A sheet metal bending and feeding device

Abstract

The present invention relates to the technical field of manipulator sheet clamping and feeding, and specifically relates to a sheet bending and feeding device, which is composed of a sheet bending machine, a manipulator, a suction cup assembly, and a bending and manipulator control system. The manipulator is arranged on the front side of the bending machine and includes a base, a main arm, an auxiliary arm, and a flipping seat. There are three horizontal rotating shafts A, B, and C among them, and each shaft is equipped with a clutch assembly. The suction cup assembly is installed on the flipping seat and includes multiple suction cups, which can adsorb and transfer sheets. During bending, the bending control system sends a signal to make the manipulator control system lose the control right of the rotating shaft; after bending is completed, a signal is sent again to let it regain the control right. Through precise control, intelligent monitoring, and flexible adaptation, the device improves the accuracy, efficiency, and automation degree of sheet bending, bringing significant technical effects and economic benefits.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulator sheet clamping and feeding, and particularly to a sheet bending and feeding device. Background Art

[0002] A sheet bending and feeding device is an automated equipment used to accurately feed a sheet into a bending machine and ensure the stability, precise positioning, and error-free operation of the sheet during the bending process. Its main functions include the adsorption, transfer, positioning, bending, and auxiliary transfer of subsequent processes of the sheet. This device usually consists of components such as a manipulator, a suction cup assembly, and a bending machine. The manipulator realizes the handling of the sheet through the suction cup assembly and precisely places it into the mold of the bending machine to ensure the stability of the sheet during the processing. With the continuous development of intelligent manufacturing and automation technologies, the sheet bending and feeding device is becoming increasingly important in modern manufacturing, especially in improving production efficiency, reducing manual operations, and enhancing processing accuracy, demonstrating its indispensable role.

[0003] In the prior art, sheet bending usually relies on a manipulator and a suction cup assembly to transfer and position the sheet. The existing manipulator system generally adsorbs the sheet through the suction cup assembly and feeds it into the mold of the bending machine.

[0004] However, in the prior art, during the sheet feeding process, the manipulator often needs to separate the suction cup assembly from the sheet to avoid interfering with the bending process. During this process, the manipulator must continuously disconnect the connection between the suction cup assembly and the sheet, and the re-adsorption of the suction cup assembly requires repositioning the sheet. This not only increases the operation complexity but also reduces the work efficiency and accuracy. For example, during the sheet bending process, especially after completing one bending, the manipulator needs to separate from the suction cup assembly to avoid interfering with the bending progress. However, after each separation from the suction cup assembly, the suction cup assembly needs to re-adsorb the sheet and precisely position it. This process not only increases the time consumption but also may cause inaccurate sheet positioning, affecting the bending accuracy. In addition, the separation and reconnection of the suction cup assembly increase the control difficulty of the manipulator and reduce the overall work efficiency. Especially during multiple bending processes, frequent positioning and adsorption operations lead to system instability and low efficiency.

[0005] Based on the above situation, it is urgently necessary to have a solution that can avoid frequent separation of the suction cup assembly to solve the above problems, which is particularly necessary. Summary of the Invention

[0006] Aiming at the defects and problems existing in the prior art, the present invention aims to provide an automated and high-precision sheet bending and feeding device. Through the coordinated operation of the manipulator and the suction cup assembly, precise transfer and bending of the sheet are achieved. Through the control of the freely mating rotating shaft and the intelligent angle correction mechanism, the production efficiency, bending quality, and operation accuracy are improved.

[0007] The solution of the present invention to solve its technical problems is as follows: A sheet metal bending and feeding device is adopted, which includes a sheet metal bending machine, a manipulator, a suction cup assembly, a bending control system and a manipulator control system. A manipulator is fixed on the front side of the sheet metal bending machine. The manipulator successively includes a base assembly, a main arm assembly, an auxiliary arm assembly and a flipping seat from bottom to top. Among them, the manipulator at least includes a horizontal A rotating shaft between the base assembly and the main arm assembly, a horizontal B rotating shaft between the main arm assembly and the auxiliary arm assembly, and a horizontal C rotating shaft between the auxiliary arm assembly and the flipping seat. At the same time, a clutch assembly is installed at the positions of the A rotating shaft, the B rotating shaft and the C rotating shaft. The suction cup assembly is installed on the flipping seat of the manipulator. The suction cup assembly includes a plurality of suction cups connected to negative pressure, which are used for adsorbing and transferring the sheet metal. When the bending starts, the bending control system sends a bending start signal to the manipulator control system, so that the manipulator control system loses the control right of the A rotating shaft, the B rotating shaft and the C rotating shaft. When the bending ends, the bending control system sends a bending end signal to the manipulator control system, so that the manipulator control system regains the control right of the A rotating shaft, the B rotating shaft and the C rotating shaft of the manipulator.

[0008] Preferably, when the manipulator control system loses the control right of the A rotating shaft, the B rotating shaft and the C rotating shaft, the angle changes of each rotating shaft in the free rotation state are monitored and recorded respectively by an angle meter. After regaining the control right again, the angular positions of each shaft are corrected by using the monitored angle change values.

[0009] Preferably, the base assembly of the manipulator includes a bottom plate, a turntable and a horizontal rotation motor. A lower ring opening is arranged on the upper part of the bottom plate, and an upper ring opening is arranged on the lower part of the turntable. The upper and lower ring openings are assembled together through bearings and can rotate. The horizontal rotation motor is used to drive the turntable to rotate.

[0010] Preferably, the main arm assembly includes a main arm, a lower shaft end and an upper shaft end. Inner cavities are respectively arranged at the lower shaft end and the upper shaft end, and through shaft holes are arranged. The clutch assemblies are respectively installed in the inner cavities. A lower shaft seat and a lower swing motor are arranged on one side of the turntable. The lower shaft end is installed in the lower shaft seat, and the rotating shaft of the lower swing motor is connected to the clutch assembly in the lower shaft end.

[0011] Preferably, the auxiliary arm assembly includes a base, an auxiliary arm and an upper swing motor. An upper shaft seat is arranged on one side of the rear part of the base. The upper shaft end is installed in the upper shaft seat. At the same time, an upper swing motor is installed at the rear part of the base, and the rotating shaft of the upper swing motor is connected to the clutch assembly in the upper shaft end.

[0012] Preferably, the flipping seat includes a connecting seat, a shaft bracket and a flipping motor. The inner end of the connecting seat is provided with a shaft bracket. The shaft bracket is hinged to the end of the auxiliary arm through an end rotating shaft. A flipping motor is installed on one side of the shaft bracket. The rotating shaft of the flipping motor is connected to the end rotating shaft. The end of the auxiliary arm is provided with an inner cavity and a penetrating shaft hole. The clutch assembly is installed in the inner cavity. The suction cup assembly is fixed to the distal end of the connecting seat.

[0013] Preferably, the suction cup assembly includes a base plate, a main air chamber, an air pipe joint, branch air chambers and rigid suction cups. The main air chamber is longitudinally fixed in the middle of the upper side of the base plate. An air pipe joint is arranged on the main air chamber. The air pipe joint is connected to the suction port of a vacuum pump. A plurality of branch air chambers are transversely fixed on the lower surface of the base plate. Each branch air chamber is respectively communicated with the main air chamber. A plurality of rigid suction cups are equidistantly fixed on the left and right sides of each branch air chamber. Each branch air chamber is respectively communicated with the inner cavity of the rigid suction cup through a bronchus.

[0014] Preferably, the clutch assembly includes a seat plate. The seat plate is fixed to the side wall of the inner cavity at the end of the main arm or the auxiliary arm. A kit, a connecting ring, a driving disk and an electromagnetic coil are sleeved in the inner cavity at the end of the main arm or the auxiliary arm. The connecting ring is fixed together with an outer end shaft sleeve. The inner end of the connecting ring is fixedly connected with the kit. A shaft hole is arranged in the center of the kit. An angle gauge is sleeved on the outer end of the connecting ring. A sliding shaft is fixed to the axis center of the driving disk. The outer end of the sliding shaft is sleeved in the shaft hole of the kit. The inner end of the sliding shaft is connected with the rotating shaft of the corresponding swing motor through a spline sleeve and a spline shaft. A thrust spring is connected between the seat plate and the driving disk. An electromagnetic coil is fixed to the inner wall of the seat plate. When the electromagnetic coil is controlled by the manipulator control system to generate magnetism, it can attract the driving disk to move inwards, so that the driving disk is separated from the kit.

[0015] The beneficial effects of the present invention: Through precise control, intelligent monitoring and flexible adaptation, this solution improves the accuracy, efficiency and automation level in the process of sheet metal bending, and has remarkable technical effects and economic benefits.

[0016] 1. Improve the accuracy of sheet transfer: Adopting the rigid suction cup structure can avoid the problem of deflection caused by the change of adsorption points of the traditional flexible suction cup during the sheet transfer process, thus ensuring the stability and accuracy during the sheet transfer process. The suction cup assembly is equipped with an intelligent negative pressure control system, which can adjust the adsorption force in real time to ensure that the suction cup is always stably connected to the sheet during the sheet transfer and bending processes, avoiding the problems of sheet dropping or position deviation caused by insufficient adsorption force.

[0017] 2. Enhance the flexibility of the manipulator during the bending process: By losing control of the A, B, and C rotating shafts, the rotating shafts of the manipulator can freely cooperate during the bending process, avoiding the limitation of the rotating shafts on the deformation of the sheet metal, improving the flexibility and adaptability of the manipulator, and meeting the bending requirements of different sheet metal forms. By recording the angular changes of each rotating shaft in real time and correcting them after the bending is completed, the precise angular control of each rotating shaft is ensured, thereby improving the accuracy and consistency of the bending angle of the sheet metal.

[0018] 3. Improve the bending quality and consistency: Since all links in the entire bending process (such as rotating shaft angle monitoring, suction cup adsorption control, etc.) are precisely controlled, the device can ensure that each bending meets the expected accuracy standard, thereby improving the bending quality of the sheet metal and the consistency of production. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of the usage state of the present invention;

[0020] Figure 2 is a schematic diagram of the lower side three-dimensional structure of the manipulator of the present invention;

[0021] Figure 3 is a schematic diagram of the upper side three-dimensional structure of the manipulator of the present invention;

[0022] Figure 4 is a schematic diagram of the side structure of the manipulator of the present invention;

[0023] Figure 5 is a schematic diagram of the main and passive flipping rotation of the manipulator of the present invention;

[0024] Figure 6 is a schematic diagram of a structure of the suction cup;

[0025] Figure 7 is a schematic diagram of the assembly relationship of the clutch assembly;

[0026] Figure 8 is a schematic sectional view of a structure of the clutch assembly;

[0027] Figure 9 is a block diagram of the cooperation between the manipulator of the present invention and the bending system.

[0028] Reference numerals in the figures: sheet bending machine 1; base assembly 2; main arm assembly 3; auxiliary arm assembly 4; turning seat 5; suction cup assembly 6; clutch assembly 7; sheet 8; bracket 11; fixed die 12; stamping die 13; side frame 14; support shaft 15; guide groove 16; downward pressing assembly 17; drive mechanism 18; swing arm 19; bottom plate 21; turntable 22; horizontal rotation motor 23; lower shaft seat 24; lower swing motor 25; main arm 31; lower shaft end 32; upper shaft end 33; base 41; side turning motor 42; drive sleeve 421; auxiliary arm 43; upper shaft seat 44; upper swing motor 45; connecting seat 51; shaft frame 52; turning motor 53; base plate 61; main air chamber 62; air pipe joint 63; sub-air chamber 64; rigid suction cup 65; carrier plate 651; fixed sleeve 652; limit pipe 653; core rod 654; rod seat 655; ventilation hole 656; side hole 657; sliding sleeve 658; rubber foot 659; bronchus 66; central air pipe 67; pressure contact switch 68; one-way control valve 69; seat plate 71; kit 72; connecting ring 73; outer end shaft 74; angle gauge 75; sliding shaft 76; spline shaft 761; drive disc 77; thrust spring 78; electromagnetic coil 79. Detailed implementation mode

[0029] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0030] Embodiment 1: A sheet bending and feeding device, comprising a sheet bending machine 1, a manipulator, a suction cup assembly 6, and a bending control system, etc. A manipulator is fixed on the ground in front of the sheet bending machine 1. The manipulator successively includes a base assembly 2, a main arm assembly 3, an auxiliary arm assembly 4, and a turning seat 5 from bottom to top, as well as a manipulator control system. Among them, the manipulator at least includes a horizontal A rotating shaft between the base assembly 2 and the main arm assembly 3, a horizontal B rotating shaft between the main arm assembly 3 and the auxiliary arm assembly 4, and a horizontal C rotating shaft between the auxiliary arm assembly 4 and the turning seat 5. The suction cup assembly 6 is installed on the turning seat 5 of the manipulator. The suction cup assembly 6 includes a plurality of suction cups connected to negative pressure, and is used for adsorbing and transferring the sheet.

[0031] As Figure 5 and Figure 9As shown in the figure, the method based on the above-mentioned sheet metal bending and feeding device: (1) The manipulator control system controls the manipulator to transfer the sheet metal 8 at the upstream station of the process to the stamping die position of the sheet metal bending machine 1. (2) After the bending control system monitors that the sheet metal is in the correct position of the stamping die through the position sensor or camera image processing, it sends a bending start signal to the manipulator control system and simultaneously controls the bending die to bend the sheet metal. (3) After receiving the bending start signal, the manipulator control system loses control of at least the A-axis, B-axis, and C-axis. The sheet metal bends along with the movement of the stamping die, and at the same time, drives the main arm assembly 3, auxiliary arm assembly 4, and flipping seat 5 through the suction cup assembly 6, enabling the A-axis, B-axis, and C-axis to rotate freely. (4) Monitor and record the angle changes of the A-axis, B-axis, and C-axis respectively in the freely rotating state. (5) When the bending control system monitors that the sheet metal bending is in place through the position sensor or camera image processing, it sends a bending end signal to the manipulator control system and simultaneously controls the bending die to release the sheet metal. At this time, the manipulator control system regains control of the A-axis, B-axis, and C-axis of the manipulator, and corrects the angular positions of each axis using the angle change values in the freely rotating state of each axis to improve the accuracy of the angular positions of each axis. (7) The manipulator control system controls the rotation of the sheet metal and inserts the remaining edges into the stamping die position of the bending machine to complete the folding of each side of the sheet metal in sequence. Throughout the process, the suction cup assembly 6 always does not release the adsorption of the sheet metal 8. (8) Finally, the manipulator control system controls the manipulator to transfer the sheet metal to the downstream station of the process. This solution can achieve the continuous transfer and precise bending of the sheet metal through the coordinated action of the manipulator control system and the suction cup assembly without continuous positioning. This improvement can not only improve work efficiency, reduce equipment debugging and operation time, but also ensure the high-precision bending of the sheet metal, improve the automation level of the entire production line, reduce manual intervention, and further promote the development of intelligent manufacturing.

[0032] The usage process of the above-mentioned sheet metal bending and feeding device is as Figure 1 shown. The bending machine can adopt any form of sheet metal bending machine, such as Figure 1A plate bending machine 1 therein includes a bracket 11, a fixed die 12, a stamping die 13, side frames 14, support shafts 15, guide grooves 16, a downward pressing assembly 17, a driving mechanism 18, a swing arm 19, etc. Side frames 14 are fixed on the upper left and right sides of the bracket 11. Axle seats are respectively arranged on the front inner walls of the left and right side frames 14, and support shafts 15 are horizontally installed. Swing arms 19 are respectively fixed at the left and right ends of the support shafts 15. The rear ends of the swing arms 19 are connected to the driving mechanism 18, and the front sides of the swing arms 19 are connected to the downward pressing assembly 17 (hinged parts). The lower end of the downward pressing assembly 17 is fixedly connected to a lifting plate. Guide grooves 16 are fixed on the inner walls of the two side frames 14. The two sides of the lifting plate are correspondingly sleeved in the corresponding guide grooves 16. A stamping die 13 is fixed at the bottom of the lifting plate, and a fixed die 12 is fixed on the upper part of the bracket 11. The stamping die 13 corresponds to the fixed die 12. When one side edge of a plate 8 is inserted between the fixed die 12 and the stamping die 13, the driving mechanism 18 is controlled to act through a bending control system, so that the fixed die 12 and the stamping die 13 extrude the end of the plate 8, deforming and bending the plate 8. The bending degree of the plate 8 is detected by a camera and / or a position sensor. After the bending control system determines that the bending is in place, a bending end signal is sent, and at the same time, the stamping die 13 is controlled to move upward.

[0033] As Figure 2 and Figure 3 shown, the base assembly 2 of the manipulator includes a bottom plate 21, a turntable 22, a horizontal rotation motor 23, a lower axle seat 24, a lower swing motor 25, etc. A lower ring opening is arranged on the upper part of the bottom plate 21, and an upper ring opening is arranged on the lower part of the turntable 22. The upper and lower ring openings are assembled together through bearings and can rotate. Figure 4 As shown in, the sleeving relationship of the upper and lower ring openings is regarded as the D axis. A horizontal rotation motor 23 is vertically installed on the upper side of the turntable 22. The lower part of the rotating shaft of the horizontal rotation motor 23 penetrates into the inner side of the lower ring opening of the bottom plate 21, and a driving gear is installed at the end of the rotating shaft of the horizontal rotation motor 23. At the same time, a toothed ring is fixedly sleeved on the inner wall of the lower ring opening of the bottom plate 21, and the driving gear meshes with the toothed ring. When the manipulator control system controls the horizontal rotation motor 23 to rotate, the driving gear can rotate along the fixed toothed ring, thereby driving the turntable 22 to rotate horizontally. A lower axle seat 24 is arranged on one side of the turntable 22, and a lower swing motor 25 is installed. The rotating shaft of the lower swing motor 25 can be regarded as the A rotating shaft.

[0034] As Figure 2 and Figure 3 shown, the main arm assembly 3 includes a main arm 31, a lower shaft end 32, and an upper shaft end 33. Inner cavities are respectively arranged in the lower shaft end 32 and the upper shaft end 33, and through shaft holes are arranged. Clutch assemblies 7 are respectively installed in the inner cavities. The lower shaft end 32 is installed in the lower axle seat 24. A lower swing motor 25 is installed on one side of the bottom plate 21, and the rotating shaft of the lower swing motor 25 is connected to the clutch assembly 7 in the lower shaft end 32.

[0035] As Figure 3 shown, the auxiliary arm assembly 4 includes a base 41, a tipping motor 42, an auxiliary arm 43, an upper shaft seat 44, and an upper swing motor 45. A gearbox is arranged at the front part inside the base 41. The tipping motor 42 is fixed to the front end of the base 41. The rotating shaft of the tipping motor 42 is connected to the input shaft of the gearbox. The output shaft of the gearbox is connected to the auxiliary arm 43, and the auxiliary arm 43 can be regarded as the E axis. An upper shaft seat 44 is arranged at one side of the rear part of the base 41, and the upper shaft end 33 is installed inside the upper shaft seat 44. At the same time, an upper swing motor 45 is installed at the rear part of the base 41, and the rotating shaft of the upper swing motor 45 is connected to the clutch assembly 7 inside the upper shaft end 33.

[0036] The flipping seat 5 includes a connecting seat 51, a shaft bracket 52, and a flipping motor 53. The inner end of the connecting seat 51 is provided with a shaft bracket 52. The shaft bracket 52 is hinged to the end of the auxiliary arm 43 through an end rotating shaft. A flipping motor 53 is installed on one side of the shaft bracket 52. The rotating shaft of the flipping motor 53 is connected to the end rotating shaft, and the end rotating shaft can be regarded as the C rotating shaft. The end of the auxiliary arm 43 is provided with an inner cavity and a through shaft hole. A clutch assembly 7 is installed in the inner cavity. A suction cup assembly 6 is fixed to the distal end of the connecting seat 51.

[0037] As Figure 2 and Figure 3 shown, a suction cup assembly 6 includes a base plate 61, a main air chamber 62, an air pipe joint 63, branch air chambers 64, rigid suction cups 65, bronchial tubes 66, a central air pipe 67, a pressure contact switch 68, and a one-way control valve 69. As Figure 3 shown, the main air chamber 62 is longitudinally fixed in the middle of the upper side of the base plate 61. An air pipe joint 63 is arranged on the main air chamber 62, and the air pipe joint 63 is connected to the suction port of a vacuum pump. As Figure 2 shown, a plurality of branch air chambers 64 are transversely fixed on the lower surface of the base plate 61, and each branch air chamber 64 is respectively communicated with the main air chamber 62. A plurality of rigid suction cups 65 are equidistantly fixed on the left and right sides of each branch air chamber 64, and each branch air chamber 64 is respectively communicated with the inner cavity of the rigid suction cup 65 through a bronchial tube 66.

[0038] A structural form of the rigid suction cup 65 is as Figure 6As shown, the rigid suction cup 65 includes a carrier plate 651, a fixed sleeve 652, an extreme top pipe 653, a core rod 654, a rod seat 655, a ventilation hole 656, a side hole 657, a sliding sleeve 658, and a rubber foot 659. The carrier plate 651 is fixed to the base plate 61 through a connecting pipe sleeve, and a one-way exhaust valve is installed on the carrier plate 651. A fixed sleeve 652 is fixed to the lower end of the carrier plate 651, a bottom plate is provided at the bottom of the fixed sleeve 652, the center of the bottom plate is connected downward with an extreme top pipe 653, an axial center lumen is provided in the extreme top pipe 653, a core rod 654 is sleeved in the axial center lumen, and a rod seat 655 is fixed to the upper end of the core rod 654. A ventilation hole 656 is provided on the bottom plate, the rod seat 655 is of a disc-shaped structure, and the disc-shaped structure covers the upper side of the ventilation hole 656 to seal it. A sliding sleeve 658 is sleeved outside the fixed sleeve 652, a rubber foot 659 is sleeved outside the bottom of the sliding sleeve 658, and the length of the core rod 654 extending downward is greater than the length of the sliding sleeve 658.

[0039] When the rigid suction cup 65 moves downward and contacts the sheet 8 in the early stage, the core rod 654 first contacts the surface of the sheet 8. At this time, the core rod 654 moves upward, so that the ventilation hole 656 is opened, and the inner cavities of the fixed sleeve 652 and the sliding sleeve 658 are connected to form a common inner cavity. When the rigid suction cup 65 continues to move downward, the sliding sleeve 658 slides upward until the support at the bottom of the extreme top pipe 653 contacts the surface of the sheet 8. During this process, the excess gas in the common inner cavity is discharged from the one-way control valve 69. At this time, if the rigid suction cup 65 is lifted upward, the sliding sleeve 658 and the rubber foot 659 will fall with the sheet 8, making the common inner cavity in a negative pressure state, so that the sheet 8 can be lifted. Since the support at the bottom of the extreme top pipe 653 contacts the surface of the sheet 8, this contact is a rigid contact under the negative pressure state. Compared with the existing flexible rubber suction cup, this rigid suction cup structure can avoid the flutter of the suction cup caused by the continuous change of the center during the transfer of the sheet, thus affecting the accuracy of the sheet transfer.

[0040] At the same time, a bronchus 66 is fixed to the center of the carrier plate 651, and the bronchus 66 is connected to a vacuum pump or a negative pressure mechanism. A pressure contact switch 68 is installed at the upper end of the rod seat 655. When the rigid suction cup 65 is turned upward, the inner end of the rod seat 655 slides downward, so that the pressure contact switch 68 contacts the end of the bronchus 66. At this time, the pressure contact switch 68 sends a signal to the manipulator control system, and the manipulator control system controls the vacuum pump or the negative pressure mechanism to pump air, actively sucking the common inner cavity, so that during the bending process of the sheet 8, the rigid suction cup 65 is always connected to the sheet 8.

[0041] In addition, the core rod 654 is in a connection relationship between the screw tube and the screw. When the screw is turned, the length of the core rod 654 can be changed. Thus, when the core rod 654 is longer, at the initial stage when the core rod 654 contacts the plate 8, the pressure contact switch 68 can contact the bronchus 66 to start the negative pressure system.

[0042] In the initial stage of using the above solution, such as Figure 4 shown, keep each rigid suction cup 65 of the suction cup assembly 6 downward. Control the horizontal rotation motor 23 through the manipulator control system to realize the overall horizontal rotation of the manipulator. By separately controlling the lower swing motor 25, the upper swing motor 45, and the flipping motor 53, move the suction cup assembly 6 up and down. When each rigid suction cup 65 of the suction cup assembly 6 fits the surface of the plate 8, control the vacuum pump to suck, and suck the plate under each rigid suction cup 65. When transferring the plate during the use process, the manipulator control system controls the flipping motor 53 to rotate the suction cup assembly 6 about 180 degrees, and each rigid suction cup 65 is flipped upward, as Figure 5 shown. At this time, the plate 8 is flipped to the upper side of the suction cup assembly 6. Then control the horizontal rotation motor 23 to rotate, and control the lower swing motor 25 and the upper swing motor 45 to move the distal side edge of the plate to the stamping part of the bending machine. When the bending control system controls the plate bending machine to perform the bending work, it sends a bending start signal to the manipulator control system. At this time, the manipulator control system loses the control rights over the lower swing motor 25, the upper swing motor 45, and the flipping motor 53, making the A rotating shaft, the B rotating shaft, and the C rotating shaft in a passive process of being in a free state. Along with the deformation of the plate during the plate bending process, the suction cup assembly 6 moves and rotates with the back of the plate together with the plate, as Figure 5 shown. During the entire passive process, the rotation angles of each shaft are respectively recorded by the A rotating shaft angle gauge, the B rotating shaft angle gauge, and the C rotating shaft angle gauge (when there is forward and reverse rotation, take the difference between the forward and reverse rotation angles), and the manipulator control system stores the angle change values of each angle gauge. In the later stage of use, when the bending is completed, the bending control system sends a bending end signal to the manipulator control system. At this time, the manipulator control system obtains the control rights of the manipulator, and adds the change values of each angle gauge in the free state to the initial angle values of each shaft to ensure that the manipulator control system can accurately control the rotation of each shaft.

[0043] Based on the above solution, a clutch assembly 7 of a structural form is as Figure 7 and Figure 8 shown, which includes a seat plate 71, a kit 72, a connecting ring 73, an outer end shaft 74, an angle gauge 75, a sliding shaft 76, a spline shaft 761, a driving disk 77, a thrust spring 78, and an electromagnetic coil 79. At the same time, the clutch assembly 7 is installed at the positions of the A rotating shaft, the B rotating shaft, and the C rotating shaft. Figure 7Taking the B rotating shaft as an example, an inner cavity is provided at the upper shaft end 33. A seat plate 71 is fixed to the inner side edge of the inner cavity. A through inner shaft hole is provided on the seat plate 71, and a bearing seat is fixed outside the inner shaft hole and an inner bearing is installed. An outer shaft hole is provided on the outer side edge of the inner cavity at the upper shaft end 33, and an outer bearing seat is installed outside the outer shaft hole and an outer bearing is installed. The rotating shaft of the upper swing motor 45 is connected with a driving sleeve 421. The driving sleeve 421 is installed in the inner bearing, and the outer end shaft 74 is installed in the outer bearing. At the same time, the driving sleeve 421 is sleeved on the inner end in the lower shaft seat 24, and the outer end shaft 74 is fixed to the outer end in the lower shaft seat 24. A connecting ring 73 is sleeved in the upper shaft end 33. The connecting ring 73 is fixedly sleeved together with the outer end shaft 74. A connecting member 72 is fixedly connected to the inner end of the connecting ring 73. A shaft hole is provided at the center of the connecting member 72. An angle gauge 75 is sleeved on the outer end of the connecting ring 73. When the connecting ring 73 rotates, the angle gauge 75 can detect the rotation angle of the connecting ring 73. A driving disc 77 is sleeved in the upper shaft end 33. A sliding shaft 76 is fixed to the axis center of the driving disc 77. The outer end of the sliding shaft 76 is sleeved in the shaft hole of the connecting member 72. The inner end of the sliding shaft 76 is a spline shaft 761, and the inner cavity of the driving sleeve 421 is a spline sleeve. The spline shaft 761 and the spline sleeve are sleeved together. A thrust spring 78 is connected between the seat plate 71 and the driving disc 77. In the natural state, under the pushing action of the thrust spring 78, the driving disc 77 can be pressed against the end of the connecting member 72, so that the driving disc 77 and the connecting member 72 can be connected and rotate synchronously. An electromagnetic coil 79 is fixed to the inner wall of the seat plate 71. When the electromagnetic coil 79 is controlled by the manipulator control system to generate magnetism, it can attract the driving disc 77 to move inward, so that the driving disc 77 is separated from the connecting member 72. Preferably, a bevel gear is provided on the side wall of the driving disc 77, and a bevel gear ring is provided on the inner wall of the port of the connecting member 72. When the driving disc 77 and the connecting member 72 are close to each other, the bevel gear is embedded in the bevel gear ring to keep the two meshing and rotating synchronously.

[0044] Based on the above solution, the bending control system cooperates with the manipulator control system. Before bending, the manipulator control system is responsible for controlling the manipulator to transfer the sheet material. During the bending process, according to the start signal sent by the bending control system, the manipulator control system temporarily loses the control right of the manipulator, so that the A rotating shaft, B rotating shaft and C rotating shaft of the manipulator are in a free matching state. During the free matching process, the suction cup assembly always moves together with the sheet material, but the manipulator will not cause any restrictions and constraints on the movement of the sheet material, and there is no need to consider the compatibility of the manipulator control system. When the entire process is received, the manipulator control system obtains the control right of the manipulator again according to the end signal sent by the bending control system, so that the A rotating shaft, B rotating shaft and C rotating shaft of the manipulator are in a free matching state. At the same time, according to the angle change values of each rotating shaft in the free state, the original angular positions of each rotating shaft are corrected to ensure the accuracy of each rotating shaft.

[0045] Based on the above solution, the specific application process of the sheet metal bending and feeding device can be divided into the following steps:

[0046] 1. Preparation stage: Before use, ensure that the bending machine, manipulator, suction cup assembly, and bending control system are correctly installed and connected. The manipulator control system and the bending control system are preheated or self-checked to ensure the normal operation of the system. Ensure that the equipment can be put into work immediately when starting, avoiding equipment failures or incorrect startups.

[0047] 2. Sheet metal positioning and adsorption: The manipulator control system is started, and the manipulator is controlled to rotate horizontally. Through the cooperation of the horizontal rotation motor, the lower swing motor, and the upper swing motor, the suction cup assembly 6 is moved down to the surface of the sheet metal 8. Each rigid suction cup 65 of the suction cup assembly adsorbs the surface of the sheet metal 8 through a vacuum pump.

[0048] 3. Transfer of the sheet metal to the bending machine position: The manipulator control system continues to control the rotation of the manipulator, and precisely drives the suction cup assembly 6 to drive the sheet metal 8 to the stamping die position of the bending machine. During this process, the suction cup assembly 6 maintains a stable connection with the sheet metal 8 to ensure that the position of the sheet metal does not shift. During the entire transfer process of the sheet metal, the manipulator control system plays an active control role, maintaining a smooth and precise arrival at the designated position, avoiding position deviation or misalignment, and ensuring the smooth progress of the subsequent bending process.

[0049] 4. Bending start and free cooperation: When the sheet metal 8 is in the correct position of the stamping die, after the bending control system detects that the sheet metal position is correct through a sensor or a camera monitoring system, a bending start signal is sent. At this time, the manipulator control system loses control of the A-axis, B-axis, and C-axis, and the axes enter a free cooperation state. The bending die starts to bend the sheet metal. The free cooperation state of the axes enables the manipulator to flexibly respond to the deformation during the bending process, avoiding the influence of the axis limitation on the sheet metal bending process and allowing the sheet metal to freely deform during the bending process.

[0050] 5. Synchronous movement and adjustment during the sheet metal bending process: During the sheet metal bending process, the suction cup assembly 6 is always connected to the sheet metal. As the sheet metal bends, the suction cup assembly drives the respective axes of the manipulator to rotate freely, and the angular changes of the A-axis, B-axis, and C-axis are monitored in real time. The angular change of each axis is recorded by an angle meter to ensure that the rotation state of the manipulator is synchronized with the sheet metal bending. By monitoring the angular changes of each axis in real time, the system can accurately record and adjust the angle of the manipulator, thereby ensuring the accuracy of each axis and the accuracy of the sheet metal bending.

[0051] 6. Bending Completion and Angle Correction: When the bending control system detects that the sheet metal has completed bending through a position sensor or camera, it sends a bending end signal. At this time, the manipulator control system regains control of the A-axis, B-axis, and C-axis, and corrects the angular positions of the axes according to the angle change values recorded by the angle gauge to ensure angle accuracy. The system ensures that the accuracy of each axis reaches the preset requirements by correcting the axis angles, avoiding problems such as uneven bending or low precision of the sheet metal caused by axis errors.

[0052] 7. Continued Transfer of the Sheet Metal and Bending of Other Sides: The manipulator control system controls the continued rotation of the sheet metal, inserts the unbent edge into the stamping die of the bending machine, and sequentially completes the bending process of each side of the sheet metal. During each bending process, the suction cup assembly 6 always adheres to the sheet metal to ensure that the sheet metal does not shift. Through continuous bending operations, it ensures that each side of the sheet metal is accurately bent, and the suction cup assembly stably supports the sheet metal, avoiding deformation or detachment of the sheet metal during multiple bending processes.

[0053] 8. Final Transfer and End of the Workstation: When all bending processes are completed, the manipulator control system controls the manipulator to transfer the bent sheet metal to the next workstation or the next process in the flow. The suction cup assembly 6 maintains stable adsorption with the sheet metal during the entire transfer process, avoiding loosening or detachment of the sheet metal during transfer.

[0054] 9. System Self-Check and Standby State: After completing the transfer of the sheet metal, the manipulator control system enters the standby state, and the system conducts self-checks or prepares for the next work task.

[0055] The above specific embodiments of the present invention are only used for exemplary illustration or explanation of the principle of the present invention, and do not constitute a limitation to the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention shall be included within the protection scope of the present invention.

Claims

1. A sheet metal bending and feeding device, comprising a sheet metal bending machine (1), a manipulator and a suction cup assembly (6), as well as a bending control system and a manipulator control system, characterized in that, A manipulator is fixed to the front side of a sheet bending machine (1). The manipulator successively includes a base assembly (2), a main arm assembly (3), an auxiliary arm assembly (4) and a flipping seat (5) from bottom to top. Among them, the manipulator at least includes a horizontal A rotating shaft located between the base assembly (2) and the main arm assembly (3), a horizontal B rotating shaft located between the main arm assembly (3) and the auxiliary arm assembly (4), and a horizontal C rotating shaft located between the auxiliary arm assembly (4) and the flipping seat (5). At the same time, a clutch assembly (7) is installed at the positions of the A rotating shaft, the B rotating shaft and the C rotating shaft. A suction cup assembly (6) is installed on the flipping seat (5) of the manipulator. The suction cup assembly (6) includes a plurality of suction cups connected to negative pressure, and is used for adsorbing and transferring the sheet; when the bending control system sends a bending start signal to the manipulator control system at the start of bending, the manipulator control system loses the control right of the A rotating shaft, the B rotating shaft and the C rotating shaft. When the bending control system sends a bending end signal to the manipulator control system at the end of bending, the manipulator control system regains the control right of the A rotating shaft, the B rotating shaft and the C rotating shaft of the manipulator; when the manipulator control system loses the control right of the A rotating shaft, the B rotating shaft and the C rotating shaft, the angle changes generated by each rotating shaft in the free rotation state are respectively monitored and recorded by angle meters installed on each rotating shaft. After the manipulator control system regains the control right of the A rotating shaft, the B rotating shaft and the C rotating shaft again, the angular positions of each rotating shaft are corrected by using the monitored angle change values; the suction cup assembly (6) includes a base plate (61), a main air chamber (62), an air pipe joint (63), a sub-air chamber (64) and a rigid suction cup (65). A main air chamber (62) is longitudinally fixed in the middle of the upper side of the base plate (61). An air pipe joint (63) is arranged on the main air chamber (62), and the air pipe joint (63) is connected to the suction port of a vacuum pump. A plurality of sub-air chambers (64) are transversely fixed on the lower surface of the base plate (61). Each sub-air chamber (64) is respectively communicated with the main air chamber (62). A plurality of rigid suction cups (65) are equidistantly fixed on the left and right sides of each sub-air chamber (64). Each sub-air chamber (64) is respectively communicated with the inner cavity of the rigid suction cup (65) through a bronchus (66);The clutch assembly (7) includes a seat plate (71) which is fixed to the side wall of the inner cavity at the end of the main arm or the auxiliary arm. A kit (72), a connecting ring (73), a driving disc (77) and an electromagnetic coil (79) are sleeved in the inner cavity at the end of the main arm or the auxiliary arm. An outer end shaft (74) is sleeved on the connecting ring (73). The inner end of the connecting ring (73) is fixedly connected to the kit (72). A shaft hole is provided at the center of the kit (72). An angle gauge (75) is sleeved on the outer end of the connecting ring (73). A sliding shaft (76) is fixed at the axis center of the driving disc (77). The outer end of the sliding shaft (76) is sleeved in the shaft hole of the kit (72). The inner end of the sliding shaft (76) is connected to the rotating shaft of the corresponding motor through a spline sleeve and a spline shaft. A thrust spring (78) is connected between the seat plate (71) and the driving disc (77). An electromagnetic coil (79) is fixed to the inner wall of the seat plate (71). When the electromagnetic coil (79) is controlled by the manipulator control system to generate magnetism, it can attract the driving disc (77) to move inward, so that the driving disc (77) is disengaged from the kit (72).; 2. The sheet metal bending and feeding device according to claim 1, wherein The base assembly (2) of the manipulator includes a base plate (21), a turntable (22) and a swivel motor (23). A lower ring opening is provided at the upper part of the base plate (21), and an upper ring opening is provided at the lower part of the turntable (22). The upper and lower ring openings are assembled together through bearings and can rotate. The swivel motor (23) is used to drive the turntable (22) to rotate.

3. The sheet metal bending and feeding device according to claim 2, characterized in that, The main arm assembly (3) includes a main arm (31), a lower shaft end (32) and an upper shaft end (33). The lower shaft end (32) and the upper shaft end (33) are respectively provided with inner cavities and through shaft holes, and the clutch assembly (7) is installed in each inner cavity; a lower shaft seat (24) and a lower swing motor (25) are provided on one side of the turntable (22). The lower shaft end (32) is installed in the lower shaft seat (24), and the rotating shaft of the lower swing motor (25) is connected to the clutch assembly (7) inside the lower shaft end (32).

4. The sheet metal bending and feeding device according to claim 3, characterized in that, The auxiliary arm assembly (4) includes a base (41), an auxiliary arm (43) and an upper swing motor (45). An upper shaft seat (44) is provided on one side of the rear part of the base (41). The upper shaft end (33) is installed in the upper shaft seat (44). At the same time, an upper swing motor (45) is installed at the rear part of the base (41), and the rotating shaft of the upper swing motor (45) is connected to the clutch assembly (7) inside the upper shaft end (33).

5. The sheet metal bending and feeding device according to claim 4, characterized in that, The flipping seat (5) includes a connecting seat (51), a shaft frame (52) and a flipping motor (53). The inner end of the connecting seat (51) is provided with a shaft frame (52). An end rotating shaft is sleeved on the shaft frame (52). The shaft frame (52) is hinged to the end of the auxiliary arm (43) through the end rotating shaft. A flipping motor (53) is installed on one side of the shaft frame (52), and the rotating shaft of the flipping motor (53) is connected to the end rotating shaft. The end of the auxiliary arm (43) is provided with an inner cavity and a through shaft hole, and the clutch assembly (7) is installed in the inner cavity. The suction cup assembly (6) is fixed to the distal end of the connecting seat (51).

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