A bending robot and its usage method

Abstract

A kind of bending robot and its method, including clamping mechanism, bending mechanism and fixed mechanism;Clamping mechanism includes connecting plate, moving screw and clamping seat;The middle part of moving screw is covered with connecting plate, bottom and clamping seat are connected, clamping seat is provided with clamping block;Connecting plate is connected with bending mechanism, bending mechanism is provided with bending column, and fixed mechanism is arranged below bending column, when using, first make clamping block clamp workpiece, then make clamping block move to put workpiece into fixed mechanism, then bend workpiece by bending column to obtain bent workpiece, then clamp bent workpiece by clamping block, then make clamping block move to make bent workpiece leave fixed mechanism;The movement of workpiece, bending does not need other artificial or device auxiliary, so processing efficiency is higher;Clamping and bending are integrated, so as to reduce the floor space of device, i.e. reduce the restriction of device to use space.Therefore, the processing efficiency of the design is higher, and the restriction to use space is less.

Description

TECHNICAL FIELD

[0001] The present application relates to a bending robot, belonging to the field of plate bending processing, in particular to a bending robot and a method for using the same. BACKGROUND

[0002] The bending processing of metal workpieces is an important link in industrial manufacturing, and manual bending processing cannot meet the current market competition demand due to high labor intensity, low production efficiency and other problems.

[0003] A kind of auxiliary device for large workpiece bending and large workpiece bending equipment are disclosed in Chinese patent with application number 202021450410.3 and filing date of July 21, 2020, the auxiliary device for large workpiece bending includes support chassis and guide table plate, a plurality of balls that can rotate freely in the specified area are arranged on the guide table surface of the guide table plate, the large workpiece to be bent can be placed on the guide table plate and contacted with the plurality of balls, and then guided to the workbench of the bending machine, although the design guides the workpiece through the guide table surface and bends the workpiece through the bending machine, it still has the following defects:

[0004] In the design, the workpiece needs to be placed on the guide table surface manually or with the aid of other devices, then the bending operation is performed by the bending machine, and then the bent workpiece is taken out from the design manually or with the aid of other devices, so the processing efficiency of the design is low.

[0005] The information disclosed in this background section is intended only to increase an understanding of the general context of the present application, and it should not be taken as an acknowledgement or any form of suggestion that this information forms prior art that is already widely known in the art before the application was made. SUMMARY

[0006] The purpose of the present application is to overcome the defects and problems of low processing efficiency in the prior art, and to provide a bending robot with high processing efficiency and a method for using the same.

[0007] To achieve the above purpose, the technical solution of the present application is as follows:

[0008] A bending robot, the robot includes a clamping mechanism, a bending mechanism and a fixing mechanism;

[0009] The clamping mechanism includes a connecting plate, a moving screw and a clamping seat, the middle part of the moving screw is threadedly connected with the threaded hole in the middle part of the connecting plate, the movement stroke of the moving screw is to move back and forth along its axial direction, one end of the moving screw below the connecting plate is connected with the top of the clamping seat, the bottom of the clamping seat is provided with a clamping groove, and clamping blocks are arranged on both sides of the clamping groove; one side of the connecting plate is connected with the side wall of the bending mechanism;

[0010] The bending mechanism has a bending column at its bottom, and the bending column moves in a circular motion. A fixing mechanism is located below the bending column, and a fixing seat is located at one end of the fixing mechanism near the bending column.

[0011] The clamping mechanism includes a left clamping mechanism and a right clamping mechanism, which are symmetrically distributed along the bending mechanism.

[0012] The movable screw is provided with guide slides on both sides. The top of the guide slides is connected to the bottom of the support plate. One end of the movable screw passes through the support plate and is connected to one end of the movable motor. The middle part of the guide slide passes through the connecting plate, and the bottom of the guide slide is connected to the top of the clamping seat.

[0013] The clamping seat has a sliding groove inside, and a sliding motor is installed in the middle of the sliding groove. Both ends of the sliding motor are connected to one end of a sliding screw, and the other end of the sliding screw is connected to the top of a threaded slider. The bottom of the threaded slider is connected to the top of the clamping block.

[0014] The bending mechanism includes a connecting column, the middle of which is a movable groove with its opening facing downwards. An annular transmission frame is provided 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 provided on the inner top of the annular transmission frame. One end of the transmission gear ring meshes with one end of a transmission wheel, and the middle of the transmission wheel is connected to the output shaft of a transmission motor.

[0015] The movable groove is equipped with two positioning clamps, which are symmetrical about the center of the movable groove. The top of the positioning clamps is connected to the bottom of the U-shaped slide plate. The U-shaped slide plate is equipped with a sliding column. The two U-shaped slide plates are clamped with a threaded slide plate. The threaded slide plate is equipped with two inclined sliding grooves. The end of the inclined sliding groove near the inner side of the threaded slide plate is higher than the end of the inclined sliding groove near the outer side of the threaded slide plate. The sliding column is inserted in the inclined sliding groove.

[0016] The top of the threaded slide plate is provided with a slide plate hole, which 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, and 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.

[0017] The bottom of the fixed base is connected to the top of the support platform. The fixed base includes a base plate, a positioning pressure plate and a sliding clamping plate. The base plate, the positioning pressure plate and the sliding clamping plate together form a placement groove. The end of the sliding clamping plate away from the placement groove is connected to one end of the electric push plate.

[0018] The base plate has a vertically connected base plate groove and a vertical groove in the middle. The vertical groove is close to the positioning pressure plate. The bottom of the vertical groove is connected to the bottom of the clamping spring. The top of the clamping spring is connected to the bottom of the I-shaped pressure plate. The top of the I-shaped pressure plate is higher than the base plate groove. Sliding blocks are provided at both ends of the middle part of the I-shaped pressure plate. The sliding blocks are located in the inclined groove. The end of the inclined groove closer to the vertical groove is higher than the end of the inclined groove away from the vertical groove. The inclined groove is located on the sliding pull plate. The end of the sliding pull plate away from the vertical groove is perpendicularly connected to the end of the positioning block.

[0019] The bottom of the sliding clamp is provided with a pull plate groove corresponding to the position of the sliding pull plate.

[0020] A method for using a bending robot, characterized in that the method includes the following steps:

[0021] Step 1: First, move the clamping mechanism above the workpiece, then move the moving screw towards the workpiece, then move the moving screw to move the clamping seat towards the workpiece until the workpiece is in the clamping groove, and then move the two clamping blocks to the sides of the workpiece to clamp the workpiece.

[0022] Step 2: First, move the clamping block to move the workpiece, then place the workpiece into the fixed seat, and then fix the workpiece with the fixed seat. Then move the clamping block away from the workpiece, and then move the clamping mechanism away from the workpiece.

[0023] Step 3: First, move the bending column to the vicinity of the part of the workpiece that needs to be bent, then make the bending column move in a circle. When the bending column moves and connects with the workpiece, the bending column continues to move in a circle while pressing against the workpiece to bend the workpiece, and then the bent workpiece is obtained. Then move the bending column away from the bent workpiece.

[0024] Step 4: First, move the clamping mechanism above the unbent part of the workpiece. Then, move the moving screw towards the workpiece. Next, move the moving screw to move the clamping seat towards the workpiece until the workpiece is in the clamping groove. Then, move the two clamping blocks to the sides of the workpiece to clamp it. Finally, the clamping blocks move the workpiece away from the fixed seat.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] 1. In the present invention, a bending robot and its method of use, the robot includes a clamping mechanism, a bending mechanism, and a fixing mechanism. The clamping mechanism comprises two parts, each including a connecting plate, a moving screw, and a clamping seat. The moving screw passes through the connecting plate and connects to the top of the clamping seat. The clamping seat has a clamping groove, and a clamping block is disposed within the clamping groove. The connecting plate is connected to the bending mechanism, which includes a bending column. The fixing mechanism includes a fixing seat. In application, the clamping mechanism is first moved to... Above the workpiece, the moving screw drives the clamping seat to move towards the workpiece until the workpiece is located in the clamping groove. Then, the clamping block clamps the workpiece, and the clamping block drives the workpiece to move into the fixed seat. Then, the bending column bends the workpiece to obtain a bent workpiece. Then, the clamping mechanism moves above the bent workpiece, and the moving screw drives the clamping seat to move towards the bent workpiece until the bent workpiece is located in the clamping groove. Then, the clamping block clamps the bent workpiece, and the clamping block drives the bent workpiece to move away from the fixed seat. The advantages of this invention also include:

[0027] Firstly, the workpiece is moved into or away from the fixed seat by the clamping mechanism, without the need for manual or other equipment assistance, thus resulting in high processing efficiency.

[0028] Secondly, since clamping and bending are integrated into one unit without the need for manual or other equipment assistance, the space occupied by the device is reduced, and the device is less restricted by the space it is used in.

[0029] Thirdly: There are two clamping mechanisms, which clamp the two ends of the workpiece respectively, thus providing a better fixation effect for the workpiece and facilitating the smooth movement of the workpiece into the fixed seat;

[0030] Therefore, the present invention has high processing efficiency and fewer limitations on the space required for use.

[0031] 2. In the bending robot and its usage method of the present invention, guide slides are provided on both sides of the moving screw. A support plate and a moving motor are connected to the top of the moving screw and the guide slides. 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 end of each sliding screw is connected to one end of a threaded slider. The other end of the threaded slider is connected to the top of the clamping block. In application, the moving motor drives the moving screw to rotate, so that the moving screw moves up and down along its axis. Then, the moving screw and the guide slides 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 rotates to drive the threaded slider to move towards the workpiece so that the clamping block clamps the workpiece, or moves the clamping block away from the workpiece to release the connection between the clamping block and the workpiece. By moving the threaded slider, the distance between the two clamping blocks is controlled, thereby adapting to workpieces of different thicknesses. Therefore, the present invention has a better clamping effect on workpieces of different thicknesses.

[0032] 3. In the bending robot and its method of use of the present invention, the bending mechanism includes a connecting column, a downward-facing movable groove inside the connecting column, an annular transmission frame at the opening of the movable groove, the annular transmission frame being connected to the bending column, and a transmission gear ring at the other end of the annular transmission frame meshing with a transmission gear. Two positioning clamps are also provided in the middle of the sliding groove. In application, the two positioning clamps first clamp the workpiece to fix it, then the bending column bends the workpiece to obtain a bent workpiece. Then, the bending column moves away from the bent workpiece, and the two positioning clamps also move away from the bent workpiece. The positioning clamps fix the workpiece to prevent it from shifting under the bending action of the bending column, thus ensuring a stable bending effect. Therefore, the bending effect of the present invention is stable.

[0033] 4. In the bending robot and its usage method of the present invention, the number of fixing seats is two. Each fixing seat includes a base plate, a positioning pressure plate, a sliding clamping plate, and a placement groove. The base plate has a base plate groove in the middle, and the placement groove contains an I-shaped pressure plate and a sliding pull plate. In application, when the workpiece is placed in the placement groove, the workpiece presses down on the I-shaped pressure plate. Then, under the action of the I-shaped pressure plate, the sliding pull plate moves towards the workpiece to initially fix the workpiece and prevent it from tilting. Then, the sliding clamping plate moves to one side of the workpiece to clamp the workpiece together with the positioning pressure plate, thereby fixing the workpiece. Therefore, the present invention has a better workpiece fixing effect. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of the present invention.

[0035] Figure 2 yes Figure 1 A schematic diagram of the structure of the centrally bent column.

[0036] Figure 3 yes Figure 1 A schematic diagram of the clamping mechanism.

[0037] Figure 4 yes Figure 3 A schematic diagram of the structure of the clamping seat.

[0038] Figure 5 yes Figure 1 A schematic diagram of the bending mechanism.

[0039] Figure 6 yes Figure 5 A schematic diagram of the structure of the threaded slide plate.

[0040] Figure 7 yes Figure 5 A schematic diagram of the structure of the central transmission wheel.

[0041] Figure 8 yesFigure 1 A schematic diagram of the positioning clamp.

[0042] Figure 9 yes Figure 1 A schematic diagram of the fixed mechanism.

[0043] Figure 10 yes Figure 9 A schematic diagram of the structure of the fixed base.

[0044] Figure 11 yes Figure 10 A schematic diagram of the structure of a medium-sized pressure plate.

[0045] Figure 12 This is a schematic diagram of the workpiece structure in Example 1.

[0046] Figure 13 This is a schematic diagram of the structure of the bent workpiece in Example 1.

[0047] In the diagram: Clamping mechanism 1, connecting plate 11, threaded hole 111, moving 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, moving motor 162, bending mechanism 2, bending column 21, connecting column 22, movable groove 221, ring transmission frame 23, transmission gear ring 231, transmission wheel 232, transmission motor 233, fixing mechanism 3, fixing seat 31, support platform 32, base plate 33, base plate groove 331, vertical groove 3 32. Positioning pressure plate; 34. Sliding clamping plate; 35. Pulling plate groove; 351. Placement groove; 36. Electric push plate; 37. Sliding groove; 4. Sliding motor; 41. Sliding screw; 42. Threaded slider; 43. Positioning clamping plate; 5. U-shaped sliding plate; 51. Sliding column; 52. Threaded sliding plate; 53. Inclined sliding groove; 531. Sliding plate hole; 532. Sliding screw; 54. Sliding motor; 55. Rotating motor; 56. Tightening spring; 6. I-shaped pressure plate; 61. Sliding block; 62. Inclined groove; 63. Sliding pull plate; 64. Positioning block; 65. Workpiece; 7. Bending workpiece; 71. Robotic arm; 8. Detailed Implementation

[0048] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0049] Please see Figure 1 — Figure 13 A bending robot, the robot comprising a clamping mechanism 1, a bending mechanism 2 and a fixing mechanism 3;

[0050] The clamping mechanism 1 includes a connecting plate 11, a movable screw 12, and a clamping seat 13; the middle part of the movable screw 12 is threadedly connected to the threaded hole 111 in the middle part of the connecting plate 11, and the movement stroke of the movable screw 12 is to move back and forth along its axis. The end of the movable 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.

[0051] The bending mechanism 2 has a bending column 21 at its bottom, and the bending column 21 moves in 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 near the bending column 21.

[0052] The clamping mechanism 1 includes a left clamping mechanism 14 and a right clamping mechanism 15, which are symmetrically distributed along the bending mechanism 2.

[0053] The movable screw 12 is provided with guide slides 16 on both sides. The top of the guide slides 16 is connected to the bottom of the support plate 161. 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 slides 16 passes through the connecting plate 11, and the bottom of the guide slides 16 is connected to the top of the clamping seat 13.

[0054] The clamping seat 13 is provided with a sliding groove 4 inside. 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 the sliding screw 42. The other end of the sliding screw 42 is connected to the top of the threaded slider 43. The bottom of the threaded slider 43 is connected to the top of the clamping block 132.

[0055] The bending mechanism 2 includes a connecting column 22, the middle of which is a movable groove 221. The opening of the movable groove 221 faces downward. 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. A transmission gear ring 231 is provided on the inner top of the annular transmission frame 23. One end of the transmission gear ring 231 is meshed with one end of the transmission wheel 232. The middle of the transmission wheel 232 is connected to the output shaft of the transmission motor 233.

[0056] The movable groove 221 is provided with two positioning clamps 5, which are symmetrical about 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. The U-shaped slide plate 51 is provided with a sliding post 52. The two U-shaped slide plates 51 are clamped with a threaded slide plate 53. The threaded slide plate 53 is provided with two inclined sliding grooves 531. The end of the inclined sliding groove 531 near the inner side of the threaded slide plate 53 is higher than the end of the inclined sliding groove 531 near the outer side of the threaded slide plate 53. The sliding post 52 is inserted into the inclined sliding groove 531.

[0057] The top of the threaded slide plate 53 is provided with a slide plate hole 532, which 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.

[0058] The bottom of the fixed base 31 is connected to the top of the support platform 32. The fixed base 31 includes a base plate 33, a positioning pressure plate 34 and a sliding clamping plate 35. The base plate 33, the positioning pressure plate 34 and the sliding clamping plate 35 together form a placement groove 36. The end of the sliding clamping plate 35 away from the placement groove 36 is connected to one end of the electric push plate 37.

[0059] The base plate 33 has a vertically connected base plate groove 331 and vertical groove 332 in the middle. 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 clamping spring 6. The top of the clamping 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 base 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 inclined groove 63. The end of the inclined groove 63 that is closer to the vertical groove 332 is higher than the end of the inclined groove 63 that is away from the vertical groove 332. The inclined groove 63 is located on the sliding pull plate 64. The end of the sliding pull plate 64 that is away from the vertical groove 332 is vertically connected to the end of the positioning block 65.

[0060] The bottom of the sliding clamp 35 is provided with a pull plate groove 351 corresponding to the position of the sliding pull plate 64.

[0061] A method of using a bending robot, the method comprising the following steps:

[0062] Step 1: First, move the clamping mechanism 1 above the workpiece 7, then move the moving screw 12 toward the workpiece 7, then move the moving 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 the sides of the workpiece 7 to clamp the workpiece 7.

[0063] Step 2: First, make the clamping block 132 move the workpiece 7, then make the clamping block 132 put the workpiece 7 into the fixed seat 31, then fix the workpiece 7 by the fixed seat 31, then make the clamping block 132 move away from the workpiece 7, and then make the clamping mechanism 1 move away from the workpiece 7.

[0064] 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 circle. When the bending column 21 moves and connects with the workpiece 7, the bending column 21 continues to move in a circle while pressing against the workpiece 7 to bend the workpiece 7, and then the bent workpiece 71 is obtained. Then move the bending column 21 away from the bent workpiece 71.

[0065] Step 4: First, move the clamping mechanism 1 above the unbent part of the bent workpiece 71. Then, move the moving screw 12 towards the bent workpiece 71. Next, move the moving screw 12 to move the clamping seat 13 towards the bent workpiece 71 until the bent workpiece 71 is located in the clamping groove 131. Then, move the two clamping blocks 132 to both sides of the bent workpiece 71 to clamp the bent workpiece 71. Finally, the clamping blocks 132 drive the bent workpiece 71 to move away from the fixed seat 31.

[0066] The following are supplementary descriptions of the present invention:

[0067] The robotic arm 8 described in this invention refers to a component used to assist the movement of the clamping mechanism 1 and the bending mechanism 2. One end of the robotic 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 robotic 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 robotic arm 8, the fixing mechanism 3, and the workpiece 7, as well as the position of the part of the workpiece 7 that needs to be bent, can be set in advance. Then, the rotation angle, motion trajectory, and travel speed of the robot can be set, and the bending of the workpiece 7 can be completed smoothly.

[0068] Example 1:

[0069] Please see Figure 1 — Figure 13A bending robot includes 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 a threaded hole 111 in the middle part of the connecting plate 11. The moving screw 12 moves back and forth along its axis. One end of the moving screw 12 located below the connecting plate 11 is connected to the top of the clamping seat 13. 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. The bottom of the bending mechanism 2 is provided with a bending column 21, and the moving stroke of the bending column 21 is a circular motion. The 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 near the bending column 21. Preferably, the clamping mechanism 1 includes a left clamping mechanism 14 and a right clamping mechanism 15, which are symmetrically distributed along the bending mechanism 2.

[0070] A method of using a bending robot, the method comprising the following steps:

[0071] Step 1: First, move the clamping mechanism 1 above the workpiece 7, then move the moving screw 12 toward the workpiece 7, then move the moving 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 the sides of the workpiece 7 to clamp the workpiece 7.

[0072] Step 2: First, make the clamping block 132 move the workpiece 7, then make the clamping block 132 put the workpiece 7 into the fixed seat 31, then fix the workpiece 7 by the fixed seat 31, then make the clamping block 132 move away from the workpiece 7, and then make the clamping mechanism 1 move away from the workpiece 7.

[0073] 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 circle. When the bending column 21 moves and connects with the workpiece 7, the bending column 21 continues to move in a circle while pressing against the workpiece 7 to bend the workpiece 7, and then the bent workpiece 71 is obtained. Then move the bending column 21 away from the bent workpiece 71.

[0074] Step 4: First, move the clamping mechanism 1 above the unbent part of the bent workpiece 71. Then, move the moving screw 12 towards the bent workpiece 71. Next, move the moving screw 12 to move the clamping seat 13 towards the bent workpiece 71 until the bent workpiece 71 is located in the clamping groove 131. Then, move the two clamping blocks 132 to both sides of the bent workpiece 71 to clamp the bent workpiece 71. Finally, the clamping blocks 132 drive the bent workpiece 71 to move away from the fixed seat 31.

[0075] Example 2:

[0076] The basic content is the same as in Example 1, except that:

[0077] Please see Figure 1 — Figure 4 The movable screw 12 has guide pins 16 on both sides. The top of the guide pins 16 is connected to the bottom of the support plate 161. 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 pin 16 passes through the connecting plate 11, and the bottom of the guide pin 16 is connected to the top of the clamping seat 13. The clamping seat 13 has a sliding groove 4 inside. A sliding motor 41 is arranged in the middle of the sliding groove 4. Both ends of the sliding motor 41 are connected to one end of the sliding screw 42. The other end of the sliding screw 42 is connected to the top of the threaded slider 43. The bottom of the threaded slider 43 is connected to the top of the clamping block 132.

[0078] In application, when it is necessary to clamp the workpiece 7, first move the clamping seat 13 above the workpiece 7, then rotate the output end of the moving motor 162 to drive the moving screw 12 to rotate. The moving screw 12 gradually descends along the threaded hole 111, and the guide slide 16 descends together with the moving screw 12 until the clamping groove 131 covers the workpiece 7. Then, start the sliding motor 41, which drives the sliding screws 42 on both sides to rotate. Because the sliding screws 42 and the threaded sliders 43 are threadedly connected, the sliding screws 42 drive the threaded sliders 43 to move towards the center of the clamping groove 131. Then, the threaded sliders 43 drive the clamping blocks 132 to move towards the center of the clamping groove 131, and the clamping blocks 132 clamp the workpiece 7 from both sides to fix the workpiece 7 between the clamping blocks 132. (Bending process) The clamping of workpiece 7 is the same as the steps described above. When workpiece 7 does not need to be clamped, the sliding motor 41 first drives the sliding screws 42 on both sides to rotate. Since the sliding screws 42 and the threaded sliders 43 are threadedly connected, the sliding screws 42 drive the threaded sliders 43 to move away from the clamping groove 131. Then, the threaded sliders 43 drive the clamping blocks 132 to move away from the clamping groove 131. Then, the clamping blocks 132 leave the workpiece 7 from both sides to release the fixation of the workpiece 7. Then, the output end of the moving motor 162 rotates to drive the moving screw 12 to rotate. Therefore, the moving screw 12 gradually rises along the threaded hole 111, and the guide slide 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 when bending workpiece 7 do not need to be clamped are the same as the steps described above.

[0079] Example 3:

[0080] The basic content is the same as in Example 1, except that:

[0081] Please see Figure 1 —Figure 8 The bending mechanism 2 includes a connecting column 22, the middle of which is a movable groove 221. The opening of the movable groove 221 faces downward. 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. A transmission gear ring 231 is provided on the inner top of the annular transmission frame 23. One end of the transmission gear ring 231 is meshed with one end of the transmission wheel 232. The middle of the transmission wheel 232 is connected to the output shaft of the transmission motor 233. The movable groove 221 is internally provided with two positioning clamps 5, which are symmetrical about 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 post 52 is provided inside the U-shaped slide plate 51. A threaded slide plate 53 is clamped between the two U-shaped slide plates 51. The threaded slide plate 53 is provided with two inclined sliding grooves 531. The end of the inclined sliding groove 531 near the inner side of the threaded slide plate 53 is higher than the end of the inclined sliding groove 531 near the outer side of the threaded slide plate 53. The sliding post 52 is inserted into the inclined sliding groove 531. The top of the threaded slide plate 53 is provided with a slide plate hole 532, which is threaded 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 post 22 is connected to the bottom of the rotating motor 56. Preferably, the opening of the movable groove 221 is provided with a cover, and the cover is provided with a positioning hole for the positioning clamp 5 to pass through and move.

[0082] In application, after fixing the workpiece 7 onto the fixed base 31, the bending mechanism 2 is moved to the top of the part of the workpiece 7 that needs to be bent by the robotic arm 8. Then, the sliding motor 55 is started, and the sliding screw 54 is rotated by the sliding motor 55. Since the sliding screw 54 is threadedly connected to the threaded slide plate 53, 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 the inclined slide grooves 531 drive the sliding column 52 to move along the inclined slide grooves 531. Therefore, both sliding columns 52 move towards the central axis of the threaded slide plate 53. Then, the sliding column 52 drives the U-shaped slide plate 51 to move towards the central axis of the threaded slide plate 53. Then, the U-shaped slide plate 51 drives the positioning clamping plate 5 to move towards the central axis of the threaded slide plate 53. Therefore, the two positioning clamping plates 5 clamp the workpiece 7 from both sides to fix the workpiece 7. Then, the drive motor 233 is started, and the output shaft of the drive motor 233 causes the drive wheel 232 to rotate. The transmission wheel 232 drives the transmission gear ring 231 to rotate, which in turn drives the transmission frame 23 to rotate. The transmission frame 23 then drives the bending column 21 to rotate, which in turn bends the workpiece 7 to obtain the bent workpiece 71. The sliding motor 55 is then started, which drives the sliding screw 54 to rotate. Since the sliding screw 54 is threadedly connected to the threaded slide plate 53, 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 the inclined slide grooves 531 drive the sliding column 52 to move along the inclined slide grooves 531. Therefore, both sliding columns 52 move to both sides of the threaded slide plate 53. Then, the sliding columns 52 drive the U-shaped slide plate 51 to both sides of the threaded slide plate 53. Finally, the U-shaped slide plate 51 drives the positioning clamps 5 to both sides of the threaded slide plate 53. Thus, the two positioning clamps 5 leave the workpiece 7 from both sides to release the fixation of the workpiece 7.

[0083] Example 4:

[0084] The basic content is the same as in Example 1, except that:

[0085] Please see Figure 1 — Figure 11The bottom of the fixed base 31 is connected to the top of the support platform 32. The fixed base 31 includes a base plate 33, a positioning pressure plate 34 and a sliding clamping plate 35. The base plate 33, the positioning pressure plate 34 and the sliding clamping plate 35 together form a placement groove 36. The end of the sliding clamping plate 35 away from the placement groove 36 is connected to one end of the electric push plate 37. The base plate 33 has a vertically connected base plate groove 331 and vertical groove 332 in the middle. 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 tightening spring 6. The top of the tightening 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 base 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 inclined groove 63. The end of the inclined groove 63 near the vertical groove 332 is higher than the end of the inclined groove 63 away from the vertical groove 332. The inclined 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 the end of the positioning block 65. The bottom of the sliding clamp 35 is provided with a pull plate groove 351 corresponding to the position of the sliding pull plate 64.

[0086] In application, the workpiece 7 is first placed in the placement groove 36, and then the workpiece 7 presses down on the I-shaped pressure plate 61. At this time, the clamping spring 6 is compressed, and then the I-shaped pressure plate 61 drives the sliding block 62 to move downward. At this time, the sliding block 62 moves downward along the inclined groove 63, so the inclined groove 63 moves towards the I-shaped pressure plate 61 under the action of the sliding block 62. Then the inclined groove 63 drives the sliding pull plate 64 to move towards the I-shaped pressure plate 61. Then the sliding pull plate 64 drives the positioning block 65 to move towards the I-shaped pressure plate 61. Therefore, the sliding pull plate 64 and the positioning pressure plate 34 clamp the workpiece 7 from both sides to prevent the workpiece 7 from tilting. Then the electric push plate 37 drives the sliding clamping plate 35 to move towards the I-shaped 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 to ensure that the workpiece 7 is properly positioned. Workpiece 7 is fixed; after obtaining the bent workpiece 71, workpiece 7 is first taken out from the placement groove 36. At this time, the clamping spring 6 extends, so the clamping spring 6 drives the I-shaped pressure plate 61 to move upward, and then the I-shaped pressure plate 61 drives the sliding block 62 to move upward. At this time, the sliding block 62 moves upward along the inclined groove 63, so the inclined groove 63 moves away from the I-shaped pressure plate 61 under the action of the sliding block 62. Then the inclined groove 63 drives the sliding pull plate 64 to move away from the I-shaped pressure plate 61. Then the sliding pull plate 64 drives the positioning block 65 to move away from the I-shaped pressure plate 61. So the sliding pull plate 64 moves away from the positioning pressure plate 34, preparing for the next clamping of workpiece 7. The electric push plate 37 drives the sliding clamping plate 35 to move away from the I-shaped pressure plate 61 to expand the volume of the placement groove 36, making it easier to put workpiece 7 into the placement groove 36 next time.

[0087] The above description is only a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. Any equivalent modifications or changes made by those skilled in the art based on the content disclosed in the present invention should be included within the scope of protection set forth in the claims.

Claims

1. A bending robot, characterized by: 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 rod (12) and a clamping seat (13); the middle part of the moving screw rod (12) is threadedly connected with the threaded hole (111) in the middle part of the connecting plate (11), the movement stroke of the moving screw rod (12) is to move back and forth along the axial direction, one end of the moving screw rod (12) located below the connecting plate (11) is connected with the top of the clamping seat (13), the bottom of the clamping seat (13) is provided with a clamping groove (131), and the two sides of the clamping groove (131) are provided with clamping blocks (132); one side of the connecting plate (11) is connected with the side wall of the bending mechanism (2); The bottom of the bending mechanism (2) is provided with a bending column (21), and the movement stroke of the bending column (21) is circumferential movement; the bottom of the bending column (21) is provided with the fixing mechanism (3), and one end of the fixing mechanism (3) close to the bending column (21) is provided with a fixing seat (31); The bottom of the fixing seat (31) is connected with the top of a supporting table (32), the fixing seat (31) comprises a bottom plate (33), a positioning pressing plate (34) and a sliding clamping plate (35), the bottom plate (33), the positioning pressing plate (34) and the sliding clamping plate (35) enclose a placing groove (36) therebetween, and one end of the sliding clamping plate (35) away from the placing groove (36) is connected with one end of an electric push plate (37); The middle part of the bottom plate (33) is provided with a vertically communicating bottom plate groove (331) and a vertical groove (332), the vertical groove (332) is close to the positioning pressing plate (34), the bottom of the vertical groove (332) is connected with the bottom of a tightening spring (6), the top of the tightening spring (6) is connected with the bottom of a I-shaped pressing plate (61), the top of the I-shaped pressing plate (61) is higher than the bottom plate groove (331), the middle part of the I-shaped pressing plate (61) is provided with sliding blocks (62), the sliding blocks (62) are located in inclined grooves (63), one end of the inclined grooves (63) close to the vertical groove (332) is higher than the other end of the inclined grooves (63) away from the vertical groove (332), the inclined grooves (63) are located on a sliding pull plate (64), and one end of the sliding pull plate (64) away from the vertical groove (332) is connected with one end of a positioning block (65) perpendicularly; The bottom of the sliding clamping plate (35) is provided with a pull plate groove (351) corresponding to the position of the sliding pull plate (64).

2. The 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: The mobile screw rod (12) is provided with guide slide columns (16) on both sides, the top of the guide slide column (16) is connected with the bottom of the support plate (161), one end of the mobile screw rod (12) is connected with one end of the mobile motor (162) after penetrating through the support plate (161); the middle part of the guide slide column (16) penetrates through the connecting plate (11), and the bottom of the guide slide column (16) is connected with the top of the clamping seat (13).

4. The bending robot of claim 3, wherein: The clamping seat (13) is internally provided with a sliding groove (4), the middle part of the sliding groove (4) is provided with a sliding motor (41), both ends of the sliding motor (41) are connected with one end of the sliding screw rod (42), the other end of the sliding screw rod (42) is connected with the top of the threaded sliding block (43), and the bottom of the threaded sliding block (43) is connected with the top of the clamping block (132).

5. The 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 an active groove (221), the opening direction of the active groove (221) faces downward, and an annular transmission frame (23) is arranged at the opening of the active groove (221); one end of the outer bottom of the annular transmission frame (23) is connected with the top of the bending column (21), the inner top of the annular transmission frame (23) is provided with a transmission gear ring (231), one end of the transmission gear ring (231) is engagedly connected with one end of a transmission wheel (232), and the middle part of the transmission wheel (232) is connected with the output shaft of a transmission motor (233).

6. The bending robot of claim 5, wherein: The inside of the active groove (221) is provided with two positioning clamping plates (5), the two positioning clamping plates (5) are symmetrically arranged along the center of the active groove (221), the top of the positioning clamping plate (5) is connected with the bottom of a U-shaped sliding plate (51), the U-shaped sliding plate (51) is internally provided with a sliding column (52), two U-shaped sliding plates (51) clasp threaded sliding plates (53) internally, the threaded sliding plate (53) is provided with two inclined sliding grooves (531), one end of the inclined sliding groove (531) close to the inner side of the threaded sliding plate (53) is higher than the other end of the inclined sliding groove (531) close to the outer side of the threaded sliding plate (53), and the inclined sliding groove (531) is inserted with the sliding column (52).

7. The bending robot of claim 6, wherein: The top of the threaded sliding plate (53) is provided with a sliding plate hole (532), the sliding plate hole (532) is threadedly connected with the bottom of a sliding screw rod (54), the top of the sliding screw rod (54) is connected with the output end of a sliding motor (55), the top of the sliding motor (55) is connected with the top of the sliding groove (4), and the top of the connecting column (22) is connected with the bottom of a rotating motor (56).

8. A method of using the folding robot of claim 1, characterized by: The method comprises a workpiece (7) to be bent, and the method comprises the following steps: First step: first, the clamping mechanism (1) is moved above the workpiece (7), then the mobile screw rod (12) is moved to the workpiece (7), then the mobile screw rod (12) moves the clamping seat (13) to the workpiece (7), until the workpiece (7) is located in the clamping groove (131), and then the two clamping blocks (132) are moved to the two sides of the workpiece (7) to clamp the workpiece (7); Second step: first make the clamping block (132) drive the workpiece (7) to move, then make the clamping block (132) put the workpiece (7) into the fixed seat (31), then fix the workpiece (7) by the fixed seat (31), then make the clamping block (132) move away from the workpiece (7), then make the clamping mechanism (1) move away from the workpiece (7); Third step: first make the bending column (21) move to the position near the part of the workpiece (7) that needs to be bent, then make the bending column (21) move in a circle, when the bending column (21) moves and connects with the workpiece (7), the bending column (21) stops against the workpiece (7) while continuing to move in a circle to make the workpiece (7) bend, then get the bent workpiece (71), then make the bending column (21) move away from the bent workpiece (71); Fourth step: first make the clamping mechanism (1) move to the position above the part of the bent workpiece (71) that has not been bent, then make the moving screw (12) move towards the bent workpiece (71), then make the moving screw (12) make the clamping seat (13) move towards the bent workpiece (71) until the bent workpiece (71) is in the clamping groove (131), then make the two clamping blocks (132) move to the two sides of the bent workpiece (71) to clamp the bent workpiece (71), then make the clamping block (132) drive the bent workpiece (71) to move to leave the fixed seat (31).

Images