Full-automatic metal busbar bending machine based on machine vision

Abstract

The invention relates to the field of busbar machining equipment, and particularly discloses a full-automatic metal busbar bending machine based on machine vision. The bending machine is mainly composed of a bending machine body, a clamp, a fixed shaft, a movable shaft, a bending driving mechanism, an identification module and a control system, the clamp can be electrically controlled to clamp, and the fixed shaft and the movable shaft are both variable-diameter shafts with the diameters capable of being electrically controlled to change, so that when the bending machine is used for bending metal busbars of different sizes and materials, the bending efficiency is greatly improved. After the feature information of the metal busbar is recognized through the recognition module and sent to the control system, the control system can control the clamp, the fixed shaft, the movable shaft and the bending driving mechanism according to the feature information of the metal busbar and a preset instruction and / or an input instruction so as to automatically adapt to the metal busbars of different sizes and materials. The metal busbar is clamped, fixed, bent and formed, efficient and accurate bending operation is achieved, and the labor cost and the material cost can be reduced.

Description

Technical Field

[0001] The invention belongs to the field of busbar processing equipment, and in particular relates to a full-automatic metal busbar bending machine based on machine vision. Background Art

[0002] With the rapid development of the power industry, the demand for installation and maintenance of power equipment is increasing. In the installation and maintenance of power equipment, various busbars are widely used as electrical connectors. In order to ensure that the assembly meets the process requirements and the insulation distance requirements between equipment, metal busbars such as copper or aluminum busbars need to be bent into a specific angle that meets the on-site use conditions and punched for bolt connection. In addition, during the installation of the grounding grid, the grounding flat iron also needs to be bent. Therefore, it is particularly important to develop a busbar bending machine that can process electrical connectors at the substation installation and maintenance site.

[0003] The current busbar bending machines can be roughly divided into the following three categories according to their working principles:

[0004] Hydraulically driven bending machine: This type of bending machine usually uses a mold-closing method to perform relatively precise bending of the busbar. However, due to the presence of hydraulic mechanisms and molds, hydraulic bending machines are large in size, heavy in weight, time-consuming to process, and the bending angle and radius are obviously limited by the mold.

[0005] Manual bending machine: Through manual operation, the busbar is bent using the lever principle. Although this bending machine has a simple structure and low cost, it cannot process large parts and cannot achieve precise control of the bending angle, and has high requirements on the operator's physical strength.

[0006] Motor-driven bending machine: At present, most busbar bending machines adopt motor-driven solutions. The main working parts are a moving shaft and a fixed shaft. The motor drives the moving shaft to move around the fixed shaft to bend the busbar. However, there are problems with this type of bending machine when it is used to bend metal busbars: 1) Fixed bending radius: The structure of the bending machine determines that the bending radius is determined by the fixed shaft, and the bending radius cannot be adjusted. 2) Bending angle error: When bending busbars of different thicknesses, due to the different gaps between the busbar and the moving shaft, even if the machine is set to a fixed angle, the actual angle of the busbar after bending is still different. 3) Imprecise angle adjustment: Currently, most bending machines use chain or gear transmission to obtain a larger torque, but the angle adjustment methods are limited. One is to use a delay switch to control the working time of the motor, and the other is to use a limiter to limit the movement range of the gear or chain. Due to the different bending resistance of different materials and sizes, these two methods cannot accurately control the angle error and it is difficult to achieve fine adjustment of the bending angle. For example, when a traditional bending machine is used to bend a copper busbar, when the angle is set to 90°, the actual angles measured when bending a 60×6mm copper busbar and an 80×6mm copper busbar are 96.5° and 91° respectively; when bending a 60×6mm copper busbar, an aluminum busbar, and a flat iron, the actual angles measured are 96.5°, 107.5°, and 94° respectively. 4) Springback problem: Due to the springback characteristics of metal materials, the busbar will rebound to a certain angle after bending, resulting in the actual angle being lower than the set angle, further increasing the difficulty of accurately controlling the busbar bending angle.

[0007] In order to solve the problem that electric bending machines cannot adapt to metal busbars of different sizes, the existing solution is to replace the moving shaft, fixed shaft and fixtures of different sizes to achieve adaptation to metal busbars of different sizes. However, these solutions are all fully manual or semi-automatic, that is, when changing the size of the metal busbar to be bent, it is necessary to manually replace parts or manually select the bending size. However, in actual construction sites, conditions are insufficient, and the thickness and width of commonly used substation busbars mostly differ by 2mm and 10mm, so the size of the busbar cannot be accurately judged by the naked eye alone.

[0008] In summary, in order to improve the work efficiency of substation maintenance and reduce the labor and material costs during the maintenance process, it is urgent to research and develop a fully automatic bending machine suitable for bending metal busbars of different specifications. Summary of the invention

[0009] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a fully automatic metal busbar bending machine based on machine vision, which can automatically adapt to metal busbars of different sizes and materials and bend them.

[0010] The technical solution adopted by the present invention to solve the technical problem is: a fully automatic metal busbar bending machine based on machine vision, including a bending machine body, a fixture, a fixed axis, a moving axis and a bending drive mechanism;

[0011] A workbench is provided on the top of the bending machine body;

[0012] The clamp has a clamping portion for clamping and fixing the metal busbar, and the clamp is arranged on a workbench;

[0013] The fixed axis is arranged on a workbench, and a fixed axis bending starting portion is provided on its side;

[0014] The movable shaft is movably arranged on the workbench, and when it is in the initial position, an initial bending gap is formed between it and the fixed shaft bending starting part, and the initial bending gap is located at the front side of the clamping part;

[0015] The bending drive mechanism is arranged on the bending machine body and is transmission-connected with the moving shaft, and can drive the moving shaft to move around the fixed axis;

[0016] Also includes an identification module and a control system;

[0017] The clamp is an electric clamp that can be electrically controlled to clamp;

[0018] The fixed shaft and the movable shaft are both variable diameter shafts whose diameter changes can be electrically controlled;

[0019] The fixture, fixed axis, movable axis, bending drive mechanism and identification module are respectively connected to the control system for communication;

[0020] The identification module can identify characteristic information of the metal busbar and send it to the control system, wherein the characteristic information at least includes the thickness, width and material of the metal busbar;

[0021] The control system can control the clamp, fixed axis, movable axis and bending drive mechanism respectively according to the characteristic information of the metal busbar according to preset instructions and / or input instructions, so as to clamp and fix the metal busbar and bend it into shape.

[0022] Further, the fixture includes a pressure plate assembly and a baffle assembly;

[0023] The pressing plate assembly includes a pressing plate seat, a pressing plate cylinder disposed in the pressing plate seat, an air source device connected to an air path of the pressing plate cylinder through an electronic pneumatic valve, and a pressing plate disposed on a piston rod of the pressing plate cylinder;

[0024] The baffle assembly includes a baffle and a baffle adjustment mechanism; the baffle is arranged on a workbench through the baffle adjustment mechanism, and its clamping plane corresponds to the clamping plane of the pressure plate, and a clamping portion of the fixture is formed between the clamping planes of the baffle and the pressure plate.

[0025] Furthermore, the baffle adjustment mechanism includes a baffle adjustment motor arranged on the bending machine body, a gear shaft rotatably arranged on the bending machine body and transmission-connected to the baffle adjustment motor, a gear arranged on the gear shaft and capable of transmitting power, a gear locking mechanism arranged on the workbench and capable of limiting the rotation of the gear, and a rack arranged on the baffle and meshing with the gear.

[0026] Furthermore, the gear is a sleeve-type gear which is sleeved on the gear shaft and can slide up and down, and a ratchet structure is provided at the lower end thereof;

[0027] The gear locking mechanism comprises an end face ratchet fixedly arranged on a workbench and directly below the gear, an electromagnet arranged on the end face ratchet, and a permanent magnet arranged at the lower end of the gear;

[0028] When the electromagnet is powered on and generates an attractive force on the permanent magnet, the gear moves downward and its ratchet structure meshes with the end face ratchet, so that the gear is locked in one direction;

[0029] When the electromagnet is powered on and generates a repulsive force on the permanent magnet, the gear moves upward and its ratchet structure is separated from the end face ratchet, so that the gear can rotate in both directions.

[0030] Furthermore, the fixed axis includes a fixed axis bushing, a fixed axis diameter reducing sheet and a fixed axis diameter reducing mechanism;

[0031] The fixed shaft bushing is arranged on a workbench;

[0032] The fixed-axis diameter reducing piece is movably arranged on the fixed-axis bushing, and the fixed-axis diameter reducing piece is at least three and evenly distributed around the fixed-axis bushing;

[0033] The fixed-axis diameter-changing mechanism is arranged on the fixed-axis bushing and is in driving connection with the fixed-axis diameter-changing piece. The fixed-axis diameter-changing mechanism can drive the fixed-axis diameter-changing piece to move away from and approach the fixed-axis bushing to achieve fixed-axis diameter-changing.

[0034] The movable shaft comprises a movable shaft central shaft, a movable shaft diameter reducing piece and a movable shaft diameter reducing mechanism;

[0035] The central axis of the movable shaft is movably arranged on the workbench;

[0036] The movable shaft diameter reducing piece is movably arranged on the central axis of the movable shaft, and the movable shaft diameter reducing piece is at least three and evenly distributed around the central axis of the movable shaft;

[0037] The movable shaft diameter reducing mechanism is arranged on the movable shaft center axis and is drivingly connected with the movable shaft diameter reducing piece. The movable shaft diameter reducing mechanism can drive the movable shaft diameter reducing piece to move away from and approach the movable shaft center axis to realize the movable shaft diameter reduction.

[0038] Furthermore, the fixed-axis bushing is provided with radial guide grooves corresponding to the fixed-axis diameter reducing pieces one by one;

[0039] The fixed-axis diameter-changing mechanism comprises a fixed-axis diameter-changing motor and a fixed-axis diameter-changing bushing, wherein the fixed-axis diameter-changing bushing is rotatably matched with the fixed-axis bushing and is transmission-connected to the fixed-axis diameter-changing motor, and the fixed-axis diameter-changing bushing is provided with a diameter-changing guide groove corresponding to each fixed-axis diameter-changing sheet, and the distances between the two ends of the diameter-changing guide groove and the axis center line of the fixed-axis bushing are not equal;

[0040] The fixed-axis diameter-changing plate is provided with a radial guide rod extending into the radial guide groove, and a driving rod extending into the diameter-changing guide groove;

[0041] When the fixed-shaft diameter-reducing motor drives the fixed-shaft diameter-reducing bushing to rotate along the first rotation direction, the groove wall of the diameter-reducing guide groove can press the driving rod outward to make the fixed-shaft diameter-reducing piece away from the fixed-shaft bushing, and at the same time, the radial guide groove guides the radial guide rod so that the fixed-shaft diameter-reducing piece extends radially along the fixed-shaft bushing, so that the diameter of the fixed shaft increases;

[0042] When the fixed-shaft diameter-reducing motor drives the fixed-shaft diameter-reducing bushing to rotate along the second rotation direction, the groove wall of the diameter-reducing guide groove can press the driving rod inward to make the fixed-shaft diameter-reducing piece close to the fixed-shaft bushing, and at the same time, the radial guide groove guides the radial guide rod to make the fixed-shaft diameter-reducing piece retract along the radial direction of the fixed-shaft bushing, so that the diameter of the fixed shaft becomes smaller;

[0043] The first rotation direction is opposite to the second rotation direction.

[0044] Furthermore, the central axis of the moving shaft comprises a lower shaft section and an upper shaft section, and the lower shaft section and the upper shaft section are coaxially connected via an anti-rotation coupling structure and can be relatively close to or far away from each other;

[0045] The movable shaft reducer is connected to the lower shaft section of the central shaft through at least two mutually parallel connecting rods, one end of the connecting rod is hinged to the movable shaft reducer, and the other end is hinged to the lower shaft section of the central shaft;

[0046] The movable shaft diameter reducing mechanism comprises a first lead screw threadedly connected to the shaft section on the central shaft, a movable shaft diameter reducing motor drivingly connected to the first lead screw, and a driving connecting rod corresponding to each movable shaft diameter reducing piece, one end of the driving connecting rod is hinged to the movable shaft diameter reducing piece, and the other end is hinged to the shaft section on the central shaft;

[0047] When the movable shaft diameter reducing motor drives the first lead screw to rotate along the third rotation direction, the upper shaft section of the central shaft moves upward away from the lower shaft section of the central shaft under the action of the thread, and at the same time, the upper shaft section of the central shaft drives the movable shaft diameter reducing piece through the driving connecting rod, with the connecting rod as a swing arm, to move upward and approach the lower shaft section of the central shaft, so that the diameter of the movable shaft becomes smaller;

[0048] When the movable shaft diameter reducing motor drives the first lead screw to rotate along the fourth rotation direction, the upper shaft section of the central shaft moves downward and approaches the lower shaft section of the central shaft under the action of the thread, and at the same time, the upper shaft section of the central shaft drives the movable shaft diameter reducing piece through the driving connecting rod and moves downward and away from the lower shaft section of the central shaft with the connecting rod as a swing arm, so that the diameter of the movable shaft increases;

[0049] The third rotation direction is opposite to the fourth rotation direction.

[0050] Further, the bending machine body includes a bending machine casing;

[0051] The workbench is provided with an arc-shaped guide groove, the center of which is located on the axis of the fixed shaft;

[0052] The bending drive mechanism is arranged in the bending machine casing, and comprises a rotating disk, a driven sprocket, a main motor, a driving sprocket and a chain;

[0053] The rotating disk is rotatably arranged with the axis of the fixed shaft as the rotation center line, and an eccentric shaft corresponding to the arc-shaped guide groove is arranged on the rotating disk, and the eccentric shaft is connected to the moving shaft;

[0054] The driven sprocket is rotatably arranged and connected to the rotating disk;

[0055] The driving sprocket is drivingly connected to the power output end of the main motor;

[0056] The chains are respectively meshed with the driving sprocket and the driven sprocket to transmit power.

[0057] Further, the recognition module includes a first camera and a second camera;

[0058] The first camera is arranged on the pressure plate seat and is used to take a side photo of the metal busbar to identify its thickness;

[0059] The second camera is arranged on the pressure plate seat and is used to take a front photo of the metal busbar to identify its material and width;

[0060] The control system includes a controller, a control panel and a photoelectric limit switch;

[0061] The control panel is arranged on the front of the bending machine body and is connected to the controller for communication. The control panel is used to input control instructions and to display graphic information.

[0062] The photoelectric limit switch is arranged on the workbench and corresponds to the end of the arc-shaped guide groove, and is used to prevent the moving shaft from overtravel.

[0063] Furthermore, the bending machine also includes a feeding device communicatively connected to the control system, wherein the feeding device includes a slide, a feeding component and a feeding component driving mechanism;

[0064] The slide table is arranged on the bending machine body;

[0065] There are two feeding components, which are arranged on the slide at intervals; the feeding components include a slide seat slidably arranged on the slide, a vertical feeding roller rotatably arranged on the slide seat, a heating element arranged in the vertical feeding roller, and a feeding motor arranged on the slide seat and drivingly connected to the vertical feeding roller;

[0066] A feeding portion is formed between the vertical feeding rollers of the two feeding components, and the feeding portion is located at the rear side of the clamping portion;

[0067] The feeding component driving mechanism is arranged on the slide and can drive the two feeding components to move relatively closer or farther away from each other so as to adjust the width of the feeding part.

[0068] The beneficial effects of the present invention are as follows: the bending machine is mainly composed of a bending machine body, a clamp, a fixed axis, a moving axis, a bending drive mechanism, an identification module and a control system. The clamp is an electrically controllable clamp, and the fixed axis and the moving axis are both variable diameter axes whose diameter changes can be electrically controlled. Therefore, when the bending machine is used to bend metal busbars of different sizes and materials, the characteristic information of the metal busbar is identified by the identification module and sent to the control system. The control system can control the clamp, the fixed axis, the moving axis and the bending drive mechanism according to the preset instructions and / or input instructions based on the characteristic information of the metal busbar, so as to automatically adapt to metal busbars of different sizes and materials, clamp and fix the metal busbar and bend it into shape, thereby realizing efficient and precise fully automatic bending operations, and helping to reduce labor and material costs.

[0069] The technical effects brought about or directly produced by other technical features of the present invention will be described in detail in the subsequent specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0071] Figure 2 is a top view of the present invention;

[0072] Figure 3 It is a schematic diagram of the internal structure of the bending machine body in the present invention;

[0073] Figure 4 It is a structural schematic diagram of the pressure plate assembly in the present invention;

[0074] Figure 5 It is a schematic diagram of the internal structure of the baffle assembly in the present invention;

[0075] Figure 6 is a three-dimensional exploded view of the baffle assembly of the present invention;

[0076] Figure 7 is a cross-sectional view of a fixed axis in the present invention;

[0077] Figure 8 It is a schematic diagram of the three-dimensional structure of the moving shaft in the present invention;

[0078] Fig. 9 It is a schematic diagram of the three-dimensional structure of the feeding device in the present invention;

[0079] Fig.10 This is a simulation analysis diagram of the deformation of the metal busbar during cold bending and heated bending;

[0080] Fig.11 This is the equivalent stress simulation analysis diagram of cold bending and heated bending of metal busbar;

[0081] Marked in the figure: 100-bending machine body, 110-workbench, 120-bending machine housing, 121-arc guide groove, 130-universal wheel, 210-pressing plate assembly, 211-pressing plate seat, 212-pressing plate cylinder, 213-electronic pneumatic valve, 214-air source device, 215-pressing plate, 220-baffle assembly, 221-baffle, 222-baffle adjustment motor, 223-gear shaft, 224-gear, 225-rack, 226-end face ratchet, 300-fixed shaft, 310-fixed shaft bushing, 311-radial guide groove, 320-fixed shaft reducing sheet, 321-radial guide rod, 331-fixed shaft reducing motor, 332-fixed shaft reducing bushing, 333-reducing guide groove, 400-moving shaft , 410-moving shaft center axis, 411-central shaft lower shaft section, 412-central shaft upper shaft section, 413-triangular hanging ear, 420-moving shaft reducing plate, 421-connecting rod, 431-first lead screw, 432-moving shaft reducing motor, 433-driving connecting rod, 440-moving shaft base, 510-turntable, 520-driven sprocket, 530-main motor, 540-driving sprocket, 550-chain, 600-identification module, 610-first camera, 620-second camera, 710-control panel, 720-photoelectric limit switch, 800-feeding device, 810-slide, 820-feeding component, 821-slide seat, 822-vertical feeding roller, 823-feeding motor, 824-heating element. DETAILED DESCRIPTION

[0082] The present invention will be further described below in conjunction with the accompanying drawings. The same reference numerals in the accompanying drawings represent components with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0083] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate directions or positions, and dimensional relationships based on the directions or position relationships shown in the accompanying drawings, and are only for the convenience of description, and do not indicate or imply that the referred device or component must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation to the present invention.

[0084] The term "transmission connection" refers to: a connection method used to transmit power or motion in a mechanical system, for example: a connection method achieved through a transmission mechanism such as a coupling, a reducer, a gear assembly, a worm gear assembly, etc. The term "rotatably arranged" refers to a connection method between two parts so that one of the parts can rotate relative to the other part; this connection method is usually achieved using mechanical components such as bearings, sleeves, shaft hole fits, hinges, universal joints, etc. The terms "approximately", "slightly", "around", etc., when used to describe a numerical range, usually refer to an error within ±5%, for example: about 100mm, usually refers to 95~105mm. When the term "multiple" indicates a quantity, it usually refers to a quantity of three or more, for example: "multiple" usually refers to three or more. The expression of the term "mainly composed of..." is interpreted as also containing structural components not mentioned in the sentence. The term "and / or" is only a kind of association relationship describing the associated objects, indicating that there can be three relationships, for example: A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The term "communication connection" refers to the communication between connected devices through the transmission interaction of signals, which can be divided into wired connection and wireless connection; wired connection is usually a connection such as cable and optical fiber; wireless connection is usually a connection such as radio communication, Bluetooth, infrared, NFC, etc. In addition, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0085] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the fully automatic metal busbar bending machine based on machine vision includes a bending machine body 100, a fixture, a fixed axis 300, a moving axis 400, a bending drive mechanism, an identification module 600 and a control system;

[0086] The bending machine body 100 is the body of the bending machine, and a workbench 110 is arranged on the top of the bending machine body 100;

[0087] The clamp is an electric clamp that can be electrically controlled to clamp, and has a clamping portion for clamping and fixing the metal busbar. The clamp is arranged on the workbench 110; the clamp is mainly used to clamp and position the metal busbar to prevent the metal busbar from sliding or breaking during the bending process, and to reduce the risk of injury to the operator;

[0088] The fixed shaft 300 is arranged on the workbench 110, and has a fixed shaft bending starting portion on its side; the fixed shaft 300 is used to support and guide the bending of the metal busbar, and the fixed shaft bending starting portion is the starting position where the fixed shaft 300 supports and guides the bending of the metal busbar; the diameter of the fixed shaft 300 is the main factor affecting the bending radius of the metal busbar, and the metal busbar can be bent into different bending radii by changing the diameter of the fixed shaft 300;

[0089] The movable shaft 400 is movably arranged on the workbench 110. When it is in the initial position, an initial bending gap is formed between it and the fixed shaft bending starting part, and the initial bending gap is located at the front side of the clamping part; the movable shaft 400 is mainly used to convert power into a bending force for bending the busbar. When working, the movable shaft 400 continuously pushes the part of the metal busbar that needs to be bent toward the fixed shaft 300, and under the support and guiding action of the fixed shaft 300, the metal busbar is bent into a required bending structure; the angle at which the movable shaft 400 rotates around the fixed shaft 300 is the main factor affecting the bending angle of the metal busbar;

[0090] The fixed shaft 300 and the movable shaft 400 are both variable-diameter shafts whose diameters can be electrically controlled to change. The variable-diameter shafts can be of various types, for example, a shaft that achieves variable diameters through a mechanical iris mechanism, a shaft that achieves variable diameters through a multi-link mechanism, or a shaft that achieves variable diameters through multiple sets of electric push rods.

[0091] The bending drive mechanism is arranged on the bending machine body 100 and is transmission-connected with the moving shaft 400, and can drive the moving shaft 400 to move around the fixed shaft 300; the bending drive mechanism is mainly used to provide bending power for the moving shaft 400, and it can be of various types, such as: a cam drive mechanism, a rocker drive mechanism, a telescopic drive mechanism, etc.;

[0092] The fixture, the fixed axis 300, the movable axis 400, the bending drive mechanism and the identification module 600 are respectively connected to the control system for communication;

[0093] The identification module 600 can identify the characteristic information of the metal busbar and send it to the control system, and the characteristic information at least includes the thickness, width and material of the metal busbar; the identification module 600 can be of various types, for example: a component composed of various sensors, a camera or a video camera, etc.;

[0094] The control system can control the clamp, fixed axis 300, movable axis 400 and bending drive mechanism according to the characteristic information of the metal busbar according to preset instructions and / or input instructions, so as to clamp and fix the metal busbar and bend it into shape; the control system is implanted with a corresponding control program, which can automatically adapt to metal busbars of different sizes and materials to bend them; for example: the recognition module 600 recognizes that the metal busbar to be bent is a 60mm×6mm copper busbar, and the input instruction is to bend 90°, the control system will control the clamp to adjust the clamping The metal busbar is clamped and positioned with a width of 6mm, and the diameter of the fixed shaft 300 is adjusted to the required bending radius, and the diameter of the movable shaft 400 is adjusted to a size that can continuously push the bending part of the metal busbar toward the fixed shaft 300 (usually the diameter of the movable shaft 400 is adjusted to a degree that the gap width between it and the fixed shaft 300 is slightly larger than the thickness of the metal busbar to be bent), and then the bending drive mechanism is controlled to drive the movable shaft 400 to rotate 90° around the fixed shaft 300, so as to achieve efficient and precise fully automatic bending operation.

[0095] Using this bending machine to bend metal busbars can reduce the skill requirements for operators, improve work efficiency, and reduce manual errors. It is particularly suitable for busbar bending operations in large-scale production and complex environments.

[0096] Combination Figure 2 and Figure 4As shown, in some embodiments, the clamp includes a pressure plate assembly 210 and a baffle assembly 220; the pressure plate assembly 210 includes a pressure plate seat 211, a pressure plate cylinder 212 disposed in the pressure plate seat 211, an air source device 214 connected to the pressure plate cylinder 212 through an electronic pneumatic valve 213, and a pressure plate 215 disposed on the piston rod of the pressure plate cylinder 212; the baffle assembly 220 includes a baffle 221 and a baffle adjustment mechanism; the baffle 221 is disposed on the workbench 110 through the baffle adjustment mechanism, and its clamping plane corresponds to the clamping plane of the pressure plate 215, and a clamping portion of the clamp is formed between the clamping planes of the baffle 221 and the pressure plate 215. The platen cylinder 212 has two air inlets, and the gas medium can enter from different air inlets to achieve the expansion and contraction of its piston rod; the electronic pneumatic valve 213 has an electronic switch, which can control the gas medium to enter the platen cylinder 212 from different air inlets; the control system can control the expansion and contraction of the platen cylinder 212 by controlling the electronic pneumatic valve 213, and then control the distance between the platen 215 and the baffle 221 to clamp and position metal busbars of different sizes. The gas source device 214 is mainly used to provide gas medium for the platen cylinder 212, which can be a gas compressor, a gas cylinder, an air pump, etc. The baffle adjustment mechanism is used to adjust the position of the baffle 221, which can be an electric push rod mechanism, a lever adjustment mechanism, a screw adjustment mechanism, etc.; the baffle adjustment mechanism is set to make the distance between the clamping plane of the baffle 221 and the plane tangent to the fixed-axis bending starting part adjustable, so it can well adapt to metal busbars of various thicknesses. When bending metal busbars of different thicknesses, the position of the baffle 221 can be adjusted to make the gap between the metal busbar clamped by the clamp and the fixed-axis bending starting part appropriate, preventing the gap from being too large to produce a bending empty stroke, reducing the bending error, ensuring the bending effect of the metal busbar, and facilitating more precise bending of metal busbars of different thicknesses.

[0097] In some embodiments, considering that the baffle 221 is subjected to a large pressure during operation, the baffle adjustment mechanism with the following structure is used to install and adjust the baffle 221; Figure 1 , Figure 2 , Figure 5 and Figure 6As shown, the baffle adjustment mechanism includes a baffle adjustment motor 222 arranged on the bending machine body 100, a gear shaft 223 rotatably arranged on the bending machine body 100 and connected to the baffle adjustment motor 222, a gear 224 arranged on the gear shaft 223 and capable of transmitting power, a gear locking mechanism arranged on the workbench 110 and capable of limiting the rotation of the gear 224, and a rack 225 arranged on the baffle 221 and meshing with the gear 224. The baffle 221 is driven by a gear rack mechanism mainly composed of the gear 224 and the rack 225, which can withstand a large load. At the same time, by setting the gear locking mechanism, it is possible to avoid direct transmission of pressure to the baffle adjustment motor 222 to cause damage to the motor and inaccurate bending. The gear locking mechanism can be of various types, such as: an electric latch, an electromagnetic brake device, a ratchet mechanism, and the like.

[0098] In some embodiments, in order to facilitate control and ensure a good locking effect, an electromagnetically driven ratchet mechanism is preferably used as the gear locking mechanism. Figure 5 and Figure 6 As shown, the gear 224 is a sleeve-type gear which is sleeved on the gear shaft 223 and can slide up and down, and a ratchet structure is arranged at its lower end; the gear locking mechanism includes an end face ratchet 226 which is fixedly arranged on the workbench 110 and is directly below the gear 224, an electromagnet arranged on the end face ratchet 226, and a permanent magnet arranged at the lower end of the gear 224; when the electromagnet is powered on and generates an attraction force on the permanent magnet, the gear 224 moves downward and its ratchet structure is meshed with the end face ratchet 226, so that the gear 224 is locked in one direction; when the electromagnet is powered on and generates a repulsive force on the permanent magnet, the gear 224 moves upward and its ratchet structure is separated from the end face ratchet 226, so that the gear 224 can rotate in both directions.

[0099] Combination Figure 1 , Figure 2 , Figure 7 and Figure 8 As shown, in some embodiments, the fixed shaft 300 includes a fixed shaft bushing 310, a fixed shaft reducing piece 320 and a fixed shaft reducing mechanism; the fixed shaft bushing 310 is arranged on the workbench 110; the fixed shaft reducing piece 320 is movably arranged on the fixed shaft bushing 310, and there are at least three fixed shaft reducing pieces 320 and they are evenly distributed around the fixed shaft bushing 310; the fixed shaft reducing mechanism is arranged on the fixed shaft bushing 310 and is in driving connection with the fixed shaft reducing piece 320, and the fixed shaft reducing mechanism can drive the fixed shaft reducing piece 320 away from and close to the fixed shaft bushing 310 to achieve fixed shaft reducing;

[0100] The moving shaft 400 includes a moving shaft center shaft 410, a moving shaft reducing piece 420 and a moving shaft reducing mechanism; the moving shaft center shaft 410 is movably arranged on the workbench 110; the moving shaft reducing piece 420 is movably arranged on the moving shaft center shaft 410, and there are at least three moving shaft reducing pieces 420 that are evenly distributed around the moving shaft center shaft 410; the moving shaft reducing mechanism is arranged on the moving shaft center shaft 410 and is transmission-connected with the moving shaft reducing piece 420, and the moving shaft reducing mechanism can drive the moving shaft reducing piece 420 away from and close to the moving shaft center shaft 410 to achieve moving shaft diameter change.

[0101] The fixed shaft 300 and the movable shaft 400 of the above structure can realize fine diameter control by setting a plurality of evenly distributed diameter reducing pieces, so as to meet the bending requirements of metal busbars of different sizes and materials; Figure 1 and Figure 2 In the embodiment, there are six fixed axis reducing pieces 320 and four moving axis reducing pieces 420. The fixed axis reducing mechanism and the moving axis reducing mechanism can be of various types, such as mechanical iris reducing mechanism, multi-link reducing mechanism, electric push rod reducing mechanism, etc.

[0102] Combination Figure 1 , Figure 2 and Figure 7 As shown, in some embodiments, the fixed shaft bushing 310 is provided with radial guide grooves 311 corresponding to each fixed shaft reducing piece 320 one by one;

[0103] The fixed-axis diameter-changing mechanism comprises a fixed-axis diameter-changing motor 331 and a fixed-axis diameter-changing bushing 332. The fixed-axis diameter-changing bushing 332 is rotatably matched with the fixed-axis bushing 310 and is drivingly connected to the fixed-axis diameter-changing motor 331. The fixed-axis diameter-changing bushing 332 is provided with diameter-changing guide grooves 333 corresponding to each fixed-axis diameter-changing sheet 320. The distances between the two ends of the diameter-changing guide groove 333 and the axis center line of the fixed-axis bushing 310 are not equal, that is, one end of the diameter-changing guide groove 333 is closer to the axis center line of the fixed-axis bushing 310 than the other end thereof.

[0104] The fixed-axis diameter-reducing piece 320 is provided with a radial guide rod 321 extending into the radial guide groove 311 and a driving rod extending into the diameter-reducing guide groove 333;

[0105] When the fixed-axis variable-diameter motor 331 drives the fixed-axis variable-diameter bushing 332 to rotate along the first rotation direction, the groove wall of the variable-diameter guide groove 333 can press the driving rod outward to make the fixed-axis variable-diameter piece 320 away from the fixed-axis bushing 310, and at the same time, the radial guide groove 311 guides the radial guide rod 321 so that the fixed-axis variable-diameter piece 320 extends radially along the fixed-axis bushing 310, so that the diameter of the fixed axis 300 increases;

[0106] When the fixed-axis variable-diameter motor 331 drives the fixed-axis variable-diameter bushing 332 to rotate along the second rotation direction, the groove wall of the variable-diameter guide groove 333 can press the driving rod inward to make the fixed-axis variable-diameter piece 320 close to the fixed-axis bushing 310, and at the same time, the radial guide groove 311 guides the radial guide rod 321 to make the fixed-axis variable-diameter piece 320 retract along the radial direction of the fixed-axis bushing 310, so that the diameter of the fixed axis 300 becomes smaller;

[0107] The first rotation direction is opposite to the second rotation direction.

[0108] The above-mentioned fixed axis diameter-changing mechanism is a mechanical iris diameter-changing mechanism, which has the advantages of relatively simple structure, easy manufacturing and installation, etc. The fixed axis bushing 310 can provide stable support, and the radial guide groove 311 can guide the radial guide rod 321 to ensure stability and reliability during the diameter-changing process; the driving rod can be squeezed by the diameter-changing guide groove 333 to increase or decrease the diameter of the fixed axis 300; the diameter-changing guide groove 333 can be an arc groove, a straight groove, etc. When it is a straight groove, it is not parallel and perpendicular to the corresponding radial guide groove 311.

[0109] Combination Figure 1 , Figure 2 and Figure 8 As shown, in some embodiments, the central shaft 410 of the moving shaft includes a lower shaft section 411 and an upper shaft section 412, and the lower shaft section 411 and the upper shaft section 412 are coaxially connected via an anti-rotation coupling structure and can be relatively close to or far away from each other;

[0110] The movable shaft reducer 420 is connected to the lower shaft section 411 of the central shaft through at least two mutually parallel connecting rods 421, one end of the connecting rod 421 is hinged to the movable shaft reducer 420, and the other end is hinged to the lower shaft section 411 of the central shaft;

[0111] The movable shaft diameter reducing mechanism comprises a first lead screw 431 threadedly connected to the shaft section 412 on the central shaft, a movable shaft diameter reducing motor 432 drivingly connected to the first lead screw 431, and a driving connecting rod 433 corresponding to each movable shaft diameter reducing piece 420, one end of the driving connecting rod 433 is hinged to the movable shaft diameter reducing piece 420, and the other end is hinged to the shaft section 412 on the central shaft;

[0112] When the movable shaft diameter reducing motor 432 drives the first lead screw 431 to rotate along the third rotation direction, the upper shaft section 412 of the central shaft moves upward away from the lower shaft section 411 of the central shaft under the action of the thread, and at the same time, the upper shaft section 412 of the central shaft drives the movable shaft diameter reducing piece 420 to move upward and approach the lower shaft section 411 of the central shaft by driving the connecting rod 433 with the connecting rod 421 as a swing arm, so that the diameter of the movable shaft 400 becomes smaller;

[0113] When the movable shaft diameter reducing motor 432 drives the first lead screw 431 to rotate along the fourth rotation direction, the upper shaft section 412 of the central shaft moves downward and approaches the lower shaft section 411 of the central shaft under the action of the thread, and at the same time, the upper shaft section 412 of the central shaft drives the movable shaft diameter reducing piece 420 through the driving connecting rod 433 with the connecting rod 421 as a swing arm to move downward and away from the lower shaft section 411 of the central shaft, so that the diameter of the movable shaft 400 increases;

[0114] The third rotation direction is opposite to the fourth rotation direction.

[0115] The above-mentioned movable shaft diameter-changing mechanism is a multi-link diameter-changing mechanism, which has the advantages of simple structure, flexible diameter change, and the ability to withstand large torque and force. It is particularly suitable for the movable shaft 400 that needs to apply bending force to the metal busbar. Accurate diameter change control can be achieved through the threaded cooperation between the first lead screw 431 and the upper shaft section 412 of the central shaft; the lower shaft section 411 of the central shaft and the upper shaft section 412 of the central shaft are coaxially connected through an anti-rotation coupling structure, which can achieve greater torque transmission. The anti-rotation coupling structure can be of various types, preferably a spline connection structure or a structure that can mesh with each other, so that not only the lifting and lowering movement of the upper shaft section 412 of the central shaft can be achieved, but also a larger bending moment transmission can be provided for the lower shaft section 411 of the central shaft and the upper shaft section 412 of the central shaft, and the structure is simple and stable.

[0116] Since the movable shaft 400 is a variable diameter shaft, it is different from an ordinary circular shaft body. The movable shaft variable diameter piece 420 contacts the metal busbar on the outside. When the contact parts are different, the force directions of the movable shaft variable diameter piece 420 and the connecting rod 421 are different. When the contact part is the edge of the movable shaft variable diameter piece 420, the movable shaft variable diameter mechanism will be subjected to a large bending moment. The ordinary telescopic variable diameter mechanism cannot withstand this bending moment. Therefore, a multi-link variable diameter mechanism is adopted. The connecting rod group composed of multiple parallel connecting rods 421 cooperates with the movable shaft variable diameter piece 420 to effectively resist the bending moment during the bending process. By forming a crank connecting rod mechanism mainly composed of the connecting rod 421 and the driving connecting rod 433, the movement limit of the lower shaft section 411 of the central shaft and the upper shaft section 412 of the central shaft can be achieved to prevent overtravel of movement.

[0117] In some embodiments, both the fixed-axis variable-diameter motor 331 and the movable-axis variable-diameter motor 432 are servo motors.

[0118] In some embodiments, the fixed-axis variable-diameter motor 331 is connected to the fixed-axis variable-diameter bushing 332 through a first transmission mechanism; the movable-axis variable-diameter motor 432 is connected to the first lead screw 431 through a second transmission mechanism; the first transmission mechanism and the second transmission mechanism are both worm gear transmission mechanisms. In this way, the self-locking effect of the worm gear transmission mechanism can be used to provide a larger supporting force.

[0119] like Figure 8As shown, in some embodiments, the upper shaft section 412 of the central shaft is hinged to the driving connecting rod 433 through the triangular hanging ear 413 provided thereon, and the lower shaft section 411 of the central shaft is hinged to the connecting rod 421 through the triangular hanging ear 413 provided thereon. The triangular hanging ear 413 can strengthen the hinge strength between the connecting rod and the shaft to meet the force requirements.

[0120] In some embodiments, a lubrication groove is provided in the shaft segment 412 on the central shaft at the position where it cooperates with the first lead screw 431 , and lubrication can be achieved by adding lubricating oil into the lubrication groove, thereby extending the service life.

[0121] In some embodiments, considering the high-precision bending, the dynamic shaft 400 has a rotation requirement, such as Figure 8 As shown, the moving shaft 400 also includes a moving shaft base 440, and the lower shaft section 411 of the central shaft is rotatably arranged on the moving shaft base 440. A thrust bearing is usually arranged between the lower shaft section 411 of the central shaft and the moving shaft base 440 to achieve rotational cooperation, and an electric locking mechanism such as an electric latch is generally arranged to prevent the lower shaft section 411 of the central shaft from rotating when the moving shaft 400 changes its diameter.

[0122] In some embodiments, an electromagnetic heating coil is provided in the movable shaft reducer 420 for quickly and centrally heating the bending portion of the metal busbar during the bending process, thereby improving the bending efficiency and avoiding the rebound of the metal busbar and the breakage of the bending portion to a certain extent.

[0123] Combination Figure 1 , Figure 2 and Figure 3As shown, in some embodiments, the bending machine body 100 includes a bending machine housing 120; a circular arc guide groove 121 is opened on the workbench 110, and the center of the circular arc guide groove 121 is on the axis of the fixed shaft 300; the bending drive mechanism is arranged in the bending machine housing 120, which includes a turntable 510, a driven sprocket 520, a main motor 530, a driving sprocket 540 and a chain 550; the turntable 510 is rotatably arranged with the axis of the fixed shaft 300 as the rotation center line, and an eccentric shaft corresponding to the circular arc guide groove 121 is arranged on the turntable 510, and the eccentric shaft is connected to the driven shaft 400; the driven sprocket 520 is rotatably arranged and connected to the turntable 510; the driving sprocket 540 is transmission-connected to the power output end of the main motor 530; the chain 550 is respectively engaged with the driving sprocket 540 and the driven sprocket 520 to transmit power. The arc-shaped guide groove 121 is used to guide and limit the movable range of the moving shaft 400, and its arc is usually 1 / 4π~π. The main motor 530 is the bending power source of the bending machine, which is used to convert electrical energy into mechanical energy to bend the metal busbar; the torque of the main motor 530 when working directly reflects the pressure applied by the moving shaft 400 to the metal busbar. The chain mechanism is used to transmit the power of the main motor 530 to the turntable 510, which not only has high stability and reliability, but also can transmit a large torque, which is conducive to bending busbars with larger sizes and higher bending resistance.

[0124] Combination Figure 1 , Figure 2 and Figure 4 As shown, in some embodiments, the identification module 600 includes a first camera 610 and a second camera 620; the first camera 610 is set on the pressure plate seat 211, and is used to take a side photo of the metal busbar to identify its thickness; the second camera 620 is set on the pressure plate seat 211, and is used to take a front photo of the metal busbar to identify its material and width.

[0125] In some embodiments, the control system includes a controller, a control panel 710 and a photoelectric limit switch 720; the control panel 710 is arranged on the front of the bending machine body 100 and is communicatively connected to the controller, and the control panel 710 is used to input control instructions and to display graphic information; the control panel 710 generally includes a touch screen, an emergency stop switch and a power switch; the photoelectric limit switch 720 is arranged on the workbench 110 and corresponds to the end of the arc-shaped guide groove 121, and is used to prevent the moving shaft 400 from moving overtravel.

[0126] like Figure 1As shown, in some embodiments, the bending machine body 100 is in the shape of a rectangular parallelepiped, and four universal wheels 130 with brakes are arranged at the bottom thereof, and the four universal wheels 130 are distributed in a rectangular array; the universal wheels 130 can enable the bending machine to move in all directions on the ground, and after being in place, it can be locked by the brakes of the universal wheels 130, so as to facilitate its movement and use.

[0127] In some embodiments, a foldable handle is provided on the bending machine body 100 to assist in moving the bending machine.

[0128] Combination Figure 1 , Figure 2 and Fig. 9 As shown, in some embodiments, the bending machine also includes a feeding device 800 that is communicatively connected to the control system, and the feeding device 800 includes a slide 810, a feeding component 820 and a feeding component driving mechanism; the slide 810 is arranged on the bending machine body 100; there are two feeding components 820, and they are arranged on the slide 810 at intervals; the feeding component 820 includes a slide 821 slidably arranged on the slide 810, a vertical feeding roller 822 rotatably arranged on the slide 821, a heating element 824 arranged in the vertical feeding roller 822, and a feeding motor 823 arranged on the slide 821 and transmission-connected to the vertical feeding roller 822; a feeding portion is formed between the vertical feeding rollers 822 of each of the two feeding components 820, and the feeding portion is at the rear side of the clamping portion; the feeding component driving mechanism is arranged on the slide 810, and can drive the two feeding components 820 to be relatively close to and away from each other to adjust the width of the feeding portion. The feeding device 800 is mainly used to convey the metal busbar to be bent and perform a heating treatment on the bent part. When working, the vertical feeding rollers 822 of the two feeding parts 820 rotate in opposite directions to feed the metal busbar. When the bent part of the metal busbar passes through the feeding part, it is heated to a suitable temperature by the heating element 824. Driven by the feeding part driving mechanism, the feeding device 800 can convey and heat metal busbars of different thicknesses; the feeding part driving mechanism can be of various types, such as: cylinder, electric push rod, ball screw pair, etc.

[0129] In some embodiments, the feeding component driving mechanism is a ball screw pair, which includes a second screw and a second screw motor; the second screw is rotatably arranged on the slide 810, and the slide 821 is threadedly connected to the second screw through a screw nut; the second screw motor is transmission-connected to the second screw.

[0130] In some embodiments, the feeding component 820 further includes a locking member disposed on the slide 821 for locking and fixing the slide 821 on the slide 821 .

[0131] In some embodiments, the identification module 600 further includes an infrared temperature measuring device, which is used to detect the temperature of the metal busbar so that the control system can determine whether the metal busbar is heated to a preset temperature.

[0132] In some embodiments, the control system controls the heating element 824 of the feeding device 800 to heat the bending part of the metal busbar to its annealing temperature. Because for the metal busbar, this is an ideal temperature that is conducive to its bending. At this temperature, the plasticity of the metal busbar is better, and it is easier to bend and form. At the same time, it is not easy to rebound and crack, which can reduce the damage to it during the bending process. For example: for copper busbars, its ideal bending temperature is about 500°C; for example: for aluminum busbars, its ideal bending temperature is about 315°C.

[0133] In order to better verify the bending effect of the above-mentioned heating of the metal busbar, the inventor designed a heating bending simulation experiment to compare the deformation and equivalent stress of the metal busbar during heating bending and cold bending. Specifically: when the material of the metal busbar is aluminum, the cold bending temperature is room temperature (20°C), and the heating bending temperature is 315°C. The changes in the deformation and equivalent stress of the metal busbar during the bending process can be found in Fig.10 and Fig.11 .

[0134] Combination Fig.10 and Fig.11 As shown in the figure, as the temperature of the metal busbar increases, its material strength is less than that at room temperature, and the plasticity of the material increases. It can be seen that compared with the traditional cold bending process, the bending force required to bend the metal busbar by heating bending is smaller, and it can be bent at a larger angle; the compressive stress generated on the inside of the metal busbar during heating bending is smaller than the compressive stress generated during cold bending, and compared with cold bending, it is more difficult to produce wrinkles that do not meet the standards, and the bending limit of the metal busbar is improved; in addition, heating bending can significantly improve the more serious rebound phenomenon after unloading of cold bending; because the bending force required for heating bending is smaller, metal busbars with large angles and large cross-sectional sizes can be manufactured by heating bending, which has a wider range of applications.

[0135] In some embodiments, the control system controls the feeding device 800 to feed at a feeding speed of 0.2 m / s, and stops feeding when the bending portion of the metal busbar is in the feeding portion, and continues feeding when the bending portion of the metal busbar is heated to a set temperature (for example: 500°C or 315°C).

[0136] The description of various embodiments of the present invention is presented herein for illustrative purposes only and is not intended to be exhaustive or limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terms used herein are selected to best explain the principles, practical applications, or technological advances of the embodiments, or to enable other persons skilled in the art to understand the embodiments disclosed herein, compared to the technology found on the market.

[0137] In this article, various embodiments of the present invention may be presented in the form of a range. It should be understood that the description in the form of a range is only for convenience and brevity, and should not be interpreted as a hard limit to the scope of the present invention. Therefore, the description of the range should be considered to specifically disclose all possible sub-ranges and individual numerical values ​​within the range. For example, the description of a range such as from 1 to 6 should be considered to specifically disclose sub-ranges, such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6, etc., and each numerical value within the range, such as 1, 2, 3, 4, 5, 6, which has nothing to do with the width of the range.

[0138] It should be understood that certain features of the invention described in the context of separate embodiments for the sake of clarity may also be provided in combination in a single embodiment. Conversely, various features of the invention described in the context of a single embodiment for the sake of brevity may also be provided individually or in any suitable sub-combination, or in any other described embodiment of the invention where appropriate. Certain features described in the context of various embodiments are not considered essential features of those embodiments unless the embodiments would not function without those features.

Claims

1. A fully automatic metal busbar bending machine based on machine vision, comprising a bending machine body (100), a fixture, a fixed axis (300), a moving axis (400) and a bending drive mechanism; A workbench (110) is provided on the top of the bending machine body (100); The clamp has a clamping portion for clamping and fixing the metal busbar, and the clamp is arranged on a workbench (110); The fixed axis (300) is arranged on a workbench (110), and has a fixed axis bending starting portion on its side; The movable shaft (400) is movably arranged on the workbench (110), and when it is in an initial position, an initial bending gap is formed between it and the fixed shaft bending starting part, and the initial bending gap is located at the front side of the clamping part; The bending drive mechanism is arranged on the bending machine body (100) and is transmission-connected to the moving shaft (400), and is capable of driving the moving shaft (400) to move around the fixed shaft (300); Features: Also includes an identification module (600) and a control system; The clamp is an electric clamp that can be electrically controlled to clamp; The fixed shaft (300) and the movable shaft (400) are both variable diameter shafts whose diameters can be electrically controlled to change; The fixture, the fixed axis (300), the movable axis (400), the bending drive mechanism and the identification module (600) are respectively connected to the control system for communication; The identification module (600) is capable of identifying characteristic information of the metal busbar and sending it to the control system, wherein the characteristic information at least includes the thickness, width and material of the metal busbar; The control system can control the clamp, the fixed axis (300), the movable axis (400) and the bending drive mechanism respectively according to the characteristic information of the metal busbar and the preset instructions and / or the input instructions, so as to clamp and fix the metal busbar and bend it into shape.

2. The fully automatic metal busbar bending machine based on machine vision according to claim 1 is characterized in that: The clamp comprises a pressure plate assembly (210) and a baffle assembly (220); The pressing plate assembly (210) comprises a pressing plate seat (211), a pressing plate cylinder (212) disposed in the pressing plate seat (211), an air source device (214) connected to the air path of the pressing plate cylinder (212) via an electronic pneumatic valve (213), and a pressing plate (215) disposed on the piston rod of the pressing plate cylinder (212); The baffle assembly (220) comprises a baffle (221) and a baffle adjustment mechanism; the baffle (221) is arranged on the workbench (110) through the baffle adjustment mechanism, and its clamping plane corresponds to the clamping plane of the pressure plate (215), and a clamping portion of the clamp is formed between the clamping planes of the baffle (221) and the pressure plate (215).

3. The fully automatic metal busbar bending machine based on machine vision according to claim 2 is characterized in that: The baffle plate adjusting mechanism comprises a baffle plate adjusting motor (222) arranged on a bending machine body (100), a gear shaft (223) rotatably arranged on the bending machine body (100) and drivingly connected to the baffle plate adjusting motor (222), a gear (224) arranged on the gear shaft (223) and capable of transmitting power, a gear locking mechanism arranged on a workbench (110) and capable of limiting the rotation of the gear (224), and a rack (225) arranged on the baffle plate (221) and meshing with the gear (224).

4. The fully automatic metal busbar bending machine based on machine vision according to claim 3 is characterized in that: The gear (224) is a sleeve-type gear which is sleeved on the gear shaft (223) and can slide up and down, and a ratchet structure is arranged at the lower end thereof; The gear locking mechanism comprises an end face ratchet (226) fixedly arranged on the workbench (110) and directly below the gear (224), an electromagnet arranged on the end face ratchet (226), and a permanent magnet arranged at the lower end of the gear (224); When the electromagnet is powered on and generates an attractive force on the permanent magnet, the gear (224) moves downward and its ratchet structure meshes with the end face ratchet (226), so that the gear (224) is locked in one direction; When the electromagnet is powered on and generates a repulsive force on the permanent magnet, the gear (224) moves upward and its ratchet structure is separated from the end face ratchet (226), so that the gear (224) can rotate in both directions.

5. The fully automatic metal busbar bending machine based on machine vision according to claim 1 is characterized in that: The fixed shaft (300) comprises a fixed shaft bushing (310), a fixed shaft diameter reducing sheet (320) and a fixed shaft diameter reducing mechanism; The fixed shaft bushing (310) is arranged on a workbench (110); The fixed-axis diameter reducing piece (320) is movably arranged on the fixed-axis bushing (310), and the fixed-axis diameter reducing piece (320) is at least three and is evenly distributed around the fixed-axis bushing (310); The fixed-axis diameter-changing mechanism is arranged on the fixed-axis bushing (310) and is drivingly connected to the fixed-axis diameter-changing piece (320), and the fixed-axis diameter-changing mechanism can drive the fixed-axis diameter-changing piece (320) to move away from and approach the fixed-axis bushing (310) to achieve fixed-axis diameter change; The movable shaft (400) comprises a movable shaft central shaft (410), a movable shaft diameter reducing piece (420) and a movable shaft diameter reducing mechanism; The central axis (410) of the movable axis is movably arranged on the workbench (110); The movable shaft diameter reducing piece (420) is movably arranged on the movable shaft central axis (410), and the movable shaft diameter reducing piece (420) is at least three and evenly distributed around the movable shaft central axis (410); The moving shaft diameter reducing mechanism is arranged on the moving shaft central axis (410) and is drivingly connected to the moving shaft diameter reducing piece (420); the moving shaft diameter reducing mechanism can drive the moving shaft diameter reducing piece (420) to move away from and approach the moving shaft central axis (410) to achieve diameter reduction of the moving shaft.

6. The fully automatic metal busbar bending machine based on machine vision according to claim 5 is characterized in that: The fixed-axis bushing (310) is provided with radial guide grooves (311) corresponding one-to-one to each fixed-axis diameter reducing piece (320); The fixed-axis diameter-changing mechanism comprises a fixed-axis diameter-changing motor (331) and a fixed-axis diameter-changing bushing (332); the fixed-axis diameter-changing bushing (332) is rotatably matched with the fixed-axis bushing (310) and is drivingly connected to the fixed-axis diameter-changing motor (331); the fixed-axis diameter-changing bushing (332) is provided with diameter-changing guide grooves (333) corresponding to the fixed-axis diameter-changing plates (320) one by one; and the distances between the two ends of the diameter-changing guide groove (333) and the axis center line of the fixed-axis bushing (310) are unequal; The fixed-axis diameter-reducing piece (320) is provided with a radial guide rod (321) extending into the radial guide groove (311), and a driving rod extending into the diameter-reducing guide groove (333); When the fixed-axis diameter-changing motor (331) drives the fixed-axis diameter-changing bushing (332) to rotate along the first rotation direction, the groove wall of the diameter-changing guide groove (333) can press the driving rod outward so that the fixed-axis diameter-changing piece (320) moves away from the fixed-axis bushing (310), and at the same time, the radial guide groove (311) guides the radial guide rod (321) so that the fixed-axis diameter-changing piece (320) extends radially along the fixed-axis bushing (310), thereby increasing the diameter of the fixed axis (300); When the fixed-shaft diameter-changing motor (331) drives the fixed-shaft diameter-changing bushing (332) to rotate along the second rotation direction, the groove wall of the diameter-changing guide groove (333) can press the driving rod inwardly so that the fixed-shaft diameter-changing piece (320) is close to the fixed-shaft bushing (310), and at the same time, the radial guide groove (311) guides the radial guide rod (321) so that the fixed-shaft diameter-changing piece (320) retracts along the radial direction of the fixed-shaft bushing (310), thereby reducing the diameter of the fixed shaft (300); The first rotation direction is opposite to the second rotation direction.

7. The fully automatic metal busbar bending machine based on machine vision according to claim 5 is characterized in that: The central shaft (410) of the movable shaft comprises a lower shaft section (411) and an upper shaft section (412) of the central shaft, wherein the lower shaft section (411) and the upper shaft section (412) of the central shaft are coaxially connected via an anti-rotation coupling structure and can be relatively close to or far away from each other; The movable shaft reducer (420) is connected to the lower shaft section (411) of the central shaft via at least two mutually parallel connecting rods (421), one end of the connecting rod (421) is hinged to the movable shaft reducer (420), and the other end is hinged to the lower shaft section (411) of the central shaft; The movable shaft diameter-changing mechanism comprises a first lead screw (431) threadedly connected to the shaft section (412) on the central shaft, a movable shaft diameter-changing motor (432) drivingly connected to the first lead screw (431), and a driving connecting rod (433) arranged in one-to-one correspondence with each movable shaft diameter-changing piece (420), one end of the driving connecting rod (433) being hinged to the movable shaft diameter-changing piece (420), and the other end being hinged to the shaft section (412) on the central shaft; When the movable shaft diameter reducing motor (432) drives the first lead screw (431) to rotate along the third rotation direction, the upper shaft section (412) of the central shaft moves upward away from the lower shaft section (411) of the central shaft under the action of the thread, and at the same time, the upper shaft section (412) of the central shaft drives the movable shaft diameter reducing piece (420) through the driving connecting rod (433) to move upward and approach the lower shaft section (411) of the central shaft with the connecting rod (421) as a swing arm, so that the diameter of the movable shaft (400) becomes smaller; When the movable shaft diameter reducing motor (432) drives the first lead screw (431) to rotate along the fourth rotation direction, the upper shaft section (412) of the central shaft moves downward and approaches the lower shaft section (411) of the central shaft under the action of the thread, and at the same time, the upper shaft section (412) of the central shaft drives the movable shaft diameter reducing piece (420) through the driving connecting rod (433) and moves downward and away from the lower shaft section (411) of the central shaft with the connecting rod (421) as a swing arm, so that the diameter of the movable shaft (400) increases; The third rotation direction is opposite to the fourth rotation direction.

8. The fully automatic metal busbar bending machine based on machine vision according to claim 1 is characterized in that: The bending machine body (100) comprises a bending machine casing (120); The workbench (110) is provided with an arc-shaped guide groove (121), and the center of the arc-shaped guide groove (121) is located on the axis of the fixed shaft (300); The bending drive mechanism is arranged in a bending machine housing (120), and comprises a rotating disk (510), a driven sprocket (520), a main motor (530), a driving sprocket (540) and a chain (550); The rotating disk (510) is rotatably arranged with the axis of the fixed shaft (300) as the rotation center line, and an eccentric shaft corresponding to the arc-shaped guide groove (121) is arranged on the rotating disk (510), and the eccentric shaft is connected to the moving shaft (400); The driven sprocket (520) is rotatably arranged and connected to the rotating disk (510); The driving sprocket (540) is drivingly connected to the power output end of the main motor (530); The chain (550) is respectively meshed with the driving sprocket (540) and the driven sprocket (520) to transmit power.

9. The fully automatic metal busbar bending machine based on machine vision according to any one of claims 1 to 8, characterized in that: The recognition module (600) includes a first camera (610) and a second camera (620); The first camera (610) is arranged on the pressure plate seat (211) and is used to take a side photo of the metal busbar to identify its thickness; The second camera (620) is arranged on the pressure plate seat (211) and is used to take a front photo of the metal busbar to identify its material and width; The control system comprises a controller, a control panel (710) and a photoelectric limit switch (720); The control panel (710) is arranged on the front side of the bending machine body (100) and is communicatively connected with the controller, and the control panel (710) is used to input control instructions and to display graphic information; The photoelectric limit switch (720) is arranged on the workbench (110) and corresponds to the end of the arc-shaped guide groove (121), and is used to prevent the moving shaft (400) from moving beyond the travel range.

10. The fully automatic metal busbar bending machine based on machine vision according to claim 9, characterized in that: It also includes a feeding device (800) that is communicatively connected to the control system, wherein the feeding device (800) includes a slide (810), a feeding component (820) and a feeding component driving mechanism; The slide table (810) is arranged on the bending machine body (100); There are two feeding components (820) which are arranged on the slide (810) at intervals; the feeding components (820) include a slide seat (821) slidably arranged on the slide (810), a vertical feeding roller (822) rotatably arranged on the slide seat (821), a heating element (824) arranged in the vertical feeding roller (822), and a feeding motor (823) arranged on the slide seat (821) and drivingly connected to the vertical feeding roller (822); A feeding portion is formed between the vertical feeding rollers (822) of the two feeding components (820), and the feeding portion is located at the rear side of the clamping portion; The feeding component driving mechanism is arranged on the slide (810) and is capable of driving the two feeding components (820) to move relatively closer or farther away from each other so as to adjust the width of the feeding part.

Images