Bending device and process for industrial robot wire machining

Abstract

The invention relates to the technical field of metal wire machining, and discloses a bending device and process for wire machining of an industrial robot, and the bending device for wire machining of the industrial robot comprises a machine box, a transmission clamp arranged on the front surface of the machine box, cutting equipment, clamping equipment and a bending handle, and further comprises an auxiliary assembly. The auxiliary assembly specifically comprises a guide table arranged on the surface of the case, a through hole formed in the side face of the guide table, a mounting opening formed in the top of the guide table and a mounting box arranged in the mounting opening. According to the bending device for industrial robot wire rod processing, through the arrangement of the auxiliary assembly, during work, a patting plate adheres a lubricant in a kit, then the patting plate rotates to coat the surface bending position of a wire rod with the lubricant, in this way, a good lubricating effect can be achieved when a bending handle makes contact with the wire rod, the friction force of the bending handle is reduced when the bending handle slides on the surface of the wire rod, and the bending effect is improved. And an insulating layer on the surface of the wire is well protected.

Description

Technical Field

[0001] The present invention relates to the technical field of metal wire processing, and in particular to a bending device and process for industrial robot wire processing. Background Art

[0002] An industrial robot is a multi-joint manipulator or multi-degree-of-freedom robot for the industrial field. It is a multi-purpose operating machine that can be automatically controlled, repeatedly programmed, multi-purpose, and can be programmed on three or more axes. It can be fixed or mobile. Industrial robot wire is a key component that connects the various parts of the robot and transmits power and signals. Its performance directly affects the robot's operating stability, accuracy and safety.

[0003] Since some industrial robots use high-power equipment, equipment above 5kW requires wires of more than 5 square meters. These wires are relatively hard. In order to ensure the regularity of the industrial robot wiring, bending equipment is required to bend the wires into the required shape.

[0004] Patent publication number CN216263168U discloses a wire bender based on electric power, comprising a base, an operating table fixedly connected to an external side of the base, a fixing mechanism fixedly connected to an external side of the operating table, a bending mechanism fixedly connected to an external side of the base, a support leg fixedly connected to a bottom side of the base, a universal wheel provided on a bottom side of the support leg, and a handle fixedly connected to an external side of the fixing mechanism. The advantages of this utility model are: by providing a fixing mechanism, the electric power wire is firmly fixed, avoiding loosening of the wire during bending, which results in large errors in the bending angle and arc, thereby improving the bending effect and thus the bending efficiency; by providing a bending mechanism, it is convenient to bend and press the wire into an arc, thereby improving the functionality of the wire bender, while meeting the requirement of bending multiple wires simultaneously, improving the efficiency of wire bending, and improving the practicality of the wire bender based on electric power.

[0005] The existing technology has the following defects:

[0006] When bending wires, the bending shaft slides on the outer surface of the wire. Due to the large friction between the two, the bending shaft exerts a pulling force on the insulation layer on the surface of the wire. For wires larger than 5 square meters, the outer layer is subjected to particularly large tensile stress when bending. Therefore, when the bending shaft slides on the outer surface of the wire, the insulation layer on the surface of the wire may tear, causing this section of wire to be scrapped. The thicker the wire, the greater the probability of scrapping. At the same time, when processing wires in batches, the bending shaft will also be severely worn and needs to be replaced frequently. Summary of the Invention

[0007] In view of the problem of wire damage during bending in the prior art, a bending device and process for industrial robot wire processing are proposed.

[0008] The present application provides a bending device and process for industrial robot wire processing, the purpose of which is to complete wire bending work safely and quickly.

[0009] The technical solution of the present invention is: a bending device for wire processing of an industrial robot, which is used for wire processing and includes a chassis, a transmission fixture, a cutting device, a clamping device, and a bending handle arranged on the front surface of the chassis, and an auxiliary component. The auxiliary component specifically includes a guide platform arranged on the surface of the chassis, a through hole opened in the side of the guide platform, a mounting opening opened in the top of the guide platform, a mounting box arranged inside the mounting opening, a lower opening opened in the bottom of the mounting box, a slapping plate and a reagent reagent arranged inside the mounting box;

[0010] The transmission fixture, auxiliary components, cutting equipment, clamping equipment, and bending handle are distributed in order from left to right, and the wire passes through them along the distribution path. The wire passes through the through hole, and the installation port passes through the through hole. The slapping plate extends from the lower opening, and the slapping plate is located above the wire. The reagent box is filled with lubricant, and the slapping plate falls above the reagent box after being flipped over.

[0011] Furthermore, the auxiliary component specifically includes a rotating port opened on the top of the slapping plate, a rotating frame arranged inside the rotating port, a smear block arranged inside the rotating frame, an adjustment crank arranged outside the rotating frame, an adjustment block inside the mounting box, and an adjustment groove opened on the surface of the adjustment block;

[0012] The adjusting crank extends out of the slapping plate, and the extended part is in a "Z" shape. The side of the adjusting block close to the slapping plate is set as an arc surface, and the center of the arc is located on the rotation axis of the slapping plate. The adjusting crank corresponds to the adjusting slot.

[0013] Furthermore, a fixing bolt is provided between the smear block and the rotating frame.

[0014] Furthermore, a smear pad is provided on one side of the smear block close to the wire.

[0015] Furthermore, a rotating sleeve is provided on the outer side of the bending handle.

[0016] Furthermore, the clamping device is divided into an upper clamping plate and a lower clamping plate, a sliding assembly is provided under the lower clamping plate, and the sliding assembly includes an assembling block provided on the side of the lower clamping plate, a fixing plate provided on the side of the assembling block, a filling port provided on the top of the fixing plate, a rolling shaft provided inside the filling port, and a lubricating column provided on the top of the lower clamping plate;

[0017] The filling port penetrates from the side to the surface of the assembling block, the outer wall of the rolling shaft extends out of the filling port, and the lubricating column is located above the filling port.

[0018] Furthermore, the sliding assembly further comprises a lubricating column disposed inside the filling port, the lubricating column being attached to the surface of the rolling shaft.

[0019] Furthermore, the sliding assembly further comprises a pushing block arranged inside the filling port, and a filling hole opened on the side of the assembly block;

[0020] The side of the pushing block close to the rolling shaft is set as an inclined surface, the lubricating column is located on the inclined surface of the pushing block, and the outline of the filling hole is tangent to the inclined surface of the pushing block.

[0021] The present invention also provides a bending process for industrial robot wire processing, comprising the following steps:

[0022] Flexible clamping and positioning: Place the wire in the transmission fixture and control the clamping force through the air pressure regulating device;

[0023] Lubrication: Apply lubricant to the surface of the wire;

[0024] Bending: Use the bending handle to push the wire to bend it, and pause for 1 to 2 seconds after bending;

[0025] Shearing: Using cutting equipment to cut the bent wires into segments of special shapes;

[0026] Temperature-assisted shaping: Use electromagnetic heating equipment to heat the bend of the wire segment, and then use an air-cooling nozzle to quickly cool and shape it.

[0027] Beneficial effects of the present invention:

[0028] 1. By setting up auxiliary components, when working, the slapping plate is stained with lubricant in the reagent box, and then rotates to apply the lubricant to the bending part of the wire surface. This can play a good lubricating role when the bending handle contacts the wire. The friction force of the bending handle when sliding on the wire surface is reduced, which has a good protective effect on the insulation layer on the wire surface. At the same time, the slapping plate only applies the emulsifier to the bending part of the wire surface. This not only reduces the consumption of lubricant, but also avoids slipping when the clamping device is fixed.

[0029] 2. By setting the smear block, when the slapping plate rotates counterclockwise to apply the lubricant, the smear pad is facing downward to apply the lubricant. When the slapping plate rotates clockwise to retract, adjust the crank to control the rotating frame to rotate 180 degrees, and the smear pad is still facing downward to add emulsifier. This ensures that there is always sufficient lubricant on the surface of the smear pad. At the same time, the smear block slides in the rotating frame. When the lubricant in the test kit gradually decreases, the smear pad can still add lubricant.

[0030] 3. By setting a sliding component, when bending the wire, the bending handle pushes the wire, and the inner side of the wire bending part is attached to the surface of the rolling shaft. The surface of the rolling shaft is arc-shaped and can rotate, which reduces the friction on the inner side of the wire bending part and protects the insulation layer there.

[0031] 4. By setting up a lubrication column, the lubrication column will be applied to the surface of the rolling shaft when the rolling shaft rotates, which can further reduce the friction on the inner side of the wire bend and play a better protective role. At the same time, guided by the inclined surface of the push block, the lubrication column can always fit with the rolling shaft and continuously replenish lubricant to the rolling shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A perspective view of the bending device for wire processing of an industrial robot according to the present invention;

[0033] Figure 2 This is a schematic diagram of the front panel of the chassis of the present invention;

[0034] Figure 3 is a schematic diagram of the auxiliary components of the present invention;

[0035] Figure 4 This is a disassembled diagram of the auxiliary components of the present invention;

[0036] Figure 5 This is a schematic diagram of the interior of the installation box of the present invention;

[0037] Figure 6 This is a schematic diagram of the slapping board of the present invention;

[0038] Figure 7 This is a disassembled diagram of the internal parts of the slapping board of the present invention;

[0039] Figure 8 It is a schematic diagram of the clamping device of the present invention;

[0040] Figure 9 This is a schematic diagram of the sliding assembly of the present invention;

[0041] Figure 10 This is a disassembled diagram of the sliding assembly of the present invention;

[0042] Figure 11 Schematic diagram of the lubrication column of the present invention.

[0043] In the picture:

[0044] 1. Chassis; 2. Transmission fixture; 3. Auxiliary components; 31. Guide table; 32. Through hole; 33. Mounting port; 34. Mounting box; 35. Lower opening; 36. Slap plate; 37. Reagent box; 38. Rotation port; 39. Rotation frame; 310. Applicator block; 311. Applicator pad; 312. Adjustment crank; 313. Adjustment block; 314. Adjustment slot; 315. Fixing bolt; 4. Cutting device; 5. Clamping device; 6. Bending handle; 7. Sliding component; 71. Assembly block; 72. Fixing plate; 73. Filling port; 74. Rolling shaft; 75. Lubrication column; 76. Push block; 77. Filling hole. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0046] Example 1, with reference to Figure 1-7 , which is the first embodiment of the present invention, provides an industrial robot wire processing bending device for wire processing, which includes a chassis 1, a transmission clamp 2, a cutting device 4, a clamping device 5, and a bending handle 6 arranged on the front surface of the chassis 1, and also includes an auxiliary component 3. The auxiliary component 3 specifically includes a guide platform 31 arranged on the surface of the chassis 1, a through hole 32 opened on the side of the guide platform 31, a mounting port 33 opened on the top of the guide platform 31, a mounting box 34 arranged inside the mounting port 33, a lower opening 35 opened at the bottom of the mounting box 34, a slapping plate 36 and a reagent reagent 37 arranged inside the mounting box 34.

[0047] Specifically, control buttons and a control screen are set on the top of the chassis 1, and the transmission fixture 2, auxiliary components 3, cutting equipment 4, clamping equipment 5, and bending handle 6 are distributed in order from left to right, and the wire passes through them along the distribution path. The wire passes through the through hole 32, and the installation port 33 passes through the through hole 32. The bottom of the installation box 34 is set to an arc surface corresponding to the inner wall of the through hole 32. The installation box 34 is assembled by two symmetrical halves. The installation box 34 is snapped into the installation port 33. The slap plate 36 is "Z" shaped, and the slap plate 36 extends from the lower opening 35. The slap plate 36 is rotatably connected to the installation box 34, the rotating shaft of the slapping plate 36 is externally connected to the driving device, the driving device is started intermittently, the slapping plate 36 is located above the wire, the reagent box 37 is clamped in the installation box 34, the reagent box 37 is filled with lubricant, the lubricant is a powdered agent, and the slapping plate 36 falls above the reagent box 37 after flipping over; the smearing block 310 is attached to the side close to the wire with a smearing pad 311, the thickness of the smearing pad 311 is not less than five millimeters, so that the smearing pad 311 will be deformed when it contacts the wire, and the contact area formed will be larger, which plays a role of sufficient lubrication.

[0048] By setting up the auxiliary component 3, when working, the slapping plate 36 is stained with lubricant in the reagent box 37, and then rotates to apply the lubricant to the bending part of the wire surface. In this way, it can play a good lubricating role when the bending handle 6 contacts the wire. The friction force of the bending handle 6 when sliding on the wire surface is reduced, which plays a good protective role for the insulation layer on the wire surface. At the same time, the slapping plate 36 only applies the emulsifier to the bending part of the wire surface. This not only reduces the consumption of lubricant, but also avoids slipping when the clamping device 5 is fixed.

[0049] The auxiliary component 3 specifically includes a rotating opening 38 opened at the top of the clapping plate 36, a rotating frame 39 arranged inside the rotating opening 38, a smear block 310 arranged inside the rotating frame 39, an adjusting crank 312 arranged on the outside of the rotating frame 39, an adjusting block 313 inside the mounting box 34, an adjusting groove 314 opened on the surface of the adjusting block 313, and a fixing bolt 315 arranged between the smear block 310 and the rotating frame 39.

[0050] Specifically, a gap is left between the rotating frame 39 and the inner wall of the rotating mouth 38 to facilitate the rotation of the rotating frame 39 in the slapping plate 36. The adjusting crank 312 is concentrically arranged with the rotating axis of the rotating frame 39. The adjusting crank 312 extends out of the slapping plate 36, and the extended part is in a "Z" shape. The side of the adjusting block 313 close to the slapping plate 36 is set as an arc surface, and the center of the arc is located on the rotating axis of the slapping plate 36. The adjusting crank 312 corresponds to the adjusting slot 314. The adjusting slot 314 is divided into three sections: upper, middle and lower. The middle section of the adjusting slot 314 is tilted and connects the upper and lower sections. The fixing bolt 315 restricts the smear block 310 in the rotating frame 39 so that the smear block 310 can slide in the rotating frame 39. A counterweight bar is installed on the outside of the rotating frame 39 to keep the rotating frame 39 level under normal conditions.

[0051] By setting the smear block 310, when the slapping plate 36 rotates counterclockwise to apply the lubricant, the smear pad 311 applies the lubricant downward. When the slapping plate 36 rotates clockwise to recover, the crank 312 is adjusted to control the rotating frame 39 to rotate one hundred and eighty degrees. The smear pad 311 still adds emulsifier downward. This ensures that the lubricant on the surface of the smear pad 311 is always sufficient. At the same time, the smear block 310 slides in the rotating frame 39. When the lubricant in the reagent box 37 gradually decreases, the smear pad 311 can still add lubricant.

[0052] Specifically, a rotating sleeve is provided on the outer side of the bending handle 6. When the bending handle 6 slides on the surface of the wire, the rotating sleeve rolls, which can reduce the friction between the two.

[0053] Example 2, reference Figure 8-11, which is the second embodiment of the present invention. This embodiment is different from the first embodiment in that: the clamping device 5 is divided into an upper clamping plate and a lower clamping plate, and a sliding component 7 is arranged under the lower clamping plate. The sliding component 7 includes an assembling block 71 arranged on the side of the lower clamping plate, a fixing plate 72 arranged on the side of the assembling block 71, a filling port 73 arranged on the top of the fixing plate 72, a rolling shaft 74 arranged inside the filling port 73, and a lubricating column 75 arranged on the top of the lower clamping plate.

[0054] Specifically, the assembling block 71 and the fixing plate 72 are integrally formed, the fixing plate 72 is fixed to the clamping device 5 by bolts, the filling port 73 penetrates from the side to the surface of the assembling block 71, the outer wall of the rolling shaft 74 extends out of the filling port 73, the lubrication column 75 is located above the filling port 73, the rolling shaft 74 is rotatably connected to the filling port 73, and the height of the rolling shaft 74 is lower than the height of the upper surface of the lower clamping plate, so that the wire does not contact the rolling shaft 74 during transmission.

[0055] By setting the sliding component 7, when bending the wire, the bending handle 6 pushes the wire, and the inner side of the wire bending part is attached to the surface of the rolling shaft 74. The surface of the rolling shaft 74 is arc-shaped and can rotate, which reduces the friction on the inner side of the wire bending part and protects the insulation layer there.

[0056] The sliding assembly 7 further includes a lubricating column 75 disposed inside the filling port 73 , and the lubricating column 75 is in contact with the surface of the rolling shaft 74 ; the sliding assembly 7 further includes a pushing block 76 disposed inside the filling port 73 and a filling hole 77 opened on the side of the assembly block 71 .

[0057] Specifically, the lubricating column 75 is a cylindrical material made of lubricating powder and adhesive. The side of the pushing block 76 close to the rolling shaft 74 is set as an inclined surface. The bottom end of the inclined surface of the pushing block 76 extends to the bottom of the rolling shaft 74. The lubricating column 75 is located on the inclined surface of the pushing block 76, and the outline of the filling hole 77 is tangent to the inclined surface of the pushing block 76.

[0058] By providing the lubricating column 75 , the lubricating column 75 will be smeared on the surface of the rolling shaft 74 when the rolling shaft 74 rotates, which can further reduce the friction on the inner side of the wire bend and play a better protective role. At the same time, guided by the inclined surface of the pushing block 76 , the lubricating column 75 can always fit with the rolling shaft 74 and continuously replenish the lubricant to the rolling shaft 74.

[0059] The remaining structures are the same as those of Example 1.

[0060] Based on Examples 1 and 2, the working principle of the bending device for wire processing of an industrial robot of the present invention is as follows:

[0061] Pass the wire through the inner side of the transmission clamp 2, start the transmission clamp 2, and the transmission clamp 2 pushes the wire to move, and the wire is pulled through the auxiliary component 3, the cutting device 4, and the clamping device 5 in sequence. When the wire moves, the driving device drives the slapping plate 36 to rotate counterclockwise, and the slapping plate 36 is lifted from above the reagent box 37. The adjusting crank 312 enters the lower section of the adjusting slot 314. As the slapping plate 36 rotates, the adjusting crank 312 enters the middle section of the tilt adjusting slot 314. At this time, the adjusting crank 312 starts to drive the rotating frame 39 to rotate. When the adjusting crank 312 enters the upper section of the adjusting slot 314, the adjusting crank 312 drives the rotating frame 39 to rotate one hundred and eighty degrees, so that the smear pad 311 on the surface of the smear block 310 inside the rotating frame 39 faces counterclockwise. When the slapping plate 36 rotates and gradually approaches the wire, the smear block 310 slides in the rotating frame 39, so that the smear block 310 pushes the smear pad 311 to extend out of the rotating mouth 38, and finally the smear pad 311 slaps the surface of the wire at the part to be bent; then the driving device drives the slapping plate 36 to rotate clockwise to reset. As the slapping plate 36 rotates, the adjustment crank 312 first enters the upper part of the adjustment groove 314, and then enters the middle part of the adjustment groove 314. The rotating frame 39 rotates here, so that the smear pad 311 on the surface of the smear block 310 inside the rotating frame 39 faces clockwise, and then the slapping plate 36 gradually covers the top of the reagent box 37, and the smear block 310 falls to press the smear pad 311 into the reagent box 37, so that the smear pad 311 is coated with lubricant.

[0062] The wire extends out from the clamping device 5. When the bending point of the wire reaches below the bending handle 6, the transmission clamp 2 stops feeding the wire, the clamping device 5 closes to clamp the wire, and the bending handle 6 rotates downward to press on the bending point of the wire. The bending handle 6 applies pressure to bend the wire.

[0063] The wire bends downward during the bending and penetration process, and the wire adheres to the surface of the rolling shaft 74. During this process, the wire and the rolling shaft 74 rub against each other, and the rolling shaft 74 deflects to a certain extent. During the deflection process, the rolling shaft 74 contacts the lubricating column 75, and the lubricating column 75 applies lubricant to the rolling shaft 74.

[0064] After the bending is completed, the cutting device 4 is started to cut the wire.

[0065] Example 3, reference Figure 1 , which is a fourth embodiment of the present invention, provides: a bending process for industrial robot wire processing, comprising the following steps:

[0066] Flexible clamping and positioning: Place the wire in the transmission fixture 2 and control the clamping force (0.1-0.5MPa) through the air pressure regulating device to avoid indentations on the surface of the wire insulation layer;

[0067] Lubrication: Apply lubricant to the surface of the wire;

[0068] Bending: Use the bending handle 6 (accuracy ±0.05mm) to align the wire bending reference point, push the bending handle 6 to bend the wire, and pause for 1 to 2 seconds after bending to release the internal stress of the wire.

[0069] Cutting: Using the cutting device 4 to cut the bent wires into wire segments of special shapes.

[0070] Temperature-assisted shaping: Use electromagnetic heating equipment to heat the bend of the wire segment for 3 to 5 seconds at a temperature of 60-100°C, then use an air-cooling nozzle (wind speed 8 to 12 m / s) to quickly cool and shape it, and clean the lubricant.

[0071] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A bending device for wire processing of an industrial robot, used for wire processing, comprising a chassis (1), a transmission clamp (2) arranged on the front surface of the chassis (1), a cutting device (4), a clamping device (5), and a bending handle (6), characterized in that: The auxiliary component (3) further comprises a guide platform (31) arranged on the surface of the chassis (1), a through hole (32) provided on the side of the guide platform (31), a mounting opening (33) provided on the top of the guide platform (31), a mounting box (34) provided inside the mounting opening (33), a lower opening (35) provided on the bottom of the mounting box (34), a clapping plate (36) provided inside the mounting box (34), and a reagent box (37); The transmission fixture (2), auxiliary components (3), cutting equipment (4), clamping equipment (5), and bending handle (6) are distributed in order from left to right, and the wire passes through them along the distribution path. The wire passes through the through hole (32), and the installation port (33) passes through the through hole (32). The slapping plate (36) extends from the lower opening (35). The slapping plate (36) is located above the wire. The reagent box (37) is filled with lubricant, and the slapping plate (36) falls above the reagent box (37) after flipping.

2. The bending device for industrial robot wire processing according to claim 1, characterized in that: The auxiliary component (3) specifically includes a rotating opening (38) provided on the top of the clapping plate (36), a rotating frame (39) provided inside the rotating opening (38), a smearing block (310) provided inside the rotating frame (39), an adjusting crank (312) provided outside the rotating frame (39), an adjusting block (313) inside the mounting box (34), and an adjusting groove (314) provided on the surface of the adjusting block (313); The adjusting crank (312) extends out of the clapping plate (36), and the extended portion is in a "Z" shape. The side of the adjusting block (313) close to the clapping plate (36) is set as an arc surface, and the center of the arc is located on the rotation axis of the clapping plate (36). The adjusting crank (312) corresponds to the adjusting slot (314).

3. The bending device for industrial robot wire processing according to claim 2, characterized in that: A fixing bolt (315) is provided between the smear block (310) and the rotating frame (39).

4. The bending device for industrial robot wire processing according to claim 2, characterized in that: A smearing pad (311) is provided on one side of the smearing block (310) close to the wire.

5. The bending device for industrial robot wire processing according to claim 1, characterized in that: The outer side of the bending handle (6) is provided with a rotating sleeve.

6. The bending device for wire processing of an industrial robot according to claim 5, characterized in that: The clamping device (5) is divided into an upper clamping plate and a lower clamping plate. A sliding assembly (7) is provided below the lower clamping plate. The sliding assembly (7) comprises an assembling block (71) provided on the side of the lower clamping plate, a fixing plate (72) provided on the side of the assembling block (71), a filling port (73) provided on the top of the fixing plate (72), a rolling shaft (74) provided inside the filling port (73), and a lubricating column (75) provided on the top of the lower clamping plate. The filling port (73) penetrates from the side to the surface of the assembly block (71), the outer wall of the rolling shaft (74) extends out of the filling port (73), and the lubricating column (75) is located above the filling port (73).

7. The bending device for industrial robot wire processing according to claim 6, characterized in that: The sliding assembly (7) further comprises a lubricating column (75) arranged inside the filling port (73), and the lubricating column (75) is attached to the surface of the rolling shaft (74).

8. The bending device for industrial robot wire processing according to claim 7, characterized in that: The sliding assembly (7) further includes a pushing block (76) disposed inside the filling port (73) and a filling hole (77) provided on the side of the assembling block (71); The side of the pushing block (76) close to the rolling shaft (74) is set as an inclined surface, the lubricating column (75) is located on the inclined surface of the pushing block (76), and the outline of the filling hole (77) is tangent to the inclined surface of the pushing block (76).

9. A bending process for industrial robot wire processing, using the bending device for industrial robot wire processing as claimed in claim 1, characterized in that: The following steps are involved: Flexible clamping and positioning: placing the wire in the transmission fixture (2) and controlling the clamping force through the air pressure regulating device; Lubrication: Apply lubricant to the surface of the wire; Bending: Push the wire with the bending handle (6) to bend it, and pause for 1 to 2 seconds after bending; Cutting: using a cutting device (4) to cut the bent wire into sections of a special shape; Temperature-assisted shaping: Use electromagnetic heating equipment to heat the bend of the wire segment, and then use an air-cooling nozzle to quickly cool and shape it.

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