Industrial robot and bending machine collaborative bending device and collaborative method thereof

Abstract

The invention belongs to the technical field of robot collaborative bending, and discloses an industrial robot and bending machine collaborative bending device and a collaborative method thereof.The industrial robot and bending machine collaborative bending device comprises a robot body and a bending machine, the bending machine comprises a bending base, a bending operation mechanism and a bending adaptation table, and an adjusting arm assembly is installed at one end of the robot body. The plate is always adsorbed and fixed in the bending process, in cooperation with establishment and dissipation of air pressure in the auxiliary adjusting part, the plate is kept to be stably pulled during establishment, and after dissipation returns to normal pressure, the adsorption grabbing part is allowed to drive the flexible adjusting part to flexibly stretch and retract to move, so that the adsorption grabbing part adapts to the bent and swung plate, and the bending efficiency of the plate is improved. According to the cooperative bending device, follow-up swing of the adsorption grabbing part is adaptively carried out, negative pressure is rapidly applied to the whole process after bending, a plate is fixed again, adsorption fixation canceling and grabbing treatment again in the middle are not needed, the cooperation of bending and grabbing is greatly improved, actual cooperative bending control operation is simple, and the use effect is good.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot collaborative bending, and specifically relates to an industrial robot and a bending machine collaborative bending device and a collaborative method thereof. Background Art

[0002] The collaborative bending device of industrial robots and press brakes is a key equipment in modern intelligent manufacturing. By integrating the high-precision operation of robots and the efficient forming capabilities of press brakes, it can achieve efficient and flexible production of complex sheet metal parts.

[0003] In the prior art, the industrial robot and the bending machine collaborative bending device usually use a robot to grab the parts to be bent during use, and transport them to the bending machine in a positioned manner, and cooperate with the bending machine to complete the bending process. However, during the bending process, for the bending of the plate, the bent metal plate is warped and deformed on both sides during bending. In the current bending process, in order to adapt to the bending and warping action of the side of the plate, it is necessary to accurately release the adsorption and grasping of the plate before the plate is bent and placed and bending occurs, so as to ensure that the plate has space to bend upward. On the one hand, it is difficult to coordinate and release the adsorption at the precise moment, and it is difficult to coordinate synchronously. In addition, the robot needs to re-adsorb and grasp after bending. The secondary grasping also requires a programmed action plan, the secondary grasping accuracy is low, the background programming cost design is high, and the comprehensive use effect is not good. It is difficult and costly to adapt to the collaborative processing of the bending and deformation of the plate. Summary of the invention

[0004] The object of the present invention is to provide a collaborative bending device of an industrial robot and a bending machine and a collaborative method thereof, so as to solve the problems raised in the above-mentioned background technology.

[0005] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: an industrial robot and a bending machine cooperative bending device and a cooperative method thereof, comprising a robot body and a bending machine, the bending machine comprising a bending base, a bending operation mechanism and a bending adapter, an adjusting arm assembly is installed at one end of the robot body, an auxiliary adjusting part is fixedly connected to the side of the adjusting arm assembly, an adsorption grasping part is provided at the front end of the auxiliary adjusting part, one end of the adsorption grasping part is fixedly connected to a flexible adjusting part, one end of the flexible adjusting part is elastically sleeved in the auxiliary adjusting part, and a distributing suction assembly is provided on the top of the auxiliary adjusting part,

[0006] The distributing suction component controls the adsorption and grabbing part to adsorb and grab the plate to be bent. The distributing suction component fixes the adsorption and grabbing part at the end of the auxiliary adjustment part through the auxiliary adjustment part. The outer side of the bending operation mechanism is provided with a sensing part. The robot body grabs the plate to be bent through the adsorption and grabbing part and places it on the top of the bending adapter table. When the bending operation mechanism moves downward, the bending process is completed, and the adsorption and grabbing part moves and tilts up following one end of the bent plate.

[0007] Preferably, both the bending operation mechanism and the bending adapter table are fixed above the bending base, the bending operation mechanism is located outside the bending adapter table, and a pushing bending member is provided in the bending operation mechanism.

[0008] Preferably, the adsorption and grasping part includes a grasping plate, suction cups, and a communication cavity. The suction cups are arranged in an array at the bottom of the grasping plate. The communication cavity is opened in the grasping plate and is communicated with the suction cups.

[0009] Preferably, the auxiliary adjustment part includes an assembly frame, a metal fixing block, a sleeve hole, and an adaptation groove. The metal fixing block is fixedly sleeved in the assembly frame. The sleeve hole is opened in the metal fixing block. The adaptation groove is opened at the end of the assembly frame.

[0010] Preferably, the flexible adjustment part includes a movable plug plate, a positioning connecting plate, and a connecting rope. The movable plug plate is elastically sleeved in the assembly frame. The positioning connecting plate is fixed on the end face of the grasping plate. The connecting rope is fixedly connected between the movable plug plate and the positioning connecting plate. The connecting rope is movably sleeved in the sleeve hole. One end of the movable plug plate is fixedly connected with a first spring, and the first spring is fixedly connected in the assembly frame. A magnetic block is fixedly arranged on the front surface of the positioning connecting plate.

[0011] Preferably, the distributed suction assembly includes a vacuum pump, a control valve, a first pipeline, and a second pipeline. The suction end of the vacuum pump is communicated with the control valve. The two suction ends of the control valve are respectively communicated with the first pipeline and the second pipeline. One end of the first pipeline is fixed on the top of the adsorption and grasping part and is communicated with the communication cavity. One end of the second pipeline is fixed on the top of the auxiliary adjustment part and is communicated with the inside of the assembly frame.

[0012] Preferably, when the induction part senses the contact pressure of the sheet material, the distributed suction assembly controls the negative pressure inside the auxiliary adjustment part to disappear. The induction part includes a mounting plate, a second electric push rod, and a sensor. The second electric push rod controls the lateral movement of the mounting plate connected thereto. The sensor is elastically connected to the front surface of the mounting plate through a side connecting rod.

[0013] Preferably, a discharging assembly is provided in the bending machine. A driving part is provided at the top of one end of the robot main body. The driving part controls the deflection of the adjusting arm assembly and pours the metal oxide layer fragments generated by bending into the discharging assembly, and the discharging assembly clears the metal oxide layer fragments in a directional manner. The discharging assembly includes a first electric push rod, an adaptation slider, and a centralized discharging port. The centralized discharging port is opened outside the bending operation mechanism and is communicated with a reserved groove inside the bending adapter table. The first electric push rod is fixed in the reserved groove inside the bending adapter table. The first electric push rod controls the lateral movement of the adaptation slider connected thereto.

[0014] Preferably, the adjusting arm assembly includes a mounting arm, a rotating shaft, and a first gear. The driving part includes a motor and a second gear. The rotating shaft is mounted on one end of the robot body through a bearing. The first gear is fixedly sleeved on the rotating shaft and meshed with the second gear. The mounting arm is fixedly sleeved outside the rotating shaft, and the mounting arm is fixedly connected to the auxiliary adjusting part.

[0015] A cooperation method for an industrial robot and a bending machine cooperative bending device includes the following cooperation working steps:

[0016] The first step: The robot body drives the adsorption and grasping part to move and be located on the top surface of the to-be-grasped plate. After contact, the distributed suction assembly is started, so that the plate is adsorbed and fixed at the bottom of the adsorption and grasping part. The air path of the distributed suction assembly is switched, and the air in the auxiliary adjusting part is sucked. Under the negative pressure effect, the adsorption and grasping part is clamped and fixed at the end of the auxiliary adjusting part through the flexible adjusting part. Subsequently, the robot body moves and controls the grasped plate to move to the bending machine.

[0017] The second step: As the plate is transferred and placed on the bending adapter table of the bending machine and makes the plate contact the sensing part, the terminal controller controls the distributed suction assembly to cancel the vacuum pumping inside the auxiliary adjusting part and restore the air pressure inside the auxiliary adjusting part.

[0018] The third step: Subsequently, the bending operation mechanism is started, and the internal bending part pushes the plate downward, so that the plate is completely deformed in the bending adapter table. The two sides of the plate swing, and one side of the plate drives the adsorption and grasping part adsorbed on the top to swing, and makes the adsorption and grasping part swing adaptively, and pulls the flexible adjusting part. Under the pulling action, the flexible adjusting part moves along the auxiliary adjusting part to complete the adaptive swing.

[0019] The fourth step: After the bending is completed, the distributed suction assembly is made to suck the air inside the auxiliary adjusting part again, so that the flexible adjusting part slides back to its original position, and the adsorption and grasping part is clamped and fixed on the end face of the auxiliary adjusting part again, so that one side of the bent plate is horizontal and the plate is stably grasped again.

[0020] The fifth step: The driving part is started, so that the adjusting arm assembly deflects in the vertical plane, and the metal oxide layer fragments at the bending part are introduced into the inside of the bending adapter table. Subsequently, the robot body moves to move out the plate after the bending process.

[0021] The beneficial effects of the present invention are as follows:

[0022] (1) By utilizing the adsorption and grasping part, the auxiliary adjustment part, the distributed suction component, and the flexible adjustment part, when the present invention adsorbs and grasps a plate and moves it to the bending area, it always adsorbs and fixes the plate during the bending process. In cooperation with the establishment and dissipation of the internal air pressure of the auxiliary adjustment part, it maintains the stable traction of the plate during establishment and allows the adsorption and grasping part to drive the flexible adjustment part to flexibly stretch and move after dissipation and return to normal pressure, so that the adsorption and grasping part adapts to the bent and swinging plate, adaptively follows the swing of the adsorption and grasping part, and quickly applies negative pressure and re-fixes the plate after bending without canceling the adsorption and fixation in the middle and re-grasping and processing, greatly improving the coordination of bending and grasping. Moreover, the actual coordinated bending control operation is simple and the use effect is good.

[0023] (2) By utilizing the adjustment arm assembly in cooperation with the electric push rod 1 and the adapter slider, and combining the above continuous adsorption and grasping of the plate, it quickly swings and re-grasps the plate after bending, and in cooperation with the directional deflection of the adjustment arm assembly, it makes the metal oxide layer located at the bending area of the plate be directed to pour into the inside of the bending adapter table, and combines with the adapter slider to complete the rapid directional export, quickly realizing the collection and treatment of the technical oxide layer during the bending process.

[0024] (3) After the plate is adsorbed and fixed, the present invention intermittently controls the distributed suction component to suck air from the auxiliary adjustment part and bypasses the second pipeline, so that negative pressure is intermittently established in the auxiliary adjustment part. When there is negative pressure, it tightens the adsorption and grasping part, and after the air pressure returns, by utilizing the self-gravity of the plate and overcoming the elasticity of the spring 1, the flexible adjustment part pulls the spring 1 and moves outward slightly, so that the plate drives the adsorption and grasping part to tilt downward slightly, and under the reciprocating action, the adsorption and grasping part drives the plate to repeatedly droop and swing upward and clamp at the end of the auxiliary adjustment part, completing its own reciprocating vibration. And by using the vibration treatment, it realizes its own vibration cleaning before bending, removes the attached solid impurities, and improves the subsequent bending stability. Description of the Drawings

[0025] Figure 1 is the structural schematic diagram of the present invention;

[0026] Figure 2 is the exploded schematic diagram of the robot main body and the adjustment arm assembly of the present invention;

[0027] Figure 3 is the connection schematic diagram of the distributed suction component, the adsorption and grasping part, and the auxiliary adjustment part of the present invention;

[0028] Figure 4 is the cross-sectional schematic diagram of the adsorption and grasping part and the auxiliary adjustment part of the present invention;

[0029] Figure 5 is the connection schematic diagram of the adsorption and grasping part and the flexible adjustment part of the present invention;

[0030] Figure 6 A cross-sectional schematic view of the auxiliary adjustment part of the present invention;

[0031] Figure 7 An exploded view of the sensing part and the bending base of the present invention.

[0032] In the figure: 1, robot main body; 2, bending base; 3, bending operation mechanism; 4, bending adapter table; 5, adsorption and grasping part; 51, grasping plate; 52, suction cup; 53, communication cavity; 6, adjustment arm assembly; 61, mounting arm; 62, rotating shaft; 63, first gear; 7, auxiliary adjustment part; 71, assembly frame; 72, metal fixing block; 73, sleeve hole; 74, fitting groove; 8, distributed suction assembly; 81, vacuum pump; 82, control valve; 83, first pipeline; 84, second pipeline; 9, sensing part; 91, mounting plate; 92, second electric push rod; 93, sensor; 10, driving part; 11, flexible adjustment part; 111, movable plug plate; 112, positioning connecting plate; 113, connecting rope; 12, first spring; 13, magnetic block; 14, first electric push rod; 15, fitting slider; 16, centralized discharge port. Specific embodiments

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0034] As Figures 1 to 7 shown, the embodiment of the present invention provides an industrial robot and a bending machine collaborative bending device and its collaborative method, including a robot main body 1 and a bending machine. The bending machine includes a bending base 2, a bending operation mechanism 3 and a bending adapter table 4. One end of the robot main body 1 is equipped with an adjustment arm assembly 6. The side of the adjustment arm assembly 6 is fixedly connected with an auxiliary adjustment part 7. The front end of the auxiliary adjustment part 7 is provided with an adsorption and grasping part 5. One end of the adsorption and grasping part 5 is fixedly connected with a flexible adjustment part 11. One end of the flexible adjustment part 11 is elastically sleeved in the auxiliary adjustment part 7. The top of the auxiliary adjustment part 7 is provided with a distributed suction assembly 8. The distributed suction assembly 8 controls the adsorption and grasping part 5 to adsorb and grasp the to-be-bent sheet material. The distributed suction assembly 8 fixes the adsorption and grasping part 5 at the end of the auxiliary adjustment part 7 through the auxiliary adjustment part 7. The outside of the bending operation mechanism 3 is provided with a sensing part 9. The robot main body 1 grabs the to-be-bent sheet material through the adsorption and grasping part 5 and places it on the top of the bending adapter table 4. When the bending operation mechanism 3 moves down, the bending process is completed, and the adsorption and grasping part 5 follows the movement of one end of the bent sheet material and tilts up.

[0035] Embodiment 1: The robot body 1 drives the adsorption grasping part 5 to move and is located on the top surface of the plate to be grasped. After contact, the distributed suction component 8 is started, and the vacuum pump 81 sucks the air inside the adsorption grasping part 5 through the No. 1 pipeline 83, and uses the negative pressure to adsorb and fix the plate on the bottom of the adsorption grasping part 5. The suction air path is switched through the distributed suction component 8, and the air in the auxiliary regulating part 7 is sucked through the No. 2 pipeline 84. Under the action of negative pressure, the auxiliary regulating part 7 is negatively pressurized, and the movable plug plate 111 in the flexible regulating part 11 is adsorbed and moved. Thus, the adsorption grasping part 5 is tightened and clamped to the end of the auxiliary adjusting part 7 through the connecting rope in the flexible adjusting part 11, and then the robot body 1 moves and controls the grasped plate to move to the bending machine; as the plate is transferred and placed on the bending adapter table 4 of the bending machine, and the plate contacts the sensor 93 in the sensing part 9, the terminal controller controls the distributed suction component 8 to cancel the vacuum inside the auxiliary adjusting part 7 and restore the air pressure inside the auxiliary adjusting part 7; then the bending operation mechanism 3 is started, and the internal bending parts push the plate downward , so that the plate is completely deformed in the bending adapter 4, the two sides of the plate swing, and one side of the plate drives the adsorption grabbing part 5 adsorbed on the top to swing, and the adsorption grabbing part 5 swings adaptively, and the movable plug plate 111 in the flexible adjustment part 11 is pulled by the positioning connecting plate 112 through the connecting rope 113. Under the pulling action, the flexible adjustment part 11 moves along the auxiliary adjustment part 7, and the adsorption grabbing part 5 is separated from the auxiliary adjustment part 7, and the adaptive swing is completed. After the bending is completed, the distributing suction component 8 is used to suck the air inside the auxiliary adjustment part 7 again. The flexible adjustment part 11 is slid to reset, and the adsorption grasping part 5 is clamped and fixed on the end face of the auxiliary adjustment part 7 again, so that one side of the bent plate is horizontal, and the plate is grasped stably again, and the driving part 10 is started to make the adjustment arm assembly 6 deflect in the vertical plane, and the metal oxide layer fragments at the bending part are introduced into the interior of the bending adapter 4, and then the robot body 1 is moved to move the bent plate out, and the electric push rod 14 is started to make the adapter slider 15 discharge the metal oxide fragments through the centralized discharge port 16 to complete the quick collection.

[0036] Firstly, by utilizing the adsorption and grabbing part 5, the auxiliary adjustment part 7, the distributed suction assembly 8 and the flexible adjustment part 11, when the sheet is adsorbed and grabbed and moved to the bending area, the sheet is always adsorbed and fixed during the bending process, and the establishment and dissipation of the internal air pressure of the auxiliary adjustment part 7 are coordinated to maintain the stable pulling of the sheet during the establishment, and after the pressure dissipates and returns to normal pressure, the adsorption and grabbing part 5 is allowed to drive the flexible adjustment part 11 to flexibly extend and retract, so that the adsorption and grabbing part 5 can adapt to the bending and swinging sheet, adaptively follow the swing of the adsorption and grabbing part 5, and quickly exert negative pressure and re-fix the sheet after bending, without the need to cancel the adsorption and fixation and re-grasp the process in the middle, which greatly improves the coordination of bending and grabbing, and the actual coordinated bending control operation is simple and the use effect is good.

[0037] In addition, by using the adjusting arm assembly 6 in cooperation with the electric push rod 14 and the adapter slider 15, and combining the above-mentioned continuous adsorption and grasping of the plate, after bending, it quickly swings to re-grasp the plate, and in cooperation with the directional deflection of the adjusting arm assembly 6, the metal oxide layer located at the bending area of the plate is directed to pour into the inside of the bending adapter table 4, and combined with the adapter slider 15 to complete rapid directional export, quickly realizing the collection and treatment of the technical oxide layer during the bending process.

[0038] On the other hand, after the plate is adsorbed and fixed, by intermittently controlling the distributed suction assembly 8 to suck air in the auxiliary adjustment part 7 and bypassing the second pipeline 84, a negative pressure is intermittently established in the auxiliary adjustment part 7, and when the negative pressure is present, the adsorption and grasping part 5 is tightened. And after the air pressure returns, by using the self-gravity of the plate and overcoming the elasticity of the first spring 12, the flexible adjustment part 11 pulls the first spring 12 and moves outward slightly, so that the plate drives the adsorption and grasping part 5 to tilt downward slightly, and under the reciprocating action, the adsorption and grasping part 5 drives the plate to repeatedly droop and swing upward and clamp at the end of the auxiliary adjustment part 7, completing its own reciprocating vibration, and using the vibration treatment to realize its own vibration cleaning before bending, removing the attached solid impurities, and improving the subsequent bending stability.

[0039] Among them, the bending operation mechanism 3 and the bending adapter table 4 are both fixed above the bending base 2, the bending operation mechanism 3 is located outside the bending adapter table 4, and a pushing bending part is provided in the bending operation mechanism 3.

[0040] By using the cooperation of the bending adapter table 4 and the bending operation mechanism 3, the bending treatment of the plate is realized.

[0041] Among them, the adsorption and grasping part 5 includes a grasping plate 51, suction cups 52 and a communication cavity 53. The suction cups 52 are arranged in an array at the bottom of the grasping plate 51, and the communication cavity 53 is opened in the grasping plate 51 and communicated with the suction cups 52.

[0042] The adsorption and grasping part 5 realizes the adsorption and fixation of the plate under the action of internal negative pressure.

[0043] Among them, the auxiliary adjustment part 7 includes an assembly frame 71, a metal fixing block 72, a sleeve hole 73 and an adapter groove 74. The metal fixing block 72 is fixedly sleeved in the assembly frame 71, the sleeve hole 73 is opened in the metal fixing block 72, and the adapter groove 74 is opened at the end of the assembly frame 71.

[0044] The auxiliary adjustment part 7 realizes the guiding treatment through the establishment and cancellation of internal negative pressure, and in cooperation with the movable sleeving of the flexible adjustment part 11. Under negative pressure, the flexible adjustment part 11 pulls the adsorption and grasping part 5 to clamp and fix on the end face of the auxiliary adjustment part 7, and when the negative pressure is cancelled, the flexible adjustment part 11 is allowed to slide in the auxiliary adjustment part 7 to change its position.

[0045] Among them, the flexible adjustment part 11 includes a movable plug plate 111, a positioning connecting plate 112 and a connecting rope 113. The movable plug plate 111 is elastically sleeved in the assembly frame 71. The positioning connecting plate 112 is fixed on the end face of the grasping plate 51. The connecting rope 113 is fixedly connected between the movable plug plate 111 and the positioning connecting plate 112. The connecting rope 113 is movably sleeved in the sleeve hole 73. One end of the movable plug plate 111 is fixedly connected with a first spring 12, and the first spring 12 is fixedly connected in the assembly frame 71. A magnet 13 is fixedly arranged on the front surface of the positioning connecting plate 112.

[0046] Under traction, the flexible adjustment part 11 tightens and fixes the adsorption and grasping part 5. When sliding outwards, it cooperates with the connecting rope 113 to allow the adsorption and grasping part 5 to move and displace, and allows swinging treatment to adapt to the bending deformation action of the plate. The first spring 12 maintains relative traction in the non-negative pressure state through elasticity to maintain stability. The magnet 13 cooperates with the metal fixing block 72, and at the same time uses the adaptation groove 74 to realize magnetic adsorption-assisted positioning.

[0047] Among them, the distributed suction assembly 8 includes a vacuum pump 81, a control valve 82, a first pipeline 83 and a second pipeline 84. The suction end of the vacuum pump 81 is communicated with the control valve 82. The two suction ends of the control valve 82 are respectively communicated with the first pipeline 83 and the second pipeline 84. One end of the first pipeline 83 is fixed on the top of the adsorption and grasping part 5 and is communicated with the communication cavity 53. One end of the second pipeline 84 is fixed on the top of the auxiliary adjustment part 7 and is communicated with the inside of the assembly frame 71.

[0048] The distributed suction assembly 8 establishes negative pressure through vacuum suction and realizes negative pressure treatment in different areas by switching directions. When sucking the adsorption and grasping part 5, it realizes adsorption and grasping. When sucking the inside of the auxiliary adjustment part 7, it realizes pulling and fixing.

[0049] On the one hand, the control valve 82 cooperates with the second pipeline 84 to control the conduction of the second pipeline 84 and the auxiliary adjustment part 7, and establishes internal negative pressure through connected suction. And the control valve 82 can control the sealing and bypass of the second pipeline 84. When sealed, it maintains the stability of the internal negative pressure. When bypassed, the auxiliary adjustment part 7 is connected to the external air through the second pipeline 84 to maintain internal normal pressure, ensuring that the self-weight can pull the short-distance movement of the movable plug plate 111.

[0050] Among them, when the induction part 9 senses the contact pressure of the plate, the distributed suction assembly 8 controls the disappearance of the internal negative pressure of the auxiliary adjustment part 7. The induction part 9 includes a mounting plate 91, a second electric push rod 92 and a sensor 93. The mounting plate 91 controlled by the second electric push rod 92 moves horizontally. The sensor 93 is elastically connected to the front surface of the mounting plate 91 through a side connecting rod.

[0051] The sensing part 9 senses the contact pressure to achieve collaborative action recognition, cooperates with the terminal controller to control the operation of the distributed suction component 8, controls the negative pressure state inside the auxiliary adjustment part 7, and the electric push rod two 92 can control the position of the inductor 93 (model: Interlink FSR 402) to adapt to the size of the plate.

[0052] Among them, a discharging component is provided in the bending machine. At the top of one end of the robot body 1, a driving part 10 is provided. The driving part 10 controls the deflection of the adjusting arm assembly 6 and pours the metal oxide layer fragments generated during bending into the discharging component, and the discharging component directs and clears out the metal oxide layer fragments. The discharging component includes an electric push rod one 14, a matching slider 15 and a centralized discharging port 16. The centralized discharging port 16 is opened on the outside of the bending operation mechanism 3 and communicates with the reserved groove inside the bending matching table 4. The electric push rod one 14 is fixed in the reserved groove inside the bending matching table 4, and the matching slider 15 controlled by the electric push rod one 14 moves horizontally.

[0053] By deflecting the adjusting arm assembly 6, the metal oxide layer fragments generated during the bending process are introduced into the reserved groove in the bending matching table 4, and in cooperation with the electric push rod one 14 driving the matching slider 15 to move, the broken materials are collected at a fixed point through the centralized discharging port 16.

[0054] Among them, the adjusting arm assembly 6 includes a mounting arm 61, a rotating shaft 62 and a gear one 63. The driving part 10 includes a motor and a gear two. The rotating shaft 62 is installed at one end of the robot body 1 through a bearing. The gear one 63 is fixedly sleeved on the rotating shaft 62 and is meshed and connected with the gear two. The mounting arm 61 is fixedly sleeved on the outside of the rotating shaft 62, and the mounting arm 61 is fixedly connected with the auxiliary adjustment part 7.

[0055] A collaborative method for an industrial robot and a bending machine collaborative bending device includes the following collaborative working steps:

[0056] The first step: The robot body 1 drives the adsorption and grasping part 5 to move and be located on the top surface of the plate to be grasped. After contact, the distributed suction component 8 is started, so that the plate is adsorbed and fixed at the bottom of the adsorption and grasping part 5. The air suction path is switched through the distributed suction component 8, and the air in the auxiliary adjustment part 7 is sucked. Under the action of negative pressure, the adsorption and grasping part 5 is clamped and fixed at the end of the auxiliary adjustment part 7 through the flexible adjustment part 11. Subsequently, the robot body 1 moves and controls the grasped plate to move to the bending machine.

[0057] The second step: As the plate is transferred and placed on the bending matching table 4 of the bending machine and makes the plate contact the sensing part 9, the terminal controller controls the distributed suction component 8 to cancel the vacuum pumping inside the auxiliary adjustment part 7 and restore the air pressure inside the auxiliary adjustment part 7.

[0058] Step 3: Subsequently, the bending operation mechanism 3 is activated, and the internal bending part pushes the plate downward, causing the plate to be completely deformed in the bending adaptation table 4. The two sides of the plate swing, and one side of the plate drives the adsorption and grasping part 5 adsorbed on the top to swing, and the adsorption and grasping part 5 swings adaptively, and the flexible adjustment part 11 is pulled. Under the pulling action, the flexible adjustment part 11 moves along the auxiliary adjustment part 7 to complete the adaptive swing;

[0059] Step 4: After the bending is completed, the distributed suction assembly 8 sucks the air inside the auxiliary adjustment part 7 again, so that the flexible adjustment part 11 slides back to its original position, and the adsorption and grasping part 5 is clamped and fixed on the end face of the auxiliary adjustment part 7 again, making one side of the bent plate horizontal and stably grasping the plate again;

[0060] Step 5: Activate the driving part 10 to deflect the adjustment arm assembly 6 in the vertical plane, introduce the metal oxide layer fragments at the bending part into the inside of the bending adaptation table 4, and then make the robot body 1 act to move out the plate after the bending process.

[0061] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An industrial robot and a bending machine collaborative bending device, comprising a robot body (1) and a bending machine, wherein the bending machine comprises a bending base (2), a bending operating mechanism (3) and a bending adapter table (4), characterized in that: An adjusting arm assembly (6) is installed at one end of the robot body (1); an auxiliary adjusting portion (7) is fixedly connected to the side of the adjusting arm assembly (6); a suction grabbing portion (5) is provided at the front end of the auxiliary adjusting portion (7); a flexible adjusting portion (11) is fixedly connected to one end of the suction grabbing portion (5); one end of the flexible adjusting portion (11) is elastically sleeved in the auxiliary adjusting portion (7); a distributing suction assembly (8) is provided at the top of the auxiliary adjusting portion (7); The distributing suction component (8) controls the adsorption grabbing part (5) to adsorb and grab the plate to be bent. The distributing suction component (8) fixes the adsorption grabbing part (5) to the end of the auxiliary adjustment part (7) through the auxiliary adjustment part (7). The outer side of the bending operation mechanism (3) is provided with a sensing part (9). The robot body (1) grabs the plate to be bent through the adsorption grabbing part (5) and places it on the top of the bending adapter table (4). When the bending operation mechanism (3) moves downward, the bending process is completed, and the adsorption grabbing part (5) moves and tilts up following one end of the bent plate.

2. The industrial robot and bending machine collaborative bending device according to claim 1, characterized in that: The bending operation mechanism (3) and the bending adapter platform (4) are both fixed above the bending base (2); the bending operation mechanism (3) is located outside the bending adapter platform (4); and a bending pusher is provided in the bending operation mechanism (3).

3. The industrial robot and bending machine collaborative bending device according to claim 2, characterized in that: The adsorption grabbing portion (5) comprises a grabbing plate (51), a suction cup (52) and a connecting cavity (53); the suction cup (52) array is arranged at the bottom of the grabbing plate (51); the connecting cavity (53) is opened in the grabbing plate (51) and is connected to the suction cup (52).

4. The industrial robot and bending machine collaborative bending device according to claim 3, characterized in that: The auxiliary adjustment part (7) comprises an assembly frame (71), a metal fixing block (72), a sleeve hole (73) and an adapting groove (74); the metal fixing block (72) is fixedly sleeved in the assembly frame (71); the sleeve hole (73) is provided in the metal fixing block (72); and the adapting groove (74) is provided at the end of the assembly frame (71).

5. The industrial robot and bending machine collaborative bending device according to claim 4, characterized in that: The flexible adjustment part (11) comprises a movable plug plate (111), a positioning connecting plate (112) and a connecting rope (113); the movable plug plate (111) is elastically sleeved in the assembly frame (71); the positioning connecting plate (112) is fixed on the end surface of the grab plate (51); the connecting rope (113) is fixedly connected between the movable plug plate (111) and the positioning connecting plate (112); the connecting rope (113) is movably sleeved in the sleeve hole (73); one end of the movable plug plate (111) is fixedly connected to a spring 1 (12); the spring 1 (12) is fixedly connected to the assembly frame (71); a magnetic block (13) is fixedly provided on the front side of the positioning connecting plate (112).

6. The industrial robot and bending machine collaborative bending device according to claim 5, characterized in that: The distributing suction assembly (8) comprises a vacuum pump (81), a control valve (82), a first pipeline (83) and a second pipeline (84); the suction end of the vacuum pump (81) is connected to the control valve (82); the two suction ends of the control valve (82) are respectively connected to the first pipeline (83) and the second pipeline (84); one end of the first pipeline (83) is fixed to the top of the adsorption grabbing portion (5) and is connected to the connecting cavity (53); one end of the second pipeline (84) is fixed to the top of the auxiliary regulating portion (7) and is connected to the interior of the assembly frame (71).

7. The industrial robot and bending machine collaborative bending device according to claim 6, characterized in that: When the sensing part (9) senses the contact pressure of the plate, the distributing suction assembly (8) controls the negative pressure inside the auxiliary adjustment part (7) to disappear. The sensing part (9) includes a mounting plate (91), a second electric push rod (92) and a sensor (93). The second electric push rod (92) controls the lateral movement of the connected mounting plate (91). The sensor (93) is elastically connected to the front side of the mounting plate (91) through a side connecting rod.

8. The industrial robot and bending machine collaborative bending device according to claim 6, characterized in that: The bending machine is provided with a discharge assembly. A driving unit (10) is provided at the top of one end of the robot body (1). The driving unit (10) controls the deflection of the adjustment arm assembly (6) and dumps the metal oxide layer fragments generated by bending into the discharge assembly. The discharge assembly cleans out the metal oxide layer fragments in a directional manner. The discharge assembly comprises an electric push rod (14), an adaptor slider (15) and a centralized discharge port (16). The centralized discharge port (16) is provided on the outside of the bending operation mechanism (3) and is connected to a reserved groove inside the bending adaptor platform (4). The electric push rod (14) is fixed in the reserved groove inside the bending adaptor platform (4). The electric push rod (14) controls the lateral movement of the connected adaptor slider (15).

9. The industrial robot and bending machine collaborative bending device according to claim 8, characterized in that: The regulating arm assembly (6) comprises a mounting arm (61), a rotating shaft (62) and a gear 1 (63); the driving part (10) comprises a motor and a gear 2; the rotating shaft (62) is mounted on one end of the robot body (1) via a bearing; the gear 1 (63) is fixedly sleeved on the rotating shaft (62) and meshedly connected with the gear 2; the mounting arm (61) is fixedly sleeved on the outer side of the rotating shaft (62), and the mounting arm (61) is fixedly connected to the auxiliary regulating part (7).

10. A method for coordinating a bending device of an industrial robot and a bending machine according to any one of claims 1 to 9, characterized in that: The collaborative work steps include: Step 1: The robot body (1) drives the adsorption grabbing part (5) to move and locate on the top surface of the plate to be grabbed. After contact, the distributing suction component (8) is started, so that the plate is adsorbed and fixed on the bottom of the adsorption grabbing part (5). The distributing suction component (8) switches the suction air path and sucks the air in the auxiliary adjustment part (7). Under the action of negative pressure, the adsorption grabbing part (5) is clamped and fixed on the end of the auxiliary adjustment part (7) through the flexible adjustment part (11). Then the robot body (1) moves and controls the grabbed plate to move to the bending machine. Step 2: As the plate is transferred and placed on the bending adapter table (4) of the bending machine, and the plate contacts the sensing part (9), the terminal controller controls the distributed suction component (8) to cancel the vacuum inside the auxiliary regulating part (7) and restore the air pressure inside the auxiliary regulating part (7); Step 3: Then the bending operation mechanism (3) is started, and the internal bending parts push the plate downward, so that the plate is completely deformed in the bending adapter (4), and the plate swings on both sides, and the plate on one side drives the adsorption grabbing part (5) adsorbed on the top to swing, and the adsorption grabbing part (5) swings adaptively, and pulls the flexible adjustment part (11). Under the pulling action, the flexible adjustment part (11) moves along the auxiliary adjustment part (7), completing the adaptive swing; Step 4: After the bending is completed, the distributing suction assembly (8) is used to suck the air inside the auxiliary adjustment part (7) again, so that the flexible adjustment part (11) slides back to its original position, and the adsorption and grasping part (5) is clamped and fixed to the end surface of the auxiliary adjustment part (7) again, so that one side of the bent plate is horizontal, and the plate is grasped stably again; Step 5: Start the driving part (10) to make the adjusting arm assembly (6) deflect in the vertical plane, guide the metal oxide layer fragments at the bending part into the interior of the bending adapter (4), and then make the robot body (1) move to remove the plate after bending.

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