Bending robot and using method thereof

Abstract

The invention discloses a bending robot and a using method thereof. The bending robot comprises a clamping mechanism, a bending mechanism and a fixing mechanism. The clamping mechanism comprises a connecting plate, a movable screw rod and a clamping seat; the middle of the movable screw is sleeved with a connecting plate, and the bottom of the movable screw is connected with a clamping seat which is provided with a clamping block. The connecting plate is connected with the bending mechanism, the bending mechanism is provided with a bending column, a fixing mechanism is arranged below the bending column, during application, a workpiece is firstly clamped by the clamping block, then the clamping block is moved to place the workpiece into the fixing mechanism, then the workpiece is bent by the bending column to obtain a bent workpiece, and then the bent workpiece is clamped by the clamping block. Then the clamping block moves to enable the bent workpiece to leave the fixing mechanism; the workpiece can be moved and bent without assistance of other workers or devices, so that the machining efficiency is high; and clamping and bending are integrated, so that the occupied space of the device is reduced, and the limitation of the device on the use space is reduced. Therefore, the machining efficiency of the design is high, and the limitation on the use space is less.

Description

Technical Field

[0001] The invention relates to a bending robot, belongs to the field of sheet metal bending processing, and in particular to a bending robot and a use method thereof. Background Art

[0002] The bending of metal workpieces is an important part of industrial manufacturing. However, manual bending can no longer meet the competitive needs of the current market due to its high labor intensity and low production efficiency.

[0003] The Chinese patent application number is 202021450410.3, and the application date is July 21, 2020. It discloses an auxiliary device for bending large workpieces and a large workpiece bending device. The auxiliary device for bending large workpieces includes a supporting chassis and a guide platen. A plurality of spheres that can rotate freely in a designated area are arranged on the guide table of the guide platen. The large workpiece to be bent can be placed on the guide table and contact the plurality of spheres, and then guided to the workbench of the bending machine. Although the design guides the workpiece through the guide table and then bends the workpiece through the bending machine, it still has the following defects: In this design, manual or other devices are needed to assist in placing the workpiece on the guide table, and then the bending machine performs the bending operation, and then manual or other devices are needed to assist in removing the bent workpiece from the design, so the processing efficiency of this design is low.

[0004] The information disclosed in this background technology section is only intended to increase the understanding of the overall background of the application, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to ordinary technicians in this field. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects and problems of low processing efficiency in the prior art and to provide a bending robot with higher processing efficiency and a method for using the same.

[0006] To achieve the above objectives, the technical solution of the present invention is: A bending robot, the robot comprising a clamping mechanism, a bending mechanism and a fixing mechanism; The clamping mechanism comprises a connecting plate, a moving screw and a clamping seat; the middle part of the moving screw is threadedly connected to the threaded hole in the middle part of the connecting plate, the moving screw has a movement stroke of moving back and forth along its axial direction, one end of the moving screw located below the connecting plate is connected to the top of the clamping seat, a clamping groove is provided at the bottom of the clamping seat, and clamping blocks are provided on both sides of the clamping groove; one side of the connecting plate is connected to the side wall of the bending mechanism; A bending column is arranged at the bottom of the bending mechanism, and the movement stroke of the bending column is a circular motion; a fixing mechanism is arranged below the bending column, and a fixing seat is arranged on one end of the fixing mechanism close to the bending column.

[0007] The clamping mechanism comprises a left clamping mechanism and a right clamping mechanism, and the left clamping mechanism and the right clamping mechanism are symmetrically distributed along the bending mechanism.

[0008] Guide slide columns are arranged on both sides of the movable screw rod, the top of the guide slide column is connected to the bottom of the support plate, one end of the movable screw rod passes through the support plate and is connected to one end of the movable motor; the middle part of the guide slide column passes through the connecting plate, and the bottom of the guide slide column is connected to the top of the clamping seat.

[0009] A sliding groove is arranged inside the clamping seat, a sliding motor is arranged in the middle of the sliding groove, two ends of the sliding motor are connected to one end of the sliding screw, the other end of the sliding screw is connected to the top of the threaded slider, and the bottom of the threaded slider is connected to the top of the clamping block.

[0010] The bending mechanism includes a connecting column, the middle part of the connecting column is a movable groove, the opening direction of the movable groove faces downward, and an annular transmission frame is arranged at the opening of the movable groove; one end of the outer bottom of the annular transmission frame is connected to the top of the bending column, and a transmission gear ring is arranged on the inner top of the annular transmission frame, one end of the transmission gear ring is meshed and connected with one end of the transmission wheel, and the middle part of the transmission wheel is connected to the output shaft of the transmission motor.

[0011] Two positioning clamps are arranged inside the movable groove, and the two positioning clamps are symmetrical along the center of the movable groove. The top of the positioning clamp is connected to the bottom of the U-shaped slide. A sliding column is arranged inside the U-shaped slide. A threaded slide is clamped between the two U-shaped slides. Two inclined slide grooves are arranged on the threaded slide. One end of the inclined slide groove close to the inner side of the threaded slide is higher than the other end of the inclined slide groove close to the outer side of the threaded slide. A sliding column is inserted in the inclined slide groove.

[0012] A slide plate hole is provided at the top of the threaded slide plate, the slide plate hole is threadedly connected to the bottom of the sliding screw, the top of the sliding screw is connected to the output end of the sliding motor, the top of the sliding motor is connected to the top of the sliding groove; the top of the connecting column is connected to the bottom of the rotating motor.

[0013] The bottom of the fixed seat is connected to the top of the support platform. The fixed seat includes a base plate, a positioning pressure plate and a sliding clamp. The base plate, the positioning pressure plate and the sliding clamp form a placement groove. The end of the sliding clamp away from the placement groove is connected to one end of the electric push plate.

[0014] The middle part of the bottom plate is provided with a bottom plate groove and a vertical groove which are vertically connected, the vertical groove is close to the positioning pressure plate, the bottom of the vertical groove is connected to the bottom of the tensioning spring, the top of the tensioning spring is connected to the bottom of the I-shaped pressure plate, the top of the I-shaped pressure plate is higher than the bottom plate groove, and sliding blocks are provided at both ends of the middle part of the I-shaped pressure plate, the sliding blocks are located in the oblique groove, the end of the oblique groove close to the vertical groove is higher than the end of the oblique groove away from the vertical groove, the oblique groove is located on the sliding pull plate, and the end of the sliding pull plate away from the vertical groove is vertically connected to one end of the positioning block; A pull plate groove is arranged at the bottom of the sliding clamp plate at a position corresponding to the sliding pull plate.

[0015] A method for using a bending robot, characterized in that the method comprises the following steps: Step 1: First move the clamping mechanism to the top of the workpiece, then move the movable screw toward the workpiece, and then move the screw to move the clamping seat toward the workpiece until the workpiece is located in the clamping groove, and then move the two clamping blocks to both sides of the workpiece to clamp the workpiece; Step 2: First, the clamping block drives the workpiece to move, and then the clamping block puts the workpiece into the fixed seat, and then the fixed seat fixes the workpiece, and then the clamping block moves away from the workpiece, and then the clamping mechanism moves away from the workpiece; Step 3: First, move the bending column to the vicinity of the part of the workpiece that needs to be bent, and then make the bending column move in a circular motion. When the bending column moves and connects with the workpiece, the bending column presses against the workpiece while continuing to move in a circular motion to bend the workpiece, and then obtain the bent workpiece, and then make the bending column move away from the bent workpiece; Step 4: First move the clamping mechanism to the top of the unbent part of the bent workpiece, then move the movable screw toward the bent workpiece, and then move the screw to move the clamping seat toward the bent workpiece until the bent workpiece is located in the clamping groove, and then move the two clamping blocks to both sides of the bent workpiece to clamp the bent workpiece, and then the clamping blocks drive the bent workpiece to move away from the fixed seat.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. In a bending robot and a method for using the same, the robot comprises a clamping mechanism, a bending mechanism and a fixing mechanism. The number of the clamping mechanisms is two. The clamping mechanism comprises a connecting plate, a moving screw and a clamping seat. The moving screw passes through the connecting plate and is connected to the top of the clamping seat. A clamping groove is provided in the clamping seat. A clamping block is provided in the clamping groove. The connecting plate is connected to the bending mechanism. The bending mechanism comprises a bending column. The fixing mechanism comprises a fixing seat. When used, the clamping mechanism is first moved to The clamping seat is driven by the movable screw to move toward the workpiece until the workpiece is located in the clamping groove, and then the workpiece is clamped by the clamping block, and then the workpiece is driven by the clamping block to move into the fixed seat, and then the workpiece is bent by the bending column to obtain the bent workpiece, and then the clamping mechanism is moved above the bent workpiece, and then the clamping seat is driven by the movable screw to move toward the bent workpiece until the bent workpiece is located in the clamping groove, and then the bent workpiece is clamped by the clamping block, and then the bent workpiece is driven by the clamping block to move away from the fixed seat. The advantages of the present invention also include: First point: the workpiece is moved into or out of the fixed seat by the clamping mechanism, and no manual or other devices are needed to assist the workpiece to move into or out of the fixed seat, so the processing efficiency is high; Second point: No need for manual or other device assistance, the clamping and bending are integrated into one, thus reducing the space occupied by the device and reducing the limitation of the device on the use space; The third point: There are two clamping mechanisms, which clamp the two ends of the workpiece respectively, so the fixing effect of the workpiece is better, which is conducive to moving the workpiece smoothly into the fixed seat; Therefore, the present invention has higher processing efficiency and less restrictions on the use of space.

[0017] 2. In a bending robot and a method for using the same, guide slides are provided on both sides of the moving screw, the tops of the moving screw and the guide slides are connected with a support plate and a moving motor, a sliding motor is provided in the middle of the clamping seat, sliding screws are provided on both sides of the sliding motor, the other ends of the sliding screws are connected to one end of the threaded slider, and the other end of the threaded slider is connected to the top of the clamping block. When in use, the moving motor drives the moving screw to rotate so that the moving screw moves up and down along its axis, and then the moving screw and the guide slide drive the clamping seat to move up and down so that the clamping groove is located outside the workpiece or away from the workpiece; then the output end of the sliding motor is rotated to drive the threaded slider to move toward the workpiece so that the clamping block clamps the workpiece, or the clamping block is moved away from the workpiece to release the connection between the clamping block and the workpiece; the threaded slider is moved to control the distance between the two clamping blocks, so as to adapt to workpieces of different thicknesses. Therefore, the present invention has a better clamping effect on workpieces of different thicknesses.

[0018] 3. In a bending robot and a method for using the same, the bending mechanism includes a connecting column, a movable groove with an opening facing downward is provided in the connecting column, an annular transmission frame is provided at the opening of the movable groove, the annular transmission frame is connected to the bending column, a transmission gear ring is provided at the other end of the annular transmission frame, the transmission gear ring is meshed and connected with the transmission gear, and two positioning clamps are also provided in the middle of the sliding groove. When used, the two positioning clamps are first clamped to fix the workpiece, and then the workpiece is bent by the bending column to obtain a bent workpiece, and then the bending column is away from the bent workpiece, and the two positioning clamps are further away from the bent workpiece; the positioning clamps fix the workpiece to prevent the workpiece from shifting under the bending action of the bending column, thereby ensuring a stable bending effect. Therefore, the bending effect of the present invention is stable.

[0019] 4. In a bending robot and its use method of the present invention, the number of the fixed seats is two, and the fixed seats include a bottom plate, a positioning plate, a sliding clamp and a placement slot. The bottom plate slot is provided in the middle of the bottom plate, and the placement slot is provided with a type plate and a sliding pull plate. When the workpiece is placed in the placement slot, the workpiece presses down the type plate, and then the sliding pull plate moves toward the workpiece under the action of the type plate to initially fix the workpiece to prevent the workpiece from tilting, and then the sliding clamp moves to one side of the workpiece to clamp the workpiece in conjunction with the positioning plate, thereby fixing the workpiece. Therefore, the present invention has a better fixing effect on the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention.

[0021] Figure 2 yes Figure 1 Schematic diagram of the structure of the center-bend column.

[0022] Figure 3 yes Figure 1 Schematic diagram of the structure of the clamping mechanism.

[0023] Figure 4 yes Figure 3 Schematic diagram of the structure of the middle clamping seat.

[0024] Figure 5 yes Figure 1 Schematic diagram of the structure of the mid-bending mechanism.

[0025] Figure 6 yes Figure 5 Schematic diagram of the structure of the medium thread slide.

[0026] Figure 7 yes Figure 5 Schematic diagram of the structure of the middle transmission wheel.

[0027] Figure 8 yes Figure 1 Schematic diagram of the structure of the positioning splint.

[0028] Figure 9 yes Figure 1 Schematic diagram of the structure of the fixing mechanism.

[0029] Figure 10 yes Figure 9 Schematic diagram of the structure of the middle fixed seat.

[0030] Figure 11 yes Figure 10 Schematic diagram of the structure of the medium-sized pressure plate.

[0031] Figure 12 It is a schematic diagram of the structure of the workpiece in Example 1.

[0032] Figure 13 It is a schematic structural diagram of the bent workpiece in Example 1.

[0033] In the figure: clamping mechanism 1, connecting plate 11, threaded hole 111, movable screw 12, clamping seat 13, clamping groove 131, clamping block 132, left clamping mechanism 14, right clamping mechanism 15, guide slide column 16, support plate 161, mobile motor 162, bending mechanism 2, bending column 21, connecting column 22, movable groove 221, annular transmission frame 23, transmission gear ring 231, transmission wheel 232, transmission motor 233, fixing mechanism 3, fixing seat 31, support table 32, bottom plate 33, bottom plate groove 331, vertical groove 3 32, positioning plate 34, sliding clamp 35, pull plate groove 351, placement groove 36, electric push plate 37, sliding groove 4, sliding motor 41, sliding screw 42, threaded slider 43, positioning clamp 5, U-shaped slide plate 51, sliding column 52, threaded slide plate 53, inclined slide groove 531, slide plate hole 532, sliding screw 54, sliding motor 55, rotating motor 56, tightening spring 6, I-type pressure plate 61, sliding block 62, oblique groove 63, sliding pull plate 64, positioning block 65, workpiece 7, bending workpiece 71, robotic arm 8. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0035] See also Figure 1 — Figure 13 , a bending robot, the robot comprising a clamping mechanism 1, a bending mechanism 2 and a fixing mechanism 3; The clamping mechanism 1 includes a connecting plate 11, a moving screw 12 and a clamping seat 13; the middle part of the moving screw 12 is threadedly connected to the threaded hole 111 in the middle part of the connecting plate 11, and the moving screw 12 moves back and forth along its axial direction. One end of the moving screw 12 located below the connecting plate 11 is connected to the top of the clamping seat 13, and a clamping groove 131 is provided at the bottom of the clamping seat 13, and clamping blocks 132 are provided on both sides of the clamping groove 131; one side of the connecting plate 11 is connected to the side wall of the bending mechanism 2; A bending column 21 is provided at the bottom of the bending mechanism 2, and the movement stroke of the bending column 21 is a circular motion; a fixing mechanism 3 is provided below the bending column 21, and a fixing seat 31 is provided on one end of the fixing mechanism 3 close to the bending column 21.

[0036] The clamping mechanism 1 includes a left clamping mechanism 14 and a right clamping mechanism 15 , and the left clamping mechanism 14 and the right clamping mechanism 15 are symmetrically distributed along the bending mechanism 2 .

[0037] Guide slide columns 16 are arranged on both sides of the movable screw 12, the top of the guide slide column 16 is connected to the bottom of the support plate 161, and one end of the movable screw 12 passes through the support plate 161 and is connected to one end of the movable motor 162; the middle part of the guide slide column 16 passes through the connecting plate 11, and the bottom of the guide slide column 16 is connected to the top of the clamping seat 13.

[0038] A sliding groove 4 is provided inside the clamping seat 13, and a sliding motor 41 is provided in the middle of the sliding groove 4. Both ends of the sliding motor 41 are connected to one end of a sliding screw 42, and the other end of the sliding screw 42 is connected to the top of a threaded slider 43, and the bottom of the threaded slider 43 is connected to the top of the clamping block 132.

[0039] The bending mechanism 2 includes a connecting column 22, the middle part of the connecting column 22 is a movable groove 221, the opening direction of the movable groove 221 faces downward, and an annular transmission frame 23 is arranged at the opening of the movable groove 221; one end of the outer bottom of the annular transmission frame 23 is connected to the top of the bending column 21, and a transmission gear ring 231 is arranged on the inner top of the annular transmission frame 23, one end of the transmission gear ring 231 is meshed and connected with one end of the transmission wheel 232, and the middle part of the transmission wheel 232 is connected to the output shaft of the transmission motor 233.

[0040] Two positioning clamps 5 are arranged inside the movable groove 221, and the two positioning clamps 5 are symmetrical along the center of the movable groove 221. The top of the positioning clamp 5 is connected to the bottom of the U-shaped slide 51. A sliding column 52 is arranged inside the U-shaped slide 51. A threaded slide 53 is clamped between the two U-shaped slides 51. Two inclined slide grooves 531 are arranged on the threaded slide 53. One end of the inclined slide groove 531 close to the inner side of the threaded slide 53 is higher than the other end of the inclined slide groove 531 close to the outer side of the threaded slide 53. A sliding column 52 is inserted into the inclined slide groove 531.

[0041] A slide plate hole 532 is provided at the top of the threaded slide plate 53, and the slide plate hole 532 is threadedly connected to the bottom of the sliding screw 54, the top of the sliding screw 54 is connected to the output end of the sliding motor 55, and the top of the sliding motor 55 is connected to the top of the sliding groove 4; the top of the connecting column 22 is connected to the bottom of the rotating motor 56.

[0042] The bottom of the fixed seat 31 is connected to the top of the support platform 32. The fixed seat 31 includes a bottom plate 33, a positioning pressure plate 34 and a sliding clamp 35. The bottom plate 33, the positioning pressure plate 34 and the sliding clamp 35 form a placement groove 36. The end of the sliding clamp 35 away from the placement groove 36 is connected to one end of the electric push plate 37.

[0043] A bottom plate groove 331 and a vertical groove 332 which are vertically connected are provided in the middle of the bottom plate 33. The vertical groove 332 is close to the positioning pressure plate 34. The bottom of the vertical groove 332 is connected to the bottom of the tension spring 6. The top of the tension spring 6 is connected to the bottom of the I-shaped pressure plate 61. The top of the I-shaped pressure plate 61 is higher than the bottom plate groove 331. Sliding blocks 62 are provided at both ends of the middle of the I-shaped pressure plate 61. The sliding blocks 62 are located in the oblique groove 63. The end of the oblique groove 63 close to the vertical groove 332 is higher than the end of the oblique groove 63 away from the vertical groove 332. The oblique groove 63 is located on the sliding pull plate 64. The end of the sliding pull plate 64 away from the vertical groove 332 is vertically connected to one end of the positioning block 65. A pull plate groove 351 is provided at the bottom of the sliding clamping plate 35 corresponding to the position of the sliding pull plate 64 .

[0044] A method for using a bending robot, the method comprising the following steps: The first step: first move the clamping mechanism 1 to the top of the workpiece 7, then move the movable screw 12 toward the workpiece 7, and then move the movable screw 12 to move the clamping seat 13 toward the workpiece 7 until the workpiece 7 is located in the clamping groove 131, and then move the two clamping blocks 132 to both sides of the workpiece 7 to clamp the workpiece 7; Step 2: First, the clamping block 132 drives the workpiece 7 to move, and then the clamping block 132 puts the workpiece 7 into the fixing seat 31, and then the fixing seat 31 fixes the workpiece 7, and then the clamping block 132 moves away from the workpiece 7, and then the clamping mechanism 1 moves away from the workpiece 7; Step 3: first move the bending column 21 to the vicinity of the part of the workpiece 7 that needs to be bent, and then make the bending column 21 move in a circular motion. When the bending column 21 moves and connects with the workpiece 7, the bending column 21 presses against the workpiece 7 while continuing to move in a circular motion to bend the workpiece 7, and then obtain a bent workpiece 71, and then make the bending column 21 away from the bent workpiece 71; Step 4: first move the clamping mechanism 1 to above the unbent portion of the bent workpiece 71, then move the movable screw 12 toward the bent workpiece 71, and then move the screw 12 to move the clamping seat 13 toward the bent workpiece 71 until the bent workpiece 71 is located in the clamping groove 131, and then move the two clamping blocks 132 to both sides of the bent workpiece 71 to clamp the bent workpiece 71, and then the clamping blocks 132 drive the bent workpiece 71 to move away from the fixed seat 31.

[0045] The supplementary description of the present invention is as follows: The robot arm 8 described in the present invention refers to: a component used to assist the movement of the clamping mechanism 1 and the bending mechanism 2. One end of the robot arm 8 is fixed, and the other end is connected to one end of the rotating motor 56. The other end of the rotating motor 56 is connected to the top of the connecting column 22. The two ends of the connecting column 22 are respectively connected to the left clamping mechanism 14 and the right clamping mechanism 15. Therefore, when the robot arm 8 moves, it can drive the clamping mechanism 1 and the bending mechanism 2 to move; when the rotating motor 56 rotates, the rotating motor 56 drives the connecting column 22 to rotate, and then the connecting column 22 drives the left clamping mechanism 14 and the right clamping mechanism 15 to rotate; the initial positions of the robot arm 8, the fixing mechanism 3, the workpiece 7 and the positions of the parts on the workpiece 7 that need to be bent can be set in advance, and then the rotation angle, motion trajectory and travel speed of the robot during motion can be set, and the bending of the workpiece 7 can be successfully completed.

[0046] Embodiment 1: See also Figure 1 — Figure 13, a bending robot, the robot comprises a clamping mechanism 1, a bending mechanism 2 and a fixing mechanism 3; the clamping mechanism 1 comprises a connecting plate 11, a moving screw 12 and a clamping seat 13; the middle part of the moving screw 12 is threadedly connected with the threaded hole 111 in the middle part of the connecting plate 11, and the movement stroke of the moving screw 12 is to move back and forth along its axial direction, and the end of the moving screw 12 located below the connecting plate 11 is connected to the top of the clamping seat 13, and the bottom of the clamping seat 13 is provided with a clamping groove 131, and clamping blocks 132 are provided on both sides of the clamping groove 131; one side of the connecting plate 11 is connected to the side wall of the bending mechanism 2; a bending column 21 is provided at the bottom of the bending mechanism 2, and the movement stroke of the bending column 21 is a circular motion; a fixing mechanism 3 is provided below the bending column 21, and a fixing seat 31 is provided on the end of the fixing mechanism 3 close to the bending column 21. Preferably, the clamping mechanism 1 comprises a left clamping mechanism 14 and a right clamping mechanism 15 , and the left clamping mechanism 14 and the right clamping mechanism 15 are symmetrically distributed along the bending mechanism 2 .

[0047] A method for using a bending robot, the method comprising the following steps: The first step: first move the clamping mechanism 1 to the top of the workpiece 7, then move the movable screw 12 toward the workpiece 7, and then move the movable screw 12 to move the clamping seat 13 toward the workpiece 7 until the workpiece 7 is located in the clamping groove 131, and then move the two clamping blocks 132 to both sides of the workpiece 7 to clamp the workpiece 7; Step 2: First, the clamping block 132 drives the workpiece 7 to move, and then the clamping block 132 puts the workpiece 7 into the fixing seat 31, and then the fixing seat 31 fixes the workpiece 7, and then the clamping block 132 moves away from the workpiece 7, and then the clamping mechanism 1 moves away from the workpiece 7; Step 3: first move the bending column 21 to the vicinity of the part of the workpiece 7 that needs to be bent, and then make the bending column 21 move in a circular motion. When the bending column 21 moves and connects with the workpiece 7, the bending column 21 presses against the workpiece 7 while continuing to move in a circular motion to bend the workpiece 7, and then obtain a bent workpiece 71, and then make the bending column 21 away from the bent workpiece 71; Step 4: first move the clamping mechanism 1 to above the unbent portion of the bent workpiece 71, then move the movable screw 12 toward the bent workpiece 71, and then move the screw 12 to move the clamping seat 13 toward the bent workpiece 71 until the bent workpiece 71 is located in the clamping groove 131, and then move the two clamping blocks 132 to both sides of the bent workpiece 71 to clamp the bent workpiece 71, and then the clamping blocks 132 drive the bent workpiece 71 to move away from the fixed seat 31.

[0048] Embodiment 2: The basic content is the same as that of Example 1, except that: See also Figure 1 —Figure 4 , guide slides 16 are arranged on both sides of the moving screw 12, the top of the guide slides 16 is connected to the bottom of the support plate 161, and one end of the moving screw 12 passes through the support plate 161 and is connected to one end of the moving motor 162; the middle of the guide slide 16 passes through the connecting plate 11, and the bottom of the guide slide 16 is connected to the top of the clamping seat 13. The clamping seat 13 is provided with a sliding groove 4 inside, and a sliding motor 41 is arranged in the middle of the sliding groove 4, and both ends of the sliding motor 41 are connected to one end of the sliding screw 42, and the other end of the sliding screw 42 is connected to the top of the threaded slider 43, and the bottom of the threaded slider 43 is connected to the top of the clamping block 132.

[0049] During application, when it is necessary to clamp the workpiece 7, first move the clamping seat 13 to the top of the workpiece 7, then rotate the output end of the mobile motor 162 to drive the mobile screw 12 to rotate, so that the mobile screw 12 gradually descends along the threaded hole 111, and the guide slide column 16 and the mobile screw 12 descend together until the clamping groove 131 covers the outside of the workpiece 7, then start the sliding motor 41, and then the sliding motor 41 drives the sliding screws 42 on both sides to rotate. Since the sliding screw 42 and the threaded slider 43 are threadedly connected, the sliding screw 42 drives the threaded slider 43 to move toward the center of the clamping groove 131, and then the threaded slider 43 drives the clamping block 132 to move toward the center of the clamping groove 131, and then the clamping block 132 clamps the workpiece 7 from both sides of the workpiece 7 to fix the workpiece 7 between the clamping blocks 132; bending process The clamping of workpiece 7 is the same as the above steps; when it is not necessary to clamp the workpiece 7, the sliding motor 41 first drives the sliding screws 42 on both sides to rotate. Since the sliding screws 42 and the threaded slider 43 are threadedly connected, the sliding screws 42 drive the threaded slider 43 to move away from the clamping groove 131, and then the threaded slider 43 drives the clamping block 132 to move away from the clamping groove 131, and then the clamping block 132 leaves the workpiece 7 from both sides to release the fixation of the workpiece 7, and then the output end of the moving motor 162 is rotated to drive the moving screw 12 to rotate, so the moving screw 12 gradually rises along the threaded hole 111, and the guide slide column 16 rises together with the moving screw 12 until the bottom of the clamping groove 131 is higher than the top of the workpiece 7; the steps for bending the workpiece 7 when it is not necessary to clamp are the same as the above steps.

[0050] Embodiment 3: The basic content is the same as that of Example 1, except that: See also Figure 1 — Figure 8The bending mechanism 2 includes a connecting column 22, a middle portion of the connecting column 22 is a movable groove 221, an opening direction of the movable groove 221 faces downward, and an annular transmission frame 23 is provided at the opening of the movable groove 221; one end of the outer bottom of the annular transmission frame 23 is connected to the top of the bending column 21, and a transmission gear ring 231 is provided at the inner top of the annular transmission frame 23, one end of the transmission gear ring 231 is meshed and connected with one end of a transmission wheel 232, and the middle portion of the transmission wheel 232 is connected to the output shaft of a transmission motor 233. Two positioning clamps 5 are arranged inside the movable groove 221. The two positioning clamps 5 are symmetrical along the center of the movable groove 221. The top of the positioning clamps 5 is connected to the bottom of the U-shaped slide 51. A sliding column 52 is arranged inside the U-shaped slide 51. A threaded slide 53 is clamped between the two U-shaped slides 51. Two inclined slides 531 are arranged on the threaded slide 53. The end of the inclined slide 531 close to the inner side of the threaded slide 53 is higher than the end of the inclined slide 531 close to the outer side of the threaded slide 53. The sliding column 52 is inserted into the inclined slide 531. A slide hole 532 is arranged on the top of the threaded slide 53. The slide hole 532 is threadedly connected to the bottom of the sliding screw 54. The top of the sliding screw 54 is connected to the output end of the sliding motor 55. The top of the sliding motor 55 is connected to the top of the sliding groove 4. The top of the connecting column 22 is connected to the bottom of the rotating motor 56. Preferably, a cover is provided at the opening of the movable groove 221 , and a positioning hole is provided on the cover for the positioning clamp plate 5 to pass through and move.

[0051] When in use, after the workpiece 7 is fixed on the fixing seat 31, the bending mechanism 2 is moved to the top of the part where the workpiece 7 needs to be bent by the mechanical arm 8, and then the sliding motor 55 is started, and then the sliding motor 55 drives the sliding screw 54 to rotate. Since the sliding screw 54 and the threaded slide plate 53 are threadedly connected, the sliding screw 54 causes the threaded slide plate 53 to move longitudinally. At this time, the two inclined slide grooves 531 on the threaded slide plate 53 move longitudinally, and then the inclined slide grooves 531 drive the sliding column 52 to move along the inclined slide grooves 531, so the two sliding columns 52 move toward the central axis of the threaded slide plate 53, and then the sliding column 52 drives the U-shaped slide plate 51 to move toward the central axis of the threaded slide plate 53, and then the U-shaped slide plate 51 drives the positioning clamping plate 5 to move toward the central axis of the threaded slide plate 53, so the two positioning clamping plates 5 clamp the workpiece 7 from both sides of the workpiece 7 to fix the workpiece 7; then the transmission motor 233 is started, and then the output shaft of the transmission motor 233 causes the transmission wheel 232 to rotate , and then the transmission wheel 232 drives the transmission gear ring 231 to rotate, and then the transmission gear ring 231 drives the transmission frame 23 to rotate, and then the transmission frame 23 drives the bending column 21 to rotate, and then the bending column 21 bends the workpiece 7 to obtain the bent workpiece 71; then the sliding motor 55 is started, and then the sliding motor 55 drives the sliding screw 54 to rotate. Because the sliding screw 54 and the threaded slide plate 53 are threadedly connected, the sliding screw 54 makes the threaded slide plate 53 move longitudinally. At this time, the two inclined slide grooves 531 on the threaded slide plate 53 move longitudinally, and then the inclined slide grooves 531 drive the sliding column 52 to move along the inclined slide grooves 531, so the two sliding columns 52 move to both sides of the threaded slide plate 53, and then the sliding column 52 drives the U-shaped slide plate 51 to move to both sides of the threaded slide plate 53, and then the U-shaped slide plate 51 drives the positioning clamping plate 5 to move to both sides of the threaded slide plate 53, so the two positioning clamping plates 5 leave the workpiece 7 from both sides of the workpiece 7 to release the fixation of the workpiece 7.

[0052] Embodiment 4: The basic content is the same as that of Example 1, except that: See also Figure 1 — Figure 11The bottom of the fixed seat 31 is connected to the top of the support platform 32. The fixed seat 31 includes a bottom plate 33, a positioning pressure plate 34 and a sliding clamp 35. The bottom plate 33, the positioning pressure plate 34 and the sliding clamp 35 form a placement groove 36. The end of the sliding clamp 35 away from the placement groove 36 is connected to one end of the electric push plate 37. A bottom plate groove 331 and a vertical groove 332 which are vertically connected are provided in the middle of the bottom plate 33. The vertical groove 332 is close to the positioning pressure plate 34. The bottom of the vertical groove 332 is connected to the bottom of the tensioning spring 6. The top of the tensioning spring 6 is connected to the bottom of the I-shaped pressure plate 61. The top of the I-shaped pressure plate 61 is higher than the bottom plate groove 331. Sliding blocks 62 are provided at both ends of the middle part of the I-shaped pressure plate 61. The sliding blocks 62 are located in the oblique groove 63. The end of the oblique groove 63 close to the vertical groove 332 is higher than the end of the oblique groove 63 away from the vertical groove 332. The oblique groove 63 is located on the sliding pull plate 64. The end of the sliding pull plate 64 away from the vertical groove 332 is vertically connected to one end of the positioning block 65. A pull plate groove 351 is provided at the bottom of the sliding splint 35 corresponding to the position of the sliding pull plate 64.

[0053] When in use, first place the workpiece 7 in the placement groove 36, and then the workpiece 7 presses the type pressure plate 61 downward. At this time, the tensioning spring 6 is compressed, and then the type pressure plate 61 drives the sliding block 62 to move downward. At this time, the sliding block 62 moves downward along the oblique groove 63, so the oblique groove 63 moves toward the direction of the type pressure plate 61 under the action of the sliding block 62, and then the oblique groove 63 drives the sliding pull plate 64 to move in the direction of the type pressure plate 61, and then the sliding pull plate 64 drives the positioning block 65 to move in the direction of the type pressure plate 61, so the sliding pull plate 64 and the positioning pressure plate 34 clamp the workpiece 7 from both sides of the workpiece 7 to prevent the workpiece 7 from tilting, and then the electric push plate 37 drives the sliding clamping plate 35 to move in the direction of the type pressure plate 61 until the sliding clamping plate 35 is connected to the workpiece 7. At this time, the sliding clamping plate 35 and the positioning pressure plate 34 clamp the workpiece 7 from both sides of the workpiece 7 to The workpiece 7 is fixed; after the bent workpiece 71 is obtained, the workpiece 7 is first taken out from the placement groove 36. At this time, the tensioning spring 6 is stretched, so the tensioning spring 6 drives the type pressure plate 61 to move upward, and then the type pressure plate 61 drives the sliding block 62 to move upward. At this time, the sliding block 62 moves upward along the oblique groove 63, so the oblique groove 63 moves in the direction away from the type pressure plate 61 under the action of the sliding block 62, and then the oblique groove 63 drives the sliding pull plate 64 to move in the direction away from the type pressure plate 61, and then the sliding pull plate 64 drives the positioning block 65 to move in the direction away from the type pressure plate 61, so the sliding pull plate 64 is away from the positioning pressure plate 34, in preparation for the next clamping of the workpiece 7, the electric push plate 37 drives the sliding clamping plate 35 to move in the direction away from the type pressure plate 61 to expand the volume of the placement groove 36, so as to facilitate the next placement of the workpiece 7 into the placement groove 36.

[0054] The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiment. Any equivalent modifications or changes made by ordinary technicians in this field based on the contents disclosed by the present invention should be included in the protection scope recorded in the claims.

Claims

1. A bending robot, characterized in that: The robot comprises a clamping mechanism (1), a bending mechanism (2) and a fixing mechanism (3); The clamping mechanism (1) comprises a connecting plate (11), a movable screw (12) and a clamping seat (13); the middle portion of the movable screw (12) is threadedly connected to a threaded hole (111) in the middle portion of the connecting plate (11); the movable screw (12) has a movement stroke of moving back and forth along its axial direction; one end of the movable screw (12) located below the connecting plate (11) is connected to the top of the clamping seat (13); a clamping groove (131) is provided at the bottom of the clamping seat (13); clamping blocks (132) are provided on both sides of the clamping groove (131); one side of the connecting plate (11) is connected to a side wall of the bending mechanism (2); A bending column (21) is provided at the bottom of the bending mechanism (2), and the movement stroke of the bending column (21) is a circular motion; a fixing mechanism (3) is provided below the bending column (21), and a fixing seat (31) is provided on one end of the fixing mechanism (3) close to the bending column (21).

2. A bending robot according to claim 1, characterized in that: The clamping mechanism (1) comprises a left clamping mechanism (14) and a right clamping mechanism (15), and the left clamping mechanism (14) and the right clamping mechanism (15) are symmetrically distributed along the bending mechanism (2).

3. A bending robot according to claim 1 or 2, characterized in that: Guide slide columns (16) are arranged on both sides of the movable screw rod (12); the top of the guide slide column (16) is connected to the bottom of the support plate (161); one end of the movable screw rod (12) passes through the support plate (161) and is connected to one end of the movable motor (162); the middle part of the guide slide column (16) passes through the connecting plate (11), and the bottom of the guide slide column (16) is connected to the top of the clamping seat (13).

4. A bending robot according to claim 3, characterized in that: A sliding groove (4) is provided inside the clamping seat (13), a sliding motor (41) is provided in the middle of the sliding groove (4), two ends of the sliding motor (41) are connected to one end of a sliding screw (42), the other end of the sliding screw (42) is connected to the top of a threaded slider (43), and the bottom of the threaded slider (43) is connected to the top of the clamping block (132).

5. A bending robot according to claim 1 or 2, characterized in that: The bending mechanism (2) comprises a connecting column (22), the middle part of the connecting column (22) is a movable groove (221), the opening direction of the movable groove (221) faces downward, and an annular transmission frame (23) is arranged at the opening of the movable groove (221); one end of the outer bottom of the annular transmission frame (23) is connected to the top of the bending column (21), and a transmission gear ring (231) is arranged on the inner top of the annular transmission frame (23), one end of the transmission gear ring (231) is meshedly connected to one end of a transmission wheel (232), and the middle part of the transmission wheel (232) is connected to the output shaft of the transmission motor (233).

6. A bending robot according to claim 5, characterized in that: Two positioning clamps (5) are arranged inside the movable groove (221), and the two positioning clamps (5) are symmetrical along the center of the movable groove (221). The top of the positioning clamps (5) is connected to the bottom of the U-shaped slide plate (51). A sliding column (52) is arranged inside the U-shaped slide plate (51). A threaded slide plate (53) is clamped between the two U-shaped slide plates (51). Two inclined slide grooves (531) are arranged on the threaded slide plate (53). One end of the inclined slide groove (531) close to the inner side of the threaded slide plate (53) is higher than one end of the inclined slide groove (531) close to the outer side of the threaded slide plate (53). The sliding column (52) is inserted into the inclined slide groove (531).

7. A bending robot according to claim 6, characterized in that: A slide hole (532) is provided at the top of the threaded slide plate 53, the slide hole (532) is threadedly connected to the bottom of the sliding screw (54), the top of the sliding screw (54) is connected to the output end of the sliding motor (55), the top of the sliding motor (55) is connected to the top of the sliding groove (4); the top of the connecting column (22) is connected to the bottom of the rotating motor (56).

8. A bending robot according to claim 1 or 2, characterized in that: The bottom of the fixed seat 31 is connected to the top of the support platform (32). The fixed seat (31) comprises a bottom plate (33), a positioning pressure plate (34) and a sliding clamp (35). The bottom plate (33), the positioning pressure plate (34) and the sliding clamp (35) form a placement groove (36). One end of the sliding clamp (35) away from the placement groove (36) is connected to one end of the electric push plate (37).

9. A bending robot according to claim 8, characterized in that: A bottom plate groove (331) and a vertical groove (332) which are vertically connected are provided in the middle of the bottom plate (33), the vertical groove (332) is close to the positioning pressure plate (34), the bottom of the vertical groove (332) is connected to the bottom of the tension spring (6), the top of the tension spring (6) is connected to the bottom of the I-shaped pressure plate (61), the top of the I-shaped pressure plate (61) is higher than the bottom plate groove (331), sliding blocks (62) are provided at both ends of the middle of the I-shaped pressure plate (61), the sliding blocks (62) are located in the oblique groove (63), one end of the oblique groove (63) close to the vertical groove (332) is higher than one end of the oblique groove (63) away from the vertical groove (332), the oblique groove (63) is located on the sliding pull plate (64), and one end of the sliding pull plate (64) away from the vertical groove (332) is vertically connected to one end of the positioning block (65); A pull plate groove (351) is provided at the bottom of the sliding clamping plate (35) at a position corresponding to the sliding pull plate (64).

10. A method for using the bending robot according to claim 1, characterized in that: The method comprises the following steps: The first step is to first move the clamping mechanism (1) to the top of the workpiece (7), then move the movable screw (12) toward the workpiece (7), and then move the movable screw (12) to move the clamping seat (13) toward the workpiece (7) until the workpiece (7) is located in the clamping groove (131), and then move the two clamping blocks (132) toward both sides of the workpiece (7) to clamp the workpiece (7); Step 2: first, the clamping block (132) drives the workpiece (7) to move, then the clamping block (132) places the workpiece (7) into the fixing seat (31), and then the fixing seat (31) fixes the workpiece (7), then the clamping block (132) moves away from the workpiece (7), and then the clamping mechanism (1) moves away from the workpiece (7); Step 3: first move the bending column (21) to the vicinity of the part of the workpiece (7) that needs to be bent, then make the bending column (21) move in a circular motion, when the bending column (21) moves to connect with the workpiece (7), the bending column (21) abuts against the workpiece (7) while continuing to move in a circular motion to bend the workpiece (7), and then obtain a bent workpiece (71), and then make the bending column (21) move away from the bent workpiece (71); Step 4: first, the clamping mechanism (1) is moved to the upper part of the unbent portion of the bent workpiece (71), and then the movable screw (12) is moved in the direction of the bent workpiece (71), and then the movable screw (12) moves the clamping seat (13) in the direction of the bent workpiece (71) until the bent workpiece (71) is located in the clamping groove (131), and then the two clamping blocks (132) are moved to both sides of the bent workpiece (71) to clamp the bent workpiece (71), and then the clamping blocks (132) drive the bent workpiece (71) to move away from the fixed seat (31).

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