Intelligent electro-hydraulic servo numerical control bending machine capable of automatically adjusting angle

Abstract

The invention discloses an intelligent electro-hydraulic servo numerical control bending machine capable of automatically adjusting the angle, and relates to the technical field of bending machines, the intelligent electro-hydraulic servo numerical control bending machine comprises a base, a controller and an adjusting module, a lower die is installed on the upper side of the outer wall of the base, an upper die is installed on the upper side of the outer wall of the lower die, and the adjusting module is installed on the left side of the outer wall of the upper die; a controller is installed on the front side of the outer wall of the base, the adjusting module is connected with the controller through a signal line, and the adjusting module comprises a pressing plate, a push rod, a telescopic rod and a rotating shaft. By installing the adjusting module, the function of adaptively adjusting the bending angle is achieved, the problems that the angle is fixed, the contact face fitting degree is low and the workpiece deformation correction precision is low are solved, the angle deviation formed by workpiece springback can be automatically compensated, the bending precision and the bending efficiency are improved, and use of human resources is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of bending machines, and particularly to an intelligent electro-hydraulic servo numerical control bending machine with automatically adjustable angle. Background Technique

[0002] Early mechanical and ordinary hydraulic bending machines relied on manual operation or simple hydraulic systems, suffering from problems such as low precision, high energy consumption, and dependence on manual experience. With the increasing demand for high-precision sheet metal parts in the manufacturing industry and the maturity of computing technology and servo control technology, by replacing asynchronous motors with servo motors and combining proportional electro-hydraulic servo valves and grating scale closed-loop control, the synchronous precision and repeat positioning ability are significantly better than traditional models; In the prior art, when bending workpieces with different performances, the adjustment of the bending angle depends on manual experience, and the bending machine cannot independently obtain adjustment parameters, resulting in a decrease in the bending speed and bending effect.

[0003] Patent CN104324985B discloses a fully closed-loop electro-hydraulic servo sheet metal bending machine. The above patent realizes precise closed-loop control of the pressure of the hydraulic system by the servo system, ensures the stability of the hydraulic pressure, and performs precise closed-loop control of the flow rate of the entire hydraulic system, reducing the overflow flow rate.

[0004] When the slider mechanism moves down quickly in the above patent, the quick-down valve and the left position of the proportional directional valve are opened, and the oil in the lower cavity of the oil cylinder enters the fuel tank through these two valves. During the quick-down process, the servo motor rotates to drive the oil pump to send hydraulic oil into the upper cavity of the oil cylinder through the left oil port of the proportional directional valve, and the hydraulic oil in the fuel tank enters the upper cavity of the fuel tank through the filling valve. When the subsequent speed reaches the conversion point and the slide plate reaches the bottom dead center, the hydraulic oil flows back to the fuel tank through the interaction between the valves, which can precisely control the flow rate and pressure of the hydraulic system. There is room for optimization in the adjustment of the bending angle.

[0005] Therefore, this application proposes an intelligent electro-hydraulic servo numerical control bending machine with automatically adjustable bending angle and self-adaptive adjustment. Summary of the Invention

[0006] The purpose of the present invention is to provide an intelligent electro-hydraulic servo numerical control bending machine with automatically adjustable angle to solve the technical problem of adjusting bending parameters in real time according to the performance of workpieces proposed in the above background technique.

[0007] To achieve the above purpose, the present invention provides the following technical solution: an intelligent electro-hydraulic servo numerical control bending machine with automatically adjustable angle, including a base, a controller, and an adjustment module. The upper side of the outer wall of the base is provided with a lower die, the upper side of the outer wall of the lower die is provided with an upper die, the left side of the outer wall of the upper die is provided with an adjustment module, the front side of the outer wall of the base is provided with a controller, and the adjustment module is connected to the controller through a signal line; The adjustment module includes: a pressure plate, a push rod, a telescopic rod, and a rotating shaft; A pressure plate is installed on the upper side of the outer wall of the lower die. In the middle of the inner wall of the pressure plate, a push rod is installed. On the upper side of the outer wall of the push rod, a telescopic rod is installed. The push rod is perpendicularly connected to the V-shaped pressure plate. A rotating shaft is installed at the connection between the push rod and the pressure plate. When the push rod pushes the pressure plate to separate, the rotating shaft changes the direction of the pressure plate. The push rod and the telescopic rod are connected to the power assembly through a connecting shaft.

[0008] Preferably, connection ports are installed on the upper sides of the outer walls of the upper die and the telescopic rod. The connection ports are connected to the movable assembly through fixators. The movable assembly includes: fixators, a first slide rail, a first slider, and a movable motor; A fixator is installed on the upper side of the outer wall of the connection port. The fixator is fixed to the connection port through mechanical locking. The fixator is connected to the controller through a signal line. A first slide rail is installed on the upper side of the outer wall of the fixator. In the middle of the inner wall of the first slide rail, a first slider is installed. The first slider is connected to the movable motor installed on the upper side of the outer wall of the upper die through a connecting shaft.

[0009] Preferably, a detection module is installed on the upper side of the outer wall of the base. The detection module is connected to the controller through a signal line. The detection module includes: a dynamic force sensor, a strain sensor, and a laser scanner; A strain sensor is installed on the lower surface of the outer wall of the lower die. A dynamic force sensor is embedded in the upper surface of the outer wall of the lower die. A strain sensor is installed on the upper surface of the outer wall of the upper die. Laser scanners are installed on both the left and right sides of the lower die. The dynamic force sensor, the strain sensor, and the laser scanner are connected to the controller through signal lines.

[0010] Preferably, a storage table is installed on the left side of the outer wall of the lower die. A second slide rail is installed on the rear side of the outer wall of the lower die. On the upper side of the outer wall of the second slide rail, a second slider is installed. The second slider is connected to the power assembly through a connecting shaft. A clamping module is installed on the upper side of the outer wall of the second slider. The clamping module includes: clamping plates, a thickness sensor, a lifting rod, a flipper, a stress sensor, and a clamping motor; A lifting rod is installed on the upper side of the outer wall of the second slider. A flipper is installed on the front side of the outer wall of the lifting rod. Clamping plates are installed on the front side of the outer wall of the flipper. A clamping motor is installed in the middle of the inner wall of the base. The lifting rod, the flipper, and the clamping plates are connected to the clamping motor. A thickness sensor is installed on the left side of the outer wall of the clamping plates. A stress sensor is installed on the right side of the outer wall of the clamping plates. The thickness sensor and the stress sensor are connected to the controller through signal lines.

[0011] Preferably, air vents are installed on the upper sides of the outer walls of the clamping plates. The input end of the air vents is connected to a heater through a pipeline. The blowing module is connected to a vision sensor installed on the left side of the outer wall of the movable assembly through a signal line. The blowing module includes: an intake valve, an exhaust valve, a piston, a balance pipe, a movable rod, and a cylinder; A cylinder is installed at the rear side of the outer wall of the clamping motor. An intake valve is installed at the rear side of the outer wall of the cylinder. An exhaust valve is installed at the front side of the outer wall of the cylinder. A heater is installed at the upper side of the outer wall of the exhaust valve. A piston is installed at the middle left side of the inner wall of the cylinder. A movable rod is installed at the left side of the outer wall of the piston. The movable rod is connected to the clamping motor through a connecting shaft. Balance pipes are installed at the front and rear sides of the outer wall of the piston.

[0012] Preferably, the first slider is connected to the power assembly through a connecting shaft. A power assembly is installed at the upper side of the outer wall of the first slide rail. The power assembly includes: a fuel tank, a servo motor, an output pump, a cooler, a hydraulic cylinder, an integrated valve, and a connecting pipe. A hydraulic cylinder is installed at the upper side of the outer wall of the first slide rail. An integrated valve is installed at the upper side of the outer wall of the hydraulic cylinder. A cooler is installed at the right side of the outer wall of the integrated valve. An output pump is installed at the upper side of the outer wall of the integrated valve. A servo motor is installed at the left side of the outer wall of the output pump. Fuel tanks are installed at both sides of the outer wall of the servo motor.

[0013] Preferably, a contraction unit is installed at the connection between the first slider and the first slide rail. The contraction unit includes: a pulley and a telescopic shaft. Pulleys are installed at the front and rear sides of the outer wall of the first slider. A telescopic shaft is installed at the connection between the pulley and the first slider. The pulley and the telescopic shaft are connected to the movable motor through a connecting shaft.

[0014] Preferably, the lifting rod includes: a lead screw, a worm, a worm gear, a first valve, a second valve, and a sealing ring. A lead screw is installed at the upper side of the outer wall of the push rod. A worm is installed at the middle of the outer wall of the lead screw. A worm gear is installed at the left side of the outer wall of the worm. A first valve is installed at the left side of the outer wall of the worm gear. A second valve is installed at the lower side of the outer wall of the worm. Sealing rings are installed at the upper and lower sides of the worm.

[0015] Preferably, an angle adjustment unit is installed at the connection between the air outlet and the clamping plate. The angle adjustment unit includes an angle sensor, an adjustment gear, and a lock. A fixer is installed at the upper side of the outer wall of the clamping plate. An adjustment gear is installed at the upper side of the outer wall of the lock. The adjustment gear is connected to the clamping motor through a connecting shaft. An angle sensor is installed at the left side of the outer wall of the adjustment gear. The angle sensor is connected to the controller through a signal line.

[0016] Preferably, the heater includes a heating wire, a temperature sensor, and a circulation pipe. A heating wire is installed at the upper side of the outer wall of the exhaust valve. Circulation pipes are installed at both sides of the outer wall of the heating wire. A temperature sensor is installed at the connection between the heater and the pipeline.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. The present invention realizes the function of adaptively adjusting the bending angle by installing an adjustment module, solves the problems of fixed angle, low fitting degree of the contact surface, and low accuracy of workpiece deformation correction, can automatically compensate for the angle deviation formed by workpiece springback, improves the bending accuracy and efficiency, and reduces the use of human resources; 2. The present invention realizes the function of real-time collecting and adjusting the workpiece bending parameters by installing an upper die, a lower die, a clamping module and a detection module, solves the problems of relying on manual parameter setting, long debugging cycle and large productivity fluctuation, can eliminate the influence of material property fluctuation, avoid parameter drift during batch production, and improves the processing efficiency and effect of the bending machine; 3. The present invention realizes the function of quickly and accurately conveying the workpiece by installing a clamping module, solves the problems of relying on manual fine alignment, workpiece wear and workpiece offset, can dynamically compensate the alignment accuracy between the workpiece and the lower die, reduces workpiece wear, improves the processing efficiency and quality of the bending machine, and reduces the dependence on manpower; 4. The present invention realizes the function of optimizing the workpiece bending process by installing a vision sensor and a blowing module, solves the problems of debris affecting the bending accuracy, stress concentration and low continuous operation ability, can clean the workpiece and the lower die groove in time, avoids dimensional tolerance caused by bending springback, extends the service life of the bending machine, and improves the continuous working ability of the bending machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a front view structural schematic diagram of the present invention; Figure 2 is a front structural schematic diagram of the present invention; Figure 3 is a structural schematic diagram of the adjustment module of the present invention; Figure 4 is a structural schematic diagram of the clamping module of the present invention; Figure 5 is a structural schematic diagram of the thickness sensor and stress sensor of the present invention; Figure 6 is a structural schematic diagram of the blowing module of the present invention; Figure 7 is a structural schematic diagram of the power component of the present invention; Figure 8 is a structural schematic diagram of the contraction unit of the present invention; Figure 9 is a structural schematic diagram of the lifting rod of the present invention.

[0019] In the figure: 1. Base; 2. Controller; 3. Fuel tank; 4. Lower die; 5. Upper die; 6. Pressing plate; 7. Push rod; 8. Telescopic rod; 9. Rotating shaft; 10. Connection port; 11. Fixer; 12. First slide rail; 13. First slider; 14. Moving motor; 15. Dynamic force sensor; 16. Strain sensor; 17. Laser scanner; 18. Placing table; 19. Second slide rail; 20. Second slider; 21. Clamping plate; 22. Thickness sensor; 23. Lifting rod; 24. Flipper; 25. Stress sensor; 26. Clamping motor; 27. Air outlet; 28. Heater; 29. Vision sensor; 30. Intake valve; 31. Exhaust valve; 32. Piston; 33. Balance pipe; 34. Moving rod; 35. Cylinder; 36. Servo motor; 37. Output pump; 38. Cooler; 39. Hydraulic cylinder; 40. Integrated valve; 41. Connecting pipe; 42. Pulley; 43. Telescopic shaft; 44. Lead screw; 45. Worm; 46. Worm gear; 47. First valve; 48. Second valve; 49. Sealing ring; 50. Angle sensor; 51. Adjusting gear; 52. Locking device; 53. Heating wire; 54. Temperature sensor; 55. Circulation pipe. Detailed implementation mode

[0020] 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 work shall fall within the protection scope of the present invention.

[0021] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0022] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "provided with", "connection", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the connection inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0023] Example 1: Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 7 , an intelligent electro-hydraulic servo numerically controlled bending machine with automatically adjustable angle, including a base 1, a controller 2 and an adjustment module. On the upper side of the outer wall of the base 1, a lower die 4 is installed. On the upper side of the outer wall of the lower die 4, an upper die 5 is installed. On the left side of the outer wall of the upper die 5, an adjustment module is installed. On the front side of the outer wall of the base 1, a controller 2 is installed. The adjustment module is connected to the controller 2 through a signal line; The adjustment module includes: a pressing plate 6, a push rod 7, a telescopic rod 8 and a rotating shaft 9; On the upper side of the outer wall of the lower die 4, a pressing plate 6 is installed. In the middle of the inner wall of the pressing plate 6, a push rod 7 is installed. On the upper side of the outer wall of the push rod 7, a telescopic rod 8 is installed. The push rod 7 is vertically connected to the pressing plate 6 in a V shape. A rotating shaft 9 is installed at the connection between the push rod 7 and the pressing plate 6. When the push rod 7 pushes the pressing plate 6 to separate, the rotating shaft 9 changes the direction of the pressing plate 6. The push rod 7 and the telescopic rod 8 are connected to the power assembly through a connecting shaft; On the upper side of the outer walls of the upper die 5 and the telescopic rod 8, a connection port 10 is installed. The connection port 10 is connected to the movable assembly through a fixer 11. The movable assembly includes: a fixer 11, a first slide rail 12, a first slider 13 and a movable motor 14; On the upper side of the outer wall of the connection port 10, a fixer 11 is installed. The fixer 11 is fixed to the connection port 10 through mechanical locking. The fixer 11 is connected to the controller 2 through a signal line. On the upper side of the outer wall of the fixer 11, a first slide rail 12 is installed. In the middle of the inner wall of the first slide rail 12, a first slider 13 is installed. The first slider 13 is connected to the movable motor 14 installed on the upper side of the outer wall of the upper die 5 through a connecting shaft; The first slider 13 is connected to the power assembly through a connecting shaft. On the upper side of the outer wall of the first slide rail 12, a power assembly is installed. The power assembly includes: an oil tank 3, a servo motor 36, an output pump 37, a cooler 38, a hydraulic cylinder 39, an integrated valve 40 and a connecting pipe 41; On the upper side of the outer wall of the first slide rail 12, a hydraulic cylinder 39 is installed. On the upper side of the outer wall of the hydraulic cylinder 39, an integrated valve 40 is installed. On the right side of the outer wall of the integrated valve 40, a cooler 38 is installed. On the upper side of the outer wall of the integrated valve 40, an output pump 37 is installed. On the left side of the outer wall of the output pump 37, a servo motor 36 is installed. On both sides of the outer wall of the servo motor 36, oil tanks 3 are installed; At the connection between the first slider 13 and the first slide rail 12, a contraction unit is installed. The contraction unit includes: a pulley 42 and a telescopic shaft 43; On the front and rear sides of the outer wall of the first slider 13, pulleys 42 are installed. At the connection between the pulley 42 and the first slider 13, a telescopic shaft 43 is installed. The pulley 42 and the telescopic shaft 43 are connected to the movable motor 14 through a connecting shaft; Furthermore, after the workpiece is bent, the controller 2 controls the movable motor 14 to drive the first slider 13 to move on the first slide rail 12 to transport the upper die 5 back to the storage position, and cancels the connection between the first slider 13 and the connection port 10 on the upper side of the outer wall of the upper die 5 through the fixator 11. Driven by the power assembly, it moves above the adjustment module and is connected to the connection port 10 on the upper side of the outer wall of the telescopic rod 8 through the fixator 11. The fixator 11 is connected to the connection port 10 of the adjustment module by mechanical locking. The contraction unit located at the connection between the first slider 13 and the first slide rail 12 enables the first slider 13 to slide stably on the first slide rail 12. After the adjustment module is moved above the workpiece driven by the movable motor 14, the controller 2 controls the telescopic shaft 43 to drive the pulley 42 to contract inward, so that the first slider 13 is separated from the first slide rail 12. Subsequently, the servo motor 36 is started to drive the output pump 37 to operate. The output pump 37 sucks hydraulic oil from the oil tank 3, and the pressurized hydraulic oil is distributed to the hydraulic cylinder 39 through the integrated valve 40. The hydraulic cylinder 39 drives the power to the first slider 13 through the connecting shaft under the drive of the hydraulic oil, driving the first slider 13 to move downward. After the lower end of the pressing plate 6 is in close contact with the workpiece, the controller 2 controls the lifting rod 23 to descend, so that the bottom end of the V-shaped pressing plate 6 contacts the workpiece in the groove of the lower die 4. Subsequently, the push rod 7 is controlled to push the pressing plate 6. Under the action of the push rod 7 and the rotating shaft 9, the angle of the pressing plate 6 changes until the angle of the pressing plate 6 is adjusted to be the same as the groove of the lower die 4, that is, the pressing plate 6 is parallel to the surface of the workpiece. After the adjustment is completed, the controller 2 controls the telescopic rod 8 to remain stationary, and the push rod 7 continues to push the pressing plate 6, so that the pressing plate 6 generates pressure on the workpiece in the groove of the lower die 4 to perform secondary bending on the workpiece. After the angle adjustment is completed, when the push rod 7 pushes the pressing plate 6, the controller 2 adjusts the pressure generated by the push rod 7 pushing the pressing plate 6 on the surface of the workpiece to 1.2 times the first bending pressure according to the first bending pressure of the workpiece and maintains it for 10 s to 15 s. An elastic gasket is provided on the side of the pressing plate 6 in contact with the surface of the workpiece. At the same time, the rotating shaft 9 at the connection between the pressing plate 6 and the push rod 7 is a ball hinge, so that when the pressing plate 6 contacts the surface of the workpiece, it can adapt to the deformation existing on the surface of the workpiece. After the bending treatment of the workpiece is completed, the hydraulic oil enters the cooler 38 to reduce the oil temperature through heat exchange and returns to the oil tank 3 through the connecting pipe 41, realizing the function of self-adaptive adjustment of the bending angle, solving the problems of fixed angle, low contact surface fitting degree and low workpiece deformation correction accuracy, being able to automatically compensate for the angle deviation formed by the workpiece springback, improving the bending accuracy and bending efficiency, and reducing the use of human resources.

[0024] Example 2: Please refer to Figure 1 、 Figure 2 、 Figure 4 and Figure 5, an intelligent electro-hydraulic servo numerically controlled bending machine with automatic angle adjustment. An inspection module is installed on the upper side of the outer wall of the base 1, and the inspection module is connected to the controller 2 through a signal line. The inspection module includes: a dynamic force sensor 15, a strain sensor 16, and a laser scanner 17; A strain sensor 16 is installed on the lower surface of the outer wall of the lower die 4, a dynamic force sensor 15 is embedded in the upper surface of the outer wall of the lower die 4, a strain sensor 16 is installed on the upper surface of the outer wall of the upper die 5, and laser scanners 17 are installed on both the left and right sides of the lower die 4. The dynamic force sensor 15, the strain sensor 16, and the laser scanner 17 are connected to the controller 2 through signal lines; A storage table 18 is installed on the left side of the outer wall of the lower die 4, a second slide rail 19 is installed on the rear side of the outer wall of the lower die 4, a second slider 20 is installed on the upper side of the outer wall of the second slide rail 19, the second slider 20 is connected to the power assembly through a connecting shaft, and a clamping module is installed on the upper side of the outer wall of the second slider 20. The clamping module includes: a clamping plate 21, a thickness sensor 22, a lifting rod 23, a flipper 24, a stress sensor 25, and a clamping motor 26; A lifting rod 23 is installed on the upper side of the outer wall of the second slider 20, a flipper 24 is installed on the front side of the outer wall of the lifting rod 23, a clamping plate 21 is installed on the front side of the outer wall of the flipper 24, a clamping motor 26 is installed in the middle of the inner wall of the base 1, the lifting rod 23, the flipper 24, and the clamping plate 21 are connected to the clamping motor 26, a thickness sensor 22 is installed on the left side of the outer wall of the clamping plate 21, a stress sensor 25 is installed on the right side of the outer wall of the clamping plate 21, and the thickness sensor 22 and the stress sensor 25 are connected to the controller 2 through signal lines; Further, after the operator places the workpiece to be bent but with unknown material on the placement table 18, since the material is unknown, the controller 2 cannot obtain the bending parameters. The controller 2 controls the clamping plate 21 to clamp the workpiece, and controls the first slider 13 to move above the upper die 5 and connect through the connection port 10 between the fixer 11 and the upper die 5. During the process of the first slider 13 connecting to the upper die 5 and moving, the second slider 20 is synchronously driven to drive the clamping module to move above the corresponding lower die 4. When selecting the upper die 5, a pointed knife die is selected. Subsequently, the controller 2 controls the upper die 5 to press down to bend the workpiece. The dynamic force sensor 15 embedded on the upper surface of the outer wall of the lower die 4 collects the actual contact force between the workpiece and the lower die 4 when the workpiece is bent. The strain sensor 16 on the lower surface of the outer wall of the lower die 4 collects the deformation of the lower die 4 during the bending process of the workpiece. The strain sensor 16 on the upper surface of the outer wall of the upper die 5 collects the pressure on the contact surface between the upper die 5 and the workpiece when the upper die 5 contacts the workpiece and applies pressure for bending. The laser scanners 17 on both sides of the lower die 4 collect the bending information of the workpiece after bending and transmit the information to the controller 2. The controller 2 can calculate the springback coefficient of the material based on the information collected by the dynamic force sensor 15 and the data of the strain sensor 16 according to the information collected during the preliminary bending. The peak bending force recorded by the dynamic force sensor 15 corresponds to the yield limit of the material. Combining the bending line length of the lower die 4 and the thickness of the workpiece collected by the thickness sensor 22, the yield strength of the material can be deduced. The controller 2 optimizes the bending parameters of the workpiece according to the deduced information and continuously collects data for optimization during the subsequent bending process, realizing the function of real-time collecting and adjusting the bending parameters of the workpiece, solving the problems of relying on manual parameter setting, long debugging cycle, and large productivity fluctuations, being able to eliminate the influence of material property fluctuations, avoid parameter drift during batch production, and improve the processing efficiency and processing effect of the bending machine.

[0025] Embodiment 3: Please refer to Figure 1 、 Figure 2 、 Figure 4 、 Figure 5 and Figure 9 As shown in A lifting rod 23 is installed on the upper side of the outer wall of the second slider 20. A flipper 24 is installed on the front side of the outer wall of the lifting rod 23. A clamping plate 21 is installed on the front side of the outer wall of the flipper 24. A clamping motor 26 is installed in the middle of the inner wall of the base 1. The lifting rod 23, the flipper 24 and the clamping plate 21 are connected to the clamping motor 26. A thickness sensor 22 is installed on the left side of the outer wall of the clamping plate 21. A stress sensor 25 is installed on the right side of the outer wall of the clamping plate 21. The thickness sensor 22 and the stress sensor 25 are connected to the controller 2 through signal lines; The lifting rod 23 includes: a lead screw 44, a worm 45, a worm gear 46, a first valve 47, a second valve 48 and a sealing ring 49; A lead screw 44 is installed on the upper side of the outer wall of the push rod 7. A worm 45 is installed in the middle of the outer wall of the lead screw 44. A worm gear 46 is installed on the left side of the outer wall of the worm 45. A first valve 47 is installed on the left side of the outer wall of the worm gear 46. A second valve 48 is installed on the lower side of the outer wall of the worm 45. Sealing rings 49 are installed on the upper and lower sides of the worm 45; Further, after the operator places the workpiece to be bent on the placement table 18, the controller 2 controls the clamping motor 26 to provide power for the clamping plate 21, so that the clamping plate 21 clamps the workpiece. The clamping motor 26 drives the worm 45 to rotate. The spiral tooth surface of the worm 45 meshes with the flat gear of the worm wheel 46 to drive the worm wheel 46 to rotate. The worm wheel 46 drives the lead screw 44 to move linearly along the axis to complete the lifting process. The first valve 47 and the second valve 48 are used to control the fluid flow. The sealing ring 49 ensures the internal sealing of the lifting rod 23, so that the lifting rod 23 rises slightly, creating a certain distance between the workpiece and the placement table 18 to avoid wear between the workpiece surface and the equipment during the transportation of the workpiece. The thickness sensor 22 on the left outer wall of the clamping plate 21 collects the thickness information of the workpiece and transmits the information to the controller 2. Subsequently, the controller 2 controls the power assembly to provide power for the second slider 20. According to the bending parameters input by the operator, the controller 2 controls the second slider 20 to drive the clamping module to transport the workpiece to the specified position. The controller 2 controls the lifting rod 23 to slowly descend, bringing the workpiece into contact with the lower die 4. Subsequently, the clamping plate 21 releases the fixation of the workpiece. After the bending of the workpiece is completed, according to the subsequent bending requirements of the workpiece, the controller 2 moves the clamping module to the workpiece bending position through the movement of the second slider 20 on the second slide rail 19, and re-clamps the workpiece through the clamping plate 21. At this time, the stress sensor 25 on the right outer wall of the clamping plate 21 contacts the workpiece to detect the stress condition at the bending position after bending, and transmits the information to the controller 2. During the subsequent bending process, the controller 2 can obtain the stress condition at the bending position in real time and adjust the subsequent bending process according to the stress information at the workpiece bending position. When it is necessary to bend both sides of the workpiece, after one side of the workpiece is bent, the controller 2 controls the clamping plate 21 to clamp the workpiece, and then raises the position of the workpiece through the lifting rod 23. After raising a certain distance, the controller 2 controls the flipper 24 to rotate to turn the workpiece over. After the turning over is completed, the height of the lifting rod 23 decreases, and the workpiece is placed on the lower die 4, and then the bending operation is completed. In addition, when bending the workpiece, the controller 2 can control the clamping plate 21 to clamp the workpiece to avoid position deviation during the bending process, realizing the function of quickly and accurately transporting the workpiece, solving the problems of relying on manual fine alignment, workpiece wear, and workpiece deviation, being able to dynamically compensate the alignment accuracy between the workpiece and the lower die 4, reducing workpiece wear, improving the processing efficiency and processing quality of the bending machine, and reducing the dependence on manpower.

[0026] Example 4: Please refer to Figure 1 , Figure 2 , Figure 4 and Figure 6, an intelligent electro-hydraulic servo numerically controlled bending machine with automatic angle adjustment. An air outlet 27 is installed on the upper side of the outer wall of the clamping plate 21. The input end of the air outlet 27 is connected to a heater 28 through a pipeline. The blowing module is connected to a vision sensor 29 installed on the left side of the outer wall of the moving component through a signal line. The blowing module includes: an intake valve 30, an exhaust valve 31, a piston 32, a balance pipe 33, a movable rod 34, and a cylinder 35; A cylinder 35 is installed at the rear side of the outer wall of the clamping motor 26. An intake valve 30 is installed at the rear side of the outer wall of the cylinder 35. An exhaust valve 31 is installed at the front side of the outer wall of the cylinder 35. A heater 28 is installed on the upper side of the outer wall of the exhaust valve 31. A piston 32 is installed in the middle left side of the inner wall of the cylinder 35. A movable rod 34 is installed on the left side of the outer wall of the piston 32. The movable rod 34 is connected to the clamping motor 26 through a connecting shaft. Balance pipes 33 are installed on both the front and rear sides of the outer wall of the piston 32; An angle adjustment unit is installed at the connection between the air outlet 27 and the clamping plate 21. The angle adjustment unit includes an angle sensor 50, an adjustment gear 51, and a lock 52; A lock 52 is installed on the upper side of the outer wall of the clamping plate 21. An adjustment gear 51 is installed on the upper side of the outer wall of the lock 52. The adjustment gear 51 is connected to the clamping motor 26 through a connecting shaft. An angle sensor 50 is installed on the left side of the outer wall of the adjustment gear 51. The angle sensor 50 is connected to the controller 2 through a signal line; The heater 28 includes a heating wire 53, a temperature sensor 54, and a circulation pipe 55; A heating wire 53 is installed on the upper side of the outer wall of the exhaust valve 31. Circulation pipes 55 are installed on both sides of the outer wall of the heating wire 53. A temperature sensor 54 is installed at the connection between the heater 28 and the pipeline; Further, after the workpiece is placed on the placement table 18 by the operator, the controller 2 controls the clamping module to clamp and transport the workpiece to below the first slider 13 at the leftmost side. The visual sensor 29 on the left side of the outer wall of the first slider 13 collects the surface information of the workpiece and transmits the information to the controller 2. The controller 2 compares it with the pre-input surface information of the workpiece to determine whether there are sundries on the workpiece surface. When it detects that there are sundries on the workpiece surface, the controller 2 controls the clamping module to put the workpiece back on the placement table 18, and then opens the intake valve 30 and the exhaust valve 31. Driven by the clamping motor 26, the movable rod 34 drives the piston 32 to move back and forth, sucking air from the intake valve 30 into the cylinder 35, compressing it by the piston 32 and discharging it from the exhaust valve 31, and discharging it through the pipeline from the air outlet 27 on the upper side of the outer wall of the clamping plate 21 to blow off the debris on the workpiece surface. Before subsequent bending, the visual sensor 29 collects the information on the workpiece surface and in the groove of the lower die 4. After comparison, if there is debris, compressed air is blown out through the air outlet 27 at an angle of 30° - 45° with the workpiece surface to clean the workpiece and the groove of the lower die 4. After the workpiece is bent, when the stress sensor 25 detects stress concentration inside the workpiece, the controller 2 controls the blowing module to compress and discharge air from the exhaust valve 31. The controller 2 cancels the locking of the adjusting gear 51 by the lock 52. Driven by the clamping motor 26, the adjusting gear 51 adjusts the angle of the air outlet 27 on the upper side of the outer wall of the adjusting gear 51. During the adjustment process, the angle sensor 50 collects the angle and transmits it to the controller 2. When the angle between the air outlet 27 and the workpiece surface is adjusted to 15° - 25°, it stops. At the same time, it controls the heating wire 53 to generate heat. The circulation pipe 55 collects and transfers the heat of the heating wire 53 to uniformly heat the air passing through the heater 28. When the air is discharged through the heater 28, the temperature sensor 54 detects the temperature of the air and transmits the information to the controller 2. The hot air after heating blows from the air outlet 27 to the workpiece to assist the release of internal stress of the workpiece, realizing the function of optimizing the workpiece bending process, solving the problems of debris affecting bending accuracy, stress concentration and low continuous operation ability, being able to clean the workpiece and the groove of the lower die 4 in time, avoiding dimensional tolerance caused by bending springback, extending the service life of the bending machine, and improving the continuous working ability of the bending machine.

[0027] Embodiment 5: Please refer to Figure 1 , Figure 2 and Figure 4 , an intelligent electro-hydraulic servo numerically controlled bending machine with automatic angle adjustment, including a base 1, a controller 2 and an adjustment module. The upper side of the outer wall of the base 1 is provided with a lower die 4. The upper side of the outer wall of the lower die 4 is provided with an upper die 5. The left side of the outer wall of the upper die 5 is provided with an adjustment module. The front side of the outer wall of the base 1 is provided with a controller 2. The adjustment module is connected to the controller 2 through a signal line; The adjustment module includes: a pressing plate 6, a push rod 7, a telescopic rod 8, and a rotating shaft 9; On the upper side of the outer wall of the lower die 4, a pressing plate 6 is installed. In the middle of the inner wall of the pressing plate 6, a push rod 7 is installed. On the upper side of the outer wall of the push rod 7, a telescopic rod 8 is installed. The push rod 7 is vertically connected to the V-shaped pressing plate 6. At the connection between the push rod 7 and the pressing plate 6, a rotating shaft 9 is installed. When the push rod 7 pushes the pressing plate 6 to separate, the rotating shaft 9 changes the direction of the pressing plate 6. The push rod 7 and the telescopic rod 8 are connected to the power assembly through a connecting shaft; On the upper side of the outer walls of the upper die 5 and the telescopic rod 8, a connection port 10 is installed. The connection port 10 is connected to the movable assembly through a fixator 11. The movable assembly includes: a fixator 11, a first slide rail 12, a first slider 13, and a movable motor 14; On the upper side of the outer wall of the connection port 10, a fixator 11 is installed. The fixator 11 is fixed to the connection port 10 through mechanical locking. The fixator 11 is connected to the controller 2 through a signal wire. On the upper side of the outer wall of the fixator 11, a first slide rail 12 is installed. In the middle of the inner wall of the first slide rail 12, a first slider 13 is installed. The first slider 13 is connected to the movable motor 14 installed on the upper side of the outer wall of the upper die 5 through a connecting shaft; On the left side of the outer wall of the lower die 4, a placement table 18 is installed. On the rear side of the outer wall of the lower die 4, a second slide rail 19 is installed. On the upper side of the outer wall of the second slide rail 19, a second slider 20 is installed. The second slider 20 is connected to the power assembly through a connecting shaft. On the upper side of the outer wall of the second slider 20, a clamping module is installed. The clamping module includes: a clamping plate 21, a thickness sensor 22, a lifting rod 23, a flipper 24, a stress sensor 25, and a clamping motor 26; On the upper side of the outer wall of the second slider 20, a lifting rod 23 is installed. On the front side of the outer wall of the lifting rod 23, a flipper 24 is installed. On the front side of the outer wall of the flipper 24, a clamping plate 21 is installed. In the middle of the inner wall of the base 1, a clamping motor 26 is installed. The lifting rod 23, the flipper 24, and the clamping plate 21 are connected through the clamping motor 26. On the left side of the outer wall of the clamping plate 21, a thickness sensor 22 is installed. On the right side of the outer wall of the clamping plate 21, a stress sensor 25 is installed. The thickness sensor 22 and the stress sensor 25 are connected to the controller 2 through signal wires; Furthermore, when the workpiece needs to be bent into a V shape, U shape or R shape, the controller 2 controls the first slider 13 to move above the corresponding upper die 5. The controller 2 controls the fixator 11 to connect the first slider 13 to the upper die 5. Subsequently, the active motor 14 drives the first slider 13 to move on the first slide rail 12, moving the upper die 5 above the groove of the corresponding lower die 4. Subsequently, the contraction unit disconnects the connection between the first slider 13 and the first slide rail 12, enabling the first slider 13 to drive the connected upper die 5 below to move downward under the drive of the power component, contacting the workpiece located in the groove of the lower die 4 with the upper die 5 and bending the workpiece. After the bending is completed, the laser scanners 17 on the left and right sides of the lower die 4 collect the bending effect of the workpiece and compare it with the preset effect. When the bending effect is not good, it is adjusted by secondary bending. When bending a special-shaped workpiece, the controller 2 controls the adjacent clamping modules to clamp the workpiece. By determining the bending part of the workpiece, the height of the clamping plate 21 is lifted and lowered differently through the lifting rod 23. After the first clamping module clamps the workpiece, the angle of the workpiece is adjusted by the flipper 24. Subsequently, the second clamping module clamps the workpiece and adjusts the angle through the flipper 24 to fix the workpiece. Subsequently, the second slider 20 moves on the second slide rail 19 under the drive of the clamping motor 26, moving the special-shaped workpiece above the groove of the specified lower die 4, and selecting the corresponding upper die 5 for bending, enabling the bending machine to adapt to different types of bending and the bending of workpieces with different shapes, broadening the application scenarios of the bending machine.

[0028] Working principle: After the operator places the workpiece to be bent on the placement table 18, the controller 2 controls the clamping motor 26 to provide power for the clamping plate 21, so that the clamping plate 21 clamps the workpiece. The clamping motor 26 drives the worm 45 to rotate. The helical tooth surface of the worm 45 meshes with the planar gear of the worm gear 46 to drive the worm gear 46 to rotate. The worm gear 46 drives the lead screw 44 to move linearly along the axis to complete the lifting process. The first valve 47 and the second valve 48 are used to control the fluid flow. The sealing ring 49 ensures the internal seal of the lifting rod 23, causing the lifting rod 23 to rise slightly, creating a certain distance between the workpiece and the placement table 18 to avoid wear between the workpiece surface and the equipment during the transportation of the workpiece. The thickness sensor 22 located on the left outer wall of the clamping plate 21 collects the thickness information of the workpiece and transmits the information to the controller 2. Subsequently, the controller 2 controls the power assembly to provide power for the second slider 20. The controller 2 controls the second slider 20 to drive the clamping module to transport the workpiece to the specified position according to the bending parameters input by the operator. The controller 2 controls the lifting rod 23 to slowly descend, bringing the workpiece into contact with the lower die 4. Subsequently, the clamping plate 21 releases the fixation of the workpiece. After the workpiece is bent, the controller 2 moves the clamping module to the workpiece bending position through the movement of the second slider 20 on the second slide rail 19 according to the subsequent workpiece bending requirements, and reclamps the workpiece through the clamping plate 21. At this time, the stress sensor 25 located on the right outer wall of the clamping plate 21 contacts the workpiece to detect the stress condition at the bending position after bending, and transmits the information to the controller 2. During the subsequent bending process, the controller 2 can obtain the stress condition at the bending position in real time and adjust the subsequent bending process according to the stress information at the workpiece bending position. When it is necessary to bend both sides of the workpiece, after one side is bent, the controller 2 controls the clamping plate 21 to clamp the workpiece, and then raises the workpiece position through the lifting rod 23. After raising a certain distance, the controller 2 controls the flipper 24 to rotate to turn the workpiece over. After turning over, the height of the lifting rod 23 decreases, and the workpiece is placed on the lower die 4, and then the bending operation is completed. In addition, when bending the workpiece, the controller 2 can control the clamping plate 21 to clamp the workpiece to avoid position deviation during the bending process; After the workpiece is placed on the placement table 18 by the operator, the controller 2 controls the clamping module to clamp and transport the workpiece to the lower part of the first slider 13 located on the leftmost side. The visual sensor 29 on the left side of the outer wall of the first slider 13 collects the surface information of the workpiece and transmits the information to the controller 2. The controller 2 compares it with the pre-input surface information of the workpiece to determine whether there are sundries on the workpiece surface. When it is detected that there are sundries on the workpiece surface, the controller 2 controls the clamping module to put the workpiece back on the placement table 18. Subsequently, the intake valve 30 and the exhaust valve 31 are opened. Driven by the power assembly, the movable rod 34 drives the piston 32 to move back and forth, sucking air from the intake valve 30 into the cylinder 35, compressing it by the piston 32 and discharging it from the exhaust valve 31, and discharging it through the pipeline from the air outlet 27 on the upper side of the outer wall of the clamping plate 21 to blow off the debris on the workpiece surface. Before subsequent bending, the visual sensor 29 collects the information on the workpiece surface and in the groove of the lower die 4. After comparison, if there is debris, the compressed air is blown out through the air outlet 27 at an angle of 30° - 45° with the workpiece surface to clean the workpiece and the groove of the lower die 4. After the workpiece is bent, the stress sensor 25 detects stress concentration inside the workpiece. The controller 2 controls the blowing module to compress and discharge the air from the exhaust valve 31. The controller 2 cancels the locking of the adjusting gear 51 by the lock 52. Driven by the clamping motor 26, the adjusting gear 51 adjusts the angle of the air outlet 27 on the upper side of the outer wall of the adjusting gear 51. During the adjustment process, the angle sensor 50 collects the angle and transmits it to the controller 2. When the angle between the air outlet 27 and the workpiece surface is adjusted to 15° - 25°, the adjustment stops. At the same time, the heating wire 53 is controlled to generate heat. The circulation pipe 55 collects and transfers the heat of the heating wire 53 to uniformly heat the air passing through the heater 28. When the air is discharged through the heater 28, the temperature sensor 54 detects the temperature of the air and transmits the information to the controller 2. The hot air after heating is blown from the air outlet 27 to the workpiece to assist in the release of internal stress of the workpiece; After the operator places the workpiece that needs to be bent but the material is unknown on the placing table 18, since the material is unknown, the controller 2 cannot obtain the bending parameters. The controller 2 controls the clamping plate 21 to clamp the workpiece. The controller 2 controls the first slider 13 to move above the upper die 5 and connects it through the connection port 10 between the fixer 11 and the upper die 5. During the process of the first slider 13 connecting to the upper die 5 and moving, the second slider 20 is synchronously driven to drive the clamping module to move above the corresponding lower die 4. When selecting the upper die 5, a pointed knife die is selected. Subsequently, the controller 2 controls the upper die 5 to press down to bend the workpiece. The dynamic force sensor 15 embedded on the upper surface of the outer wall of the lower die 4 collects the actual contact force between the workpiece and the lower die 4 when the workpiece is bent. The strain sensor 16 on the lower surface of the outer wall of the lower die 4 collects the deformation of the lower die 4 during the bending process of the workpiece. The strain sensor 16 on the upper surface of the outer wall of the upper die 5 collects the pressure on the contact surface between the upper die 5 and the workpiece when the upper die 5 contacts the workpiece and applies pressure for bending. The laser scanners 17 on both sides of the lower die 4 collect the bending information of the workpiece after bending and transmit the information to the controller 2. The controller 2 can calculate the springback coefficient of the material based on the information collected by the dynamic force sensor 15 and the data of the strain sensor 16 according to the information collected during the preliminary bending. The peak bending force recorded by the dynamic force sensor 15 corresponds to the yield limit of the material. Combining the bending line length of the lower die 4 and the thickness of the workpiece collected by the thickness sensor 22, the yield strength of the material can be deduced. The controller 2 optimizes the bending parameters of the workpiece according to the deduced information and continuously collects data for optimization during subsequent bending processes; When the workpiece needs to be bent into a V-shaped, U-shaped or R-shaped, the controller 2 controls the first slider 13 to move above the corresponding upper die 5. The controller 2 controls the fixator 11 to connect the first slider 13 with the upper die 5. Subsequently, the first slider 13 is driven by the movable motor 14 to move on the first slide rail 12, and the upper die 5 is moved above the groove of the corresponding lower die 4. Subsequently, the contraction unit disconnects the connection between the first slider 13 and the first slide rail 12, so that the first slider 13 drives the connected upper die 5 below to move downward under the drive of the power assembly, contacts the workpiece located in the groove of the lower die 4 with the upper die 5, and bends the workpiece. After the bending is completed, the laser scanners 17 on the left and right sides of the lower die 4 collect the bending effect of the workpiece and compare it with the preset effect. When the bending effect is not good, it is adjusted by secondary bending. When bending a special-shaped workpiece, the controller 2 controls the adjacent clamping modules to clamp the workpiece. By determining the bending part of the workpiece, the height of the clamping plate 21 is raised and lowered differently through the lifting rod 23. After the first clamping module clamps the workpiece, the angle of the workpiece is adjusted by the flipper 24. Subsequently, the workpiece is clamped by the second clamping module and the angle is adjusted by the flipper 24, so as to fix the workpiece. Subsequently, the second slider 20 is driven by the clamping motor 26 to move on the second slide rail 19, and the special-shaped workpiece is moved above the designated groove of the lower die 4, and the corresponding upper die 5 is selected for bending. After the workpiece is bent, the controller 2 controls the movable motor 14 to drive the first slider 13 to move on the first slide rail 12 to transport the upper die 5 back to the storage position, and cancels the connection between the first slider 13 and the connection port 10 on the upper side of the outer wall of the upper die 5 through the fixator 11, and moves to above the adjustment module under the drive of the power assembly, and is connected with the connection port 10 on the upper side of the outer wall of the telescopic rod 8 through the fixator 11. The fixator 11 is connected with the connection port 10 of the adjustment module by mechanical locking. The contraction unit located at the connection between the first slider 13 and the first slide rail 12, which enables the first slider 13 to slide stably on the first slide rail 12. After the adjustment module is driven by the movable motor 14 to move above the workpiece, the controller 2 controls the telescopic shaft 43 to drive the pulley 42 to contract inward, so that the first slider 13 is separated from the first slide rail 12. Subsequently, the servo motor 36 is started to drive the output pump 37 to operate. The output pump 37 sucks hydraulic oil from the oil tank 3, and the pressurized hydraulic oil is distributed to the hydraulic cylinder 39 through the integrated valve 40. The hydraulic cylinder 39 drives the power through the connecting shaft to the first slider 13 under the drive of the hydraulic oil, driving the first slider 13 to move downward. After the lower end of the pressing plate 6 is tightly attached to the workpiece, the controller 2 controls the lifting rod 23 to descend, so that the bottom end of the V-shaped pressing plate 6 contacts the workpiece located in the groove of the lower die 4. Subsequently, the controller 2 controls the push rod 7 to push the pressing plate 6. Under the action of the push rod 7 and the rotating shaft 9, the included angle of the pressing plate 6 changes until the included angle of the pressing plate 6 is adjusted to be the same as the groove of the lower die 4, that is, the pressing plate 6 is parallel to the surface of the workpiece. After the adjustment is completed, the controller 2 controls the telescopic rod 8 to remain stationary, and the push rod 7 continues to push the pressing plate 6.The pressing plate 6 applies pressure to the workpiece in the groove of the lower die 4 for secondary bending of the workpiece. After the angle adjustment is completed, when the push rod 7 pushes the pressing plate 6, the controller 2 adjusts the pressure generated by the push rod 7 pushing the pressing plate 6 on the workpiece surface to 1.2 times the first bending pressure according to the first bending pressure of the workpiece and maintains it for 10 s to 15 s. An elastic gasket is provided on the side of the pressing plate 6 in contact with the workpiece surface. At the same time, the rotating shaft 9 at the connection between the pressing plate 6 and the push rod 7 is a ball hinge, enabling the pressing plate 6 to adapt to the deformation existing on the workpiece surface when it contacts the workpiece surface. After the bending process of the workpiece is completed, the hydraulic oil enters the cooler 38 to reduce the oil temperature through heat exchange and returns to the oil tank 3 through the connecting pipe 41.,

[0029] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present invention. Any reference signs in the claims should not be construed as limiting the claimed rights involved.,

Claims

1. An intelligent electro-hydraulic servo numerically controlled bending machine with automatically adjustable angle, characterized in that: It includes a base (1), a controller (2) and an adjustment module. On the upper side of the outer wall of the base (1), a lower mold (4) is installed. On the upper side of the outer wall of the lower mold (4), an upper mold (5) is installed. On the left side of the outer wall of the upper mold (5), an adjustment module is installed. On the front side of the outer wall of the base (1), a controller (2) is installed. The adjustment module is connected to the controller (2) through a signal line; The adjustment module includes: a pressing plate (6), a push rod (7), a telescopic rod (8) and a rotating shaft (9); On the upper side of the outer wall of the lower mold (4), a pressing plate (6) is installed. In the middle of the inner wall of the pressing plate (6), a push rod (7) is installed. On the upper side of the outer wall of the push rod (7), a telescopic rod (8) is installed. The push rod (7) is vertically connected to the V-shaped pressing plate (6). A rotating shaft (9) is installed at the connection between the push rod (7) and the pressing plate (6). When the push rod (7) pushes the pressing plate (6) to separate, the rotating shaft (9) changes the direction of the pressing plate (6). The push rod (7) and the telescopic rod (8) are connected to the power assembly through a connecting shaft.

2. An intelligent electro-hydraulic servo numerically controlled bending machine with automatically adjustable angle according to claim 1, characterized in that: On the upper side of the outer walls of the upper mold (5) and the telescopic rod (8), a connection port (10) is installed. The connection port (10) is connected to the movable assembly through a fixator (11). The movable assembly includes: a fixator (11), a first slide rail (12), a first slider (13) and a movable motor (14); On the upper side of the outer wall of the connection port (10), a fixator (11) is installed. The fixator (11) is fixed to the connection port (10) through mechanical locking. The fixator (11) is connected to the controller (2) through a signal line. On the upper side of the outer wall of the fixator (11), a first slide rail (12) is installed. In the middle of the inner wall of the first slide rail (12), a first slider (13) is installed. The first slider (13) is connected to the movable motor (14) installed on the upper side of the outer wall of the upper mold (5) through a connecting shaft.

3. An intelligent electro-hydraulic servo numerically controlled bending machine with automatically adjustable angle according to claim 1, characterized in that: On the upper side of the outer wall of the base (1), a detection module is installed. The detection module is connected to the controller (2) through a signal line. The detection module includes: a dynamic force sensor (15), a strain sensor (16) and a laser scanner (17); On the lower surface of the outer wall of the lower mold (4), a strain sensor (16) is installed. On the upper surface of the outer wall of the lower mold (4), a dynamic force sensor (15) is embedded. On the upper surface of the outer wall of the upper mold (5), a strain sensor (16) is installed. Laser scanners (17) are installed on the left and right sides of the lower mold (4). The dynamic force sensor (15), the strain sensor (16) and the laser scanner (17) are connected to the controller (2) through signal lines.

4. An intelligent electro-hydraulic servo numerically controlled bending machine with automatically adjustable angle according to claim 1, characterized in that: On the left side of the outer wall of the lower mold (4), a placement table (18) is installed. On the rear side of the outer wall of the lower mold (4), a second slide rail (19) is installed. On the upper side of the outer wall of the second slide rail (19), a second slider (20) is installed. The second slider (20) is connected to the power assembly through a connecting shaft. On the upper side of the outer wall of the second slider (20), a clamping module is installed. The clamping module includes: clamping plates (21), a thickness sensor (22), a lifting rod (23), a flipper (24), a stress sensor (25) and a clamping motor (26); On the upper side of the outer wall of the second slider (20), a lifting rod (23) is installed. On the front side of the outer wall of the lifting rod (23), a flipper (24) is installed. On the front side of the outer wall of the flipper (24), a clamping plate (21) is installed. In the middle of the inner wall of the base (1), a clamping motor (26) is installed. The lifting rod (23), the flipper (24), and the clamping plate (21) are connected to the clamping motor (26). On the left side of the outer wall of the clamping plate (21), a thickness sensor (22) is installed. On the right side of the outer wall of the clamping plate (21), a stress sensor (25) is installed. The thickness sensor (22) and the stress sensor (25) are connected to the controller (2) through signal lines.

5. An intelligent electro-hydraulic servo numerically controlled bending machine with automatically adjustable angle according to claim 4, characterized in that: On the upper side of the outer wall of the clamping plate (21), an air outlet (27) is installed. The input end of the air outlet (27) is connected to a heater (28) through a pipeline. The blowing module is connected to a vision sensor (29) installed on the left side of the outer wall of the movable component through a signal line. The blowing module includes: an intake valve (30), an exhaust valve (31), a piston (32), a balance pipe (33), a movable rod (34), and a cylinder (35); On the rear side of the outer wall of the clamping motor (26), a cylinder (35) is installed. On the rear side of the outer wall of the cylinder (35), an intake valve (30) is installed. On the front side of the outer wall of the cylinder (35), an exhaust valve (31) is installed. On the upper side of the outer wall of the exhaust valve (31), a heater (28) is installed. On the left side in the middle of the inner wall of the cylinder (35), a piston (32) is installed. On the left side of the outer wall of the piston (32), a movable rod (34) is installed. The movable rod (34) is connected to the clamping motor (26) through a connecting shaft. On the front and rear sides of the outer wall of the piston (32), balance pipes (33) are installed.

6. The intelligent electro-hydraulic servo numerically controlled bending machine with automatically adjustable angle according to claim 2, wherein: The first slider (13) is connected to the power component through a connecting shaft. On the upper side of the outer wall of the first slide rail (12), a power component is installed. The power component includes: an oil tank (3), a servo motor (36), an output pump (37), a cooler (38), a hydraulic cylinder (39), an integrated valve (40), and a connecting pipe (41); On the upper side of the outer wall of the first slide rail (12), a hydraulic cylinder (39) is installed. On the upper side of the outer wall of the hydraulic cylinder (39), an integrated valve (40) is installed. On the right side of the outer wall of the integrated valve (40), a cooler (38) is installed. On the upper side of the outer wall of the integrated valve (40), an output pump (37) is installed. On the left side of the outer wall of the output pump (37), a servo motor (36) is installed. On both sides of the outer wall of the servo motor (36), oil tanks (3) are installed.

7. An automatically angle-adjustable intelligent electro-hydraulic servo numerically controlled bending machine according to claim 2, characterized in that: At the connection between the first slider (13) and the first slide rail (12), a contraction unit is installed. The contraction unit includes: a pulley (42) and a telescopic shaft (43); On the front and rear sides of the outer wall of the first slider (13), pulleys (42) are installed. At the connection between the pulley (42) and the first slider (13), a telescopic shaft (43) is installed. The pulley (42) and the telescopic shaft (43) are connected to the movable motor (14) through a connecting shaft.

8. An intelligent electro-hydraulic servo numerically controlled bending machine with automatically adjustable angle according to claim 4, characterized in that: The lifting rod (23) includes: a lead screw (44), a worm (45), a worm gear (46), a first valve (47), a second valve (48), and a sealing ring (49); On the upper side of the outer wall of the push rod (7), a lead screw (44) is installed. In the middle of the outer wall of the lead screw (44), a worm (45) is installed. On the left side of the outer wall of the worm (45), a worm gear (46) is installed. On the left side of the outer wall of the worm gear (46), a first valve (47) is installed. On the lower side of the outer wall of the worm (45), a second valve (48) is installed. On the upper and lower sides of the worm (45), sealing rings (49) are installed.

9. An intelligent electro-hydraulic servo numerically controlled bending machine with automatically adjustable angle according to claim 5, characterized in that: An angle adjustment unit is installed at the connection between the air outlet (27) and the clamping plate (21). The angle adjustment unit includes an angle sensor (50), an adjustment gear (51), and a lock (52). A lock (52) is installed on the upper side of the outer wall of the clamping plate (21). On the upper side of the outer wall of the lock (52), an adjustment gear (51) is installed. The adjustment gear (51) is connected to the clamping motor (26) through a connecting shaft. On the left side of the outer wall of the adjustment gear (51), an angle sensor (50) is installed. The angle sensor (50) is connected to the controller (2) through a signal line.

10. The intelligent electro-hydraulic servo numerically controlled bending machine with automatically adjustable angle according to claim 5, wherein: The heater (28) includes a heating wire (53), a temperature sensor (54), and a circulation pipe (55). On the upper side of the outer wall of the exhaust valve (31), a heating wire (53) is installed. On both sides of the outer wall of the heating wire (53), circulation pipes (55) are installed. A temperature sensor (54) is installed at the connection between the heater (28) and the pipeline.

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