Adjustable bias load synchronization device and method

Abstract

The application discloses a synchronous device and mode with adjustable eccentric load, which is structurally relative to a traditional structure and further comprises a limiting swing arm installed through a rotating shaft, two swing wheels arranged on the limiting swing arm, driven wheel sets symmetrically distributed on two sides of the rotating shaft, an adjusting plate arranged on a side of the limiting swing arm opposite to the driven wheels, and a synchronous belt connected with the wheels and kept in tension through a tensioning wheel. On the basis of the existing structure of the pure electric bending machine, the traditional synchronous belt direct synchronous belt driving mode is changed, a synchronous belt is linked with multiple positioning wheels and a set of tensioning wheels, two servo motors are linked with two main shaft screws, and driving is realized, so that two main shaft screws can be synchronously operated up and down, and the two servo motors can be slightly corrected, and the deviation of the two main shaft screws is limited, so that the main shaft is prevented from being broken or other serious mechanical faults.

Description

Technical Field

[0001] This invention belongs to the field of dual servo drive technology, specifically a synchronization device and method for adjustable off-center load. Background Technology

[0002] Forging and pressing machinery often uses servo motors to drive ball screws. For purely electric bending machines, the two lead screws driving the slide block operate synchronously. Whether due to debugging errors or normal operation, excessive off-center loads must be avoided, otherwise, the main spindle lead screw may break or more serious mechanical accidents may occur. Due to the requirements of the bending process or the workpiece being processed, sometimes, in order to ensure the accuracy of the angles on both sides of the bent workpiece, the lead screws on both sides of the bending machine are slightly adjusted to compensate for machining errors. Therefore, it is not possible to completely synchronize the two lead screw shafts, making it difficult to guarantee the amount of off-center load on both sides of the bending machine and preventing mechanical failures.

[0003] The current transmission and control method involves two servos and two main spindle screws, each using two identical synchronous belts to directly transmit torque via pulleys of varying sizes (e.g., CN201921853167.7). The position is then corrected by the movement of the grating ruler and the counterweight slider. Figure 7 and Figure 8 .

[0004] The Y1 servo motor 1.1 drives the Y1 small synchronous pulley 2.1 to rotate, transmitting power to the Y1 large synchronous pulley 5.1 via the Y1 synchronous belt 3.1. The Y1 main spindle screw 4.1 is connected to the Y1 large synchronous pulley 5.1. As the Y1 large synchronous pulley 5.1 rotates forward and backward, the Y1 main spindle screw 4.1 drives the slider 8 to move up and down. Since the two ends of the slider 8 are connected to the Y1 main spindle screw 4.1 and the Y2 main spindle screw 4.2 respectively, the two servo motors (Y1 servo motor 1.1 and Y2 servo motor 1.2) must run synchronously when the slider 8 moves up and down. Otherwise, the slider 8 will tilt, and serious mechanical failures will occur in the Y1 main spindle screw 4.1, Y2 main spindle screw 4.2, Y1 linear guide rail 7.1, and Y2 linear guide rail 7.2. When the slider moves up and down, the current position can be fed back to the CNC control system through the grating rulers 6.1 (6.2) installed at both ends, so that the error data on both sides can be adjusted and corrected. However, system control can also be prone to malfunctions or signal errors, making it difficult to completely eliminate the occurrence of slider asynchrony. Due to the high torque of the servo motor, even a single instance of asynchrony can lead to a broken spindle screw or other serious mechanical failures. Summary of the Invention

[0005] The purpose of this invention is to change the traditional direct synchronous belt drive method based on the existing structure of the pure electric bending machine. By using the same synchronous belt and multiple slave pulleys, a set of tensioning pulleys, and linking two servo motors and two main spindle screws, it can achieve synchronous up and down movement of the two main spindle screws, and also allow the two servo motors to make minor corrections, thus limiting the main spindle screws from breaking or other serious mechanical failures due to excessive deviation.

[0006] To solve the above-mentioned technical problems, the inventors, through practice and summarization, derived the technical solution of this invention, which adopts the following technical solution:

[0007] An adjustable off-center load synchronization device includes a servo motor 1, a servo motor 2, a main spindle screw 1, a main spindle screw 2, a small synchronous pulley 1, a small synchronous pulley 2, a large synchronous pulley 1, a large synchronous pulley 2, a grating ruler 1, a grating ruler 2, a linear guide rail 1, and a linear guide rail 2, and further includes:

[0008] The limiting swing arm is installed between the first and second large synchronous pulleys via a rotating shaft. Two swing wheels are symmetrically installed on the limiting swing arm with the rotating shaft as the center.

[0009] The driven wheel assembly consists of two sets, symmetrically distributed on both sides of the rotating shaft;

[0010] An adjusting plate is located on the side of the limit arm opposite to the driven wheel and is used to control the swing range of the limit arm.

[0011] The timing belt has a timing belt hoop on small timing pulley 1, small timing pulley 2, large timing pulley 1, large timing pulley 2, driven pulley group, and oscillating pulley. Small timing pulley 1 and small timing pulley 2 rotate in the same direction, and the timing belt is tensioned by a tensioning pulley to maintain tension.

[0012] In the above scheme, the limiting swing arm is provided with an adjustment part, and the position of the adjustment part corresponds to that of the adjustment plate.

[0013] In the above scheme, the adjustment part is an inwardly concave V-shaped structure, and the adjustment plate is a V-shaped structure.

[0014] In the above scheme, anti-collision pads are provided at both ends of the adjustment plate, and the anti-collision pads are used to buffer the collision between the limiting swing arm and the adjustment plate.

[0015] In the aforementioned scheme, each group of driven wheels includes two driven wheels, which are distributed on both sides of the oscillating wheel.

[0016] In the above scheme, a positioning pin is installed on the limiting swing arm, which is used to limit the deflection angle of the limiting swing arm about the rotation axis.

[0017] In the above scheme, the positioning pin includes a sleeve fixedly mounted on the limiting swing arm, an electromagnet, a spring body and a pin are installed inside the sleeve, the pin is installed inside the sleeve via the spring body, and the electromagnet attracts the pin after being energized.

[0018] The lower area of ​​the limit arm is provided with a limit adapter port, a limit adapter port and a pin adapter, and multiple limit adapter ports are evenly distributed around the rotation axis.

[0019] In the above scheme, an adjusting component is provided on the rear side of the adjusting plate. The adjusting component includes a guide groove provided below the adjusting plate, a sliding block that is slidably engaged in the guide groove, and an adjusting cylinder provided parallel to the guide groove. The adjusting cylinder is used to adjust the front and rear position of the adjusting plate.

[0020] A method of using a synchronization device with adjustable off-center load includes:

[0021] When bending normally:

[0022] The pin is inserted into the limiting adapter hole directly below the pin under the action of the spring body;

[0023] When the slider bends downwards, servo motor one and servo motor two rotate synchronously clockwise. At this time, the rotation positioning accuracy of the large synchronous wheel one is controlled by servo motor one for bending positioning. When rotating clockwise, the synchronous belt of servo motor one and large synchronous wheel one transmits the torque of a taut direct transmission.

[0024] When the slider is reset upwards, servo motor one and servo motor two rotate counterclockwise synchronously. The torque shaft of servo motor one is driven to large synchronous pulley two through the synchronous belt, and the torque shaft of servo motor two is driven to large synchronous pulley one through the synchronous belt.

[0025] When the right side needs to be bent under off-center load:

[0026] At this time, the positioning pin and the limit adapter are disengaged. Servo motor 2 rotates a certain angle more than servo motor 1. The limit swing arm swings a certain angle around the rotation axis on one side of servo motor 1. The positioning pin locks the limit swing arm at this angle. The torque force of servo motor 2 is transmitted to the main spindle screw 1 through the synchronous belt, and the resistance to eccentric load bending force is increased.

[0027] When the left side needs to be bent with off-center load:

[0028] At this time, the positioning pin and the limit adapter are disengaged. Servo motor one rotates a certain angle more than servo motor two. The limit swing arm swings a certain angle around the rotation axis on one side of servo motor two. The positioning pin locks the limit swing arm at this angle. The torque force of servo motor one is transmitted to the main spindle screw two through the synchronous belt, and the resistance to eccentric load bending force is increased.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] Because the working pressure of the bending machine is a unidirectional force (i.e., the servo motor drives the lead screw to rotate, causing the slider to apply downward pressure), the synchronous pulley and synchronous belt are required to operate with unidirectional precision. Figure 1 As shown, servo motor one and servo motor two rotate clockwise, and the small synchronous pulleys one and two on the two servo motors drive the synchronous belt to rotate clockwise. At the same time, they also drive the large synchronous pulleys one and two, which in turn drive the main spindle screw one and main spindle screw two to rotate, thus realizing the downward movement of the slider.

[0031] If the bending force of Y1 on the right side needs to be offset, the servo motor of Y2 needs to rotate a certain amount of offset load more than the servo motor of Y1. The offset load is determined by the limit swing arm swinging around the rotation axis. The swing range is adjusted by the adjustment plate. Anti-collision pads are installed on the adjustment plate to buffer the collision between the limit swing arm and the adjustment plate. The tension of the synchronous belt is maintained by the tensioning wheel.

[0032] In the traditional transmission method, the downward bending force of the Y1 slider is only transmitted by the torque of the servo motor on the Y1 side, while the torque of the servo motor on the Y2 side cannot be transmitted to the large synchronous pulley of Y1, and can only rotate following the downward movement of Y1.

[0033] The transmission method of this invention allows for normal operation by aligning the positioning pin and the limiting adapter on the limiting swing arm. This allows the torque force of the two servo motors to rotate the two lead screws via a synchronous belt, causing the slider to bend downwards. When unilateral bending with uneven load is required, the positioning pin and the limiting adapter are disengaged. The difference in rotation angle between the two servo motors allows the limiting swing arm to deflect at a certain angle, thereby transferring the torque force from the side with the larger rotation angle to the main spindle lead screw on the side with the smaller rotation angle, thus increasing the bending force against uneven load on that side. Attached Figure Description

[0034] Figure 1 This is a top view of the overall structure of the present invention;

[0035] Figure 2 This is a front view of the overall structure of the present invention;

[0036] Figure 3 This is a working condition diagram of the present invention where Y1 is the side of the off-center load bending.

[0037] Figure 4 This is a top view of the structure of the present invention, in which the adjustment plate is adjustable;

[0038] Figure 5 This is a schematic diagram of the overall structure of the limiting swing arm of the present invention;

[0039] Figure 6 for Figure 5 Structural relationship diagram of the middle limit swing arm and positioning pin;

[0040] Figure 7 A top view of an existing synchronization device;

[0041] Figure 8 A front view of the existing synchronization device.

[0042] In the picture:

[0043] 1.1 Y1 servo motor; 1.2 Y2 servo motor; 2.1 Y1 small synchronous pulley; 2.2 Y2 small synchronous pulley; 3.1 Synchronous belt one; 3.2 Synchronous belt one; 4.1 Y1 main spindle screw; 4.2 Y2 main spindle screw; 5.1 Y1 large synchronous pulley; 5.2 Y2 large synchronous pulley; 6.1 Y1 grating ruler; 6.2 Y2 grating ruler; 7.1 Y1 linear guide; 7.2 Y2 linear guide; 8. slider;

[0044] 1.3 Servo Motor 1; 1.4 Servo Motor 2; 2.3 Small Synchronous Pulley 1; 2.4 Small Synchronous Pulley 2; 3.3 Synchronous Belt; 4.3 Main Spindle Screw 1; 4.4 Main Spindle Screw 2; 5.3 Large Synchronous Pulley 1; 5.4 Large Synchronous Pulley 2; 6.3 Grating Ruler 1; 6.4 Grating Ruler 2; 7.3 Linear Guide Rail 1; 7.4 Linear Guide Rail 2; 8 Slider; 9 Tensioner Wheel; 10 Limiting Swing Arm; 11 Adjusting Plate; 12 Anti-collision Pad; 13 Driven Wheel; 14 Swing Wheel; 15 Rotary Shaft; 16 Positioning Pin; 161; 162; 163; Detailed Implementation

[0045] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0046] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0047] like Figures 1 to 3As shown, an adjustable off-center load synchronization device includes a servo motor 1.3, a servo motor 1.4, a main spindle screw 4.3, a main spindle screw 4.4, a small synchronous pulley 2.3, a small synchronous pulley 2.4, a large synchronous pulley 5.3, a large synchronous pulley 5.4, a grating ruler 6.3, a grating ruler 6.4, a linear guide rail 7.3, and a linear guide rail 7.4.

[0048] Also includes:

[0049] The limiting swing arm 10 is installed between the large synchronous pulley 5.3 and the large synchronous pulley 5.4 via the rotating shaft 15. Two swing wheels 14 are symmetrically installed on the limiting swing arm 10 with the rotating shaft 15 as the center.

[0050] There are 13 sets of driven wheels, and two sets of driven wheels are symmetrically distributed on both sides of the rotating shaft 15.

[0051] Adjustment plate 11 is set on the side of the limit arm 10 facing away from the driven wheel 13, and is used to control the swing range of the limit arm 10.

[0052] Synchronous belt 3.3 is mounted on small synchronous pulley 2.3, small synchronous pulley 2.4, large synchronous pulley 5.3, large synchronous pulley 5.4, driven pulley 13, and oscillating pulley 14. Small synchronous pulley 2.3 and small synchronous pulley 2.4 rotate in the same direction. Synchronous belt 3.3 is tensioned by tensioning pulley 9 to maintain tension.

[0053] The limiting swing arm 10 is provided with an adjustment part, and the position of the adjustment part corresponds to that of the adjustment plate 11.

[0054] The adjustment part is an inwardly concave V-shaped structure, and the adjustment plate 11 is a V-shaped structure.

[0055] The two ends of the adjusting plate 11 are provided with anti-collision pads 12, which are used to buffer the collision between the limiting swing arm 10 and the adjusting plate 11.

[0056] Each group of driven wheels 13 includes two driven wheels 13, which are distributed on both sides of the oscillating wheel 14. The four driven wheels 13 are named A, B, C and D from right to left.

[0057] Four auxiliary wheels are distributed on the side of the servo motor 24.4, namely wheel A1, wheel A2, wheel A3 and wheel A4.

[0058] The inner side of the timing belt 3.3 is tightly attached to the outer sides of the small timing pulley 2.3, the large timing pulley 5.3, pulley B1, pulley C, pulley D, pulley A1, pulley A2, small timing pulley 2.4, and large timing pulley 5.4. The outer side of the timing belt 3.3 is tightly attached to the outer sides of pulleys A, B, A3, A4, and B2.

[0059] The limiting arm 10 is equipped with a positioning pin 16, which is used to limit the deflection angle of the limiting arm 10 about the rotation axis 15.

[0060] During normal operation, the positioning pin 16 is inserted into the frame at the lower part of the limit swing arm 10, so that the rotating shaft 15 is symmetrically distributed on the left and right sides. Servo motor 1 4.3 and servo motor 2 4.4 achieve synchronous clockwise movement through synchronous belt 3.3, large synchronous pulley and small synchronous pulley. The slider 8 moves downward to perform bending operation. Servo motor 1 4.3 and servo motor 2 4.4 achieve synchronous counterclockwise movement through synchronous belt 3.3, large synchronous pulley and small synchronous pulley. The slider 8 moves upward to reset.

[0061] When slider 8 bends downwards, servo motor 1.3 and servo motor 1.4 rotate synchronously clockwise. At this time, the rotational positioning accuracy of the large synchronous pulley 4.3 is controlled by servo motor 1.3 of Y1 for bending positioning (during clockwise rotation, the synchronous belt connecting servo motor 1.3 and large synchronous pulley 5.3 is taut, directly transmitting torque). When the two servo motors rotate in opposite directions (counterclockwise), the torque shaft of servo motor 1.3 of Y1 is transmitted to large synchronous pulley 5.4 of Y2 via synchronous belt 3.3, and the torque shaft of servo motor 1.4 of Y2 is transmitted to large synchronous pulley 5.3 of Y1 via synchronous belt 3.3. For the bending machine, only downward bending accuracy is required; for the upward return stroke, there is no accuracy requirement, only coordinated movement is sufficient.

[0062] When unilateral off-center loading is required, simply release the locating pin 16 from the horizontal deflection restriction of the limit swing arm 10. During normal bending operations, reinsert the locating pin 16 and restrict the two swing wheels 14 on the limit swing arm 10 to be symmetrically distributed on the left and right.

[0063] In the synchronization device, such as Figure 5 , 6 As shown, the positioning pin 16 includes a sleeve 161 fixedly mounted on the limiting swing arm 10. An electromagnet 162, a spring body 163 and a pin 164 are installed inside the sleeve 161. The pin 164 is installed inside the sleeve 161 via the spring body 163. When the electromagnet 162 is energized, it attracts the pin 164.

[0064] The lower area of ​​the limiting swing arm 10 is provided with a limiting adapter port, which is matched with the pin 164. Multiple limiting adapter ports are evenly distributed around the rotation axis 15.

[0065] When a unilateral off-center load bending is required, the electromagnet 162 is energized and the attracting pin 164 disengages from the limit adapter port, the horizontal deflection restriction of the limit swing arm 10 is released, and the servo motor on the other side will rotate a certain angle more than the servo motor on the first side (generally about one-eighth to one-quarter of a turn, the specific off-center load depends on the actual situation on site).

[0066] In the synchronization device, such as Figure 4 As shown, an adjusting component is provided on the rear side of the adjusting plate 11. The adjusting component includes a guide groove 111 provided below the adjusting plate 11, a sliding block 113 slidably engaged in the guide groove 111, and an adjusting cylinder 112 provided parallel to the guide groove 111. The adjusting cylinder 112 is used to adjust the front and rear positions of the adjusting plate 11.

[0067] A method of using a synchronization device with adjustable off-center load includes:

[0068] When bending normally:

[0069] The pin 164 is inserted into the limiting adapter port directly below the pin 164 under the action of the spring body 163;

[0070] When the slider bends downwards, servo motor 1.3 and servo motor 1.4 rotate synchronously clockwise. At this time, the rotation positioning accuracy of the large synchronous wheel 5.3 is controlled by servo motor 1.3 to bend and position. When rotating clockwise, the synchronous belt 3.3 that transmits the power between servo motor 1.3 and large synchronous wheel 5.3 is a taut direct transmission torque.

[0071] When the slider returns to its original position, servo motor 1.3 and servo motor 1.4 rotate counterclockwise in sync. The torque shaft of servo motor 1.3 is transmitted to the large synchronous pulley 5.4 via synchronous belt 3.3, and the torque shaft of servo motor 1.4 is transmitted to the large synchronous pulley 5.3 via synchronous belt 3.3.

[0072] When the right side needs to be bent under off-center load:

[0073] At this time, the positioning pin 16 and the limit adapter are disengaged. The servo motor 1.4 rotates a certain angle more than the servo motor 1.3. The limit arm 10 swings a certain angle around the rotation axis 15 towards the side of the servo motor 1.3. The positioning pin 16 locks the limit arm 10 at this angle. The torque of the servo motor 1.4 is transmitted to the main spindle screw 4.3 through the synchronous belt 3.3, and the resistance to eccentric load bending force is increased.

[0074] When the left side needs to be bent with off-center load:

[0075] At this time, the positioning pin 16 and the limit adapter are disengaged. Servo motor 1.3 rotates a certain angle more than servo motor 1.4. The limit arm 10 swings a certain angle around the rotation axis 15 towards the side of servo motor 1.4. The positioning pin 16 locks the limit arm 10 at this angle. The torque of servo motor 1.3 is transmitted to the main spindle screw 4.4 through the synchronous belt 3.3, increasing the resistance to eccentric load bending force.

[0076] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. The substitutions may be replacements of some structures, devices, or method steps, or they may be complete technical solutions. Equivalent substitutions or modifications made to the technical solutions and inventive concepts of the present invention should all be covered within the scope of protection of the present invention.

Claims

1. A synchronous device with adjustable load, comprising servo motor one (1.3), servo motor two (1.4), main shaft screw one (4.3), main shaft screw two (4.4), small synchronous pulley one (2.3), small synchronous pulley two (2.4), large synchronous pulley one (5.3), large synchronous pulley two (5.4), grating ruler one (6.3), grating ruler two (6.4), linear guide rail one (7.3), linear guide rail two (7.4), characterized in that, Also include: Limiting swing arm (10), limiting swing arm (10) is installed between the large synchronous wheel one (5.3) and the large synchronous wheel two (5.4) through the rotating shaft (15), two swing wheels (14) are symmetrically installed on the limiting swing arm (10) with the rotating shaft (15) as the center, and the swing wheels (14) are B1 wheel and B2 wheel from left to right respectively; The driven wheel set is provided with two groups, which are symmetrically distributed on both sides of the rotating shaft (15); Adjusting plate (11), adjusting plate (11) is arranged on the side of limiting swing arm (10) away from driven wheel (13), which is used for controlling the swing range of limiting swing arm (10); Synchronous belt (3.3), synchronous belt (3.3) is clamped on small synchronous wheel one (2.3), small synchronous wheel two (2.4), large synchronous wheel one (5.3), large synchronous wheel two (5.4), driven wheel set, swing wheel (14), and the rotating direction of small synchronous wheel one (2.3) and small synchronous wheel two (2.4) is consistent, and the synchronous belt (3.3) is tensioned by tension pulley (9) to keep tension; Each group of the driven wheel set comprises two driven wheels (13), and the two driven wheels (13) are distributed on both sides of the swing wheel (14). Four auxiliary wheels are distributed on the side of the servo motor two (1.4), which are A1 wheel, A2 wheel, A3 wheel and A4 wheel respectively. Synchronous belt (3.3) is wound around large synchronous wheel one (5.3), C wheel, B2 wheel, D wheel, A4 wheel, A3 wheel, tension pulley (9), small synchronous wheel two (2.4), large synchronous wheel two (5.4), A2 wheel, A1 wheel, B wheel, B1 wheel and A wheel in sequence from small synchronous wheel one (2.3). The inner side of the synchronous belt (3.3) is tightly attached to the outer side of the small synchronous wheel one (2.3), the large synchronous wheel one (5.3), the B1 wheel, the C wheel, the D wheel, the A1 wheel, the A2 wheel, the small synchronous wheel two (2.4) and the large synchronous wheel two (5.4). The outer side of the synchronous belt (3.3) is tightly attached to the outer side of the A wheel, the B wheel, the A3 wheel, the A4 wheel and the B2 wheel.

2. A biasable load synchronous device according to claim 1, wherein The limiting swing arm (10) is provided with an adjusting part, and the adjusting part corresponds to the position of the adjusting plate (11).

3. A biasable load synchronous device according to claim 2, wherein, The adjusting part is a V-shaped structure concave inward, and the adjusting plate (11) is a V-shaped structure.

4. A biasing capacity adjustable synchronizer according to claim 3, wherein Both ends of the adjusting plate (11) are provided with anti-collision pads (12) for buffering the collision between the limiting swing arm (10) and the adjusting plate (11).

5. A biasing capacity adjustable synchronizer according to claim 4, wherein Each group of the driven wheel (13) set comprises two driven wheels (13), and the two driven wheels (13) are distributed on both sides of the swing wheel (14).

6. A biasing capacity adjustable synchronizer according to claim 5, wherein The limiting swing arm (10) is provided with a positioning pin (16) for limiting the deflection angle of the limiting swing arm (10) with the rotating shaft (15) as the center.

7. A biasing capacity adjustable synchronizer according to claim 6, wherein The positioning pin (16) comprises a sleeve (161) fixedly arranged on the limiting swing arm (10), an electromagnet (162), a spring body (163) and a plug pin (164) are arranged in the sleeve (161), the plug pin (164) is arranged in the sleeve (161) through the spring body (163), and the electromagnet (162) is attracted to the plug pin (164) after being electrified. The lower area of the limiting swing arm (10) is provided with a limiting adapter, and the limiting adapter and the latch (164) are adapted, and the limiting adapter is circumferentially and uniformly distributed around the rotating shaft (15).

8. A biasable load synchronous device according to claim 7, wherein, The rear side of the adjusting plate (11) is provided with an adjusting member, which comprises a guide groove (111) arranged below the adjusting plate (11), a sliding block (113) slidingly fitted in the guide groove (111), and an adjusting cylinder (112) arranged in parallel with the guide groove (111), the adjusting cylinder (112) being used for adjusting the position of the adjusting plate (11).

9. A method of using the adjustable biasing load synchro of claim 8, wherein, Comprise: When bending normally: The latch (164) is inserted into the limiting adapter directly below the latch (164) under the action of the spring body (163); When the slider is downwardly bent and operated, the servo motor one (1.3) and the servo motor two (1.4) are synchronously rotated in the clockwise direction, at this time, the rotating positioning accuracy of the large synchronous wheel one (5.3) is controlled by the servo motor one (1.3) for bending positioning, and when the servo motor one (1.3) and the large synchronous wheel one (5.3) are directly transmitted with the tight synchronous belt (3.3), the transmission torque is clockwise; When the slider is upwardly reset, the servo motor one (1.3) and the servo motor two (1.4) are synchronously rotated in the counterclockwise direction, the torque shaft of the servo motor one (1.3) is transmitted to the large synchronous wheel two (5.4) through the synchronous belt (3.3), and the torque shaft of the servo motor two (1.4) is transmitted to the large synchronous wheel one (5.3) through the synchronous belt (3.3); When the servo motor two (1.4) needs to be biased to bend on one side: The servo motor two (1.4) is rotated by a certain angle more than the servo motor one (1.3), the limiting swing arm (10) is biased by a certain angle around the rotating shaft (15) to one side of the servo motor one (1.3), the positioning pin (16) locks the limiting swing arm (10) in the angle state, the torque of the servo motor two (1.4) is transmitted to the main shaft screw one (4.3) through the synchronous belt (3.3), and the anti-bias bending force is increased; When the servo motor one (1.3) needs to be biased to bend on one side: The servo motor one (1.3) is rotated by a certain angle more than the servo motor two (1.4), the limiting swing arm (10) is biased by a certain angle around the rotating shaft (15) to one side of the servo motor two (1.4), the positioning pin (16) locks the limiting swing arm (10) in the angle state, the torque of the servo motor one (1.3) is transmitted to the main shaft screw two (4.4) through the synchronous belt (3.3), and the anti-bias bending force is increased.

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