motor, a gear and a rack cooperate with each other, or a linear module, or a pneumatic slide, etc., they all belong to the prior art and will not be repeated in this application. The second fixed track 100c also has a position that enables it to move to the tool magazine 101. At this time, as another embodiment, a material picking robot may not be required, and the third track-changing drive mechanism may be used. The second fixed rail 100c can rotate. At this time, the rotation function can use a dividing plate to make the second fixed rail 100c correspond to the mounting tool position of the tool magazine 101. At this time, the material picking and unloading trolley moves directly on the second fixed rail 100c, and the material picking and unloading trolley directly contacts the upper knife or the lower knife through the pneumatic suction cup, or uses a mechanical claw to grab the upper knife or the lower knife, and directly pulls the upper knife or the lower knife into the second fixed rail 100c. In order to make the second fixed rail 100c move between the tool magazine 101 and the upper knife beam 102b and the lower knife beam 102a, a moving ground rail should be pre-set on the second fixed rail 100c. Of course, the transfer trolley can also be directly used. Any device that can realize the movement of the second fixed rail 100c between the tool magazine 101 and the upper knife beam 102b or the lower knife beam 102a will do.

[0061] Specific embodiment four: In order to facilitate tool changing, variable guide rails may not be used, and only a material picking robot may be used. The material picking robot can directly grab the tools in the tool magazine 101, and the material picking robot has the function of moving between the upper tool beam 102b and the lower tool beam 102a in the tool magazine 101. Any mechanism that can enable the material picking robot to move between the upper tool beam 102b and the lower tool beam 102a in the tool magazine 101 can be used.

[0062] A bending machine comprises the tool changing mechanism in the above solution.

[0063] A bending method, including the bending machine in the above scheme, comprises the following steps:

[0064] S1: First, the staff selects a tool of appropriate length or shape according to the size or thickness of the product, the variable track 100 moves to the second working position, the tool-picking robot 103 pushes the tool in the tool magazine 101 into the variable track 100, the variable track 100 moves to the first working position, and the second track docks with the upper tool beam 102b or the lower tool beam 102a.

[0065] S2: The pick-up and placement trolley 100d moves between the variable track 100, pushes the upper knife or the lower knife on the variable track 100 into the upper knife beam 102b or the lower knife beam 102a, and gradually installs the upper knife or the lower knife onto the bending machine 102 according to the above steps.

[0066] S3: The staff inserts the product to be processed between the upper knife and the lower knife of the bending machine 102 by manual or automatic loading. The upper knife and the lower knife are brought close to each other under the action of the hydraulic system to bend the edge of the product to be processed into shape.

[0067] The above embodiments only express one or several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A tool changing mechanism, characterized in that: The invention comprises a tool magazine (101), a variable track (100), and a tool taking robot (103) for transporting tools between the tool magazine (101) and the variable track (100); a mounting groove for mounting and transporting an upper knife or a lower knife is provided on the variable track (100); when the variable track (100) is docked with an upper knife beam (102b), it is used for performing an upper knife replacement operation; when the variable track (100) is docked with a lower knife beam (102a), it is used for performing a lower knife replacement operation; The variable track (100) further comprises a direction switching mechanism for driving the variable track (100) to flip around a horizontal axis; when the direction switching mechanism drives the variable track (100) to flip to a position where the mounting slot is facing downward, the variable track (100) docks with the upper knife beam (102b) to perform an upper knife replacement operation; when the direction switching mechanism drives the variable track (100) to flip to a position where the mounting slot is facing upward, the variable track (100) docks with the lower knife beam (102a) to perform a lower knife replacement operation; The direction switching mechanism also has a lifting function, and the lifting function enables the variable track (100) to dock with the upper knife beam (102b) and the lower knife beam (102a) respectively.

2. A tool changing mechanism according to claim 1, characterized in that: The mounting groove comprises an upper knife mounting groove (100e) for mounting an upper knife and a lower knife mounting groove (100f) for mounting a lower knife. The upper knife mounting groove (100e) and the lower knife mounting groove (100f) are symmetrically arranged relative to a horizontal plane, and the upper knife mounting groove (100e) is located below the lower knife mounting groove (100f).

3. A tool changing mechanism according to claim 2, characterized in that: The variable track (100) has an upper docking position and a lower docking position in the vertical direction; the tool changing mechanism further comprises a first track changing driving mechanism for driving the variable track (100) to change position between the upper docking position and the lower docking position.

4. A tool changing mechanism according to any one of claims 1 to 3, characterized in that: The variable track (100) comprises a first fixed track (100a), a second fixed track (100c) and a revolving track (100b) connected between the first fixed track (100a) and the second fixed track (100c); when two ends of the revolving track (100b) are connected to the first fixed track (100a) and the second fixed track (100c) respectively, the first fixed track (100a), the revolving track (100b) and the second fixed track (100c) are connected in sequence in a straight line.

5. A tool changing mechanism according to claim 4, characterized in that: The revolving track (100b) has a first working position connected to the first fixed track (100a) and the second fixed track (100c) and a second working position connected to the tool taking robot. The automatic tool changing device also includes a second track changing driving mechanism for driving the revolving track (100b) to change position between the first working position and the second working position.

6. A tool changing mechanism according to claim 5, characterized in that: Each variable track (100) has one revolving track (100b); or each variable track (100) has at least two revolving tracks (100b).

7. A tool changing mechanism according to claim 6, characterized in that: When there are at least two revolving tracks (100b), The two revolving tracks (100b) rotate around a vertical axis or synchronously to change position between a first working position and a second working position; Alternatively, the two revolving tracks (100b) rotate synchronously around a horizontal axis to change position between the first working position and the second working position.

8. A bending machine, characterized in that: The invention comprises the tool changing mechanism described in any one of claims 1 to 7.

9. A bending method, used in the bending machine as claimed in claim 8, comprising the following steps: S1: First, the staff selects a tool of suitable length or shape according to the size or thickness of the product, the variable track (100) moves to the second working position, the tool taking robot (103) pushes the tool in the tool magazine (101) into the variable track (100), the variable track (100) moves to the first working position, and the second track is connected to the upper tool beam (102b) or the lower tool beam (102a); S2: the pick-up and placement trolley (100d) moves between the variable track (100), pushes the upper knife or the lower knife on the variable track (100) into the upper knife beam (102b) or the lower knife beam (102a), and gradually installs the upper knife or the lower knife onto the bending machine (102) according to the above steps; S3: A worker inserts the product to be processed between the upper knife and the lower knife of the bending machine (102) by manual or automatic loading. The upper knife and the lower knife are brought closer to each other under the action of the hydraulic system to bend the edge of the product to be processed into shape.

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